Six-axis-arm intelligent well repairing robot for preprocessing grabbing positions of clamping jaws

Abstract

The utility model relates to the technical field of well repair, in particular to a six-shaft-arm intelligent well repair robot for preprocessing the grabbing position of a clamping jaw, which comprises a six-shaft-arm well repair robot, a preprocessing clamping component is arranged at the output end of the six-shaft-arm well repair robot, and an intermittent lubricating component is arranged above the joint of the six-shaft-arm well repair robot; the pretreatment clamping assembly comprises a lead screw, and a servo motor is arranged at one end of the lead screw. According to the six-shaft-arm intelligent well repairing robot, through the arrangement of the pretreatment clamping assembly, the clamping position of the first mechanical claw can be pretreated, so that the first mechanical claw is directly clamped on an oil pipe, the stability in the clamping and transferring process is guaranteed, and the oil pipe is prevented from slipping off; and the joints of the six-shaft-arm workover robot are lubricated, frequent manual lubrication adding is not needed, the labor intensity is reduced, and the practicability is improved.

Description

Technical Field

[0001] This utility model relates to the field of well workover technology, specifically a six-axis intelligent well workover robot with pre-processed gripper gripping position. Background Technology

[0002] During oilfield production, a six-axis intelligent well workover robot can be used to hold the tubing for auxiliary transfer.

[0003] However, in the process of using existing six-axis intelligent well workover robots, after the tubing is taken out of the well, the robot's mechanical claw will directly clamp the tubing. Due to the large amount of oil on the surface of the tubing, the tubing is prone to slippage and displacement during the transfer process after the robot's mechanical claw clamps the tubing, affecting the stability of the clamping and movement. Utility Model Content

[0004] The purpose of this invention is to provide a six-axis intelligent well workover robot with pre-processed gripper gripping position, in order to solve the problem in the background art where the mechanical gripper of the well workover robot easily slips and deviates during the transfer process.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a six-axis intelligent well-workover robot with pre-processed gripper gripping position, comprising:

[0006] A six-axis well workover robot, wherein the output end of the six-axis well workover robot is equipped with a pre-processing clamping assembly, and an intermittent lubrication assembly is provided above the joints of the six-axis well workover robot;

[0007] The pretreatment clamping assembly includes a lead screw, one end of which is equipped with a servo motor. A first nut pair and a second nut pair are connected from the outside to the inside of the outer wall of the lead screw. A first mechanical claw is provided on the outer wall of the first nut pair, and a second mechanical claw is provided on the outer wall of the second nut pair. A flexible material gasket is fixedly installed on the inner wall of the claw of the second mechanical claw.

[0008] Preferably, the intermittent lubrication assembly includes an oil tank, the outer wall of which is provided with a fixing hoop, a servo motor is fixedly installed in the middle of one side of the oil tank, a drive rod is fixedly connected to the output end of the servo motor, a turntable is connected to the outer wall of one end of the drive rod, and a limit ring is fixedly connected to the outer wall of the turntable.

[0009] Preferably, the lead screw is rotatably connected to the six-axis well workover robot, and the servo motor is fixedly connected to the six-axis well workover robot.

[0010] Preferably, the output end of the servo motor is fixedly connected to the lead screw.

[0011] Preferably, both the first and second mechanical claws are slidably connected to the six-axis well-working robot, and the first mechanical claw is fixedly connected to the first nut assembly.

[0012] Preferably, the second mechanical claw is fixedly connected to the second nut assembly, and the oil drum is fixed to the surface of the six-axis arm well workover robot by a fixing hoop.

[0013] Preferably, the turntable is fixedly connected to the drive rod, and the inner wall of the limiting ring abuts against the surface of the oil drum's outlet.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] (1) The utility model of the six-axis intelligent well workover robot, through the setting of the pre-processing clamping component, when preparing to clamp the oil pipe, the second mechanical claw starts first, so that the flexible material gasket contacts the oil pipe, the servo motor starts, the servo motor drives the lead screw to rotate, the lead screw drives the first nut pair and the second nut pair to move, the first nut pair drives the first mechanical claw to move, and the second nut pair drives the second mechanical claw to move. The flexible material gasket can scrape off the oil stains on the surface of the oil pipe without damaging the outer wall of the oil pipe. The first mechanical claw moves to the original position of the second mechanical claw. After the first mechanical claw clamps the oil pipe, the second mechanical claw releases the oil pipe and transfers the oil pipe to the designated position. After the first mechanical claw releases the oil pipe, the servo motor drives the lead screw to rotate in the opposite direction, driving the first mechanical claw and the second mechanical claw back to the initial position, which facilitates subsequent pre-processing. The clamping position of the first mechanical claw can be pre-processed so that the first mechanical claw directly clamps on the oil pipe, ensuring the stability during clamping and transfer and preventing the oil pipe from slipping.

[0016] (2) The utility model of the six-axis arm intelligent well workover robot, through the setting of the intermittent lubrication component, when the six-axis arm well workover robot is in operation, the servo motor starts, the servo motor drives the drive rod to rotate, the drive rod drives the turntable to rotate, and after the hole on the turntable is aligned with the discharge port of the oil drum, the lubricating oil in the oil drum will flow into the joint of the six-axis arm well workover robot to lubricate the joint of the six-axis arm well workover robot. There is no need for frequent manual lubrication, which reduces labor intensity and improves practicality. Attached image description:

[0017] Figure 1 This is a front view of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the cross-sectional structure of the crossbar of the six-axis arm well-working robot of this utility model;

[0019] Figure 3 For the present utility model Figure 2 Schematic diagram of part A in the middle;

[0020] Figure 4 This is an exploded view of the pre-processing clamping assembly of this utility model;

[0021] Figure 5 This is a cross-sectional schematic diagram of some parts of the intermittent lubrication assembly of this utility model.

[0022] In the diagram: 01, six-axis workover robot; 02, pretreatment clamping assembly; 21, lead screw; 22, servo motor; 23, first nut pair; 24, second nut pair; 25, first mechanical gripper; 26, second mechanical gripper; 27, flexible material gasket; 03, intermittent lubrication assembly; 31, oil drum; 32, fixing clamp; 33, servo motor; 34, drive rod; 35, turntable; 36, limit ring. Detailed implementation method:

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figure 1-5 One embodiment of this utility model is a six-axis intelligent well-working robot with pre-processing of gripper gripping position. The six-axis well-working robot 01, servo motor 22, first mechanical gripper 25, second mechanical gripper 26 and servo motor 33 used in this application are all products that can be directly purchased on the market. Their principles and connection methods are existing technologies well known to those skilled in the art, so they will not be described in detail here.

[0025] Includes: a six-axis well workover robot 01, which guides the first mechanical claw 25 and the second mechanical claw 26; a pre-processing clamping assembly 02 is provided at the output end of the six-axis well workover robot 01; and an intermittent lubrication assembly 03 is provided above the joints of the six-axis well workover robot 01.

[0026] The pretreatment clamping assembly 02 includes a lead screw 21. Rotation of the lead screw 21 can drive the first nut pair 23 and the second nut pair 24 to move. A servo motor 22 is provided at one end of the lead screw 21. The servo motor 22 provides power. Starting the servo motor 22 can drive the lead screw 21 to rotate. The lead screw 21 drives the first nut pair 23 and the second nut pair 24 to move, which in turn drives the first mechanical claw 25 and the second mechanical claw 26 to move respectively. The first nut pair 23 and the second nut pair 24 are connected from the outside to the inside of the outer wall of the lead screw 21. The first mechanical claw 25 is provided on the outer wall of the first nut pair 23, and the second mechanical claw 26 is provided on the outer wall of the second nut pair 24. A flexible material gasket 27 is fixedly installed on the inner wall of the claw of the second mechanical claw 26. The flexible material gasket 27 is attached to the surface of the oil pipe and can scrape off the oil stains on the outside of the oil pipe. The flexible material gasket 27 includes, but is not limited to, a rubber gasket.

[0027] Furthermore, the intermittent lubrication assembly 03 includes an oil tank 31. A fixing hoop 32 is provided on the outer wall of the oil tank 31, which fixes the oil tank 31. The oil tank 31 is fixed to the six-axis arm well workover robot 01 by bolts. A servo motor 33 is fixedly installed in the middle of one side of the oil tank 31. A drive rod 34 is fixedly connected to the output end of the servo motor 33. When the drive rod 34 rotates, it can drive the turntable 35 to rotate. When the hole on the turntable 35 is aligned with the discharge port of the oil tank 31, the lubricating oil in the oil tank 31 will flow into the joint of the six-axis arm well workover robot 01. The turntable 35 is connected to the outer wall of one end of the drive rod 34. A limit ring 36 is fixedly connected to the outer wall of the turntable 35. The limit ring 36 plays a guiding and limiting role to ensure the stability of the rotation of the turntable 35.

[0028] Furthermore, the lead screw 21 is rotatably connected to the six-axis well-working robot 01, ensuring that the six-axis well-working robot 01 does not affect the rotation of the lead screw 21. The rotation of the lead screw 21 can drive the first nut pair 23 and the second nut pair 24 to move. The servo motor 22 is fixedly connected to the six-axis well-working robot 01, ensuring the stability of the position of the servo motor 22.

[0029] Furthermore, the output end of the servo motor 22 is fixedly connected to the lead screw 21. The servo motor 22 provides power, and starting the servo motor 22 can drive the lead screw 21 to rotate. The lead screw 21 drives the first nut pair 23 and the second nut pair 24 to move, which in turn drives the first mechanical claw 25 and the second mechanical claw 26 to move respectively.

[0030] Furthermore, both the first mechanical claw 25 and the second mechanical claw 26 are slidably connected to the six-axis well workover robot 01. The six-axis well workover robot 01 plays a guiding role for the first mechanical claw 25 and the second mechanical claw 26. The first mechanical claw 25 is fixedly connected to the first nut assembly 23, ensuring that the first mechanical claw 25 can be moved after the first nut assembly 23 moves.

[0031] Furthermore, the second mechanical claw 26 is fixedly connected to the second nut assembly 24, ensuring that the second mechanical claw 26 can be moved after the second nut assembly 24 moves. The oil drum 31 is fixed to the surface of the six-axis arm well workover robot 01 by the fixing hoop 32. The fixing hoop 32 plays a role in fixing the oil drum 31. The oil drum 31 is fixed to the six-axis arm well workover robot 01 by bolts.

[0032] Furthermore, the turntable 35 is fixedly connected to the drive rod 34, ensuring that the drive rod 34 can drive the turntable 35 to rotate when it rotates. When the hole on the turntable 35 is aligned with the discharge port of the oil drum 31, the lubricating oil in the oil drum 31 will flow into the joint of the six-axis arm well repair robot 01. The inner wall of the limit ring 36 abuts against the surface of the discharge port of the oil drum 31. The limit ring 36 plays a guiding and limiting role, ensuring the stability of the turntable 35 rotation.

[0033] Working principle: In use, when preparing to clamp the oil pipe, the second mechanical gripper 26 is activated first, causing the flexible material pad 27 to contact the oil pipe. The servo motor 22 is then activated, driving the lead screw 21 to rotate. The lead screw 21 moves the first nut assembly 23 and the second nut assembly 24. The first nut assembly 23 moves the first mechanical gripper 25, and the second nut assembly 24 moves the second mechanical gripper 26. The flexible material pad 27 scrapes off the oil stains on the surface of the oil pipe, and the first mechanical gripper 25 moves to the original position of the second mechanical gripper 26. After the first mechanical gripper 25 clamps the oil pipe, the second mechanical gripper 26... After the oil pipe is released and transported to the designated position, the first mechanical gripper 25 releases the oil pipe, and the servo motor 22 drives the lead screw 21 to rotate in the opposite direction, causing the first mechanical gripper 25 and the second mechanical gripper 26 to return to their initial positions. During the operation of the six-axis well workover robot 01, the servo motor 33 starts, driving the drive rod 34 to rotate. The drive rod 34 drives the turntable 35 to rotate. After the hole on the turntable 35 aligns with the discharge port of the oil tank 31, the lubricating oil in the oil tank 31 flows into the joints of the six-axis well workover robot 01 to lubricate them. The above is the complete working principle of this utility model.

[0034] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A six-axis intelligent well-workover robot with pre-processed gripper gripping position, characterized in that, include: A six-axis well workover robot (01) is provided with a pre-processing clamping assembly (02) at its output end and an intermittent lubrication assembly (03) above the joints of the six-axis well workover robot (01). The pre-processing clamping assembly (02) includes a lead screw (21), one end of which is provided with a servo motor (22). The outer wall of the lead screw (21) is connected from the outside to the inside with a first nut pair (23) and a second nut pair (24). The outer wall of the first nut pair (23) is provided with a first mechanical claw (25), and the outer wall of the second nut pair (24) is provided with a second mechanical claw (26). A flexible material gasket (27) is fixedly installed on the inner wall of the claw of the second mechanical claw (26).

2. The six-axis intelligent well-working robot with pre-processing of gripper gripping position according to claim 1, characterized in that: The intermittent lubrication assembly (03) includes an oil tank (31), the outer wall of which is provided with a fixing hoop (32), a servo motor (33) is fixedly installed in the middle of one side of the oil tank (31), a drive rod (34) is fixedly connected to the output end of the servo motor (33), a turntable (35) is connected to the outer wall of one end of the drive rod (34), and a limit ring (36) is fixedly connected to the outer wall of the turntable (35).

3. The six-axis intelligent well-working robot with pre-processing of gripper gripping position according to claim 1, characterized in that: The lead screw (21) is rotatably connected to the six-axis arm well workover robot (01), and the servo motor (22) is fixedly connected to the six-axis arm well workover robot (01).

4. A six-axis intelligent well-working robot with pre-processing of gripper gripping position according to claim 1, characterized in that: The output end of the servo motor (22) is fixedly connected to the lead screw (21).

5. A six-axis intelligent well-working robot with pre-processing of gripper gripping position according to claim 1, characterized in that: The first mechanical claw (25) and the second mechanical claw (26) are both slidably connected to the six-axis arm well workover robot (01), and the first mechanical claw (25) is fixedly connected to the first nut pair (23).

6. A six-axis intelligent well-working robot with pre-processed gripper gripping position according to claim 2, characterized in that: The second mechanical claw (26) is fixedly connected to the second nut pair (24), and the oil drum (31) is fixed to the surface of the six-axis arm well workover robot (01) by a fixing hoop (32).

7. A six-axis intelligent well-working robot with pre-processing of gripper gripping position according to claim 2, characterized in that: The turntable (35) is fixedly connected to the drive rod (34), and the inner wall of the limiting ring (36) abuts against the discharge port surface of the oil drum (31).

Images