Foldable mechanical arm and foldable manipulator for petroleum drilling

Abstract

The utility model relates to the technical field of petroleum drilling, in particular to a foldable mechanical arm and a foldable manipulator for petroleum drilling. The foldable mechanical arm for petroleum drilling comprises a support and a telescopic assembly, an opening is formed in one side of the support, a containing space is formed in the support, the near end of the telescopic assembly is arranged on the support, and the far end of the telescopic assembly can be connected with a mechanical arm body to drive the driven gear mechanical arm body to do horizontal telescopic movement. The telescopic assembly is folded into the containing space of the support, the occupied space of equipment is reduced, in the operation environment of the oil drilling platform, space interference with other equipment is effectively avoided, sufficient space is reserved for other operations of the drilling platform face, the space utilization rate is remarkably increased, and the overall operation layout is optimized.

Description

Technical Field

[0001] This utility model relates to the field of oil drilling technology, and in particular to a foldable robotic arm and foldable robotic hand for oil drilling. Background Technology

[0002] In the oil drilling industry, the transportation and removal of pipe tools is crucial, and currently, a collaborative operation mode using drilling platform robots and secondary platform robots is mainly adopted. These two types of robots work together vertically to grasp and remove pipe tools, and their working modes can be divided into lifting and pushing types. Among them, lifting robots have a greater load capacity and can stably transport heavy pipe tools, but due to their complex mechanical transmission structure and vertical lifting principle, they often occupy a lot of space when deployed on the drilling platform and secondary platform, and are prone to interference with surrounding operating equipment. Although pushing robots reduce the dependence on equipment height through horizontal pushing, their robotic arms cannot be fully retracted to a compact state. When performing multiple tasks within the limited space of the drilling platform, there is a frequent risk of collisions with pipe tools and other mechanical structures, resulting in decreased operating efficiency and increased equipment wear. Utility Model Content

[0003] (a) Technical problems to be solved

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, this utility model provides a foldable robotic arm and foldable manipulator for oil drilling, which solves the technical problems of existing robotic arms having large space occupation, being unable to adapt to narrow working environments, and having a high risk of interference between equipment.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0007] This utility model provides a foldable robotic arm for oil drilling, including a support and a telescopic component; the support has an opening on one side and an internal accommodating space; the proximal end of the telescopic component is disposed on the support, and the distal end of the telescopic component can be connected to the robotic arm body to drive the robotic arm body to move horizontally; when the telescopic component is in the retracted state, the telescopic component folds into the accommodating space of the support.

[0008] Preferably, the telescopic assembly includes a telescopic drive unit, a telescopic unit, and a connecting frame; the telescopic drive unit is disposed on the support, the proximal end of the telescopic unit is connected to the telescopic drive unit, and the distal end of the telescopic unit is connected to the robot body through the connecting frame; the telescopic drive unit drives the telescopic unit to extend and retract to move the robot body horizontally, and when the telescopic unit is in the retracted state, the telescopic unit folds into the receiving space of the support.

[0009] Preferably, the telescopic unit includes two folding arms arranged opposite each other in the vertical direction; each folding arm includes a hinged active arm and a passive arm, the proximal end of the active arm is hinged to the bracket, and the distal end of the passive arm is hinged to the connecting frame; the telescopic drive unit drives the proximal ends of the active arms of the two folding arms to rotate towards or in opposite directions, so that the distal ends of the two active arms move towards or in opposite directions, thereby driving the passive arm away from or towards the active arm; when the telescopic drive unit drives the distal end of the active arm to move in the opposite direction, the passive arm moves towards the active arm around the hinge point to fold into the bracket.

[0010] Preferably, the telescopic assembly further includes a balancing unit, which includes balancing gears; two balancing gears are respectively disposed at the distal ends of the passive arms of the two folding arms, and the two balancing gears mesh.

[0011] Preferably, the telescopic drive unit includes a telescopic drive component, two driving gears, and two driven gears; the two driving gears mesh, and the two driven gears are located on the upper and lower sides of the two driving gears respectively and mesh with the two driving gears respectively; the driving arm is hinged to the bracket through a hinge shaft, and the two driven gears are respectively sleeved and fixed on the hinge shafts of the two driving arms; the telescopic drive component drives the driving gears to rotate in the opposite direction so that the distal ends of the driving arms move towards each other or in the opposite direction.

[0012] Preferably, the driven gear is a sector gear.

[0013] Preferably, a receiving slot is provided at the distal end of the passive arm to accommodate the robot arm body.

[0014] Preferably, the support includes a base plate and two upright plates; the bottom ends of the two upright plates are connected to the base plate, the two upright plates are arranged opposite each other and spaced apart, and the gap between the two upright plates forms an accommodating space.

[0015] This utility model embodiment also provides a foldable manipulator for oil drilling, including the aforementioned foldable manipulator arm; it also includes a manipulator body connected to the distal end of the telescopic assembly.

[0016] (III) Beneficial Effects

[0017] The beneficial effects of this utility model are:

[0018] This utility model discloses a foldable robotic arm for oil drilling, comprising a support and a telescopic assembly. The support has an opening on one side and an internal accommodating space. The proximal end of the telescopic assembly is mounted on the support, and the distal end of the telescopic assembly can be connected to the robotic arm body to drive the passive gear robotic arm body to move horizontally. When the telescopic assembly is in the retracted state, it folds into the accommodating space of the support, reducing the space occupied by the equipment. In the working environment of the oil drilling platform, it effectively avoids spatial interference with other equipment, reserves sufficient space for other operations on the drilling platform, significantly improves space utilization, and optimizes the overall work layout. Attached Figure Description

[0019] Figure 1 A schematic diagram of a foldable robotic arm used for oil drilling (showing the main body of the robotic arm);

[0020] Figure 2 A schematic diagram of the retracted state of a foldable robotic arm used for oil drilling (showing the main body of the robotic arm);

[0021] Figure 3 This is a schematic diagram of the robotic arm's structure.

[0022] [Explanation of Labels in the Attached Image]

[0023] 1: Telescopic component; 11: Telescopic drive unit; 111: Telescopic drive component; 112: Drive gear; 113: Driven gear; 12: Telescopic unit; 121: Driven arm; 122: Driven arm; 13: Connecting frame; 14: Balancing unit; 2: Support; 3: Robotic arm body; 31: Frame; 32: Robotic arm unit; 33: Opening and closing drive unit. Detailed Implementation

[0024] To better explain and facilitate understanding of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1

[0026] like Figure 1 As shown, this embodiment of the present invention provides a foldable robotic arm for oil drilling. The foldable robotic arm includes a support 2 and a telescopic component 1. One side of the support 2 is open and has an internal accommodating space. The proximal end of the telescopic component 1 is disposed on the support 2, and the distal end of the telescopic component 1 can be connected to the robotic arm body 3 to drive the robotic arm body 3 to move horizontally. When the telescopic component 1 is in the retracted state, the telescopic component 1 folds into the accommodating space of the support 2, reducing the space occupied by the equipment. In the working environment of the oil drilling platform, it effectively avoids spatial interference with other equipment, reserves sufficient space for other operations on the drilling platform, significantly improves space utilization, and optimizes the overall work layout. It should be noted that in this embodiment, the side closer to the support 2 is the proximal end, and the side farther from the support 2 is the distal end.

[0027] In this embodiment, the support 2 includes a base plate and two upright plates. The bottom ends of the two upright plates are connected to the base plate. The two upright plates are arranged opposite each other and spaced apart, and the gap between the two upright plates forms an accommodating space. The connection method between the base plate and the upright plates gives the support 2 high stability, providing reliable support for the telescopic component 1 and ensuring the safety of the robotic arm during operation.

[0028] like Figure 2As shown, the telescopic assembly 1 includes a telescopic drive unit 11, a telescopic unit 12, and a connecting frame 13. The telescopic drive unit 11 is mounted on the support 2. The proximal end of the telescopic unit 12 is connected to the telescopic drive unit 11, and the distal end of the telescopic unit 12 is connected to the robot body 3 via the connecting frame 13. The telescopic drive unit 11 drives the telescopic unit 12 to extend and retract, thereby moving the robot body 3 horizontally. When the telescopic unit 12 is in the retracted state, it is folded and accommodated within the accommodating space of the support 2.

[0029] The telescopic unit 12 includes two folding arms arranged vertically opposite each other. Each folding arm includes a hinged active arm 121 and a passive arm 122. The proximal end of the active arm 121 is hinged to the bracket 2, and the distal end of the passive arm 122 is hinged to the connecting frame 13. The telescopic drive unit 11 drives the proximal ends of the active arms 121 of the two folding arms to rotate towards or away from each other, so that the distal ends of the two active arms 121 move towards or away from each other, thereby causing the passive arm 122 to move closer to or away from the active arm 121.

[0030] When the telescopic drive unit 11 drives the distal end of the active arm 121 to move in the opposite direction, the active arm 121 drives the passive arm 122 to move around the hinge point and approach the active arm 121 to fold into the bracket 2. Compared with traditional telescopic structures, the telescopic unit 12, which adopts a folding arm structure, occupies less space after folding while achieving the same telescopic stroke, greatly optimizing the overall layout of the equipment. At the same time, through the coordinated movement of the hinged active arm 121 and the passive arm 122, a stable telescopic force can be provided, ensuring the stability and reliability of the robot body 3 during horizontal movement and reducing the operational risks caused by structural instability.

[0031] To further improve the stability and synchronization of the folding arm movement and avoid uneven force on the robot body 3 due to inconsistent movement of the two folding arms, the telescopic assembly 1 also includes a balancing unit 14. The balancing unit 14 includes balancing gears. The two balancing gears are respectively set at the far ends of the passive arms 122 of the two folding arms. The two balancing gears mesh to improve the balance and accuracy during the clamping and pushing process of the tube.

[0032] The telescopic drive unit 11 includes a telescopic drive component 111, two driving gears 112, and two driven gears 113. The two driving gears 112 mesh, and the two driven gears 113 are located on the upper and lower sides of the two driving gears 112, respectively, and mesh with the two driving gears 112. The driving arm 121 is hinged to the bracket 2 via a hinge shaft. The two driven gears 113 are respectively sleeved and fixed on the hinge shaft of the driving arm 121 in the two folding arms. The telescopic drive component 111 drives the driving gears 112 to rotate in opposite directions, causing the distal ends of the driving arms 121 to move in opposite directions. The telescopic drive unit 11 with gear transmission structure has high transmission efficiency and strong stability. It can accurately transmit the power of the telescopic drive component 111, ensuring that the two folding arms can be opened or folded synchronously and stably. At the same time, the precision of gear transmission ensures the accuracy of the horizontal movement distance of the robot body 3, meeting the strict requirements of positional accuracy for pipe pushing and supporting operations, improving work efficiency and quality, simplifying complex drive control logic, and reducing equipment failure rate.

[0033] In this embodiment, the passive gear 113 is designed as a sector gear, which reduces the space occupied by the gear while meeting the transmission requirements, making the structure of the telescopic drive unit 11 more compact.

[0034] Example 2

[0035] like Figure 1 As shown, this embodiment provides a foldable manipulator for oil drilling, including the foldable manipulator arm in Embodiment 1, and also a manipulator body 3 connected to the far end of the telescopic component 1.

[0036] The foldable manipulator for oil drilling in this embodiment reduces the space occupied by the telescopic component 1 when it is in the retracted state, as it folds into the accommodating space of the support 2. In the working environment of the oil drilling platform, it effectively avoids spatial interference with other equipment, reserves sufficient space for other operations on the drilling platform, significantly improves space utilization, and optimizes the overall work layout.

[0037] like Figure 3As shown, the robotic arm body 3 includes a frame 31, a robotic arm unit 32, and an opening / closing drive unit 33. The frame 31 is connected to the connecting frame 13, and the opening / closing drive unit 33 is mounted on the frame 31. The opening / closing drive unit 33 drives the robotic arm unit 32 to open and close to grip the pipe. The robotic arm unit 32 consists of two opposing grippers connected by a hinge, enabling flexible opening and closing movements to securely grip the pipe. In practical applications, the specific structural form of the opening / closing drive unit 33 is not limited; it can employ common linear drive devices such as electric push rods, hydraulic cylinders, or pneumatic cylinders. Regardless of the form used, as long as it can drive the hinged ends of the two grippers to move in opposite directions, thereby achieving stable and reliable pipe gripping and release, it can meet the operational needs under different working conditions.

[0038] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0040] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0042] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A foldable robotic arm for oil drilling, characterized in that, Includes a support (2) and a telescopic assembly (1); The bracket (2) has an opening on one side and an internal accommodating space; The proximal end of the telescopic component (1) is disposed on the bracket (2), and the distal end of the telescopic component (1) can be connected to the robot body (3) to drive the robot body (3) to move horizontally. When the telescopic component (1) is in the retracted state, the telescopic component (1) folds into the receiving space of the bracket (2).

2. The foldable robotic arm for oil drilling as described in claim 1, characterized in that: The telescopic assembly (1) includes a telescopic drive unit (11), a telescopic unit (12), and a connecting frame (13); The telescopic drive unit (11) is mounted on the bracket (2), the proximal end of the telescopic unit (12) is connected to the telescopic drive unit (11), and the distal end of the telescopic unit (12) is connected to the robot body (3) through the connecting frame (13). The telescopic drive unit (11) drives the telescopic unit (12) to extend and retract to move the robot body (3) horizontally. When the telescopic unit (12) is in the retracted state, the telescopic unit (12) folds into the accommodating space of the bracket (2).

3. The foldable robotic arm for oil drilling as described in claim 2, characterized in that: The telescopic unit (12) includes two folding arms arranged opposite each other in the vertical direction; Each of the folding arms includes a hinged active arm (121) and a passive arm (122). The proximal end of the active arm (121) is hinged to the bracket (2), and the distal end of the passive arm (122) is hinged to the connecting frame (13). The telescopic drive unit (11) drives the proximal ends of the active arm (121) of the two folding arms to rotate towards or in opposite directions, so that the distal ends of the two active arms (121) move towards or in opposite directions, thereby causing the passive arm (122) to move away from or towards the active arm (121). When the telescopic drive unit (11) drives the distal end of the active arm (121) to move in the opposite direction, the passive arm (122) moves around the hinge point closer to the active arm (121) to fold into the bracket (2).

4. The foldable robotic arm for oil drilling as described in claim 3, characterized in that: The telescopic assembly (1) further includes a balancing unit (14), which includes a balancing gear; The two balance gears are respectively disposed at the far ends of the passive arms (122) of the two folding arms, and the two balance gears mesh.

5. The foldable robotic arm for oil drilling as described in claim 3, characterized in that: The telescopic drive unit (11) includes a telescopic drive component (111), two drive gears (112) and two driven gears (113); The two driving gears (112) mesh, and the two driven gears (113) are located on the upper and lower sides of the two driving gears (112) respectively and mesh with the two driving gears (112); The active arm (121) is hinged to the bracket (2) via a hinge shaft, and the two passive gears (113) are respectively sleeved and fixed on the hinge shafts of the two active arms (121); The telescopic drive (111) drives the active gear (112) to rotate the passive gear (113) in the opposite direction so that the distal end of the active arm (121) moves towards or in the opposite direction.

6. The foldable robotic arm for oil drilling as described in claim 5, characterized in that: The passive gear (113) is a sector gear.

7. The foldable robotic arm for oil drilling as described in claim 3, characterized in that: The distal end of the passive arm (122) has a receiving slot to accommodate the robotic arm body (3).

8. The foldable robotic arm for oil drilling as described in claim 1, characterized in that: The support (2) includes a base plate and two upright plates; The bottom ends of the two upright plates are connected to the base plate. The two upright plates are arranged opposite each other and spaced apart, and the gap between the two upright plates forms the receiving space.

9. A foldable robotic arm for oil drilling, characterized in that: Includes the foldable robotic arm as described in any one of claims 1-8; It also includes the robotic arm body (3) connected to the distal end of the telescopic assembly (1).

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