CN116892372B - Intelligent mechanical arm for automatically righting casing - Google Patents
Intelligent mechanical arm for automatically righting casing Download PDFInfo
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- CN116892372B CN116892372B CN202311162330.6A CN202311162330A CN116892372B CN 116892372 B CN116892372 B CN 116892372B CN 202311162330 A CN202311162330 A CN 202311162330A CN 116892372 B CN116892372 B CN 116892372B
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- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000011084 recovery Methods 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 22
- 239000010720 hydraulic oil Substances 0.000 claims description 14
- 210000003857 wrist joint Anatomy 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 5
- 238000000605 extraction Methods 0.000 abstract description 3
- 230000006978 adaptation Effects 0.000 abstract 1
- 238000005553 drilling Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 239000003921 oil Substances 0.000 description 5
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241001631457 Cannula Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses an intelligent manipulator for automatically righting a sleeve, which comprises a horizontal rail, a horizontal sliding trolley, a folding mechanical arm and an intelligent manipulator, wherein the horizontal rail is horizontally arranged; the horizontal sliding trolley moves along the horizontal track, and a rotating base of the horizontal sliding trolley rotates around the Y axis; the folding mechanical arm is rotationally connected with the rotating base and is provided with a vertical recovery state and a V-shaped unfolding state; the intelligent manipulator is connected with the mobile tail end of the folding mechanical arm, the folding mechanical arm is suitable for enabling the intelligent manipulator to be in a horizontal state all the time and not rotate around the X axis, and the intelligent manipulator is used for grabbing and automatically righting the target sleeve in the vertical direction. The invention can realize regular stacking of the sleeves and extraction of the specified positions to the pipe hanging mechanism, can completely restrict the pipe group, and has the functions of RX axis automatic adaptation and Z axis automatic righting; automatically maintaining the clamping force and automatically feeding back the pipe diameter and the sleeve posture.
Description
Technical Field
The invention relates to the technical field of petroleum operation equipment, in particular to an intelligent mechanical arm for automatically righting a casing.
Background
In conventional drilling processes in the oil and gas industry, the well depth is typically between hundreds of meters and six seven kilometers, with a nominal length of only 9.14 meters for a standard casing. Therefore, hundreds of casing pipes for drilling need to be extended into the ground during the drilling process. In actual drilling operations, casing of various specifications needs to be replaced alternately, well heads are frequently proposed or put into the well heads, and the number of casing operations is quite large. Meanwhile, each sleeve has a weight of about 100-900 kg, two or three sleeves are combined to carry out hanging operation, and the total weight is large. At present, the automation degree of drilling operation of more than 90% in China is lower, and the whole drilling operation period is longer. Because the degree of automation operation is not high, the degree of manual participation is relatively high in each process link of drilling. The accidents of personal physical injury caused by bad weather conditions and protection conditions in field work are more.
For this purpose, mechanical gripping devices are used for operation, but in the various drill pipe and casing management devices of the derrick, regular and sequential storage and use is a relatively large proportion of the drilling cycle time. The traditional management mode is to set up the vertical storage area of sleeve pipe around the well head, and the manual work is to the sleeve pipe that each technology stage needs to use and is measured and the sign mark. In the pipe taking process, a target object is manually identified, and manual remote operation is performed to operate two pipe taking machines of the drilling platform and the two-layer platform. In the engineering process of two machines, multiple people are required to conduct command and coordination. Various factors such as manual marking and identification, disordered and disordered placement on site and the like cause low operation efficiency.
In addition, when the existing storage mechanism is used for storing, the sleeve is fixed and is completely restrained, and the safety is relatively good, but in the tube group transferring process, the existing mechanical grabbing device is in an incomplete restraint mode, only a pushing and supporting function can be provided, and the sleeve has a relative gap in the manipulator, so that the sleeve is easy to relatively slip, and the safety is poor. In the process of taking or storing the pipe, adverse factors such as strong wind, sewage, dirty oil and the like can exist on site due to the large weight of the sleeve, so that safety accidents are extremely easy to occur.
Modern petroleum production is gradually developed towards automation and informatization, the current hydraulic grabbing device can only carry out remote operation under visual or television conditions, and production staff cannot dynamically and comprehensively master various parameters in the working process.
Disclosure of Invention
An object of the present application is to provide an intelligent manipulator for automatically righting a casing pipe, so as to solve the problem set forth in the above-mentioned background art.
In order to achieve the above purpose, the present application provides the following technical solutions:
an intelligent mechanical arm for automatically righting a casing, comprising:
the horizontal track is horizontally arranged, the direction along the horizontal track is the Z-axis direction, the horizontal direction is perpendicular to the Z-axis direction and is the X-axis direction, and the vertical direction is the Y-axis direction;
the horizontal sliding trolley moves along the horizontal track, and a rotating base of the horizontal sliding trolley rotates around a Y axis;
the folding mechanical arm is rotationally connected with the rotating base and is provided with a vertical recovery state and a V-shaped unfolding state;
the intelligent mechanical arm is connected with the movable tail end of the folding mechanical arm, the folding mechanical arm is suitable for enabling the intelligent mechanical arm to be in a horizontal state all the time and not rotate around an X axis, and the intelligent mechanical arm is used for grabbing and automatically righting a target sleeve in a vertical direction;
the intelligent manipulator comprises a wrist joint, a manipulator support and intelligent fingers, wherein the wrist joint is connected with the moving tail end of the folding manipulator, a first rotation mechanism is arranged in the wrist joint, the rotation end of the first rotation mechanism is connected with the manipulator support, the first rotation mechanism is used for driving the manipulator support to rotate around a Z axis, an opening and closing mechanism for driving the intelligent fingers to open and close is arranged on the manipulator support, and two intelligent fingers are symmetrically arranged on two sides of the manipulator support along the X axis; the first slewing mechanism comprises a cylinder body, a gear is arranged in the middle of the cylinder body, piston racks are respectively meshed with two sides of the gear, a sliding channel is arranged in the cylinder body corresponding to the piston racks, and hydraulic oil ports are arranged on two sides of the cylinder body corresponding to the sliding channel;
the intelligent finger comprises a finger body and a rotating holding pipe clamp, the rotating holding pipe clamp is connected with the finger body through a pin shaft, the rotating holding pipe clamp can rotate and axially move relative to the finger body, and a spring is sleeved on a pin shaft handle extending into the finger body; in an initial state of no enclasping operation, the spring is compressed for a certain distance to enable the spring to have a certain initial pressure on the rotary enclasping pipe clamp; the finger body is provided with a stepped through hole, the stepped through hole comprises a large hole and a small hole from inside to outside, one end of a pin shaft extends into the large hole and is connected with the rotating clamp, an adjusting nut is connected to the pin shaft on the outer side of the small hole in a threaded manner, a clamping ring is fixedly arranged on the inner side of the adjusting nut, the outer diameter of the clamping ring is larger than the aperture of the small hole, and an adjusting gasket is arranged between the spring and the bottom of the large hole.
Further, a travel switch is arranged on two sides of the outer portion of the stepped through hole, and/or a probe of a range radar is arranged on the inner side of the end portion of the finger body.
Further, the rotating clamp comprises a clamp body and a connecting shaft, the clamp body comprises two inclined clamping plates which are V-shaped and a back plate connected with the clamping plates, the connecting shaft is arranged in the middle of the back plate, the connecting shaft stretches into the large hole and is connected with the pin shaft, the finger body corresponds to the rotating clamp body, a V-shaped groove is formed in the rotating clamp body, and a certain distance is reserved between the rotating clamp body and the V-shaped groove.
Further, the opening and closing mechanism comprises a first linear driving, a finger action connecting rod A and a finger action connecting rod B, wherein the fixed end of the first linear driving is connected with a manipulator support, the moving end of the first linear driving is far away from the direction of the intelligent finger, two sides of the moving end of the first linear driving are symmetrically connected with one end of the finger action connecting rod A in a rotating way, the other end of the finger action connecting rod A is connected with the intelligent finger in a rotating way, and the finger action connecting rod B, the intelligent finger and the manipulator support are connected to form a parallelogram hinged structure.
Further, a three-axis gyro attitude sensor is arranged on the manipulator support.
Further, the horizontal sliding trolley comprises a trolley body and a rotating base, a driving wheel and a driven wheel are arranged on two sides of the trolley body, a driving motor for driving the driving wheel to rotate is arranged in the trolley body, a second rotating mechanism is arranged in the trolley body, the rotating end of the second rotating mechanism is connected with the rotating base, and the second rotating mechanism is used for driving the rotating base to rotate around a Y axis.
Further, the second slewing mechanism comprises a cylinder body, a gear is arranged in the middle of the cylinder body, piston racks are respectively meshed with two sides of the gear, a sliding channel is arranged in the cylinder body corresponding to the piston racks, and hydraulic oil ports are arranged on two sides of the cylinder body corresponding to the sliding channel.
Further, the folding mechanical arm comprises a connecting rod A, a connecting rod B, a connecting rod C and a connecting rod D, wherein the connecting rod A and the connecting rod B are arranged in parallel, one ends of the connecting rod C and the connecting rod D are respectively connected with the rotating base in a rotating mode, the other ends of the connecting rod C and the connecting rod D are respectively connected with a folding joint in a rotating mode, a synchronous connecting rod is rotationally arranged in the folding joint in a rotating mode, the synchronous connecting rod is respectively connected with the connecting rod B and the connecting rod D in a rotating mode, a second linear driving mode is arranged on the connecting rod D, a moving end of the second linear driving mode is connected with the connecting rod C in a rotating mode, and the height difference of the connecting position of the connecting rod A and the connecting rod B in the Y-axis direction enables the intelligent mechanical arm to be always in a horizontal state and not rotate around the X-axis. .
In summary, the invention has the technical effects and advantages that: the invention can realize regular stacking of the sleeves and extraction of the appointed positions to the pipe hanging mechanism; the rotary holding pipe clamp is in pin shaft connection with the finger body, can adapt to a sleeve with a certain inclination, and can clamp the sleeve more effectively; the intelligent manipulator is provided with a hydraulic action wrist joint, and when the sleeve needs to be kept vertical, the sleeve can be righted under the instruction of the control system; the rear parts of the rotating clamp clamps are respectively provided with a spring, after the intelligent fingers stop acting, the two springs are compressed, so that the clamping force for keeping the two rotating clamp clamps and the sleeve therein is kept fixed, the sleeve can be completely restrained and clamped, and accidents caused by the slipping or toppling of the sleeve can be effectively prevented; the front ends of the two finger bodies are respectively provided with a range radar probe, two groups of distance and displacement data are measured in and after the sleeve clamping process, and the outer diameter of the clamped sleeve can be obtained through control calculation and conversion; the three-axis gyro attitude sensor is mounted on the manipulator support, three angle attitudes of the current intelligent manipulator or the sleeve can be fed back to the control system in real time, physical information in the operation process can be judged by the control system, and quick operation and accident probability reduction are facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural diagram of an intelligent robot for automatically righting a casing in an embodiment of the present invention;
FIG. 2 is a schematic view of a water-smooth cart according to an embodiment of the present invention;
FIG. 3 is a schematic view illustrating a folding mechanical arm in an open state according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a folding joint in an unfolded state according to one embodiment of the present invention;
FIG. 5 is a schematic structural view of a folding mechanical arm in a recovery state according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a smart manipulator according to an embodiment of the present invention;
FIG. 7 is a half-sectional view of a smart manipulator according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of a first swing mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a smart finger according to an embodiment of the present invention;
FIG. 10 is an enlarged view of a portion of FIG. 9 at A
FIG. 11 is a front view of an intelligent robot operating state of a self-righting sleeve in accordance with an embodiment of the present invention;
FIG. 12 is a top view of an intelligent robot operating state for automatically righting a casing in accordance with an embodiment of the present invention;
FIG. 13 is a left side view of an intelligent robot operating state of a self-righting sleeve in accordance with an embodiment of the present invention.
Wherein,
100. a horizontal rail;
200. a horizontal sliding trolley; 201. a slewing bearing; 202. a driving wheel; 203. a vehicle body; 204. a rotation axis; 205. a swivel base; 206. driven wheel; 207. pin holes A; 208. pin holes B;
300. a folding mechanical arm; 301. a connecting rod A; 302. a connecting rod B; 303. folding joints; 304. a connecting rod C; 305. a connecting rod D; 306. a second linear drive; 307. a hinge shaft A; 308. a hinge shaft B; 309. a hinge shaft C; 310. a hinge shaft D; 311. a synchronous connecting rod;
400. an intelligent manipulator; 401. a wrist joint; 402. a three-axis gyro attitude sensor; 403. a manipulator support; 404. a first linear drive; 405. a finger body; 406. a finger action connecting rod A; 407. a finger action connecting rod B; 408. a piston rack; 409. a hydraulic oil port A; 410. a hydraulic oil port B; 411. a gear; 412. a hydraulic oil port C; 413. a hydraulic oil port D; 414. a travel switch A; 415. a travel switch B; 416. a travel switch C; 417. a spring; 418. rotating the pipe holding clamp; 419. a travel switch D; 420. a range radar A; 421. a range radar B; 422. a pin hole C; 423. a pin hole D; 424. a stepped through hole; 425. a pin shaft; 426. an adjusting nut; 427. a clasp; 428. adjusting the gasket; 429. a connecting shaft; 430. a clamping plate; 431. a back plate; 432. v-shaped grooves.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The embodiment provides an intelligent manipulator for automatically righting a casing, which is used for a double-deck casing storage device on an oil drilling derrick and can realize regular stacking of casings and extraction of the casings from specified positions to a casing lifting mechanism. As shown in fig. 1 to 13, includes a horizontal rail 100, a horizontal sliding cart 200, a folding robot 300, and an intelligent robot 400. The horizontal rail 100 is horizontally disposed, and the horizontal rail 100 is in a beam structure and is mounted on a racking platform, and rake (not shown) is disposed on two sides of the horizontal rail. For convenience of the following description, directions are first defined in a schematic manner, and as shown in fig. 1, a direction along the horizontal rail 100 is a Z-axis direction, a horizontal direction perpendicular to the Z-axis direction is an X-axis direction, and a vertical direction is a Y-axis direction. The horizontal sliding cart 200 moves along the horizontal rail 100, and the swivel base 205 of the horizontal sliding cart 200 swivels around the Y axis. The folding mechanical arm 300 is rotatably connected with the rotating base 205, and the folding mechanical arm 300 has a vertical recovery state and a V-shaped unfolding state. The intelligent manipulator 400 is connected with the mobile end of the folding manipulator 300, and the folding manipulator 300 is suitable for enabling the intelligent manipulator 400 to be always in a horizontal state and not rotate around the X axis, and the intelligent manipulator 400 is used for grabbing and automatically righting a target sleeve in the vertical direction.
Specifically, the intelligent manipulator 400 includes wrist joint 401, manipulator support 403 and intelligent finger, and wrist joint 401 is connected with the removal end of folding arm 300, is equipped with first rotation mechanism in the wrist joint 401, and first rotation mechanism's gyration end is connected with manipulator support 403, and first rotation mechanism is used for driving manipulator support 403 and revolves around the Z axle, is equipped with the mechanism that opens and shuts that is used for driving intelligent finger to open and shut on the manipulator support 403, and two intelligent fingers are located the both sides of manipulator support 403 along X axisymmetry. After the pipe holding step is completed, the first rotation mechanism of the wrist joint 401 can provide rotation power to centralize the sleeve under the instruction of the control system.
Further, the intelligent finger comprises a finger body 405 and a rotating holding clamp 418, the rotating holding clamp 418 is in pin shaft connection with the finger body 405, the rotating holding clamp 418 can rotate relative to the finger body 405, the rotating holding clamp 418 can axially move relative to the finger body 405, and a spring 417 is sleeved on a pin shaft handle extending into the finger body 405 through the rotating holding clamp 418. The rotating clamp 418 is pin-connected with the finger body 405, so that the clamp can adapt to a sleeve with a certain inclination and can clamp the sleeve more effectively. Specifically, the rotating clamp 418 is pin-connected to the finger body 405, and when the working target sleeve assumes a slightly inclined state in the RX direction, the rotating clamp 418 can automatically rotate to axially coincide with the sleeve. When the working target sleeve assumes a slightly inclined state in the RZ direction, the first rotation mechanism of the wrist joint 401 can act to drive the sleeve to rotate in the RZ direction, so that the sleeve is straightened. The rear of the rotating clamp 418 has a spring 417, respectively, which will maintain a fixed clamping force on the two rotating clamp 418 and the sleeve therein after the smart finger stops acting because the two springs 417 are compressed.
Further, a stepped through hole 424 is formed in the finger body 405, the stepped through hole 424 comprises a large hole and a small hole from inside to outside, one end of a pin shaft 425 extends into the large hole and is connected with the rotating clamp 418, an adjusting nut 426 is connected to the pin shaft 425 on the outer side of the small hole in a threaded mode, a clamping ring 427 is fixedly arranged on the inner side of the adjusting nut 426, the outer diameter of the clamping ring 427 is larger than the aperture of the small hole, and the clamping ring 427 can prevent the pin shaft 425 from being separated from the rotating clamp 418 towards the inner side. An adjusting pad 428 is arranged between the spring 417 and the hole bottom of the large hole. In an initial state in which the hugging operation is not performed, the spring 417 is compressed a certain distance so that the spring 417 has a certain initial pressure against the rotating hug clamp 418. When the pipe holding operation is completed, the spring 417 can pop out to compensate for the loosening trend of the rotating pipe holding clamp 418 and the sleeve due to various reasons (such as hydraulic oil supply stopping, non-uniform pipe diameter, set parameter drift, etc.), but the spring may not return to the original state due to the clamping action of the rotating pipe holding clamp, so that the force of the rotating pipe holding clamp 418 to clamp the sleeve is greater than or equal to the pressure initially set by the spring 417; to accommodate different working phases, such as drilling, it is necessary to replace the drill pipe with a casing, or to replace a casing or drill pipe of a different diameter, etc., the initial pressure of the spring 417 is adjusted to ensure that the force of rotating the clamp 418 to clamp the casing meets the operating conditions. Both the adjustment nut 426 and the adjustment washer 428 enable adjustment of the initial pressure of the spring 417. The different thickness of the adjustment pad 428 may allow the spring 417 to be in different compression lengths, i.e., different compression force conditions, the thicker the adjustment pad 428, the greater the degree to which the spring 417 is compressed in the initial state, and the greater the initial pressure of the spring 417. Tightening the adjustment nut 426 also causes the spring 417 to be compressed, increasing the initial pressure of the spring 417; by unscrewing the adjustment nut 426, the degree to which the spring 417 is compressed decreases and the initial pressure of the spring 417 decreases. The adjustment washer 428 of different thickness may be used to rough adjust the initial compression force of the spring 417, and tightening and loosening the adjustment nut 426 may fine adjust the initial compression force of the spring 417.
Further, a travel switch is installed at both sides of the outside of the stepped through hole 424, and/or a probe of a range radar is provided inside the end of the finger body 405.
Further, the rotating holding clamp 418 includes a clamp body and a connecting shaft 429, the clamp body includes two inclined V-shaped clamping plates 430 and a back plate 431 connected with the two clamping plates 430, the connecting shaft 429 is arranged in the middle of the back plate 431, the connecting shaft 429 extends into the large hole to be connected with the pin shaft 425, the finger body 405 is provided with a V-shaped groove 432 corresponding to the rotating holding clamp 418, and a certain distance is provided between the rotating holding clamp 418 and the V-shaped groove 432. The V-shaped clamp plate 430 forms a V-shaped opening that effectively accommodates a variety of cannulas of 5-11 inches in diameter. The V-shape angle of the two clamping plates 430 is about 120 degrees and has a certain height, when the clasping sleeve is slightly inclined in the RX direction, because the rotating clasping clamp 418 has a certain height and can rotate on the finger body 405 through the pin 425, the rotating clasping clamp 418 automatically drives the sleeve to keep vertical along with the clamping action; simultaneously, the inclined plane guiding function of the V-shaped clamping plate 430 can enable the two finger bodies 405 to rotate to clamp the pipe clamp 418 to be attached to the sleeve, and the cylindrical sleeve is attached to six tangential attachment positions of the clamping plates 430 and the back plate 431 on two sides.
When the pipe holding action is performed, the rotating pipe holding clamp 418 receives an outward force, the spring 417 is pushed to compress, the space between the V-shaped groove 432 of the finger body 405 and the rotating pipe holding clamp 418 is gradually reduced, when the spring 417 is compressed to a certain degree, the back plate 431 of the rotating pipe holding clamp 418 collides with the travel switch, and a command for stopping pipe holding is sent to the control system. The present embodiment is provided with four travel switches, namely a travel switch a414, a travel switch B415, a travel switch C416 and a travel switch D419, and the number of the travel switches is not specifically limited in this application. The front ends of the two finger bodies 405 are respectively provided with a range radar probe, namely a range radar A420 and a range radar B421, the opening and closing degree of the finger bodies 405 are subjected to distance measurement in and after the sleeve clamping process, the outer diameter of the sleeve after clamping can be obtained through control calculation and conversion, and the function is beneficial to software operation of a calandria system and misoperation prevention.
Further, the opening and closing mechanism comprises a first linear drive 404, a finger action connecting rod A406 and a finger action connecting rod B407, wherein the fixed end of the first linear drive 404 is connected with the manipulator bracket 403, the moving end of the first linear drive 404 is arranged in a direction far away from the intelligent finger, two sides of the moving end of the first linear drive 404 are symmetrically connected with one end of the finger action connecting rod A406 in a rotating way, the other end of the finger action connecting rod A406 is connected with the intelligent finger in a rotating way, and the finger action connecting rod B407, the intelligent finger and the manipulator bracket 403 are connected to form a parallelogram hinged structure. The first linear drive 404 of this embodiment employs a hydraulic cylinder; the rotary connection is pin shaft type connection. The intelligent manipulator 400 of this embodiment is of a symmetrical structure, and is driven by a hydraulic cylinder, the cylinder body of the hydraulic cylinder is fixedly connected with the manipulator support 403 by using a screw, the extending direction of the piston rod is-Z direction, and when the piston rod of the hydraulic cylinder extends, the two finger bodies 405 are relatively closed, otherwise, relatively opened.
Further, the three-axis gyro attitude sensor 402 is disposed on the manipulator support 403, so that three angular attitudes (three axial rotation angles and angular speeds) of the current intelligent manipulator 400 or the sleeve can be fed back to the control system in real time, which is beneficial to the control system to judge physical information in the operation process, and is beneficial to rapid operation and reduction of accident probability.
Specifically, the horizontal sliding trolley 200 includes a trolley body 203 and a rotating base 205, a driving wheel 202 and a driven wheel 206 are disposed on two sides of the trolley body 203, a driving motor for driving the driving wheel 202 to rotate is disposed in the trolley body 203, a second rotating mechanism is disposed in the trolley body 203, a rotating end of the second rotating mechanism is connected with the rotating base 205, and the second rotating mechanism is used for driving the rotating base 205 to rotate around the Y axis. The horizontal sliding trolley 200 has a four-wheel structure, and a driving motor is arranged in the trolley to drive a driving wheel 202, so that the horizontal sliding trolley 200 performs displacement motion in the Z-axis direction in a track groove of the horizontal track 100. A pivoting support 201 is mounted on the lower portion of the vehicle body 203 to be connected to a pivoting base 205 for a pivoting movement about a pivoting axis. The swivel base 205 is provided with a pin hole a207 and a pin hole B208 to connect the folding robot 300.
Further, the first revolving mechanism and the second revolving mechanism both comprise a cylinder body, a gear 411 is arranged in the middle of the cylinder body, piston racks 408 are respectively meshed with two sides of the gear 411, a sliding channel is arranged in the cylinder body corresponding to the piston racks 408, and hydraulic oil ports are arranged on two sides of the cylinder body corresponding to the sliding channel. The hydraulic ports are a hydraulic port a409, a hydraulic port B410, a hydraulic port C412, and a hydraulic port D413, respectively. The manipulator support 403 and the output shaft of the gear 411 in this embodiment are in spline type fixed connection, and the output shaft of the gear 411 rotates to drive the manipulator support 403 to rotate within a certain range (for example, plus or minus 45 degrees). The intelligent robot 400 has a hydraulically actuated wrist joint 401 to straighten the cannula under the command of the control system when the cannula needs to be held upright. The first slewing mechanism is a double-piston type gear rack driving hydraulic mechanism; when the hydraulic oil port A409 and the hydraulic oil port C412 are used for simultaneously feeding oil and the hydraulic oil port B410 and the hydraulic oil port D413 are used for simultaneously discharging oil, the gear 411 is driven by the piston rack 408, and an output shaft of the gear 411 is driven to perform RZ forward rotation; and conversely, the RZ reverse rotation is carried out. The working principle of the second rotation mechanism is the same as that of the first rotation mechanism, and the second rotation mechanism can rotate the rotation base 205 within a certain range (for example, plus or minus 90 degrees) without being repeated here. After the pipe holding step is completed, the clamped sleeve can perform Z-direction translation and RY-direction rotation under the action of the horizontal sliding trolley 200 under the instruction of the control system.
Further, the folding mechanical arm 300 has a multi-link articulated structure, and the inside of the joint is linked in a double parallelogram by using the synchronous link 311. The folding mechanical arm 300 comprises a connecting rod A301 and a connecting rod B302 which are arranged in parallel, and a connecting rod C304 and a connecting rod D305 which are arranged in parallel, wherein one ends of the connecting rod C304 and the connecting rod D305 are respectively and rotatably connected with a pin hole A207 and a pin hole B208 of the rotating base 205 through a hinge shaft A307 and a hinge shaft B308, the other ends of the connecting rod C304 and the connecting rod D305 are respectively and rotatably connected with a folding joint 303, one ends of the connecting rod A301 and the connecting rod B302 are respectively and rotatably connected with the folding joint 303, a synchronous connecting rod 311 is rotationally connected with the connecting rod B302 and the connecting rod D305, a second linear drive 306 is arranged on the connecting rod D305, the moving end of the second linear drive 306 is rotatably connected with the connecting rod C304, and the height difference between the connecting rod A301 and the connecting rod B302 and the intelligent mechanical arm 400 in the Y-axis direction enables the intelligent mechanical arm 400 to be always in a horizontal state and not rotate around the X-axis. In the fully retracted state of the second linear drive 306, the folding robot 300 is entirely in the fully retracted state. At this time, the four connecting rods are in a mutually parallel state and are all in a vertical state. In the extended state of the second linear drive 306, the folding robot 300 is in a V-shaped unfolded state as a whole. At this time, the front and rear groups of the four connecting rods are in a V-shaped form, and the two connecting rods in each group are parallel to each other. The difference in height between the hinge shaft C309 and the hinge shaft D310 in the Y direction remains unchanged regardless of the state of the folding robot arm 300. Pin hole C422 is pin-connected with hinge shaft C309; the pin hole D423 is pin-coupled to the hinge shaft D310, and the height difference is maintained, so that the intelligent robot 400 is always maintained in a horizontal state.
According to the industry, most of the hydraulic system is large and heavy parts and the requirements of safety, fire prevention and explosion prevention are considered, so that the hydraulic system is a main driving force, and preferably, the first linear drive 404 and the second linear drive 306 are hydraulic cylinders; the first linear drive 404 and the second linear drive 306 may be cylinder electric drive screws or the like.
Finally, it should be noted that: the foregoing description of the preferred embodiments of the present invention is not intended to be limiting, but rather, it will be apparent to those skilled in the art that the foregoing description of the preferred embodiments of the present invention can be modified or equivalents can be substituted for some of the features thereof, and any modification, equivalent substitution, improvement or the like that is within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. An automatic right sleeve pipe intelligent mechanical arm, its characterized in that includes:
the horizontal track is horizontally arranged, the direction along the horizontal track is the Z-axis direction, the horizontal direction is perpendicular to the Z-axis direction and is the X-axis direction, and the vertical direction is the Y-axis direction;
the horizontal sliding trolley moves along the horizontal track, and a rotating base of the horizontal sliding trolley rotates around a Y axis;
the folding mechanical arm is rotationally connected with the rotating base and is provided with a vertical recovery state and a V-shaped unfolding state;
the intelligent mechanical arm is connected with the movable tail end of the folding mechanical arm, the folding mechanical arm is suitable for enabling the intelligent mechanical arm to be in a horizontal state all the time and not rotate around an X axis, and the intelligent mechanical arm is used for grabbing and automatically righting a target sleeve in a vertical direction;
the intelligent manipulator comprises a wrist joint, a manipulator support and intelligent fingers, wherein the wrist joint is connected with the moving tail end of the folding manipulator, a first rotation mechanism is arranged in the wrist joint, the rotation end of the first rotation mechanism is connected with the manipulator support, the first rotation mechanism is used for driving the manipulator support to rotate around a Z axis, an opening and closing mechanism for driving the intelligent fingers to open and close is arranged on the manipulator support, and two intelligent fingers are symmetrically arranged on two sides of the manipulator support along the X axis; the first slewing mechanism comprises a cylinder body, a gear is arranged in the middle of the cylinder body, piston racks are respectively meshed with two sides of the gear, a sliding channel is arranged in the cylinder body corresponding to the piston racks, and hydraulic oil ports are arranged on two sides of the cylinder body corresponding to the sliding channel;
the intelligent finger comprises a finger body and a rotating clamp, the rotating clamp is connected with the finger body through a pin shaft, the rotating clamp can rotate and axially move relative to the finger body, a spring is sleeved on a pin shaft handle extending into the finger body, and in an initial state of not clamping, the spring is compressed for a certain distance to enable the spring to have a certain initial pressure on the rotating clamp; the finger body is provided with a stepped through hole, the stepped through hole comprises a large hole and a small hole from inside to outside, one end of a pin shaft extends into the large hole and is connected with the rotating clamp, an adjusting nut is connected to the pin shaft on the outer side of the small hole in a threaded manner, a clamping ring is fixedly arranged on the inner side of the adjusting nut, the outer diameter of the clamping ring is larger than the aperture of the small hole, and an adjusting gasket is arranged between the spring and the bottom of the large hole.
2. The intelligent manipulator for the automatic righting sleeve according to claim 1, wherein a travel switch is installed on two sides of the outer portion of the stepped through hole, and/or a probe of a range radar is arranged on the inner side of the end portion of the finger body.
3. The intelligent manipulator for automatically righting a sleeve according to claim 1, wherein the rotating clamp comprises a clamp body and a connecting shaft, the clamp body comprises two inclined clamping plates which are V-shaped and a back plate connected with the two clamping plates, the connecting shaft is arranged in the middle of the back plate, the connecting shaft stretches into the large hole and is connected with the pin shaft, the finger body is provided with a V-shaped groove corresponding to the rotating clamp, and a certain distance is reserved between the rotating clamp and the V-shaped groove.
4. The intelligent mechanical arm for the automatic righting sleeve according to claim 1, wherein the opening and closing mechanism comprises a first linear driving, a finger action connecting rod A and a finger action connecting rod B, the fixed end of the first linear driving is connected with a mechanical arm support, the moving end of the first linear driving is arranged in a direction away from the intelligent finger, two sides of the moving end of the first linear driving are symmetrically connected with one end of the finger action connecting rod A in a rotating way, the other end of the finger action connecting rod A is connected with the intelligent finger in a rotating way, and the finger action connecting rod B, the intelligent finger and the mechanical arm support are connected to form a parallelogram hinged structure.
5. The intelligent manipulator for the automatic centralizing sleeve according to claim 1, wherein the manipulator support is provided with a three-axis gyro attitude sensor.
6. The intelligent manipulator for automatically righting a sleeve according to claim 1, wherein the horizontal sliding trolley comprises a trolley body and a rotating base, a driving wheel and a driven wheel are arranged on two sides of the trolley body, a driving motor for driving the driving wheel to rotate is arranged in the trolley body, a second rotating mechanism is arranged in the trolley body, the rotating end of the second rotating mechanism is connected with the rotating base, and the second rotating mechanism is used for driving the rotating base to rotate around a Y axis.
7. The intelligent mechanical arm for the automatic centralizing sleeve according to claim 6, wherein the second slewing mechanism comprises a cylinder body, a gear is arranged in the middle of the cylinder body, piston racks are respectively meshed with two sides of the gear, a sliding channel is arranged in the cylinder body corresponding to the piston racks, and hydraulic oil ports are arranged on two sides of the cylinder body corresponding to the sliding channel.
8. The intelligent manipulator for the automatic righting sleeve according to claim 1, wherein the folding manipulator comprises a connecting rod A and a connecting rod B which are arranged in parallel, and a connecting rod C and a connecting rod D which are arranged in parallel, one ends of the connecting rod C and the connecting rod D are respectively connected with the rotating base in a rotating manner, the other ends of the connecting rod C and the connecting rod D are respectively connected with a folding joint in a rotating manner, one ends of the connecting rod A and the connecting rod B are respectively connected with the folding joint in a rotating manner, a synchronous connecting rod is rotationally connected with the connecting rod B and the connecting rod D in a rotating manner, a second linear driving is arranged on the connecting rod D, a moving end of the second linear driving is rotationally connected with the connecting rod C, and the height difference of the connecting part of the connecting rod A and the connecting rod B in the Y-axis direction enables the intelligent manipulator to be always in a horizontal state and not to rotate around the X-axis.
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| CN202311162330.6A CN116892372B (en) | 2023-09-11 | 2023-09-11 | Intelligent mechanical arm for automatically righting casing |
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| CN202311162330.6A CN116892372B (en) | 2023-09-11 | 2023-09-11 | Intelligent mechanical arm for automatically righting casing |
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| CN116892372A (en) | 2023-10-17 |
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Effective date of registration: 20240102 Address after: 300452 No. 26, Bohai 33rd Road, Lingang Economic Zone, Binhai New Area, Tianjin Applicant after: HELI TECH ENERGY Co.,Ltd. Address before: 300000 902-b, building 5, No. 158, Xisan Road, Tianjin pilot free trade zone (Airport Economic Zone), Binhai New Area, Tianjin (trust No. 652 of Tianjin xinzhijia business secretary Co., Ltd.) Applicant before: Deep blue (Tianjin) Intelligent Manufacturing Co.,Ltd. |
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