Truss type petroleum pipe rod automatic box assembling and disassembling system

Abstract

The utility model discloses a truss type petroleum pipe rod automatic box assembling and disassembling system, which comprises a petroleum pipe rod, a pipe frame, a material distributing device, a ground guide rail, a first moving trolley, a pipe rod box and a second moving trolley, and has the beneficial effects that the material distributing device is used for bearing the petroleum pipe rod on the pipe frame, and the first moving trolley moves to the material distributing device; petroleum pipe rods are grabbed through the first mechanical arm and the second mechanical arm, then the first moving trolley is moved to the pipe rod box, the petroleum pipe rods are placed in the pipe rod box, when one layer is full, the cross arm is placed and locked, and automatic boxing can be achieved by repeating the steps, and otherwise, the petroleum pipe rods in the pipe rod box are grabbed through the first mechanical arm and the second mechanical arm. According to the automatic box disassembling device for the petroleum pipe rods, the petroleum pipe rods are grabbed to the pipe frame, automatic box disassembling is achieved, after one layer of petroleum pipe rods are grabbed, the cross arms are unlocked and taken down, and box disassembling can be achieved by circulating the steps, and the standardized automatic operation problems of boxing of the petroleum pipe rods from the pipe frame to the pipe rod box and box disassembling of the petroleum pipe rods from the pipe rod box to the pipe frame can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of the preservation management of oil pipe rods, and particularly relates to a truss-type automatic loading and unloading box system for oil pipe rods. Background Art

[0002] At present, oil pipe rods are generally stored on the ground in a scattered manner. The alignment, transfer, and storage of oil pipe rods rely on a pipe gripper to complete, resulting in the disorderly storage of oil pipe rods, which is not convenient for management. Therefore, it is necessary to design a truss-type automatic loading and unloading box system for oil pipe rods to solve the problems of standardized and automatic operation of loading oil pipe rods from a pipe rack into a pipe box and unloading from the pipe box to the pipe rack. Content of the Utility Model

[0003] To solve the above problems, the utility model provides a truss-type automatic loading and unloading box system for oil pipe rods, and the utility model is realized through the following technical solutions.

[0004] A truss-type automatic loading and unloading box system for oil pipe rods includes oil pipe rods, and also includes a pipe rack, a feeding device, a ground guide rail, a first mobile vehicle, a pipe box, and a second mobile vehicle. The pipe racks are arranged side by side at intervals, and both ends of the oil pipe rods are placed on the pipe racks; there are two groups of feeding devices located inside the pipe racks; the ground guide rail is arranged outside the pipe racks and laid along the length direction of the pipe racks; the first mobile vehicle is slidably connected to the ground guide rail, the pipe box is located below the first mobile vehicle, and the second mobile vehicle is slidably connected to the first mobile vehicle. A fixed manipulator assembly and a mobile manipulator assembly are provided on the second mobile vehicle.

[0005] Preferably, the feeding device includes a base and a moving seat; a slide rail is fixedly connected to the base, and a lead screw is driven by a moving motor on the base. The moving seat is slidably connected to the slide rail and meshed with the lead screw. A bracket and a cylinder are fixedly connected to the moving seat. A support seat is slidably connected to the moving seat, and the support seat is fixedly connected to the top of the cylinder. A pair of V-shaped grooves are provided on the support seat, and rollers are rotatably connected to the side walls of the V-shaped grooves.

[0006] Preferably, the first mobile vehicle is of a four-column gantry structure. The first mobile vehicle includes symmetric bottom beams and top beams, and a power assembly is installed on the bottom beams for driving the first mobile vehicle to move along the ground guide rail.

[0007] Preferably, the second mobile vehicle is of a rectangular structure formed by docking a pair of end beams and a pair of long beams. A first rack and a first guide rail are fixedly connected to the top beam. The end beams are slidably connected to the first guide rail, and a first gear is driven by a first motor on the end beams. The first gear is meshed with the first rack.

[0008] Preferably, a first short cross beam, a second short cross beam and a third short cross beam are fixedly connected between the long beams. There are two of each of the first short cross beam, the second short cross beam and the third short cross beam, and they are symmetrically distributed on both sides of the long beam. The fixed manipulator assembly is fixedly connected to the first short cross beam and the second short cross beam. A second guide rail is fixedly connected to the second short cross beam and the third short cross beam. The moving manipulator assembly is slidably connected to the second guide rail through a second slider. A second rack is fixedly connected to the inner wall of one of the second guide rails. A second gear is driven on the moving manipulator assembly by a second motor. The second gear meshes with the second rack. A hanger is slidably connected to the fixed manipulator assembly and the moving manipulator assembly. First manipulators and second manipulators are respectively fixedly connected to the bottoms of the two hangers. A third rack is fixedly connected to the hanger. A third gear is driven on the fixed manipulator assembly and the moving manipulator assembly by a third motor. The third gear meshes with the third rack.

[0009] Preferably, two first moving cross beams and a second moving cross beam are symmetrically arranged on the long beam. A small gripper assembly and a disassembly and assembly assembly are respectively fixedly connected to the first moving cross beam and the second moving cross beam. A gripper and a pair of disassembly heads are respectively arranged below the small gripper assembly and the disassembly and assembly assembly. A frame is fixedly connected to the outside of the pipe and rod box. Cross braces are stacked between two frames along the length direction of the oil pipe and rod. Lock heads corresponding to the disassembly heads are arranged on the frame.

[0010] Preferably, a fourth rack and a fourth guide rail are fixedly connected to the long beam. The first moving cross beam and the second moving cross beam are slidably connected to the fourth guide rail through a fourth slider. A fourth gear is driven on the first moving cross beam and the second moving cross beam by a fourth motor. The fourth gear meshes with the fourth rack.

[0011] Preferably, a fifth rack is slidably connected to the small gripper assembly and the disassembly and assembly assembly. The gripper and the disassembly head are respectively fixedly connected to the bottoms of the two fifth racks. A fifth gear is driven on the small gripper assembly and the disassembly and assembly assembly by a fifth motor. The fifth gear meshes with the fifth rack. Guide rods are slidably connected to both sides of the disassembly and assembly assembly. The guide rods are used to guide the lifting of the disassembly head.

[0012] The beneficial effect of the present utility model is that the material distribution device is used to receive the oil pipe and rod on the pipe rack. When the first moving vehicle moves to the material distribution device, the first manipulator and the second manipulator grab the oil pipe and rod, and then the first moving vehicle moves to the pipe and rod box, and the oil pipe and rod are placed into the pipe and rod box. By repeating this process, the automatic boxing of the oil pipe and rod can be realized. Conversely, the first manipulator and the second manipulator grab the oil pipe and rod in the pipe and rod box, grab it to the material distribution device, and then transfer it from the material distribution device to the pipe rack to realize the unboxing of the oil pipe and rod. The present utility model can solve the problem of standardized and automated operation of boxing the oil pipe and rod from the pipe rack to the pipe and rod box and unboxing from the pipe and rod box to the pipe rack. Brief Description of the Drawings

[0013] In order to more clearly illustrate the technical solutions of the present utility model, the drawings required for use in the description of the specific embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0014] Figure 1 : Axonometric view of a truss-type automatic loading and unloading box system for oil pipe rods according to the present utility model;

[0015] Figure 2 : Axonometric view of the material distribution device according to the present utility model;

[0016] Figure 3 : Axonometric view of the first mobile vehicle according to the present utility model;

[0017] Figure 4 : Axonometric view of the second mobile vehicle according to the present utility model;

[0018] Figure 5 : Partial schematic view of the second mobile vehicle according to the present utility model;

[0019] Figure 6 : Axonometric view of the pipe rod box according to the present utility model;

[0020] Figure 7 : Schematic diagram of the lifting drive of the hanger according to the present utility model.

[0021] The reference numerals are as follows:

[0022] A - Oil pipe rod, 1 - Pipe rack, 2 - Feeding device, 21 - Base, 22 - Moving seat, 23 - Slide rail, 24 - Moving motor, 25 - Lead screw, 26 - Bracket, 27 - Cylinder, 28 - Support, 29 - V - shaped groove, 210 - Roller, 3 - Ground guide rail, 4 - First moving vehicle, 41 - Bottom beam, 42 - Top beam, 43 - Power assembly, 5 - Pipe rod box, 6 - Second moving vehicle, 61 - Fixed manipulator assembly, 62 - Moving manipulator assembly, 63 - End beam, 64 - Long beam, 65 - First rack, 66 - First guide rail, 67 - First motor, 68 - First gear, 69 - First short cross beam, 610 - Second short cross beam, 611 - Third short cross beam, 612 - Second guide rail, 613 - Second slider, 614 - Second rack, 615 - Second motor, 616 - Second gear, 617 - Hanger, 618 - First manipulator, 619 - Second manipulator, 620 - Third rack, 621 - Third motor, 622 - First moving cross beam, 623 - Second moving cross beam, 624 - Small gripper assembly, 625 - Disassembly and assembly unit, 626 - Gripper, 627 - Disassembly head, 629 - Frame, 630 - Cross support, 631 - Lock head, 632 - Fourth rack, 633 - Fourth guide rail, 634 - Fourth slider, 635 - Fourth motor, 636 - Fourth gear, 637 - Fifth rack, 638 - Fifth motor, 639 - Fifth gear, 640 - Third gear. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0024] As Figures 1-7 shown, a truss - type automatic disassembly and assembly box system for oil pipe rods includes an oil pipe rod A, and also includes a pipe rack 1, a feeding device 2, a ground guide rail 3, a first moving vehicle 4, a pipe rod box 5, and a second moving vehicle 6. The pipe racks 1 are arranged side by side at intervals, and both ends of the oil pipe rod A are placed on the pipe racks 1; two groups of feeding devices 2 are provided and located inside the pipe racks 1; the ground guide rail 3 is arranged outside the pipe racks 1 and laid along the length direction of the pipe racks 1; the first moving vehicle 4 is slidably connected to the ground guide rail 3, the pipe rod box 5 is located below the first moving vehicle 4, the second moving vehicle 6 is slidably connected to the first moving vehicle 4, and the second moving vehicle 6 is provided with a fixed manipulator assembly 61 and a moving manipulator assembly 62.

[0025] Further, the material distributing device 2 includes a base 21 and a moving seat 22; a slide rail 23 is fixedly connected to the base 21, and a lead screw 25 is driven by a moving motor 24 on the base 21. The moving seat 22 is slidably connected to the slide rail 23 and meshes with the lead screw 25. A bracket 26 and a cylinder 27 are fixedly connected to the moving seat 22. A support seat 28 is slidably connected to the moving seat 22, and the support seat 28 is fixedly connected to the top of the cylinder 27. A pair of V-shaped grooves 29 are formed in the support seat 28, and rollers 210 are rotatably connected to the side walls of the V-shaped grooves 29.

[0026] As Figure 1 and 2 shown, the height of the support seat 28 can be lowered by the cylinder 27, and the petroleum pipe rod A on the pipe rack 1 can be turned into the V-shaped groove 29. Due to the existence of the rollers 210, the petroleum pipe rod A in the V-shaped groove 29 can move linearly, so as to realize the alignment of the ends of the petroleum pipe rod A. The moving motor 24 drives the lead screw 25 to rotate, and then the moving seat 22 can be driven to slide. The moving seat 22 drives the support seat 28 to move along the direction of the pipe rack 1 to adapt to the spacing of the petroleum pipe rods A with different diameters.

[0027] Further, the first moving vehicle 4 is of a four-column gantry structure. The first moving vehicle 4 includes symmetric bottom beams 41 and top beams 42. A power assembly 43 is installed on the bottom beam 41 and is used to drive the first moving vehicle 4 to move along the ground guide rail 3.

[0028] As Figure 3 shown, the power assembly 43 can drive the first moving vehicle 4 to move on the ground guide rail 3.

[0029] Further, the second moving vehicle 6 is of a loop structure formed by docking a pair of end beams 63 and a pair of long beams 64. A first rack 65 and a first guide rail 66 are fixedly connected to the top beam 42. The end beam 63 is slidably connected to the first guide rail 66. A first gear 68 is driven by a first motor 67 on the end beam 63, and the first gear 68 meshes with the first rack 65.

[0030] As Figure 3 and 4 shown, when the first motor 67 drives the first gear 68 to rotate, the second moving vehicle 6 is slidably connected to the first guide rail 66, and a first rack 65 is fixedly connected to the top beam 42. When the first gear 68 rotates, the second moving vehicle 6 can slide along the top beam 42.

[0031] Further, a first short cross beam 69, a second short cross beam 610, and a third short cross beam 611 are fixedly connected between the long beams 64. There are two of each of the first short cross beam 69, the second short cross beam 610, and the third short cross beam 611, and they are symmetrically distributed on both sides of the long beam 64. The fixed manipulator assembly 61 is fixedly connected to the first short cross beam 69 and the second short cross beam 610. A second guide rail 612 is fixedly connected to the second short cross beam 610 and the third short cross beam 611. The moving manipulator assembly 62 is slidably connected to the second guide rail 612 through a second slider 613. A second rack 614 is fixedly connected to the inner wall of one of the second guide rails 612. A second gear 616 is driven by a second motor 615 on the moving manipulator assembly 62, and the second gear 616 meshes with the second rack 614. A hanger 617 is slidably connected to the fixed manipulator assembly 61 and the moving manipulator assembly 62. First manipulators 618 and second manipulators 619 are respectively fixedly connected to the bottoms of the two hangers 617. A third rack 620 is fixedly connected to the hanger 617. A third gear 640 is driven by a third motor 621 on the fixed manipulator assembly 61 and the moving manipulator assembly 62, and the third gear 640 meshes with the third rack 620.

[0032] As Figure 4 and 5 shown, the second motor 615 drives the second gear 616 to rotate, which can drive the moving manipulator assembly 62 to slide on the second short cross beam 610 and the third short cross beam 611, thereby adjusting the distance between the first manipulator 618 and the second manipulator 619 to adapt to the placement spacing of the oil pipe rods A. By driving the third gear 640 to rotate through the third motor 621, the height of the hanger 617 can be adjusted, and further the heights of the first manipulator 618 and the second manipulator 619 can be adjusted.

[0033] Further, two first moving cross beams 622 and a second moving cross beam 623 are symmetrically arranged on the long beam 64. A small gripper assembly 624 and a disassembly and assembly assembly 625 are respectively fixedly connected to the first moving cross beam 622 and the second moving cross beam 623. A gripper 626 and a pair of disassembly heads 627 are respectively arranged below the small gripper assembly 624 and the disassembly and assembly assembly 625. A frame 629 is fixedly connected to the outside of the pipe rod box 5. Cross bars 630 are stacked between two frames 629 along the length direction of the oil pipe rod A. A lock 631 corresponding to the disassembly head 627 is arranged on the frame 629.

[0034] As Figure 5 and 6 shown, the gripper 626 can grab the cross bar 630 and place it on the oil pipe rod A in the pipe rod box 5 to achieve the layering of the oil pipe rod A. The disassembly head 627 can be used to lock or unlock the lock 631.

[0035] Further, a fourth rack 632 and a fourth guide rail 633 are fixedly connected to the long beam 64. The first moving cross beam 622 and the second moving cross beam 623 are slidably connected to the fourth guide rail 633 through a fourth slider 634. A fourth gear 636 is driven on the first moving cross beam 622 and the second moving cross beam 623 by a fourth motor 635, and the fourth gear 636 meshes with the fourth rack 632.

[0036] As Figure 5 shown, the fourth motor 635 drives the fourth gear 636 to rotate, so that the first moving cross beam 622 and the second moving cross beam 623 move on the long beam 64.

[0037] Further, a fifth rack 637 is slidably connected in the small gripper 626 assembly 624 and the disassembly and assembly assembly 625. The gripper 626 and the disassembly head 627 are respectively fixedly connected below the two fifth racks 637. A fifth gear 639 is driven on the small gripper 626 assembly 624 and the disassembly and assembly assembly 625 by a fifth motor 638, and the fifth gear 639 meshes with the fifth rack 637. Guide rods 641 are slidably connected to both sides of the disassembly and assembly assembly 625, and the guide rods 641 are used to guide the lifting of the disassembly head 627.

[0038] As Figure 5 shown, the fifth motor 638 drives the fifth gear 639 to rotate, and the heights of the gripper 626 and the disassembly head 627 can be adjusted.

[0039] The working principle of the present utility model is as follows:

[0040] This application can complete the box loading process and the box unpacking process.

[0041] During the box loading process, the oil pipe rod A is turned over onto the material distribution device 2. The first mobile vehicle 4 moves on the ground guide rail 3 to a suitable position above the material distribution device 2. The mobile manipulator assembly 62 moves, thereby adjusting the position of the second manipulator 619, and further adjusting the distance between the first manipulator 618 and the second manipulator 619 to adapt to the distance of the V-shaped groove 29 for grasping. The first manipulator 618 and the second manipulator 619 descend to pick up two oil pipe rods A on the material distribution device 2. The first mobile vehicle 4 moves to the pipe rod box 5, and adjusts the distance between the first manipulator 618 and the second manipulator 619 to adapt to the pipe diameters of different oil pipe rods A. The first manipulator 618 and the second manipulator 619 rise and fall to a suitable position and put down the oil pipe rod A. This cycle continues until a layer of oil pipe rods A is fully covered. At this time, through the movement of the second mobile vehicle 6 and the first moving cross beam 622, the gripper 626 is moved to a suitable position. The gripper 626 descends to pick up the side-mounted crossbar 630. The gripper 626 moves and rotates 90° again and then puts down the crossbar 630. Then, a layer of oil pipe rods A is fully covered again, and the crossbar is placed. When the last layer is fully covered with oil pipe rods A, the lock 631 is locked by the disassembly head 627. In this way, the box loading process of the oil pipe rod A can be realized.

[0042] During the box unloading process, first, the topmost lock 631 is unlocked by the disassembly head 627. The gripper 626 picks up the crossbar 630 and places it in the frame 629. The first manipulator 618 and the second manipulator 619 pick up the oil pipe rod A. The first mobile vehicle 4 moves above the pipe rack 1 and puts down the picked-up oil pipe rod A. Then, the first mobile vehicle 4 moves to the pipe rod box 5 again to pick up the oil pipe rod A until the topmost layer of oil pipe rods A is unloaded. The crossbar 630 is moved away again to transfer the next layer of oil pipe rods A. This cycle can realize the box unloading process of the oil pipe rod A.

[0043] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor limit the present invention to only the specific implementation manners. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the relevant technical field can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A truss type oil pipe rod automatic box assembly and disassembly system, comprising oil pipe rods, a pipe rack, a material distribution device, a ground guide rail, a first moving vehicle, a pipe rod box and a second moving vehicle, characterized in that: The pipe racks are arranged side by side at intervals, and the two ends of the oil pipe rods are placed on the pipe racks; the material dividing devices are provided in two groups and are located on the inner side of the pipe racks; the ground guide rails are provided on the outer side of the pipe racks and are laid along the length direction of the pipe racks; the first moving vehicle is slidably connected to the ground guide rails, the pipe rod box is located below the first moving vehicle, the second moving vehicle is slidably connected to the first moving vehicle, and the second moving vehicle is provided with a fixed manipulator assembly and a mobile manipulator assembly.

2. The truss type oil pipe rod automatic box assembly and disassembly system according to claim 1 is characterized by: The material distributing device includes a base and a moving seat; a slide rail is fixedly connected to the base, and a screw rod is also driven by a moving motor on the base, the moving seat is slidably connected to the slide rail and meshes with the screw rod, a bracket and a cylinder are fixedly connected to the moving seat, a support seat is slidably connected to the moving seat, the support seat is fixedly connected to the top of the cylinder, a pair of V-shaped grooves are opened on the support seat, and the side walls of the V-shaped grooves are rotatably connected to rollers.

3. The truss type oil pipe rod automatic box assembly and disassembly system according to claim 1 is characterized by: The first moving vehicle is a four-column gantry structure, and includes a symmetrical bottom beam and a top beam. A power assembly is installed on the bottom beam to drive the first moving vehicle to move along a ground guide rail.

4. The truss type oil pipe rod automatic box assembly and disassembly system according to claim 3 is characterized by: The second mobile vehicle is a circular structure formed by connecting a pair of end beams and a pair of long beams. The top beam is fixedly connected with a first rack and a first guide rail. The end beam and the first guide rail are slidably connected. The end beam is driven by a first motor and a first gear is meshed with the first rack.

5. The truss type oil pipe rod automatic box assembly and disassembly system according to claim 4 is characterized by: The first short crossbeam, the second short crossbeam and the third short crossbeam are fixedly connected between the long beams, and two of the first short crossbeam, the second short crossbeam and the third short crossbeam are respectively provided and symmetrically distributed on both sides of the long beam. The fixed manipulator assembly is fixedly connected to the first short crossbeam and the second short crossbeam, and the second short crossbeam and the third short crossbeam are fixedly connected to the second guide rail. The mobile manipulator assembly is slidably connected to the second guide rail through a second slider, and a second rack is fixedly connected to the inner wall of one of the second guide rails, and a second gear is driven by a second motor on the mobile manipulator assembly, and the second gear is meshed with the second rack. The fixed manipulator assembly and the mobile manipulator assembly are slidably connected with a hanger, and the first manipulator and the second manipulator are respectively fixedly connected to the bottom of the two hangers, and a third rack is fixedly connected to the hanger, and a third gear is driven by a third motor on the fixed manipulator assembly and the mobile manipulator assembly, and the third gear is meshed with the third rack.

6. The truss type oil pipe rod automatic box assembly and disassembly system according to claim 4 is characterized by: Two first movable crossbeams and a second movable crossbeam are symmetrically arranged on the long beam, and a small gripper assembly and a disassembly assembly are fixedly connected to the first movable crossbeam and the second movable crossbeam respectively, and a gripper and a pair of disassembly heads are respectively arranged below the small gripper assembly and the disassembly assembly. A frame is fixedly connected to the outer side of the pipe rod box, and a cross arm is stacked between the two frames along the length direction of the oil pipe rod, and a lock head corresponding to the disassembly head is arranged on the frame.

7. The truss type oil pipe rod automatic box assembly and disassembly system according to claim 6 is characterized by: A fourth rack and a fourth guide rail are fixedly connected to the long beam, the first movable beam and the second movable beam are slidably connected to the fourth guide rail via a fourth slider, a fourth gear is driven by a fourth motor on the first movable beam and the second movable beam, and the fourth gear is meshed with the fourth rack.

8. The truss type oil pipe rod automatic box assembly and disassembly system according to claim 6 is characterized by: The small gripper assembly and the disassembly assembly are slidably connected with a fifth rack, the gripper and the disassembly head are respectively fixedly connected under the two fifth racks, the small gripper assembly and the disassembly assembly are driven by a fifth motor with a fifth gear, the fifth gear is meshed with the fifth rack, and guide rods are slidably connected on both sides of the disassembly assembly, and the guide rods are used to guide the lifting and lowering of the disassembly head.

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