Truss manipulator special machine for automatic machining of key groove in petroleum perforating gun

Abstract

The utility model belongs to the technical field of petroleum perforating gun processing, and particularly relates to a special truss manipulator machine for automatically processing an internal keyway of a petroleum perforating gun, which comprises a truss manipulator component, and the truss manipulator component comprises an inverted L-shaped first manipulator stand column and an inverted L-shaped second manipulator stand column which are mounted on a base. The tops of the first manipulator stand column and the second manipulator stand column are jointly provided with a manipulator beam, and a first manipulator and a second manipulator are movably installed on the manipulator beam. According to the utility model, after a workpiece is grabbed from the material frame of the upper material bin, the workpiece is moved and put into the blind hole detection device for correction, if the requirement is met, the workpiece is conveyed to the material frame of the lower material bin, if the requirement is not met, the corrected workpiece is grabbed and put into the V-shaped block I of the hydraulic clamp, and after the hydraulic corner valve I is opened, the internal keyway cutter begins to process, and the hydraulic corner valve I is closed; and the machined workpieces are grabbed and conveyed to a discharging bin material frame.

Description

Technical Field

[0001] The utility model relates to the technical field of petroleum perforating gun processing, in particular to a special truss manipulator for automatic processing of internal key grooves of petroleum perforating guns. Background Technique

[0002] A petroleum perforating gun is a tool used for well completion or cementing in the petroleum field. A perforating gun is a combination of equipment and accessories for perforating oil and gas wells. The more widely used one is the shaped charge perforating gun, which generates a shaped charge jet by the shaped charge phenomenon of the explosive flower to perforate the formation. The model of the perforating gun is represented by the outer diameter of the perforating gun. The selection of the perforating gun needs to be matched with the production casing and wall thickness, otherwise a stuck gun accident is likely to occur.

[0003] After the workpiece is perforated, it is necessary to re-inspect the blind hole. If it does not meet the requirements, further processing is required. Therefore, it is necessary to develop a special truss manipulator for automatic processing of internal key grooves of petroleum perforating guns. Summary of the Utility Model

[0004] The purpose of this part is to outline some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part, the abstract of the specification and the title of the utility model of this application to avoid obscuring the purpose of this part, the abstract of the specification and the title of the utility model, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] To solve the above technical problems, according to one aspect of the utility model, the following technical solutions are provided:

[0006] A special truss manipulator for automatic processing of internal key grooves of petroleum perforating guns, which includes:

[0007] A truss manipulator assembly, the truss manipulator assembly includes a first manipulator column and a second manipulator column arranged in an inverted "L" shape on a base. The tops of the first manipulator column and the second manipulator column are jointly provided with a manipulator cross beam, and a manipulator one and a manipulator two are movably installed on the manipulator cross beam;

[0008] A loading bin frame, a loading bin frame for the manipulator one and the manipulator two to grab workpieces is installed on the base, and a unloading bin frame for the manipulator one and the manipulator two to put down workpieces is installed on the base;

[0009] A special machine tool body of the special machine, a special machine tool body is arranged between the loading bin frame and the unloading bin frame on the base. A blind hole detection device for detecting the blind hole of the workpiece, a hydraulic fixture assembly for clamping unqualified workpieces, and an internal key groove cutter for reprocessing the workpieces clamped by the hydraulic fixture assembly are installed on the special machine tool body.

[0010] As a preferred solution of a special truss manipulator machine for automatic processing of internal keyways in an oil perforating gun according to the present utility model, wherein: two first linear motors are installed on the manipulator cross beam, and vertical inverted "T"-shaped mounting brackets are respectively arranged on the output seats of the two first linear motors. Second linear motors are respectively arranged at the bottoms of the two mounting brackets, and manipulator one and manipulator two are respectively installed on the output seats of the two second linear motors.

[0011] As a preferred solution of a special truss manipulator machine for automatic processing of internal keyways in an oil perforating gun according to the present utility model, wherein: the two first linear motors respectively drive manipulator one and manipulator two to displace in the front-rear direction, and when the two first linear motors are operating, manipulator one and manipulator two do not affect each other;

[0012] The two second linear motors respectively drive manipulator one and manipulator two to position in the left-right direction, and when the two second linear motors are operating, manipulator one and manipulator two do not affect each other.

[0013] As a preferred solution of a special truss manipulator machine for automatic processing of internal keyways in an oil perforating gun according to the present utility model, wherein: the hydraulic fixture assembly includes a hydraulic fixture V-block one and a hydraulic fixture V-block two for separately clamping the workpiece, a hydraulic rotary valve one for separately controlling the clamping or loosening of the workpiece by the hydraulic fixture V-block one, and a hydraulic rotary valve two for separately controlling the clamping or loosening of the workpiece by the hydraulic fixture V-block two.

[0014] As a preferred solution of a special truss manipulator machine for automatic processing of internal keyways in an oil perforating gun according to the present utility model, wherein: the special machine tool body further includes a numerical control system for controlling the truss manipulator assembly, the blind hole detection device, the hydraulic fixture assembly, and the internal keyway cutter.

[0015] The beneficial effects of the present utility model are as follows: After manipulator one grabs the workpiece on the feeding bin frame, it moves and places it on the blind hole detection device for calibration. If it meets the requirements, manipulator two then sends the workpiece to the discharging bin frame. If it does not meet the requirements, manipulator one grabs and calibrates the workpiece and places it in the hydraulic fixture V-block one. After the hydraulic rotary valve one is opened, the internal keyway cutter starts processing. During the processing, manipulator one continues to grab the workpiece on the feeding bin frame, moves and places it on the blind hole detection device for calibration. If it does not meet the requirements, manipulator one grabs and calibrates the workpiece and places it in the hydraulic fixture V-block two. The hydraulic rotary valve two is opened. At this time, the workpiece on the hydraulic fixture V-block one is processed, and the internal keyway cutter then starts processing the workpiece on the hydraulic fixture V-block two. The hydraulic rotary valve one is closed, and manipulator two grabs the processed workpiece and sends the workpiece to the discharging bin frame. Description of the Drawings

[0016] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will describe the present utility model in detail in conjunction with the drawings and specific embodiments. 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. Among them:

[0017] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;

[0018] Figure 2 is a structural schematic diagram of the present utility model in the top view direction;

[0019] Figure 3 is a structural schematic diagram of the present utility model in the side view direction. Specific Embodiments

[0020] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following will describe the specific embodiments of the present utility model in detail in conjunction with the drawings.

[0021] In the following description, many specific details are set forth to fully understand the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0022] Secondly, the present utility model is described in detail in conjunction with the schematic diagrams. When detailing the embodiments of the present utility model, for ease of explanation, the cross-sectional views showing the device structure will be enlarged locally in a non-general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present utility model herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0023] To make the purpose, technical solutions, and advantages of the present utility model clearer, the following will further describe the embodiments of the present utility model in detail in conjunction with the drawings.

[0024] Please refer to Figures 1 - 3 , which shows a structural schematic diagram of an embodiment of a truss manipulator special machine for automatic processing of internal keyways in an oil well perforating gun of the present utility model. Please refer to Figures 1 - 3 , and a detailed introduction to a truss manipulator special machine for automatic processing of internal keyways in an oil well perforating gun will be given.

[0025] A special machine with a truss manipulator for automatic processing of key grooves in an oil perforating gun, including a truss manipulator assembly 100. The truss manipulator assembly 100 includes a first manipulator column 110 and a second manipulator column 120 installed on the base in an inverted "L" shape. The tops of the first manipulator column 110 and the second manipulator column 120 are jointly provided with a manipulator cross beam 130. A manipulator one 140 and a manipulator two 150 are movably installed on the manipulator cross beam 130;

[0026] A loading bin material frame 200. The base is installed with a loading bin material frame 200 for the manipulator one 140 and the manipulator two 150 to grab workpieces, and a unloading bin material frame 210 for the manipulator one 140 and the manipulator two 150 to put down workpieces;

[0027] The special machine tool body 300. The base is provided with a special machine tool body 300 between the loading bin material frame 200 and the unloading bin material frame 210. The special machine tool body 300 is installed with a blind hole detection device 310 for detecting the blind holes of workpieces, a hydraulic fixture assembly 320 for clamping unqualified workpieces, and an internal key groove cutter 330 for reprocessing the workpieces clamped by the hydraulic fixture assembly 320. The internal key groove cutter 330 can be connected to a milling and washing device for processing blind holes, and this milling and washing device is not shown in the figure.

[0028] Further, two first linear motors 131 are installed on the manipulator cross beam 130. Vertical inverted "T" shaped mounting brackets 132 are respectively arranged on the output seats of the two first linear motors 131. Second linear motors 133 are respectively arranged at the bottoms of the two mounting brackets 132. The manipulator one 140 and the manipulator two 150 are respectively installed on the output seats of the two second linear motors 133.

[0029] Further, the two first linear motors 131 respectively drive the manipulator one 140 and the manipulator two 150 to displace in the front - rear direction, and when the two first linear motors 131 are running, the manipulator one 140 and the manipulator two 150 do not affect each other;

[0030] The two second linear motors 133 respectively drive the manipulator one 140 and the manipulator two 150 to position in the left - right direction, and when the two second linear motors 133 are running, the manipulator one 140 and the manipulator two 150 do not affect each other.

[0031] Further, the hydraulic fixture assembly 320 includes a first hydraulic fixture V-block 321 and a second hydraulic fixture V-block 322 for individually clamping the workpiece, a first hydraulic angle valve 323 for individually controlling the clamping or releasing of the workpiece by the first hydraulic fixture V-block 321, and a second hydraulic angle valve 324 for individually controlling the clamping or releasing of the workpiece by the second hydraulic fixture V-block 322.

[0032] Further, the special-purpose machine tool body 300 further includes a numerical control system 340 for controlling the gantry robot assembly 100, the blind hole detection device 310, the hydraulic fixture assembly 320, and the internal keyway cutter 330.

[0033] In the specific use process, the first manipulator 140 first grabs the workpiece on the loading bin frame 200, and then moves and places it on the blind hole detection device 310 for calibration. If it meets the requirements, the second manipulator 150 then sends the workpiece to the unloading bin frame 210. If it does not meet the requirements, the first manipulator 140 grabs and calibrates the workpiece and places it in the first hydraulic fixture V-block 321. After the first hydraulic angle valve 323 is opened, the internal keyway cutter 330 starts machining. During the machining, the first manipulator 140 continues to grab the workpiece on the loading bin frame 200, moves and places it on the blind hole detection device 310 for calibration. If it does not meet the requirements, the first manipulator 140 grabs and calibrates the workpiece and places it in the second hydraulic fixture V-block 322. The second hydraulic angle valve 324 is opened. At this time, the machining of the workpiece on the first hydraulic fixture V-block 321 is completed, and the internal keyway cutter 330 starts machining the workpiece on the second hydraulic fixture V-block 322. The first hydraulic angle valve 323 is closed, and the second manipulator 150 grabs the machined workpiece and sends the workpiece to the unloading bin frame 210.

[0034] Although the present invention has been described above with reference to the embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the disclosed embodiments of the present invention can be combined with each other in any way. The exhaustive description of these combinations is not given in this specification only for the sake of saving space and resources. Therefore, the present invention is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A special truss manipulator for automatic machining of key grooves in an oil perforating gun, characterized in that, Comprising: A gantry robot component (100), the gantry robot component (100) includes a first robot column (110) and a second robot column (120) mounted on the base in an inverted "L" shape. A robot cross beam (130) is jointly provided at the tops of the first robot column (110) and the second robot column (120). A first robot (140) and a second robot (150) are movably mounted on the robot cross beam (130); A loading bin frame (200), the base is equipped with a loading bin frame (200) for the first robot (140) and the second robot (150) to grasp workpieces, and the base is equipped with an unloading bin frame (210) for the first robot (140) and the second robot (150) to place workpieces; A special machine tool body (300), the base is provided with a special machine tool body (300) between the loading bin frame (200) and the unloading bin frame (210). A blind hole detection device (310) for detecting the blind holes of workpieces, a hydraulic fixture assembly (320) for clamping unqualified workpieces, and an internal keyway cutter (330) for reprocessing the workpieces clamped by the hydraulic fixture assembly (320) are installed on the special machine tool body (300).

2. The special machine of the truss manipulator for the automatic machining of the keyway in the oil perforating gun according to claim 1, characterized in that: Two first linear motors (131) are installed on the robot cross beam (130). Vertical inverted "T" shaped mounting brackets (132) are respectively provided on the output seats of the two first linear motors (131). Second linear motors (133) are respectively provided at the bottoms of the two mounting brackets (132). The first robot (140) and the second robot (150) are respectively installed on the output seats of the two second linear motors (133).

3. The special machine of truss manipulator for automatic machining of internal keyways in oil perforating guns according to claim 2, characterized in that: The two first linear motors (131) respectively drive the first robot (140) and the second robot (150) to displace in the front - rear direction, and when the two first linear motors (131) operate, the first robot (140) and the second robot (150) do not affect each other; The two second linear motors (133) respectively drive the first robot (140) and the second robot (150) to position in the left - right direction, and when the two second linear motors (133) operate, the first robot (140) and the second robot (150) do not affect each other.

4. The special machine of a truss manipulator for automatic machining of internal keyways in an oil perforating gun according to claim 3, characterized in that: The hydraulic fixture assembly (320) includes a hydraulic fixture V - block one (321) and a hydraulic fixture V - block two (322) for separately clamping workpieces, a hydraulic angle valve one (323) for separately controlling the clamping or loosening of the workpiece by the hydraulic fixture V - block one (321), and a hydraulic angle valve two (324) for separately controlling the clamping or loosening of the workpiece by the hydraulic fixture V - block two (322).

5. The special machine of truss manipulator for automatic machining of internal keyways in oil perforating guns according to claim 4, characterized in that: The special machine tool body (300) further includes a numerical control system (340) for controlling the gantry robot component (100), the blind hole detection device (310), the hydraulic fixture assembly (320) and the internal keyway cutter (330).

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