Truss type intelligent material transporter for petroleum field

Abstract

The utility model discloses a truss-type intelligent material transporter for the petroleum field, which is characterized in that a main beam, a support frame and a support base form a truss-type main body frame, a cross beam is connected with the main beam through a transverse support column, and a transverse chain and a transverse conveying crawler belt below the cross beam are matched with a rotating wheel through a transmission rod to realize transverse material transportation; and the longitudinal chain and the longitudinal conveying crawler belt on the main beam form a longitudinal conveying path through the longitudinal transmission rod and the sliding guide rail. The slidable visual sensor on the sliding guide rail and the object visual sensor on the cross beam form a multi-dimensional visual detection system; the upper, middle and lower adjusting knobs are respectively used for adjusting the height of the cross beam, the distance between the transverse supporting columns and the tensity of the track; the weight sensor, the fixed direction sensor and the position probe are electrically connected with the controller, and the controller drives the transmission mechanism to execute a carrying instruction.

Description

Technical Field

[0001] This utility model relates to a material handling machine, specifically a truss-type intelligent material handling machine for the petroleum industry. Background Technology

[0002] Currently, in material handling operations in the petroleum industry, conventional truss-type handling equipment mostly adopts a fixed structure and a single mechanical transmission mode, relying on manual operation or preset programs to perform handling tasks, which presents significant technical bottlenecks. The fixed beam height, support spacing, and conveyor belt parameters of existing equipment make it difficult to match the diverse material dimensions on the oilfield site (such as different specifications of oil pipes and valve components), requiring frequent manual adjustments to the mechanical structure, which is time-consuming and prone to operational errors. Traditional handling machines lack real-time sensing capabilities, failing to dynamically acquire material weight, position, and attitude data, resulting in coarse path planning. Collisions are prone to occur in multi-equipment collaborative operations or confined spaces, leading to low handling efficiency and safety hazards. The independent drives of the lateral and longitudinal transmission mechanisms, with chain and track speed matching relying on manual adjustments, often cause material jamming at the junction due to power interruptions, especially in complex conditions (such as inclined sites and winding paths), making continuous and stable material transport difficult. Oilfield operations are subject to interference factors such as ground vibration and material loading / unloading impacts. The insufficient buffering design of traditional truss structures and poor bottom support stability easily lead to equipment shaking or wear of transmission components, affecting operational safety and equipment lifespan. With the increasing demand for automation and intelligent upgrading in the petroleum industry, there is an urgent need to develop a new type of material handling equipment with multi-dimensional sensing capabilities, dynamically adjustable structural parameters, and intelligent collaborative control. Integrating intelligent modules such as vision detection and weight sensing into a truss frame, combined with an adjustable transmission mechanism and impact-resistant buffer design, can significantly improve the accuracy, flexibility, and reliability of material handling. Therefore, designing a truss-type intelligent material handling machine for the petroleum industry is of significant practical importance for reducing labor costs, improving operational efficiency, and adapting to complex working conditions. Utility Model Content

[0003] A truss-type intelligent material handling machine for the petroleum industry includes: a crossbeam, a transverse chain, a transmission rod, an upper adjustment knob, a middle adjustment knob, a lower adjustment knob, an item vision sensor, a transverse support, a transverse conveyor belt, a controller, a longitudinal chain, a longitudinal transmission rod, a sliding guide rail, a sliding vision sensor, a support frame, a main beam, cargo, a support base, an upper beam support frame, a first transmission rod, a rotating wheel, a second transmission rod, a bottom buffer pad, a fixed direction sensor, a weight sensor, a position probe, a controller base, and a longitudinal conveyor belt. The main beam, support frame, and support base form a truss-type main frame. The crossbeam is connected to the main beam through transverse support columns. The transverse chain and transverse conveyor belt are installed below the crossbeam via transmission rods and rotating wheels to realize transverse material transfer. The longitudinal chain and longitudinal conveyor belt are connected to the main beam through longitudinal transmission rods and sliding guide rails to form a longitudinal transfer path. The slidable vision sensor is installed on the sliding guide rail and forms a multi-dimensional vision detection system with the object vision sensor fixed to the crossbeam. The upper, middle, and lower adjustment knobs are used to adjust the height of the crossbeam, the spacing of the transverse support columns, and the tension of the conveyor belt, respectively. The weight sensor, fixed direction sensor, and position probe are electrically connected to the controller to provide real-time feedback of material data. The controller drives the transmission rods, longitudinal transmission rods, and sliding guide rails to execute handling commands.

[0004] Both the transverse and longitudinal conveyor tracks are made of anti-slip and wear-resistant materials, and rotating wheels are installed at the junction of the transverse and longitudinal conveyor tracks, achieving power coupling through the first and second transmission rods. A slidable vision sensor, driven by a servo motor, reciprocates on a sliding guide rail, working in conjunction with an object vision sensor to acquire the three-dimensional dimensions and position information of the material, which is then transmitted to the controller for path planning.

[0005] The support frame is equipped with a bottom buffer pad with a built-in elastic damping structure, which works in conjunction with the shock-absorbing grooves of the support base to reduce vibration and impact during handling. The controller integrates a wireless communication module, which can set handling tasks via a remote terminal and, combined with positioning data from the position probe, achieve fully automated navigation of materials from the pick-up point to the designated location.

[0006] The upper beam support frame is installed on top of the main beam to fix the drive device of the transverse chain. The drive device is connected to the transmission rod through a gearbox to achieve stepless adjustment of the transverse conveying speed. The fixed direction sensor uses a combination of gyroscope and accelerometer to monitor the deviation of the conveyor's travel direction in real time. The controller achieves steering correction by adjusting the speed difference between the left and right tracks of the longitudinal chain.

[0007] Compared with the prior art, the beneficial effects achieved by this utility model are:

[0008] 1. This utility model uses multi-sensor fusion to achieve real-time perception of material size, weight, and position. Combined with the controller's path planning algorithm, it avoids the risk of human error and collisions, achieving a handling and positioning accuracy of ±5mm and improving efficiency by more than 30%.

[0009] 2. The upper, middle and lower adjustment knobs of this utility model support stepless adjustment of beam height, support spacing and track tension, and are compatible with various materials such as oil pipes (φ60-φ150mm) and valves (50kg-200kg), reducing equipment replacement costs.

[0010] 3. The truss frame and bottom buffer pad of this utility model enhance the impact resistance and can still operate stably in slope ≤15° or vibration environment; visual inspection and direction sensor real-time monitoring reduce the risk of material slippage and equipment overturning.

[0011] 4. The horizontal and vertical transmission system of this utility model is controlled by the linkage of the transmission rod, and the speed matching error is ≤2%, realizing the full automation of the material from picking to delivery, reducing the number of manual intervention nodes by more than 60%. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0013] Figure 2 This is a schematic diagram of the transmission system of this utility model.

[0014] Figure 3 This is a schematic diagram of the sensor and buffer structure of this utility model.

[0015] Figure 4 This is a schematic diagram of the control and adjustment mechanism of this utility model.

[0016] In the diagram: 1. Crossbeam, 2. Lateral chain, 3. Drive rod, 4. Upper adjustment knob, 5. Middle adjustment knob, 6. Lower adjustment knob, 7. Object vision sensor, 8. Lateral support, 9. Lateral conveyor track, 10. Controller, 11. Longitudinal chain, 12. Longitudinal drive rod, 13. Sliding guide rail, 14. Sliding vision sensor, 15. Support frame, 16. Main beam, 17. Cargo, 18. Support base, 19. Upper beam support frame, 20. First drive rod, 21. Rotating wheel, 22. Second drive rod, 23. Bottom buffer pad, 24. Fixed orientation sensor, 25. Weight sensor, 26. Position probe, 27. Controller base, 28. Longitudinal conveyor track. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings:

[0018] This utility model includes a crossbeam 1, a transverse chain 2, a transmission rod 3, an upper adjustment knob 4, a middle adjustment knob 5, a lower adjustment knob 6, an object vision sensor 7, a transverse support 8, a transverse conveyor belt 9, a controller 10, a longitudinal chain 11, a longitudinal transmission rod 12, a sliding guide rail 13, a slidable vision sensor 14, a support frame 15, a main beam 16, cargo 17, a support base 18, an upper beam support frame 19, a first transmission rod 20, a rotating wheel 21, a second transmission rod 22, a bottom buffer pad 23, a fixed direction sensor 24, a weight sensor 25, a position probe 26, a controller base 27, and a longitudinal conveyor belt 28.

[0019] Combination Figure 1-4 As shown, the main beam 16, support frame 15, and support base 18 form a truss-type main frame. The crossbeam 1 is connected to the main beam 16 through the transverse support column 8. The transverse chain 2 and transverse conveyor belt 9 are installed below the crossbeam 1 through the transmission rod 3 and the rotating wheel 21 to realize transverse material transmission. The longitudinal chain 11 and longitudinal conveyor belt 28 are connected to the main beam 16 through the longitudinal transmission rod 12 and the sliding guide rail 13 to form a longitudinal transmission path. The slidable vision sensor 14 is installed on the sliding guide rail 13 and forms a multi-dimensional vision detection system with the object vision sensor 7 fixed to the crossbeam 1. The upper adjustment knob 4, middle adjustment knob 5, and lower adjustment knob 6 are used to adjust the height of the crossbeam 1, the spacing of the transverse support column 8, and the tension of the conveyor belt, respectively. The weight sensor 25, fixed direction sensor 24, and position probe 26 are electrically connected to the controller 10 to provide real-time feedback of material data. The controller 10 drives the transmission rod 3, the longitudinal transmission rod 12, and the sliding guide rail 13 to execute the handling command. Both the transverse conveyor belt 9 and the longitudinal conveyor belt 28 are made of anti-slip and wear-resistant materials. A rotating wheel 21 is installed at the junction of the transverse conveyor belt 9 and the longitudinal conveyor belt 28, and power coupling is achieved through the first transmission rod 20 and the second transmission rod 22. A slidable vision sensor 14 is driven by a servo motor to reciprocate on the sliding guide rail 13, working in conjunction with the object vision sensor 7 to acquire the three-dimensional dimensions and position information of the material, which is then transmitted to the controller 10 for path planning. A bottom buffer pad 23 is installed at the bottom of the support frame 15. The buffer pad 23 has a built-in elastic damping structure, which, in conjunction with the shock-absorbing groove of the support base 18, reduces vibration and impact during handling. The controller 10 integrates a wireless communication module, allowing handling tasks to be set via a remote terminal. Combined with the positioning data from the position probe 26, it achieves fully automatic navigation of materials from the pickup point to the designated location. The upper beam support frame 19 is installed on the top of the main beam 16 to fix the drive device of the transverse chain 2. The drive device is connected to the transmission rod 3 through a gearbox, enabling stepless adjustment of the transverse conveying speed. The fixed direction sensor 24 uses a combination of gyroscope and accelerometer to monitor the deviation of the conveyor's travel direction in real time. The controller 10 achieves steering correction by adjusting the speed difference between the left and right tracks of the longitudinal chain 11.

Claims

1. A truss-type intelligent material handling machine for the petroleum industry, comprising: a crossbeam (1), a transverse chain (2), a transmission rod (3), an upper adjustment knob (4), a middle adjustment knob (5), a lower adjustment knob (6), an item vision sensor (7), a transverse support column (8), a transverse conveyor belt (9), a controller (10), a longitudinal chain (11), a longitudinal transmission rod (12), a sliding guide rail (13), a slidable vision sensor (14), a support frame (15), a main beam (16), a cargo (17), a support base (18), an upper beam support frame (19), a first transmission rod (20), a rotating wheel (21), a second transmission rod (22), a bottom buffer pad (23), a fixed direction sensor (24), a weight sensor (25), a position probe (26), a controller base (27), and a longitudinal conveyor belt (28); characterized in that: The main beam (16), support frame (15), and support base (18) constitute a truss-type main frame. The crossbeam (1) is connected to the main beam (16) through the transverse support column (8). The transverse chain (2) and transverse conveyor belt (9) are connected to the rotating wheel (21) through the transmission rod (3) and are installed below the crossbeam (1) to realize transverse material transfer. The longitudinal chain (11) and longitudinal conveyor belt (28) are connected to the main beam (16) through the longitudinal transmission rod (12) and sliding guide rail (13). The connection forms a longitudinal transmission path; the slidable vision sensor (14) is installed on the sliding guide rail (13) and forms a multi-dimensional vision detection system with the object vision sensor (7) fixed on the crossbeam (1). The upper adjustment knob (4), the middle adjustment knob (5), and the lower adjustment knob (6) are used to adjust the height of the crossbeam (1), the spacing of the transverse support columns (8), and the tension of the conveyor belt, respectively. The weight sensor (25), the fixed direction sensor (24), and the position probe (26) are electrically connected to the controller (10) to provide real-time feedback of material data. The controller (10) drives the transmission rod (3), the longitudinal transmission rod (12), and the sliding guide rail (13) to execute the handling command.

2. The truss-type intelligent material handling machine for the petroleum industry according to claim 1, characterized in that: Both the transverse conveyor track (9) and the longitudinal conveyor track (28) are made of anti-slip and wear-resistant materials, and a rotating wheel (21) is provided at the junction of the transverse conveyor track (9) and the longitudinal conveyor track (28), and power coupling is achieved through the first transmission rod (20) and the second transmission rod (22).

3. The truss-type intelligent material handling machine for the petroleum industry according to claim 1, characterized in that: The slidable vision sensor (14) is driven by a servo motor to move back and forth on the sliding guide rail (13), and works with the object vision sensor (7) to obtain the three-dimensional size and position information of the material, which is then transmitted to the controller (10) for path planning.

4. A truss-type intelligent material handling machine for the petroleum industry according to claim 1, characterized in that: The support frame (15) is provided with a bottom buffer pad (23) at the bottom. The bottom buffer pad (23) has a built-in elastic damping structure, which works in conjunction with the shock absorption groove of the support base (18) to reduce vibration and impact during transportation.

5. A truss-type intelligent material handling machine for the petroleum industry according to claim 1, characterized in that: The controller (10) integrates a wireless communication module, which can set the handling task through a remote terminal and combine the positioning data of the position probe (26) to realize the fully automatic navigation of materials from the pick-up point to the designated location.

6. A truss-type intelligent material handling machine for the petroleum industry according to claim 1, characterized in that: The upper beam support frame (19) is installed on the top of the main beam (16) to fix the drive device of the transverse chain (2). The drive device is connected to the transmission rod (3) through the gearbox to realize stepless adjustment of the transverse transmission speed.

7. A truss-type intelligent material handling machine for the petroleum industry according to claim 1, characterized in that: The fixed direction sensor (24) uses a combination of gyroscope and accelerometer to monitor the deviation of the conveyor's travel direction in real time. The controller (10) achieves steering correction by adjusting the difference in speed between the left and right tracks of the longitudinal chain (11).

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