CN103659816A - Robot system for collecting stress test data of drilling rig derricks - Google Patents
Robot system for collecting stress test data of drilling rig derricks Download PDFInfo
- Publication number
- CN103659816A CN103659816A CN201210345116.XA CN201210345116A CN103659816A CN 103659816 A CN103659816 A CN 103659816A CN 201210345116 A CN201210345116 A CN 201210345116A CN 103659816 A CN103659816 A CN 103659816A
- Authority
- CN
- China
- Prior art keywords
- finger
- manipulator
- motor
- paster
- mechanical finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a robot system for collecting stress test data of drilling rig derricks. The system is characterized by comprising a quadruped climbing robot carrier, a surface pre-mounting device, a surface mounting device, and a data collection-storage and wireless transmission module, wherein the surface pre-mounting device and the surface mounting device are mounted on the robot carrier. The robot system has the advantages that compared to the existing derrick stress test system, the system is added the quadruped climbing robot carrier replacing workers in performing aerial secondary danger operations, labor intensity is greatly reduced for workers, and safety risks are completely avoided; the surface pre-mounting device is capable of more accurately and well processing a surface mount environment; the carried data collection-storage and wireless transmission module is capable of storing and analyzing test data in situ, and communication with surface PCs can be achieved through the wireless transmission module. The robot system is powerful and highly safe and can serve as an important supporting product for oil drilling (repairing) rig derrick test systems.
Description
Technical field:
The invention belongs to petroleum equipment manufacturing product test machine mankind technical field.Relate in particular to a kind of robot system that gathers oil-well rig boring tower and/or repair motor-pumped well frame stress test data.
Background technology:
Oil derrick is the visual plant in oilfield exploitation procedure, most important to the safety in production in oil field.Derrick design produce and use procedure in, test that all will be to the overall structure performance of derrick, takes into account the carrying energy that macroscopic evaluation derrick is carried out in part.Existing test macro: the wired test macro that adopts wire, need to expend a large amount of human and material resources and time completes transportation, layout and the connection work of measure traverse line, and certainty of measurement is subject to that conductor length and wiring affect greatly, test period long, can not realize rig and test synchronization job; Although and simple wireless test system method has solved the limitation of the problems such as wired test macro wiring, but still need staff that SMD strain gauge is put on the sampled point of derrick.Staff need to move up and down on the derrick of 18-100 meters high, also will carry relevant testing equipment simultaneously, and the large danger of labour intensity is high, belongs to high-altitude, well site secondary dangerous operation.In addition, thus because the high test point on derrick of danger coefficient can only rule of thumb be chosen crucial position, so the data that obtain are limited, the good overall performance of assessment apparatus.
Summary of the invention:
The present invention is directed to prior art above shortcomings, provide novel the object of this invention is to provide a kind ofly can replace staff's load sensor, can choose flexibly test point, a kind of robot system that gathers oil-well rig boring tower stress test data of store test data on the spot.
The object of the invention is to be achieved through the following technical solutions:
A robot system that gathers oil-well rig boring tower stress test data, is characterized in that: comprises four-footed climbing robot carrier, is arranged on paster pretreatment unit and paster apparatus and data acquisition storage and wireless transport module on robot carrier,
Described four-footed climbing robot carrier comprises upper bracket, lower carriage, the described upper and lower support both sides guide rod that is slidably connected, described lower carriage is provided with lifting rack, described upper bracket is provided with lifting motor, described lifting motor is provided with lifting pinion, described upper and lower support two ends are connected and are grabbed bar manipulator by the free swinging arm device of manipulator respectively, described in grab bar manipulator and be provided with manipulator finger retractor device; The described bar manipulator of grabbing is provided with 4, is respectively upper right and grabs bar manipulator, upper leftly grabs that bar manipulator, bottom right are grabbed bar manipulator, bottom left is grabbed bar manipulator;
The free swinging arm device of described manipulator comprises: the swing link being connected with upper and lower support respectively, and described swing link connects manipulator support by rotating shaft, and swing arm motor is connected with rotating shaft by key connected mode;
Described manipulator finger retractor device comprises: mechanical finger A, mechanical finger B, finger moving slider A, finger moving slider B, pulley A, pulley B, back-moving spring, be fixed on the linear bearing of slide block, described manipulator support is provided with the linear bearing for fixing to slide block, described linear bearing is provided with back-moving spring, back-moving spring one end connects finger moving slider A, described finger moving slider A is connected with mechanical finger A, the back-moving spring other end connects finger moving slider B, described finger moving slider B is connected with mechanical finger B, the flexible motor connection of described finger is wrapped in pulley A, B and end points and finger moving slider A, the steel wire rope that B is fixing, mechanical finger A, B is strained by back-moving spring, during electric machine rotation, point A, B separately, in motor reversal or burst accident power-off situation, mechanical finger A, B keeps holding tightly state with derrick vertical beam under back-moving spring effect, thereby guaranteed fully this climbing robot's security reliability,
Described upper bracket is provided with paster pretreatment unit, described paster pretreatment unit comprises grinding wheel, drive pinion, transmission gear wheel, motor and axle for polishing, described axle is provided with grinding wheel, and described grinding wheel is connected with motor with polishing by transmission gear wheel, drive pinion.
Described lower carriage is provided with paster apparatus, and described paster apparatus comprises linear electric motors, patch sensor, retainer, axle.On described axle, a side is provided with linear electric motors, and opposite side is provided with patch sensor, retainer;
Described data acquisition storage and wireless transport module comprise: connect the data conversion storage module of RH375 chip, and the storage U disk that connects this data conversion storage module, be connected in the wireless data transfer module of acquisition module.
Described mechanical finger A, its inner surface of mechanical finger B are provided with anti-slip veins.
Beneficial effect of the present invention: the present invention compares with existing derrick stress test system, increased four-footed climbing robot carrier and substituted staff's high-altitude secondary dangerous operation in test, greatly reduced staff's labour intensity and evaded security risk completely; Paster pretreatment unit can be more accurate, good processing paster environment; Data acquisition storage and the wireless transport module inventory analysis test data on the spot of carrying, and can realize and ground pc devices communicating by wireless transport module.The present invention is powerful, safe, for petroleum drilling (repairing) motor-pumped well frame product testing system provides important auxiliary products.
Accompanying drawing explanation:
Fig. 1 is the structural representation of embodiment of the present invention integral body;
Fig. 2 is robot manipulator structure schematic diagram;
Fig. 3 is robot manipulator structure schematic diagram;
Fig. 4 is paster pretreatment unit structural representation;
Fig. 5 is paster apparatus structural representation;
Fig. 6 is that upper bracket structure and lifting rack are arranged schematic diagram;
Fig. 7 is integrated model side view.
In figure:
1. upper right upper left bar manipulator 3. bottom lefts of grabbing of bar manipulator 2. of grabbing are grabbed bar manipulator 4. bottom rights and are grabbed bar manipulator 5. grinding wheel 6. drive pinion 7. transmission gear wheel 8. polishing motors, 9. axle, 10. mechanical finger A, 11. mechanical finger B 12. swing arm motors, flexible motor 14. lifting motors 15. of 13. finger promote pinion 16. lifting rack 17. guide rod 18. upper bracket 19. lower carriage 20. linear electric motors 21. patch sensor 22. pulley A 23. pulley B 24. back-moving spring 25. finger moving slider A 26. finger moving slider B 27. and swing link 28. retainer 29. rotating shaft 30. manipulator support 31. linear bearings.
The specific embodiment:
According to drawings and embodiments the present invention is described in further detail below:
Gather a robot system for oil-well rig boring tower stress test data, comprise four-footed climbing robot carrier, be arranged on paster pretreatment unit and paster apparatus and data acquisition storage and wireless transport module on robot carrier,
Described four-footed climbing robot carrier comprises upper bracket 18, lower carriage 19, the described upper and lower support both sides guide rod 17 that is slidably connected, described lower carriage 19 is provided with lifting rack 16, described upper bracket 18 is provided with lifting motor 14, described lifting motor 14 is provided with and promotes pinion 15, described upper and lower support two ends are connected and are grabbed bar manipulator by the free swinging arm device of manipulator respectively, described in grab bar manipulator and be provided with manipulator finger retractor device; The described bar manipulator of grabbing is provided with 4, is respectively upper right and grabs bar manipulator 1, upper leftly grabs that bar manipulator 2, bottom right are grabbed bar manipulator 4, bottom left is grabbed bar manipulator 3;
The free swinging arm device of described manipulator comprises: the swing link 27 being connected with upper and lower support respectively, and described swing link 27 connects manipulator support 30 by rotating shaft 299, and swing arm motor 12 is connected with rotating shaft 29 by key connected mode;
Described manipulator finger retractor device comprises: mechanical finger A, mechanical finger B, finger moving slider A25, finger moving slider A26, pulley A22, pulley A23, back-moving spring 24, be fixed on the linear bearing 31 of slide block, described manipulator support 30 is provided with the linear bearing 31 for fixing to slide block, described linear bearing 31 is provided with back-moving spring 24, back-moving spring 24 one end connect finger moving slider A25, described finger moving slider A25 is connected with mechanical finger A10, back-moving spring 24 other ends connect finger moving slider B26, described finger moving slider B26 is connected with mechanical finger B11, flexible motor 13 connections of described finger are wrapped in pulley A, B and end points and finger moving slider A, the steel wire rope that B is fixing, mechanical finger A, B is strained by back-moving spring 24, during electric machine rotation, point A, B separately, in motor reversal or burst accident power-off situation, mechanical finger A, B keeps holding tightly state with derrick vertical beam under back-moving spring 24 effects, thereby guaranteed fully this climbing robot's security reliability,
Described upper bracket 18 is provided with paster pretreatment unit, described paster pretreatment unit comprises grinding wheel 5, drive pinion 6, transmission gear wheel 7, motor 8 and axle 9 for polishing, described axle 9 is provided with grinding wheel 5, and described grinding wheel 5 is connected with motor 8 with polishing by transmission gear wheel 7, drive pinion 6.
Described lower carriage 19 is provided with paster apparatus, and described paster apparatus comprises linear electric motors 20, patch sensor 21, retainer 28, axle 9.On described axle 9, a side is provided with linear electric motors 20, and opposite side is provided with patch sensor 21, retainer 28.
Described data acquisition storage and wireless transport module comprise: connect the data conversion storage module of chip, and the storage U disk that connects this data conversion storage module, be connected in the wireless data transfer module of acquisition module.
Operation principle is:
One, four-footed climbing robot carrier elemental motion summary
1, grab bar warming-up exercise
This action command is carried to the flexible motor of finger by control system, after the flexible motor power of finger is connected, make its reversion, drive is wrapped in pulley A, B and end points and finger moving slider A, steel wire rope that B is fixing, overcome the pulling force of linking springs between mechanical finger A, B, it is moved dorsad, and it is maximum that spacing reaches.
2, grab bar action
This action command is carried to swing arm motor, the flexible motor of finger by control system, after swing arm motor power is connected, make the left and right sides motor forward, reversion respectively, the rotating shaft that drive connects through key, make coupled up and down four grab bar manipulator and swing to the inside, until draw close in derrick vertical rod, now the flexible motor power of finger is connected, and makes its forward (when emergency situations can power-off) mechanical finger A, B hold vertical rod tightly under the pulling force effect of linking springs.
3, loose bar action
This action command is carried to the flexible motor of finger by control system, and the flexible motor power of finger reverses it after connecting again, described in 1, mechanical finger A, B is moved dorsad, separates with vertical rod.When running into obstacle, can start swing arm motor, make to grab bar manipulator and open laterally, avoid obstacle.
4, enhancing action
In left and right, upper end, grabbing bar manipulator grabs under bar state, make left and right, lower end grab bar manipulator pine bar, now input instruction to lifting motor, lifting motor reversion, by connected lifting gear driven lifting rack, move upward, the parts that are now connected with lifting rack lower end move on the whole, draw close with upper bracket.
Now, input control order makes left and right, lower end gripper of manipulator bar, left and right, upper end manipulator loose bar, lifting motor forward, moves downward lifting rack relatively, and the upper body part being connected with upper bracket in fact upwards promotes, now input control order, makes left and right, upper end gripper of manipulator bar.
So, reciprocal above-mentioned action is to realize the elemental motion of climbing.
Two, the pretreatment of paster environment and paster action
When robot carrier arrives nominative testing position, need first paster environment to be carried out to pretreatment, common work is that the surface finish of derrick vertical rod is smooth, removes foreign material.Now, input control order is connected polishing motor power, makes its forward, drives drive pinion forward, and transmission gear wheel and coupled grinding wheel reversion are smooth by derrick vertical rod surface finish, remove foreign material, complete paster environment pretreatment action.
Robot repeats enhancing action again, and paster apparatus is moved to the derrick vertical rod surface after processing, and now input control order is to linear electric motors, and linear electric motors drive coupled patch sensor, with the laminating of derrick surface.
Three, data acquisition storage and wireless transmission function explanation
After the patch sensor paster action that completes above-mentioned assigned address, input instruction log-on data gathers memory module, waits for Test Data Collecting.Herein, mainly apply 5 chips image data is stored in to USB flash disk in real time, on the spot, and transfer data to ground PC end by wireless transport modules such as wifi or gprs.
In Fig. 1, upper leftly grab that bar manipulator 2 launches, the upper right bar manipulator 1, bottom left of grabbing grabbed bar manipulator 3 bottom rights and grabbed bar manipulator and grab bar, 4 manipulators connect by upper lower carriage and lifting device.The upper left bar manipulator 1 of grabbing launches laterally, and 180 ° of maximum expanded angles can be avoided left side barrier, and simultaneously the upper right bar manipulator 2 of grabbing is caught derrick vertical rod, now lower end two grab bar manipulator can loose bar and carry out enhancing action.
In Fig. 2, pulling force effect due to back-moving spring 24 between mechanical finger A, mechanical finger B, can make manipulator and derrick vertical rod mechanical type hold tightly, even during the faults such as burst accident, power-off, still can fully guarantee that robot carrier is fixed on derrick vertical rod stably, improve greatly security performance.
In Fig. 6, upper and lower two ends manipulator support becomes 60 ° of angles with vertical plane, and mechanical finger A, B surface is through embossing processing, forms anti-slip veins, these have all increased the contact friction force of manipulator 1,2,3,4 and derrick vertical rod, have avoided the situation of robot carrier slide bar to occur completely.
In Fig. 3, the environment pretreatment of paster surface uses motor 8 to drive drive pinion 6, transmission gear wheel 7 to make grinding wheel 5 automatically process vertical rod surface environment by polishing, and status is accurate, treatment effect good, efficiency is high.
Claims (2)
1. a robot system that gathers oil-well rig boring tower stress test data, it is characterized in that: comprise four-footed climbing robot carrier, be arranged on paster pretreatment unit and paster apparatus and data acquisition storage and wireless transport module on robot carrier, described four-footed climbing robot carrier comprises upper bracket, lower carriage, on described, the lower carriage both sides guide rod that is slidably connected, described lower carriage is provided with lifting rack, described upper bracket is provided with lifting motor, described lifting motor is provided with lifting pinion, on described, lower carriage two ends are connected and are grabbed bar manipulator by the free swinging arm device of manipulator respectively, the described bar manipulator of grabbing is provided with manipulator finger retractor device, the described bar manipulator of grabbing is provided with 4, is respectively upper right and grabs bar manipulator, upper leftly grabs that bar manipulator, bottom right are grabbed bar manipulator, bottom left is grabbed bar manipulator, the free swinging arm device of described manipulator comprises: the swing link being connected with upper and lower support respectively, and described swing link connects manipulator support by rotating shaft, and swing arm motor is connected with rotating shaft by key connected mode, described manipulator finger retractor device comprises: mechanical finger A, mechanical finger B, finger moving slider A, finger moving slider B, pulley A, pulley B, back-moving spring, be fixed on the linear bearing of slide block, described manipulator support is provided with the linear bearing for fixing to slide block, described linear bearing is provided with back-moving spring, back-moving spring one end connects finger moving slider A, described finger moving slider A is connected with mechanical finger A, the back-moving spring other end connects finger moving slider B, described finger moving slider B is connected with mechanical finger B, the flexible motor connection of described finger is wrapped in pulley A, B and end points and finger moving slider A, the steel wire rope that B is fixing, mechanical finger A, B is strained by back-moving spring, during electric machine rotation, point A, B separately, in motor reversal or burst accident power-off situation, mechanical finger A, B keeps holding tightly state with derrick vertical beam under back-moving spring effect,
Described upper bracket is provided with paster pretreatment unit, described paster pretreatment unit comprises grinding wheel, drive pinion, transmission gear wheel, motor and axle for polishing, described axle is provided with grinding wheel, and described grinding wheel is connected with motor with polishing by transmission gear wheel, drive pinion;
Described lower carriage is provided with paster apparatus, and described paster apparatus comprises linear electric motors, patch sensor, retainer, axle, and on described axle, a side is provided with linear electric motors, and opposite side is provided with patch sensor, retainer;
Described data acquisition storage and wireless transport module comprise: connect the data conversion storage module of chip, and the storage U disk that connects this data conversion storage module, be connected in the wireless data transfer module of acquisition module.
2. a kind of robot system that gathers oil-well rig boring tower stress test data as claimed in claim 1, is characterized in that: described mechanical finger A, its inner surface of mechanical finger B are provided with anti-slip veins.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210345116.XA CN103659816A (en) | 2012-09-18 | 2012-09-18 | Robot system for collecting stress test data of drilling rig derricks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210345116.XA CN103659816A (en) | 2012-09-18 | 2012-09-18 | Robot system for collecting stress test data of drilling rig derricks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103659816A true CN103659816A (en) | 2014-03-26 |
Family
ID=50299208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210345116.XA Pending CN103659816A (en) | 2012-09-18 | 2012-09-18 | Robot system for collecting stress test data of drilling rig derricks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103659816A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105651535A (en) * | 2015-12-31 | 2016-06-08 | 武汉江钻恒立工程钻具股份有限公司 | Complete machine data test method for drilling machine |
| CN105965543A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Universal robot provided with rotating execution tail end |
| CN106078799A (en) * | 2016-07-18 | 2016-11-09 | 佛山市联智新创科技有限公司 | A kind of light-duty six axle all-purpose robots being provided with adjutage |
| CN109623845A (en) * | 2019-01-29 | 2019-04-16 | 无锡市第二人民医院 | A kind of working method of spacial multi-angle flexible bionic manipulator |
| CN112326072A (en) * | 2021-01-04 | 2021-02-05 | 成都威尔森科技发展有限责任公司 | Stress detection device |
-
2012
- 2012-09-18 CN CN201210345116.XA patent/CN103659816A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105651535A (en) * | 2015-12-31 | 2016-06-08 | 武汉江钻恒立工程钻具股份有限公司 | Complete machine data test method for drilling machine |
| CN105965543A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Universal robot provided with rotating execution tail end |
| CN106078799A (en) * | 2016-07-18 | 2016-11-09 | 佛山市联智新创科技有限公司 | A kind of light-duty six axle all-purpose robots being provided with adjutage |
| CN106078799B (en) * | 2016-07-18 | 2018-04-17 | 林小芬 | A kind of light-duty six axis all-purpose robot equipped with adjutage |
| CN105965543B (en) * | 2016-07-18 | 2018-05-11 | 烟台盛创智能科技有限公司 | A kind of all-purpose robot for being equipped with rotation and performing end |
| CN109623845A (en) * | 2019-01-29 | 2019-04-16 | 无锡市第二人民医院 | A kind of working method of spacial multi-angle flexible bionic manipulator |
| CN112326072A (en) * | 2021-01-04 | 2021-02-05 | 成都威尔森科技发展有限责任公司 | Stress detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103659816A (en) | Robot system for collecting stress test data of drilling rig derricks | |
| CN203996531U (en) | A kind of electric transmission pole tower climbing robot | |
| CN201075610Y (en) | Aerial circuit over barrier polling robot | |
| CN102136696B (en) | A kind of polling transmission line or deicing robot | |
| CN201994593U (en) | Inspection or de-icing robot of power transmission line | |
| CN102975191B (en) | Line-walking robot system for overhead transmission line | |
| CN202910857U (en) | Overhead transmission circuit inspection robot system | |
| CN203839815U (en) | Remote climbing device used for overhead power transmission conductor detection | |
| CN107389480A (en) | A kind of ocean compliant riser multiaxle fatigue experimental device | |
| CN104597349A (en) | Split type detection robot for suspension insulator string | |
| CN205766107U (en) | A kind of parallel robot controller | |
| CN103878758A (en) | Feeding and discharging device of intelligent mobile robot | |
| CN207120238U (en) | Confined space sniffing robot | |
| CN103594967A (en) | Overturning obstacle crossing type overhead line work robot | |
| CN103382820A (en) | Power rat hole device of marine drilling platform | |
| CN107059611A (en) | Many rotor drag-line detection robots and its method detected for drag-line | |
| CN205565527U (en) | Full -automatic robot that patrols and examines suitable for power transmission line insulator cluster | |
| CN204054039U (en) | Be applicable to the drilling rod automatic-discharging manipulator of rock-core borer | |
| CN105965524A (en) | Patrolling robot of iron tower and working method thereof | |
| CN203544187U (en) | Inspection robot suitable for electric transmission line with strain section | |
| CN102966318B (en) | Marine riser hoisting device | |
| CN206784174U (en) | More rotor drag-lines detect robot | |
| CN203441403U (en) | Dynamic mouse hole device of marine drilling platform | |
| CN202499621U (en) | Steel wire rope lifting clamper for checking elevator speed governor | |
| CN106219462B (en) | Lifting device mechanism of travel in high sky robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140326 |