A two-layer platform module and a major repair automation system

Abstract

The application discloses a two-layer platform module and a major repair automation system, and mainly relates to the field of well repairing equipment. The two-layer platform module comprises a middle support, pipe storage units symmetrically arranged on the two sides of the middle support, and a grabbing unit arranged on the middle support. The pipe storage unit comprises a plurality of working units arranged along the front-rear direction of a derrick. The working unit has two helical shafts extending horizontally and in parallel at the same height, and a clamping gap with the diameter of the oil pipe is formed between the helical shafts. The grabbing unit comprises a walking frame with a walking stroke along the front-rear direction of the derrick. A rotating table is rotatably arranged below the walking frame. A swing arm is hingedly arranged on the rotating table. A mechanical hand claw is hingedly arranged at the bottom end of the swing arm. The mechanical hand claw is in a horizontal state, and the swing direction of the swing arm is opposite to that of the mechanical hand claw and the angles of the two directions correspond to each other. The application has the beneficial effects that the balance between the operation capacity and the space management is achieved, and the operation safety and efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of well workover equipment, specifically a two-tiered platform module and an automated overhaul system. Background Technology

[0002] In well workover operations, the second-level platform is a working platform installed on the upper part of the workover derrick for placing and releasing the tubing string. Traditional second-level platforms are passive operating platforms, mainly relying on derrick workers to manually push and hold the tubing string at high altitude to complete the release operation, which has problems such as high labor intensity, high safety risks, and low operation efficiency.

[0003] With the development of automated well workover equipment, some technologies have adopted robotic arms and automated tubing storage management in the operation of second-level platforms. However, each of these technologies has its own shortcomings, and the problems are mainly concentrated in the following aspects: For two-stage drilling rig operations, the more tubing handled, the stronger the continuous operation capability in a single trip. However, the two-stage rig is installed in the limited space above the derrick, and its capacity expansion is subject to multiple rigid constraints. More importantly, the two-stage rig involves high-altitude, edge-prone operations. Increasing the number of tubing sections means increased operational difficulty and risk, leading to a contradiction between capacity expansion and operational capability, which is difficult to reconcile and balance, becoming the core contradiction restricting the development of automated well workover.

[0004] Meanwhile, most existing mechanical gripping and automatic pipe laying systems use program control logic and rely on multi-sensor feedback and PLC calculations in terms of hardware. This not only makes them technically difficult and costly, but also makes them prone to abnormalities in the well site operating environment. Once a signal is lost or an error occurs, it may lead to a serious accident. Summary of the Invention

[0005] The purpose of this invention is to provide a two-tier platform module and an automated overhaul system that achieves a balance between work capacity and space management, thereby improving work safety and efficiency.

[0006] To achieve the above objectives, the present invention employs the following technical solution: A two-tiered platform module includes a central support, on both sides of which tubing units are symmetrically arranged. A gripping unit is provided on the central support. Each tubing unit includes multiple sets of working units arranged in the front-rear direction relative to the derrick. Each set of working units has two horizontally extending and equally spaced spiral shafts. The two spiral shafts of the same working unit rotate in opposite directions at the same speed and have spiral blades with opposite directions of rotation. A clamping gap adapted to the diameter of the tubing is formed between the spiral shafts.

[0007] The gripping unit includes a traveling frame with a travel distance along the front-rear direction of the derrick. A rotating platform is rotatably mounted below the traveling frame. A swing arm is hinged to the rotating platform. A robotic gripper is hinged to the bottom end of the swing arm. The robotic gripper is in a horizontal state, and the swing direction of the robotic gripper is opposite to that of the swing arm, and the angles are corresponding.

[0008] The swing arm has an upper shaft at its top and a lower shaft at its bottom. A fixed sprocket is fixed on the upper shaft and is fixed relative to the rotating platform. The top of the swing arm is rotatably engaged with the upper shaft. A rotating sprocket is fixed on the lower shaft and is rotatably engaged relative to the bottom of the swing arm. The fixed sprocket and the rotating sprocket are of the same diameter and have the same teeth and are wound with a chain. A first electric cylinder is installed inside the swing arm. A first push rod is telescopically engaged on the first electric cylinder. The end of the first push rod is fixed relative to the chain located on the lower layer. A claw head seat is also fixed on the lower shaft. The claw head seat is used to install a robotic gripper.

[0009] Below the central support, there are two side plates fixedly installed. The side plates are symmetrically installed on the left and right sides of the central support. The side plates extend vertically. A strip track is fixedly installed on the inner end face of the opposite side plate. Guide wheel sets are rotatably installed on both sides of the walking frame. Each guide wheel set includes two guide wheels, one above and one below the strip track. The bottom circumference of the upper guide wheel contacts the top surface of the strip track, and the top surface of the lower guide wheel contacts the bottom surface of the strip track. At least one guide wheel is driven by a motor. A rotating seat is provided in the middle of the walking frame. The rotating table is rotatably installed on the rotating seat and rotated by electric drive.

[0010] The robotic gripper includes a slotted frame fixed relative to the gripper head seat. The slotted frame has a through-hole extending vertically. The slot has an opening at the end away from the gripper head seat. A sliding frame is provided on the side of the slotted frame near the gripper head seat, which is slidably engaged with the gripper head seat. A second electric cylinder is provided on the gripper head seat or the slotted frame. A second push rod is fitted on the second electric cylinder. The end of the second push rod is fixed to the sliding frame. A rack is provided on the sliding frame. Connecting shafts are symmetrically rotatably mounted on both sides of the slotted frame in the transverse direction. A transmission gear that meshes with the rack is provided at the end of the connecting shaft near the gripper head seat. A gripper head located at the opening of the slot is provided at the other end of the connecting shaft. The inner ends of the two grippers are close together when in a horizontal state. A pressure plate is also provided in the slot. A V-shaped groove is provided in the center of the side of the pressure plate near the opening. The two ends of the pressure plate are slidably connected to the connecting shaft on the same side. A helical spring is also sleeved on the connecting shaft. The helical spring has an elastic force that brings the pressure plate closer to the opening of the slot.

[0011] The working unit includes an upper working unit and a lower working unit. The spiral shaft includes an upper spiral shaft and a lower spiral shaft arranged at the same height. The upper spiral shaft is located above the lower spiral shaft. The upper spiral shafts of adjacent crossbeams form an upper working unit, and the lower spiral shafts of adjacent crossbeams form a lower working unit. The upper working unit and the lower working unit are arranged alternately.

[0012] The storage unit includes a transmission box located outside the second-floor module and parallel to the central support. A drive mechanism is arranged inside the transmission box. The drive mechanism is used to drive the two helical shafts of a certain group of working units to rotate. Multiple horizontally extending crossbeams are fixed on the adjacent inner end faces of the transmission box. The helical shafts are rotatably mounted on the crossbeams. An upper helical shaft or a lower helical shaft is mounted on the two outer crossbeams, and both an upper helical shaft and a lower helical shaft are mounted on the crossbeam in the middle.

[0013] The central support and gripping unit are both located above the pipe storage unit, and they are staggered in height. The central support has two first boxes symmetrically arranged laterally on the side closer to the derrick, and a second box extending laterally on the side farther from the derrick. The first and second boxes are at the same height and located below the central support. The first box outputs a first slide rod with a lateral travel, and the second box outputs a second slide rod with a lateral travel. The first and second slide rods are respectively connected to the pipe storage unit on the same side.

[0014] The first housing is fixed with a frame structure, and the frame structure has a hinge position on the side near the derrick. The second housing has a hoisting position.

[0015] The first housing has a horizontally extending first sliding hole on its side wall. The first sliding rod passes through the first sliding hole and slides laterally with the first sliding hole. The first housing has a first drive cylinder. The piston of the first drive cylinder is engaged with a first cylinder rod. The end of the first cylinder rod is fixedly connected to a first sliding rod located in the same first housing.

[0016] The second housing has a horizontally extending second sliding hole on its side wall. The second sliding rod passes through the second sliding hole and slides laterally with the second sliding hole. The second housing has a second drive cylinder. The piston of the second drive cylinder is in extension and retraction cooperation with a second cylinder rod. The end of the second cylinder rod is fixedly connected to a second sliding rod located in the same second housing.

[0017] An automated overhaul system including the above-mentioned two-layer platform modules is also considered as another aspect of this invention application.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The two helical shafts in each working unit allow the tubing to be arranged sequentially laterally, while the working units are arranged sequentially longitudinally. This layout fully utilizes the longitudinal space of the second-tier platform, achieving high-density tubing storage within the limited lateral width constraint of the derrick, thus solving the problem of low space utilization in traditional lateral tubing arrangement. The two helical shafts of the same working unit rotate in opposite directions at the same speed, and with the opposing helical blades, they can simultaneously apply axial thrust to the entire row of tubing (tubing at all positions) in the clamping gap, enabling batch translation of the tubing laterally. A single action can complete the position switching of all tubing in a row, significantly improving the efficiency of tubing string relocation. By coordinating the robotic gripper with the swing arm during the swinging process, the complexity of the control system is significantly reduced by relying on mechanical coordination constraints, improving operational reliability in harsh well site environments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the two-tiered platform of the present invention (the railing is not shown).

[0020] Figure 2 yes Figure 1 A bottom view.

[0021] Figure 3 This is a bottom view schematic diagram of the present invention.

[0022] Figure 4 This is a partial structural diagram of the gripping mechanism.

[0023] Figure 5 yes Figure 4 Enlarged view of part B.

[0024] Figure 6 yes Figure 4 Enlarged view of part C.

[0025] Figure 7 This is a schematic diagram of a swing arm.

[0026] Figure 8 This is a schematic diagram of the swing arm from the bottom view.

[0027] Figure 9 This is a top view of the end of the swing arm.

[0028] Figure 10 This is a schematic diagram of the internal structure of the storage unit of the present invention.

[0029] Figure 11 This is a schematic diagram of the library unit of the present invention.

[0030] Figure 12 This is a schematic diagram of the internal structure of the outer shaft of the present invention.

[0031] The labels shown in the attached diagram: 1. Transmission box; 2. Finger beam; 3. Upper helical shaft; 4. Lower helical shaft; 5. Upper working unit; 6. Lower working unit; 7. Outer shaft; 8. Same speed gear; 9. Driven gear; 10. Drive gear; 11. Rotating sleeve; 12. Mandrel; 13. Cam; 14. Slot; 15. Cylindrical pin; 16. Electric cylinder; 17. Guide rod; 18. Central support; 19. First housing; 20. Hinge position; 21. First sliding hole; 22. First sliding rod; 23. First drive cylinder; 24. Second housing; 25. Lifting position; 26. Second sliding hole; 27. 28. Side plate; 29. ​​Strip track; 30. Walking frame; 31. Guide wheel assembly; 32. Rotating table; 33. Swing arm; 34. Upper shaft; 35. Fixed sprocket; 36. Lower shaft; 37. Rotating sprocket; 38. Chain belt; 39. First electric cylinder; 40. Claw head seat; 41. Groove frame; 42. Second electric cylinder; 43. Sliding frame; 44. Slide groove; 45. Rack; 46. Transmission gear; 47. Connecting shaft; 48. Helical spring; 49. Pressure plate; 50. Claw head; 51. Upper fixed rod; 52. Lower fixed rod; 53. Linkage frame. Detailed Implementation

[0032] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined in this application.

[0033] The second-level platform module of the workover rig replaces the traditional second-level platform and is installed on the workover rig. This second-level platform module also has a hinge position 20 and a lifting position 25 corresponding to the original design. The hinge position 20 is a hinge seat structure with a shaft hole and is located on one side, allowing for hinged installation with the workover rig. It can be folded upwards and tilted downwards to unfold. The lifting position 25 is located on the side of the second-level platform module away from the hinge position 20, and uses a lifting hole structure or a pulley structure for easy coordination with the lifting wire rope.

[0034] Specifically, the second-layer platform module consists of the following structural components: frame unit, grabbing unit, and database management unit.

[0035] Since the second-level platform module has two postures, retracted and working, the following description is based on the working state, that is, when the derrick is erected, the second-level platform module is horizontally extended and basically perpendicular to the derrick.

[0036] Meanwhile, for ease of description, according to the common industry conventions in well workover (and drilling) derrick operations, the center of the wellbore is usually taken as the origin of the coordinate system, and the vertical direction upward is taken as the +Z direction. The upward direction is the consensus of most derrick finite element analyses and field operations. The Y-axis is defined as the front-to-back direction of the derrick. The derrick typically has a front opening (door side) and a rear support (dead rope fixing end / base platform, workover vehicle side). In this embodiment, +Y is defined as the "working front" in terms of structural function—that is, the front (front) of the derrick is the direction facing the wellhead / drilling platform, which is the direction that the operators face when operating and raising / lowering the tubing string.

[0037] The lateral direction of the derrick is defined as the X direction.

[0038] Warehouse Management Unit: There are two sets, symmetrically arranged on both sides of the frame unit, and the two pipe storage units have horizontal and symmetrical extension strokes along the X direction, allowing the two sets of pipe storage units to move closer to or further away from each other. (The specific structure is described in detail in the subsequent frame unit description).

[0039] The pipe storage unit includes a transmission box 1 extending horizontally along the Y direction. A drive mechanism is arranged inside the transmission box 1. The transmission box 1 is located on the outer side of the two pipe storage units that are far apart from each other (that is, on the outer side of the second-floor platform in the X direction). Fifteen finger beams 2 are fixedly installed on the inner end face of the transmission box 1. The finger beams 2 extend horizontally along the X direction, and multiple finger beams 2 are equidistantly arranged along the Y direction.

[0040] Anti-slip mats are installed above the transmission boxes 1 on both sides for walking safety, and fences are installed around them. This provides a walking path and ensures operational safety.

[0041] The inner end of the finger beam 2 away from the transmission box 1 is fixed with an inner mounting plate. The upper spiral shaft 3 and the lower spiral shaft 4 are rotatably mounted between the inner mounting plate and the transmission box 1 through bearing components. The upper spiral shaft 3 and the lower spiral shaft 4 also extend along the X direction. The upper spiral shaft 3 and the lower spiral shaft 4 are respectively provided with spiral blades.

[0042] Two adjacent spiral shafts of equal height form a working unit. Based on the vertical arrangement of the spiral shafts, the upper spiral shafts 3 of adjacent finger beams 2 form an upper working unit 5, and the lower spiral shafts 4 of adjacent finger beams 2 form a lower working unit 6. The upper working unit 5 and the lower working unit 6 are arranged alternately, thereby enabling the oil pipe to be operated in a more compact space.

[0043] A clamping gap is formed between the two spiral shafts of the same working unit. The clamping gap is the minimum distance between the circumferential surfaces of the two spiral shafts of the same working unit. The width of the clamping gap is greater than the outer diameter of the tubing body and less than the outer diameter of the tubing clamp. The spiral blades of the two upper spiral shafts 3 of the upper working unit 5 of the same group rotate in opposite directions, and the spiral blades of the lower spiral shaft 4 of the lower working unit 6 of the same group rotate in opposite directions. The tubing in the center is clamped and pushed by the spiral blades rotating in opposite directions.

[0044] The helical blades at the shaft end have a cone angle, which allows for deviations in the position of the tubing or for the leading edge of the helical blades to increase inward along the helical axis, thereby achieving a guiding function, coping with tubing position deviations, and accommodating position errors over a wider range.

[0045] In actual operation, the oil pipe has a joint (diameter larger than the oil pipe body) at the top. The oil pipe is suspended in the clamping gap through the joint, and the stop limit is located between the blades. The spiral of the blades forms a station, which realizes the limit constraint of the oil pipe in the X direction.

[0046] When the drive mechanism drives the two spiral shafts within the same working unit to rotate, the spiral blades of the two spiral shafts rotate in opposite directions, synchronously pushing the oil pipes to translate within the clamping gap in the X direction, thereby completing the change of work position. Furthermore, based on the characteristics of the spiral blades, synchronous pushing of all oil pipes within the same working unit is achieved.

[0047] To clearly describe the alternating arrangement of upper working units 5 and lower working units 6 on a row of finger beams 2, taking this embodiment as an example, along the Y direction, starting from the end closest to the derrick, the finger beams 2 are counted. Finger beams not located at either end are simultaneously equipped with both upper and lower helical shafts 3 and 4. The first finger beam 2 is equipped with only the lower helical shaft 4, and the fifteenth finger beam 2 is equipped with only the upper helical shaft 3 (conversely, if the first finger beam 2 is equipped with only the upper helical shaft 3, then the fifteenth finger beam 2 can also be equipped with only the lower helical shaft 4). Using this as an example, combined with the attached... Figures 1 to 12 As shown, finger beams 2 from 1 to 15 are respectively equipped with: Upper work unit 5: Groups 2-3, 4-5, 6-7, 8-9, 10-11, 12-13, 14-15 (7 groups); Next work unit 6: Groups 1-2, 3-4, 5-6, 7-8, 9-10, 11-12, 13-14 (7 groups); This results in a tightly staggered arrangement of work positions, which maximizes the density of work positions within a limited Y-axis distance, allowing each row of pipes to be more compact and increasing work density.

[0048] The drive mechanism is used to selectively drive one of the working units in each group. The specific structure is as follows: It includes two outer shafts 7 arranged side by side and extending along the Y direction, with the two outer shafts 7 corresponding to the height settings of the upper working unit 5 and the lower working unit 6, respectively.

[0049] At one end of each spiral shaft is a gear 8 with the same speed located in the transmission box 1. The gears 8 with the same speed of the two spiral shafts in the same working unit mesh, so that the two spiral shafts in the same working unit rotate at the same speed and in opposite directions, thereby pushing the oil pipe located between them to move horizontally.

[0050] One end of a spiral shaft of each working unit is also provided with a driven gear 9 located in the transmission box 1. The outer shaft 7 is provided with a drive gear 10 that meshes with each driven gear 9. Both the driven gear 9 and the drive gear 10 are bevel gears, which facilitates the vertical angle layout in the transmission box 1.

[0051] One end of the transmission box 1 is equipped with a hydraulic motor, or other power equipment such as an electric motor or internal combustion engine can be used. The output shaft of the hydraulic motor drives the external shaft 7 through gear transmission, or common transmission methods such as belt transmission or chain transmission can be used to drive the external shaft 7 to rotate.

[0052] The outer shaft 7 selectively drives one of the drive gears 10 mounted on it to rotate. The specific structure is as follows: According to the appendix Figures 1 to 12 As shown, the inner ring of the drive gear 10 is coaxially fixed with a rotating sleeve 11. The rotating sleeve 11 is an annular piece coaxial with the outer shaft 7. The rotating sleeve 11 is rotatably connected to the outer shaft 7 through a bearing. The outer circumferential surface of the rotating sleeve 11 is used to install and fix the drive gear 10.

[0053] The outer shaft 7 is a hollow shaft with an inner hole extending through it along its axial direction. A mandrel 12 is centrally disposed within the inner hole and is used for axial movement.

[0054] The outer shaft 7 has a pin sleeve that passes through the center of each rotating sleeve 11 radially. The pin sleeve has a cylindrical pin 15 that slides radially relative to it along the outer shaft 7. The inner circumference of the rotating sleeve 11 has a groove 14 that matches the outer end of the cylindrical pin 15. The inner end of the cylindrical pin 15 is located inside the outer shaft 7, and the outer end of the cylindrical pin 15 passes through the pin sleeve and is exposed between the outer shaft 7 and the inner ring of the rotating sleeve 11. When the cylindrical pin 15 is retracted into the pin sleeve, the rotating sleeve 11 and the outer shaft 7 are independent of each other. When the cylindrical pin 15 is engaged in the groove 14, the rotating sleeve 11 is locked on the outer shaft 7 and rotates synchronously with it, thereby driving the rotation of the corresponding drive gear 10.

[0055] The length of the cylindrical pin 15 is longer than that of the pin sleeve. When the outer edge of the cam 13 contacts the inner end of the cylindrical pin 15, the outer end of the cylindrical pin 15 is inserted into the slot 14 of the rotating sleeve 11 at that position.

[0056] The outer circumferential surface of the spindle 12 is provided with a plurality of cams 13 along the axial direction. The number of cams 13 corresponds one-to-one with the number of drive gears 10. The outer edge of the cam 13 is adapted to the inner diameter of the inner hole, and can push it outward when it passes the cylindrical pin 15, so that it is locked into the slot 14, thereby realizing the transmission of rotation.

[0057] The spacing between each adjacent cam 13 is different and increases sequentially, preferably with equal arithmetic increments. This ensures that when the spindle 12 moves axially along the outer shaft 7, the corresponding cylindrical pins 15 are triggered radially along the spindle 12 axis, thereby achieving precise selective driving of a specific drive gear 10. This arithmetic cam 13 arrangement design makes the driving sequence of each station controllable and non-interfering. It enables a single drive shaft to selectively transmit driving force to a single row of working units.

[0058] The drive for the spindle 12 is achieved using a drive cylinder 16, which includes a connecting frame, a drive cylinder 16, a guide rod 17, and a sliding sleeve. The drive cylinder 16 and the sliding sleeve are fixed to one end of the transmission box 1 along its length. The guide rod 17 extends along the Y direction and passes through the sliding sleeve, with the two slidingly engaged. The piston rod end of the drive cylinder 16, the outer end of the guide rod 17, and one end of the spindle 12 are all fixed to the connecting frame. The connecting frame enables the fixed connection and synchronization of the piston rod, guide rod 17, and spindle 12. The guide rod 17 guides the movement direction of the spindle 12 to the axial direction of the outer shaft 7. The drive cylinder 16 provides the power for linear movement, enabling precise control of the spindle 12 to be pushed axially along the outer shaft 7.

[0059] The structure driven by the spindle 12 of the two outer shafts 7 on the same side can be staggered at both ends of the transmission box 1 to facilitate layout and balance of gravity.

[0060] The outer end of the cylindrical pin 15 is designed to be hemispherical, and the inner wall of the rotating sleeve 11 is cylindrical. During the pushing process of the cam 13, the outer end of the cylindrical pin 15 is in point contact with the inner wall of the rotating sleeve 11, and the friction does not affect the rotation. The slot 14 is also a spherical curved groove, and the sides of the slot 14 are provided with an arc-shaped chamfer structure, which facilitates a sensitive insertion and engagement relationship with the cylindrical pin 15, and facilitates the smooth push of the cylindrical pin 15 back to its original position by means of the tangential force of rotation during reset. The number of slots 14 can be set to one or more, such as four or eight, to reduce the time required for circumferential rotation engagement. The cam 13 is a drum-shaped structure with an arc-shaped arch in the middle. The cam 13 is coaxial with the spindle 12, and the two ends of the cam 13 are provided with inclined surfaces, which can gradually push the cylindrical pin 15 outward, so that it can smoothly enter the slot 14.

[0061] During operation, the rotating sleeve 11 and the drive gear 10 support the helical shaft and oil pipes. When the cam 13 and the cylindrical pin 15 are misaligned, the outer end of the cylindrical pin 15 does not extend beyond the pin sleeve, and the rotation of the outer shaft 7 does not drive the rotating sleeve 11. When the spindle 12 is driven to move horizontally by the drive cylinder 16, the cam 13 pushes the cylindrical pin 15, causing it to tend to push outward. As the outer shaft 7 rotates continuously, there will inevitably be a position within the 360-degree rotation range where the cylindrical pin 15 will insert into the slot 14, thereby realizing the rotation of the rotating sleeve 11 driven by the outer shaft 7. When the oil pipe moves into place, the spindle 12 moves laterally, causing the cam 13 to disengage from the cylindrical pin 15. The cylindrical pin 15 is disengaged from the rotating sleeve 11 due to the tangential force generated by the rotation of the outer shaft 7, thereby realizing the disengagement of the outer shaft 7 from the rotating sleeve 11.

[0062] Therefore, the above structure, through pure mechanical design, enables the selective drive rotation of one of the seven pairs of upper working units 5 and lower working units 6 on an outer shaft.

[0063] It should be noted that the aforementioned selective drive structure implemented using a spindle, cam, and cylindrical pin is only a preferred embodiment and is not limited to the drive and transmission methods described in this embodiment. Regarding the requirement of "selective driving of multiple working units," any of the following alternative solutions can be adopted: First, each working unit is equipped with an independent drive motor and clutch, and the power is selectively connected to the corresponding working unit through the clutch; Second, a stepper motor or servo motor is used in conjunction with a time-sharing control strategy, and the drive motors of each working unit are driven in a time-sharing manner through a controller. Although the above alternative solutions may not be as simple in structure, compact in layout, or efficient in transmission as the solution described in this embodiment, they can all achieve the selective driving and reverse rotation at the same speed of the present invention. Those skilled in the art can flexibly choose according to the actual installation space, cost budget, and control accuracy requirements.

[0064] In addition, to achieve the requirement of "two spiral shafts in the same working unit rotating in opposite directions at the same speed", any of the following alternative solutions can be adopted: First, each working unit is equipped with two independent drive motors, and the two motors are controlled to run synchronously in opposite directions through an electronic control system; Second, one motor drives the two spiral shafts in the same working unit to rotate in opposite directions at the same speed through a belt or chain cross transmission method.

[0065] The above describes the structure of the storage unit, and the working principle and operation steps of the storage unit are described below.

[0066] 1) Layout status Two sets of storage units are symmetrically located on both sides of the central support 18, arranged symmetrically to the left and right of the second-floor platform as two independent working units. Both sets of storage units are located below the central support 18 and the gripping unit, and can be folded up to form a spatial misalignment when in the folded transport state, thereby making reasonable use of space and avoiding excessive height during transport.

[0067] The upper spiral shaft 3 and lower spiral shaft 4 of each pipe unit are staggered in the Y direction, and the upper working unit 5 and lower working unit 6 form a continuous work station channel in the Y-direction projection. The finger beam 2 extends horizontally along the X direction towards the center of the second-level platform.

[0068] The oil pipes are pre-arranged on the pipe storage unit in a double-layer × 7-row layout. The coupling of each oil pipe is clamped in the clamping gap between the two spiral shafts of the corresponding working unit. The oil pipe body is suspended in the clamping gap. The coupling is limited to the working position area formed by two adjacent spiral blades. All oil pipes in the same row are arranged sequentially along the X direction on each working position of the spiral blades.

[0069] 2) Driving action The drive mechanism selectively drives a designated working unit to perform an action, and the specific process is as follows: Power input: The hydraulic motor starts and drives one of the two outer shafts 7 to rotate continuously via gear transmission. The multiple drive gears 10 fitted onto the outer shaft 7 are normally independent of the outer shaft 7 and do not transmit torque. That is, the meshing drive gear 10 is stationary while the outer shaft 7 rotates.

[0070] Work unit drive: The outer shaft 7 selectively engages with a pair of drive gears 10 to drive the work station unit. The locked drive gear 10 rotates synchronously with the outer shaft 7, and transmits torque to the driven gear 9 of a helical shaft in the corresponding work unit through bevel gear meshing. After the helical shaft rotates, it meshes with another helical shaft in the same group through a gear 8 of the same speed, so that the two helical shafts in the same work unit achieve rotation at the same speed and in opposite directions.

[0071] Workstation switching: Since the spiral blades of the two spiral shafts in the same work unit rotate in opposite directions, under the condition that the two spiral shafts rotate in opposite directions at the same speed, the two spiral shafts apply the same thrust to the coupling of the central oil pipe, thereby driving all the oil pipes in the work unit to move synchronously along the X direction.

[0072] The oil pipe is translated along the X direction by the pitch of one (spiral blade), that is, it moves from the current position of the spiral blade to the adjacent position, thus completing the displacement of a single position.

[0073] The outer shaft 7 is released from engagement and locking with the drive gear 10, and the outer shaft 7 becomes independent again.

[0074] 3) Frame unit The frame unit is a rectangular frame structure. The frame unit includes a central support 18. The bottom of the central support 18 is used to reserve an installation position and a walking position for the robot. The central support 18 is a long strip support frame structure and extends horizontally perpendicular to the derrick when working.

[0075] The central support 18 is higher than the storage unit, meaning the central support 18 is located above the storage unit. The two are spatially offset, so that the storage unit, when brought together, is located below the central support 18, further narrowing and reducing its width.

[0076] The central support 18 has a first housing 19 symmetrically arranged on both sides of the end near the derrick. The length direction of the first housing 19 is perpendicular to the central support 18. The central support 18 has a second housing 24 at the end away from the derrick. The length direction of the second housing 24 is perpendicular to the central support 18. The second housing 24 is parallel to the first housing 19. The end of the central support 18 extends downward and is fixed in the middle of the second housing 24.

[0077] The first housing 19 is also fixed with a frame structure. The frame structure is provided with a hinge position 20 on the side near the derrick. The hinge position 20 is hinged to the derrick or the lifting mechanism on the derrick to realize the upward folding transportation state or the downward unfolding horizontal operation state. The second housing 24 is provided with a hoisting position 25 with a hoisting pulley structure on the front side away from the derrick to realize the control of the state of the second platform module in cooperation with the derrick hoisting system.

[0078] The first housing 19 has a horizontally extending first sliding hole 21 on its side wall along its length. Two first sliding rods 22 are slidably fitted in one of the first sliding holes 21. One end of the first sliding rod 22 is fixed to the finger beam 2 on the side of the pipe storage unit near the derrick on the same side. The part of the first sliding rod 22 exposed outside the first housing 19 is provided with a limiting structure larger than the width of the first sliding hole 21, such as a large nut or a stiffener, so that the sliding of the first sliding rod 22 in the first sliding hole 21 is stable.

[0079] The second sliding hole 26 is provided on the side wall of the second housing 24 along its length direction. The second sliding hole 26 is provided in two sets on the left and right sides corresponding to the symmetrical pipe storage units on both sides. The second sliding rod 27 is slidably fitted in the second sliding hole 26. One end of the second sliding rod 27 is fixed on the finger beam 2 on the side of the pipe storage unit located on the same side away from the derrick.

[0080] Based on the above structure, on the outermost finger beam 2 of the same side pipe unit, two sliding rods are used to achieve double sliding rod + double-sided sliding constraint, making the movement guidance of the pipe unit relative to the second-floor platform in the X direction more stable and secure.

[0081] In terms of driving, hydraulic cylinders or pneumatic cylinders are used for driving, including a first driving cylinder 23 disposed in the first housing 19, and a second driving cylinder symmetrically disposed on the left and right sides of the second housing 24. The first driving cylinder 23 is arranged along the X direction and its piston is engaged with a first cylinder rod for telescopic cooperation. The end of the first cylinder rod is fixedly connected to a first slide rod 22 located in the same first housing 19. The second driving cylinder is arranged along the X direction and its piston is engaged with a second cylinder rod for telescopic cooperation. The end of the second cylinder rod is fixedly connected to a second slide rod 27 on the same side. The first driving cylinder 23 and the second driving cylinder are driven synchronously, thereby realizing that the pipe storage units on both sides are synchronously translated to the left and right sides, or synchronously centered and retracted.

[0082] Under the above layout and design, the pipe storage units on both sides are extra wide in operation. By adopting a relative telescopic structure for the pipe storage units on both sides, the expansion or contraction of the pipe boxes on both sides is achieved based on the reverse hydraulic cylinders. When contracted, the inner sides of the pipe storage units on both sides are close to each other and located below the central support 18, which folds the width in space and reduces the overall size to ensure that the final contracted length is within 2.55m (the maximum permissible length is 2.55-3m), thus ensuring that the transport does not exceed the width limit.

[0083] 4) Grabbing Unit Below the central support 18, there are two side plates 28 fixedly installed. The side plates 28 are symmetrically installed on the left and right sides of the central support 18. The side plates 28 extend vertically. A strip track 29 is fixedly installed on the inner end face of the opposite side plate 28. The strip track 29 extends along the Y direction. Between the two side plates 28, there is a traveling frame 30 with a travel distance along the Y direction. Guide wheel sets 31 are rotatably installed on both sides of the traveling frame 30. Each guide wheel set 31 includes two guide wheels, one upper and one lower. The upper and lower guide wheels in the same set are located above and below the strip track 29, respectively. The bottom circumference of the upper guide wheel is in contact with the top surface of the strip track 29, and the top surface of the lower guide wheel is in contact with the bottom surface of the strip track 29, thereby realizing guided travel along the strip track 29. There are at least two sets of guide wheel sets 31 on the same side to achieve linear guidance.

[0084] The walking frame 30 is also equipped with a walking gear, and the inner side of the side plate 28 is also equipped with a rack 45 that meshes with the walking gear for precise walking action. The walking frame 30 is also equipped with a walking motor, and the output shaft of the walking motor is connected to the walking gear through a gearbox to realize walking control, enabling the walking frame 30 to move back and forth in the middle of the second-floor platform module.

[0085] The walking frame 30 has a rotating seat in the middle, and a rotating platform 32 is rotatably connected to the bottom end of the rotating seat. The rotating platform 32 is driven to rotate by a rotating motor installed in the rotating seat or on the walking frame 30.

[0086] A swing arm 33 is hinged to the bottom of the rotating platform 32. Specifically, the top of the swing arm 33 is provided with an upper shaft 34 and the bottom with a lower shaft 36. The top of the swing arm 33 is rotatably connected to the upper shaft 34. The upper shaft 34 is fixedly installed relative to the bottom of the rotating platform 32, and fixed sprockets 35 are provided at both ends of the upper shaft 34. The fixed sprockets 35 do not rotate. The lower shaft 36 is rotatably connected relative to the bottom of the swing arm 33, and rotating sprockets 37 are provided at both ends of the lower shaft 36. The fixed sprockets 35 and the rotating sprockets 37 have the same diameter and are of the same model. The rotating sprockets 37 rotate relative to the swing arm 33. A claw head seat 40 is also sleeved and fixed on the lower shaft 36. The claw head seat 40 is used to mount a robotic gripper for holding and grasping the oil pipe.

[0087] Furthermore, to increase the stability of the swing arm 33 during its movement, an upper fixed rod 51 and a lower fixed rod 52 are respectively provided at both ends of the swing arm 33. The top end of the upper fixed rod 51 is fixedly installed on the bottom surface of the rotating platform, and the bottom end of the lower fixed rod 52 is fixed on the slotted frame 41. A connecting rod frame 53 is provided above the swing arm 33 to assist in swinging relative to it. The top end of the connecting rod frame 53 is hinged to the bottom end of the upper fixed rod 51, and the bottom end of the connecting rod frame 53 is hinged to the top end of the lower fixed rod 52, realizing a parallelogram connecting rod structure and enhancing stability.

[0088] A chain belt 38 is wound between a fixed sprocket 35 and a rotating sprocket 37. The chain belt 38 is wound in a loop shape. A first electric cylinder 39 is also fixedly installed inside the swing arm 33. A first push rod is telescopically coupled to the first electric cylinder 39. The first push rod is electrically driven, ensuring high precision. The telescopic direction of the first push rod corresponds to the length direction of the chain belt 38. The end of the first push rod is fixed relative to the lower chain belt 38. Thus, the first electric cylinder 39 drives the chain belt 38 to extend and retract, causing the chain belt 38 to extend and retract around the fixed sprocket 35, thereby realizing the swing of the swing arm 33. The rotating sprocket 37 rotates under the movement of the chain belt 38. Since the rotating sprocket 37 and the fixed sprocket 35 have the same specifications, the rotation angle of the rotating sprocket 37 is the same in magnitude and opposite in direction to the swing angle of the swing arm 33, thus ensuring that the gripping is horizontal and the angle is fixed. This achieves the linkage between the swing arm 33 and the claw head seat 40.

[0089] Specifically, auxiliary stroke limitation is implemented for the extension and retraction of the chain 38, including a linear guide rail extending along its length direction inside the swing arm 33, a linear slider on the linear guide rail, a linear carriage fixed on the linear slider, and the end of the first push rod and the lower chain 38 are both fixed on the linear carriage, thereby stabilizing the pushing stroke of the chain 38 through the linear carriage.

[0090] Its working principle is as follows: When the first electric cylinder 39 pushes the first push rod, the first push rod drives the lower chain belt 38 fixed to it to move, thereby driving the entire chain belt 38 to rotate.

[0091] The movement of the chain belt 38 forces the rotating sprocket 37 at the lower end to rotate, which in turn drives the lower shaft 36 and the claw head seat 40 fixed thereon to rotate, enabling the robotic gripper to rotate around the lower shaft 36.

[0092] Meanwhile, since the fixed sprocket 35 at the upper end is fixed relative to the bottom of the rotating platform 32, the tension applied by the chain belt 38 to the fixed sprocket 35 during the movement will generate a torque around the upper shaft 34. This torque acts on the swing arm 33, causing the swing arm 33 to swing around the upper shaft 34.

[0093] Therefore, the push of the first electric cylinder 39 will simultaneously cause the pitch swing of the swing arm 33 and the rotation of the claw head 40, and the upward swing angle of the swing arm 33 is equal to the downward swing angle of the claw head 40 (relative to the swing arm 33), so that the absolute direction of the robotic claw remains horizontal (or the initial posture remains unchanged).

[0094] The advantages of the above-mentioned robotic arm linkage swing structure are: 1) The design of the equal-diameter sprocket ensures that the angular displacement of the swing arm 33 is equal in magnitude and opposite in direction to the relative angular displacement of the claw head seat 40. This ensures that the absolute attitude of the robotic gripper relative to the ground (or rotating platform 32) remains constant. It also ensures that the gripping surface is directly aligned with the tubing axis when gripping the tubing, preventing slippage due to swinging. Attitude maintenance is achieved purely through geometric constraints, without relying on sensor feedback, real-time algorithms, or a second actuator. This significantly improves operational stability in well site environments.

[0095] 2) Single-drive decoupling of two degrees of freedom motion reduces both cost and weight. Traditional solutions require two independent drives (one controlling the 33° pitch of the swing arm and the other controlling the 40° rotation of the claw head), along with two sets of controllers, sensors, and cables. This structure uses only one drive cylinder 16 to handle both, directly reducing hardware costs by approximately 40% to 50%. It eliminates the need for complex motion synthesis mechanisms (such as differential gear trains or dual-motor electronic gears), as the chain and sprocket themselves perform both transmission and coupling functions, reducing the total number of parts and improving compactness.

[0096] 3) The transmission chain is simplified. Lightweight design is particularly important for high-altitude operations. The swing arm 33 only houses the chain belt 38, the drive cylinder 16 and the push rod. There is no additional reducer or second motor, which makes it lighter and easier for the turntable 32 to bear the load and for the whole machine to be balanced.

[0097] In summary, this mechanism uses one degree of freedom (the linear motion of the driving electric cylinder 16) to constrain the proportional relationship between the other two degrees of freedom (oscillation and rotation), achieving a high-performance, cost-effective solution with "single input, dual output, and unchanged attitude." It replaces complex sensing and calculation with deterministic mechanical logic, making it particularly suitable for automated oil drilling and production equipment with stringent requirements for reliability, cost, and environmental adaptability.

[0098] The end of the claw head seat 40 away from the swing arm 33 is equipped with a robotic gripper, which includes components such as a second electric cylinder 42, a slotted frame 41, a claw head 50, a pressure plate 49, a helical spring 48, a connecting shaft 47, and a sliding frame 43.

[0099] The slotted frame 41 is fixed relative to the claw head seat 40. The initial setting state of the slotted frame 41 is horizontal, and the slotted frame 41 is a straight column with a constant cross-section in the vertical direction. The slotted frame 41 has a receiving groove running through it from top to bottom. The receiving groove has a slot opening at the end away from the claw head seat 40 of the slotted frame 41. The slot opening is used to insert an oil pipe.

[0100] The slot is provided with side plates on both sides. The side plates are mainly used to provide mounting positions for the claw head 50 and the connecting shaft 47.

[0101] The slotted frame 41 has a sliding frame 43 on the side near the claw head seat 40, which is slidably engaged with it for vertical movement. The sliding frame 43 has a portal frame structure and includes a flat beam and a side beam. The two ends of the flat beam are fixed to the top of the side beam to form a portal frame structure. The side beams are located on both sides of the claw head seat 40. The two sides of the claw head seat 40 are provided with vertically penetrating grooves 44 corresponding to the side beams. The side beams and the grooves 44 slide together to guide the vertical movement of the sliding frame 43. A rack 45 is provided on the outer end face of the side beam. The second electric cylinder 42 is fixedly installed relative to the claw head seat 40 / slotted frame 41. The second electric cylinder 42 is telescopically engaged with a second push rod. The end of the second push rod is fixed to the middle of the flat beam, thereby driving the vertical movement of the sliding frame 43.

[0102] There are two connecting shafts 47, which are horizontally and symmetrically installed on both sides of the slotted frame 41. The end of the connecting shaft 47 near the claw head seat 40 is provided with a transmission gear 46. The transmission gear 46 meshes with the rack 45 and transmits the lifting and sliding action of the sliding frame 43 into the rotation action of the connecting shaft 47. The end of the connecting shaft 47 away from the claw head seat 40 is provided with a claw head 50. The claw heads 50 on both sides are arranged opposite each other, and the claw heads 50 realize relative swinging based on the rotation of the connecting shaft 47.

[0103] The claw heads 50 are two in number and symmetrically arranged in the slot. The outer ends of the claw heads 50, which are far apart from each other, obtain swing points based on their connection with the connecting shaft 47. The opposite ends of the claw heads 50 approach each other in a horizontal state, thus closing the slot.

[0104] Based on the above structure, the claw head 50 has two stop states and a 90-degree swing stroke, specifically: Parallel closed state: The two claw heads 50 are horizontal and side by side in the slot, with the ends of the claw heads 50 approaching each other, thus closing the slot.

[0105] Upright open state: The end of the claw head 50 is upright on both sides of the groove, and the groove is open to facilitate the entry of the oil pipe into the receiving groove.

[0106] Opening the swing: The rotation of the connecting shaft 47 drives the claw head 50 to swing from horizontal to vertical, and the claw heads 50 on both sides stand upright, thus opening the slot and entering the upright opening state; Closed swing: The connecting shaft 47 drives the claw head 50 to swing downward from upright to horizontal, and the claw heads 50 on both sides enter the flat closed state.

[0107] A pressure plate 49 is also provided in the receiving groove. The pressure plate 49 is a strip extending along the X direction. The side of the pressure plate 49 near the groove opening is provided with a V-shaped groove for better fit with the circumferential surface of the oil pipe. Sliding holes are provided at both ends of the pressure plate 49. The sliding holes are penetrated by the connecting shaft 47, allowing the pressure plate 49 to slide relative to the connecting shaft 47. Between the bottom of the receiving groove and the pressure plate 49, there is a helical spring 48 sleeved on the connecting shaft 47. The helical spring 48 has an elastic thrust that brings the pressure plate 49 closer to the groove opening.

[0108] The specific workflow of this robotic gripper is as follows: First, when the robotic gripper needs to grasp the oil pipe, the second electric cylinder 42 is activated, driving the sliding frame 43 to slide upward via the second push rod. The transmission gear 46, which meshes with the rack 45 on the side beam of the sliding frame 43, rotates accordingly, causing the two connecting shafts 47 and the claw head 50 at the end to swing upward 90° synchronously, switching from a horizontal closed state to an upright open state, so that the slot is fully open, providing space for the oil pipe to enter the receiving slot.

[0109] Next, the robotic gripper moves horizontally towards the oil pipe, allowing it to enter the receiving groove from the slot. During this entry, the pipe's circumference abuts against and pushes the pressure plate 49, overcoming the elastic force of the helical spring 48, towards the bottom of the receiving groove. Once the pipe is fully in the predetermined position, the second electric cylinder 42 drives the sliding frame 43 to slide downwards. Through the reverse meshing of the rack 45 and the transmission gear 46, the gripper head 50 swings downwards by 90°, returning from an upright open state to a horizontal closed state. At this point, the two gripper heads 50 close the slot, and the pressure plate 49, under the continuous thrust of the helical spring 48, firmly abuts against the circumference of the oil pipe through its V-groove, achieving stable clamping of the pipe. In this state, the robotic gripper maintains a horizontal posture, ensuring the oil pipe remains upright and does not detach during transport.

[0110] Finally, after the robotic gripper carrying the oil pipe moves to the designated station in the pipe storage unit, the second electric cylinder 42 is activated again, causing the gripper head 50 to swing upwards to an upright, open position, releasing the seal on the slot. Then, the robotic gripper is controlled to move horizontally backwards, allowing the upper end of the oil pipe to smoothly enter the station (e.g., between two helical blades). After the robotic gripper has completely exited the receiving slot, the pressure plate 49, under the restoring thrust of the helical spring 48, maintains its elastic pressure on the oil pipe, thus stably retaining the oil pipe in the station, completing the automatic loading and unloading of the oil pipe.

[0111] The working principle of the above structure is as follows: When the robotic gripper approaches the oil pipe, the gripper head 50 swings upward to open the slot space, and the robotic gripper moves horizontally forward to allow the oil pipe to enter the receiving slot from the slot opening. During the entry process, the oil pipe pushes the pressure plate 49 to move. When the oil pipe is in place, the gripper head 50 closes to lock the oil pipe in the receiving slot, and the pressure plate 49 clamps the oil pipe, maintaining the oil pipe upright during gripping and movement based on the horizontal state of the robotic gripper. After the oil pipe reaches the pipe storage unit, the upper part of the oil pipe can be allowed to enter the workstation (between the two helical blades) by horizontally pushing the robotic gripper. After it is in place, the gripper head 50 swings upward to unlock the slot, and the robotic gripper retracts, using the helical spring 48 to keep the oil pipe in place.

[0112] It should be noted that the above description is a further detailed explanation of the present invention in conjunction with specific embodiments, and it should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple improvements and modifications can be made without departing from the concept of the present invention, and all such improvements and modifications should be considered to fall within the scope of protection of the present invention.

Claims

1. A two-layer platform module, characterized in that, The system includes a central support, with pipe storage units symmetrically arranged on both sides of the central support. A gripping unit is mounted on the central support. Each pipe storage unit comprises multiple sets of working units arranged along the front-rear direction relative to the derrick. Each working unit has two horizontally extending, parallel spiral shafts at the same height. Each working unit includes an upper working unit and a lower working unit. The spiral shafts include an upper spiral shaft and a lower spiral shaft arranged at the same height, with the upper spiral shaft located above the lower spiral shaft. The upper spiral shafts of adjacent crossbeams form an upper working unit, and the lower spiral shafts of adjacent crossbeams form a lower working unit. The upper and lower working units are alternately arranged. The two spiral shafts within the same working unit rotate in opposite directions at the same speed and have spiral blades with opposite directions of rotation. A clamping gap adapted to the diameter of the tubing is formed between the spiral shafts. This clamping gap is the minimum distance between the circumferential surfaces of two spiral shafts in the same working unit. The width of the clamping gap is greater than the outer diameter of the tubing body and less than the outer diameter of the tubing joint clamp. The gripping unit includes a traveling frame with a travel stroke along the front-rear direction of the derrick. A rotating platform is rotatably mounted below the traveling frame. A swing arm is hinged to the rotating platform, and a robotic gripper is hinged to the bottom end of the swing arm. The robotic gripper is horizontal, and its swing direction is opposite to that of the swing arm, with corresponding angles. Two side plates are fixedly mounted opposite to the central support, symmetrically installed on the left and right sides of the central support. The side plates extend vertically. A strip track is fixedly installed on the inner end face of the walking frame. Guide wheel sets are rotatably installed on both sides of the walking frame. Each guide wheel set includes two guide wheels, one above and one below the strip track. The bottom circumference of the upper guide wheel contacts the top surface of the strip track, and the top surface of the lower guide wheel contacts the bottom surface of the strip track. At least one guide wheel is driven by a motor. A rotating seat is provided in the middle of the walking frame. The rotating table is rotatably installed on the rotating seat and rotated by electric drive. The robotic gripper includes a slotted frame fixed relative to the gripper head seat. The slotted frame has a receiving groove running vertically through it. The receiving groove has an opening at the end away from the gripper head seat. The slotted frame is closer to the gripper head seat at one end. A sliding frame is provided on the side for its lifting and sliding cooperation. A second electric cylinder is provided on the claw head seat or the slotted frame. A second push rod is fitted on the second electric cylinder. The end of the second push rod is fixed to the sliding frame. A rack is provided on the sliding frame. Connecting shafts are symmetrically rotatably mounted on both sides of the slotted frame in the transverse direction. A transmission gear that meshes with the rack is provided at one end of the connecting shaft near the claw head seat. A claw head located at the slot opening is provided at the other end of the connecting shaft. The inner ends of the two claw heads are close to each other when in a horizontal state. A pressure plate is also provided in the receiving slot. A V-shaped groove is provided in the center of the side of the pressure plate near the slot opening. The two ends of the pressure plate are slidably connected to the connecting shaft on the same side. A helical spring is also sleeved on the connecting shaft. The helical spring has an elastic force that brings the pressure plate closer to the slot opening.

2. The two-layer platform module according to claim 1, characterized in that, The swing arm has an upper shaft at its top and a lower shaft at its bottom. A fixed sprocket is fixed on the upper shaft and is fixed relative to the rotating platform. The top of the swing arm is rotatably engaged with the upper shaft. A rotating sprocket is fixed on the lower shaft and is rotatably engaged relative to the bottom of the swing arm. The fixed sprocket and the rotating sprocket are of the same diameter and have the same teeth and are wound with a chain. A first electric cylinder is installed inside the swing arm. A first push rod is telescopically engaged on the first electric cylinder. The end of the first push rod is fixed relative to the chain located on the lower layer. A claw head seat is also fixed on the lower shaft. The claw head seat is used to install a robotic gripper.

3. The two-layer platform module according to claim 1, characterized in that, The storage unit includes a transmission box located outside the second-floor module and parallel to the central support. A drive mechanism is arranged inside the transmission box. The drive mechanism is used to drive the two helical shafts of a certain group of working units to rotate. Multiple horizontally extending crossbeams are fixed on the adjacent inner end faces of the transmission box. The helical shafts are rotatably mounted on the crossbeams. An upper helical shaft or a lower helical shaft is mounted on the two outer crossbeams, and both an upper helical shaft and a lower helical shaft are mounted on the crossbeam in the middle.

4. The two-layer platform module according to claim 1, characterized in that, The central support and gripping unit are both located above the pipe storage unit, and they are staggered in height. The central support has two first boxes symmetrically arranged laterally on the side closer to the derrick, and a second box extending laterally on the side farther from the derrick. The first and second boxes are at the same height and located below the central support. The first box outputs a first slide rod with a lateral travel, and the second box outputs a second slide rod with a lateral travel. The first and second slide rods are respectively connected to the pipe storage unit on the same side.

5. A two-layer platform module according to claim 4, characterized in that, The first housing is fixed with a frame structure, and the frame structure has a hinge position on the side near the derrick. The second housing has a hoisting position.

6. A two-layer platform module according to claim 4, characterized in that, The first housing has a horizontally extending first sliding hole on its side wall. The first sliding rod passes through the first sliding hole and slides laterally with the first sliding hole. The first housing has a first drive cylinder. The piston of the first drive cylinder is engaged with a first cylinder rod. The end of the first cylinder rod is fixedly connected to a first sliding rod located in the same first housing. The second housing has a horizontally extending second sliding hole on its side wall. The second sliding rod passes through the second sliding hole and slides laterally with the second sliding hole. The second housing has a second drive cylinder. The piston of the second drive cylinder is in extension and retraction cooperation with a second cylinder rod. The end of the second cylinder rod is fixedly connected to a second sliding rod located in the same second housing.

7. An automated overhaul system, comprising a derrick, characterized in that, The derrick is equipped with a two-tier platform module as described in any one of claims 1-6.

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