CN216642034U

CN216642034U - Drill floor pipe grabbing manipulator

Info

Publication number: CN216642034U
Application number: CN202123414462.2U
Authority: CN
Inventors: 陈克应; 左远涛; 周四龙; 宋一; 丁国栋; 邹康; 罗天保; 夏颖韬
Original assignee: Sinopec Oilfield Equipment Corp; Sinopec Siji Petroleum Machinery Co Ltd
Current assignee: Sinopec Oilfield Equipment Corp; Sinopec Siji Petroleum Machinery Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-05-31
Anticipated expiration: 2031-12-31

Abstract

The utility model provides a drill floor pipe grabbing mechanical arm, wherein a composite gear train speed reducer is arranged in a base, the composite gear train speed reducer drives two output outer shafts and two output inner shafts with opposite rotation directions, clamping mechanisms are arranged on two sides of the base, the middle part of a single-side clamping mechanism is hinged with a top cover through a connecting rod, the connecting rods at the tail ends of the clamping mechanisms on two sides are respectively connected with the two output outer shafts and the two output inner shafts with opposite rotation directions, and the two connecting rods, the clamping mechanisms and the base form a parallelogram mechanism. The pipe grabbing manipulator can be applied to an automatic pipe arranging system of a drill floor, and can grab the pipe columns with different pipe diameters in a self-adaptive mode. The power of the system is transmitted to the composite gear train speed reducer through the input shaft, and under the action of the cycloidal pin gear speed reducing mechanism and the harmonic gear speed reducing mechanism in the composite gear train speed reducer, the power is respectively output from two coaxial output shafts, and the rotating directions of the two output shafts are opposite. The tail ends of two fingers in the clamping mechanism are respectively connected with the two output shafts to realize the opening and closing of the fingers.

Description

Drill floor pipe grabbing manipulator

Technical Field

The utility model relates to the field of pipe grabbing manipulators, in particular to a drill floor pipe grabbing manipulator.

Background

In the process of petroleum drilling, tripping, drilling and drilling tool discharging are production activities with single manual action and high repeatability. Along with the development of the automatic drilling machine technology, the mechanical arm also becomes an important component of the automatic pipe arranging device, the production efficiency can be greatly improved while the working strength of petroleum workers is reduced, and the accident risk rate caused by manual operation errors can be reduced. The mechanical arm is used as an important component of the mechanical arm and can assist the mechanical arm to complete a series of operations such as picking, carrying, overturning, extruding and the like on a target object. The prior drill floor mechanical arm in China mainly uses the ring to hold as the main, the finger opening degree is small, when the pipe diameter of the replaced pipe column is different greatly, the mechanical arm needs to be replaced, and the automatic pipe arranging efficiency is seriously influenced.

Chinese patent CN110485949A "a pipe grabbing machine", including a manipulator, a large support, a turning hydraulic cylinder, a slide rail, the manipulator is set up in the both ends of the large support; the large support is installed on the back face of the sliding rail through the hinge seat, one end of the overturning hydraulic cylinder is fixed on the back face of the sliding rail, the other end of the overturning hydraulic cylinder is connected with the large support, and the large support and the mechanical arm can realize overturning swing under the driving of the overturning hydraulic cylinder. Adopt hydraulic drive, it is higher in outdoor limitation, and do not have the control accuracy height of motor and gear.

Chinese patent CN112276987A 'a pipe grabbing manipulator for workover treatment and a use method', an oil cylinder is arranged on a fixed frame, and the fixed frame is connected to a mounting plate and a connecting plate; the oil cylinder pushes the piston rod to move back and forth, the piston rod is connected to the cross frame, the piston rod is sleeved with an elastic element, and the elastic element is respectively contacted with the cross frame and the fixed frame; the middle clamping barrel is connected to the supporting frame through the first rotating shaft, the supporting frame is installed on the installation plate and the connecting plate through bolts, and the target body is clamped by the two clamping barrels and the middle clamping barrel together. The stroke of the telescopic rod is difficult to control by the driving mode of the hydraulic cylinder, and the mode of grabbing the pipe in a size self-adaptive manner cannot be achieved.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a drill floor pipe grabbing mechanical arm, which solves the problems that the existing drill floor mechanical arm mainly takes ring holding as a main part, the opening degree of fingers is small, when the pipe diameters of replaced pipe columns are greatly different, the mechanical arm needs to be replaced, and the automatic pipe arranging efficiency is seriously influenced.

In order to solve the technical problems, the technical scheme adopted by the utility model is as follows: the utility model provides a rig floor pipe grabbing manipulator, includes the base, the inside compound train reduction gear that is equipped with of base, compound train reduction gear drive two revolve to outer axle of opposite output and export in the axle, the base top is connected with the top cap, the base both sides are equipped with fixture, unilateral fixture middle part is articulated through connecting rod and top cap, the connecting rod of the fixture tail end of both sides revolves to outer axle of opposite output and export in the axle connection respectively with two, two connecting rods and fixture constitute parallelogram mechanism with the base.

In the preferred scheme, fixture includes right fixture and left fixture, and right fixture and left fixture symmetry set up, and right fixture includes that the right side top that the symmetry set up points and the right side below points, and the right side top points and the right side below points one end and passes through the connection of right side roller shaft, is equipped with a plurality of gyro wheels on the right side roller shaft.

In the preferred scheme, the finger one end in right side top articulates there are anterior connecting rod in right side top and right side top afterbody connecting rod, and the anterior connecting rod in right side top rotates with the top cap to be connected, and fixed connection in the output outer axle or the output of the inside compound train speed reducer of base is put to right side top afterbody connecting rod, and fixed connection in the output outer axle or the output of the inside compound train speed reducer of base is put to left clamping mechanism's left side top afterbody connecting rod.

In the preferred scheme, the finger on the right side below is articulated with a tail connecting rod below the right side and a front connecting rod below the right side, and the end parts of the tail connecting rod below the right side and the front connecting rod below the right side are respectively connected with the base in a rotating way.

In a preferred scheme, the compound gear train speed reducer in the base comprisesPlanetary gear transmission mechanismThe cycloidal-pin gear planetary reduction mechanism and the harmonic gear reduction mechanism are respectively used for driving an output inner shaft and an output outer shaft which have opposite rotation directions to rotate.

In the preferred scheme, planetary gear drive includes the train protective housing, and the inside planetary gear who is equipped with of train protective housing, input shaft tip pass train protective housing and tip and are equipped with central sun gear, and planetary gear includes a plurality of one-level planetary gear sets, and central sun gear meshes with a plurality of one-level planetary gear sets, and one-level planetary gear set passes through the transmission shaft group and is connected with the transmission shaft support rotation.

In the preferred scheme, the cycloidal-pin gear planetary reducer comprises a sun gear of the cycloidal-pin gear planetary reducer, one end of the sun gear of the cycloidal-pin gear planetary reducer is connected with a gear train protective shell, a transmission shaft bracket is rotationally connected with the sun gear of the cycloidal-pin gear planetary reducer, a cycloidal planetary gear set consisting of at least two cycloidal planetary gears is arranged in the sun gear of the cycloidal-pin gear planetary reducer, the two cycloidal planetary gears are connected through at least three groups of double eccentric sleeves, the double eccentric sleeves are connected with the transmission shaft group, the tail end of the transmission shaft group passes through a hole pin output mechanism and is connected with a harmonic gear reducer, a plurality of cylindrical pins are uniformly arranged on the circumference of the inner wall of the sun gear of the cycloidal-pin gear planetary reducer, a first sleeve is sleeved outside the cylindrical pins, and the outer edge teeth of the cycloidal planetary gear set are meshed with the cylindrical pins on the inner edge of the sun gear of the cycloidal-pin gear planetary reducer;

the cycloid planetary gear set is also provided with a plurality of eccentric pin holes, one side of the pin hole output mechanism penetrates through the pin holes of the cycloid planetary gear set, a second sleeve is arranged between the pin hole output mechanism and the cycloid planetary gear set, and the pin hole output mechanism is driven to rotate along with the pin hole output mechanism in the same direction when the cycloid planetary gear set rotates;

the other side of the hole pin output mechanism is connected with the output inner shaft, and the other side of the hole pin output mechanism is also connected with the sun wheel of the cycloidal pin gear planetary reducer in a rotating manner.

In the preferred scheme, two eccentric wheels of a double eccentric sleeve set are staggered by 180 degrees;

the sun gear of the cycloidal pin wheel planetary reducer is connected with a rigid gear of the harmonic gear reducer, a boss is arranged between the rigid gear and the sun gear of the cycloidal pin wheel planetary reducer, a circular disc body of the hole pin output mechanism abuts against the boss of the steel wheel, and a plurality of first spherical rollers are arranged between the hole pin output mechanism and the sun gear of the cycloidal pin wheel planetary reducer;

a boss is arranged between the sun gear of the cycloidal-pin-wheel planetary reducer and the gear train protection shell, the transmission shaft support abuts against the boss of the gear train protection shell, and a plurality of second spherical rollers are arranged between the transmission shaft support and the sun gear of the cycloidal-pin-wheel planetary reducer;

the cycloidal planetary gear set and the transmission shaft support or/and the hole pin output mechanism are also provided with a partition plate group, and the partition plate group is arranged on the transmission shaft group.

In the preferred scheme, the harmonic gear reducer is arranged on the right side of the circular disc body, a fourth bearing is arranged between a waveform generator of the harmonic gear reducer and an output inner shaft, a plurality of secondary planetary wheel sets are arranged in the waveform generator, the plurality of secondary planetary wheel sets are rotatably connected with the tail ends of the plurality of transmission shaft sets, and the plurality of secondary planetary wheel sets are meshed with gear teeth on the inner wall of the waveform generator;

the outer edge of the waveform generator is provided with a cylindrical roller group consisting of at least two cylindrical rollers, the waveform generator is sleeved with a flexible gear, one side of the flexible gear is rotationally connected with an output inner shaft through a third bearing and is fixedly connected with an output outer shaft, and the output outer shaft is rotationally connected with a rigid wheel through a second bearing and a second sealing ring;

the inner edge of the other side of the flexible gear is matched with a cylindrical roller group arranged on the waveform generator, and the outer edge of the flexible gear is meshed with the rigid gear at the passing position of the cylindrical roller.

In the preferred scheme, a second bearing group is arranged between the hole pin output mechanism and the transmission shaft group;

a first bearing set is arranged between the transmission shaft support and the transmission shaft set;

the wheel train protective housing outside is connected with the left end lid, is equipped with first bearing between input shaft and wheel train protective housing and the left end lid, and first bearing one side still is equipped with first sealing washer, and first sealing washer is established on the left end lid.

The utility model provides a pipe grabbing manipulator for a drilling platform, wherein an input shaft rotates, power is transmitted to three transmission shafts through a planetary gear system, and the three transmission shafts have the same rotating speed; the three groups of double eccentric sleeves are driven by the transmission shafts to drive the two cycloid planetary gears to rotate, and the external teeth of the cycloid planetary gears are meshed with the pin gears on the sun gear, so that the cycloid pin gears drive the three transmission shafts and the primary planetary gears at the front ends of the three transmission shafts to revolve around the central sun gear in the same rotating direction as the sun gear; the hole pin output mechanism is driven by the two cycloid planet gears to drive the output inner shaft to rotate so as to output power, and the rotating direction of the output inner shaft is the same as that of the input shaft; the output inner shaft drives the upper finger and the lower finger on the right side to complete opening and closing movement through the connecting rod; the transmission shaft group drives the double eccentric sleeve group and simultaneously drives the secondary planet wheel at the tail end of the transmission shaft group to perform self transmission; the secondary planet wheel is meshed with a gear on the inner wall of the waveform generator, so that the waveform generator is driven to rotate and the rotating direction of the waveform generator is the same as that of the input shaft; the flexible gear is contacted with the three cylindrical rollers positioned at the outer edge of the waveform generator and deforms, so that the flexible gear is meshed with the rigid gear near the three cylindrical rollers, and the rigid gear is fixed, so that the flexible gear can drive the output outer shaft to rotate and the rotation direction of the output outer shaft is opposite to that of the input shaft, and finally the left finger is driven to complete symmetrical opening and closing movement with the right finger; the utility model has the advantages of compact structure, large transmission ratio of power from the input shaft to the double output shafts, high efficiency, stable transmission, small air occupation, good sealing performance, high mechanical arm bearing capacity, large opening degree and the like.

Drawings

The utility model is further illustrated by the following examples in conjunction with the accompanying drawings:

FIG. 1 is a general block diagram of the present invention;

FIG. 2 is an exploded view of the components of the adaptive drill floor pipe gripping robot;

FIG. 3 is an exploded view of the drill floor pipe gripping robot and the composite gear train decelerator of the present invention;

FIG. 4 is a half-section structural diagram of the overall structure of the composite gear train reducer of the self-adaptive drill floor pipe gripping manipulator of the present invention;

FIG. 5 is a side view A-A in half section of the planetary gear transmission of the present invention;

FIG. 6 is a side view B-B of the drive shaft support of the present invention in full section;

FIG. 7 is a side view C-C, in half section, of a cycloidal pin gear reducer planet gear of the present invention;

FIG. 8 is a side elevational view, in full section, of a harmonic gear reducer of the present invention D-D;

in the figure: a base 1; a top cover 2; a right clamping mechanism 3 a; right upper finger 301 a; right lower finger 302 a; right upper tail link 303 a; right upper front link 304 a; a roller 305 a; right lower tail link 306 a; right lower front link 307 a; right roller shaft 308 a; a left clamping mechanism 3 b; the left upper finger 301 b; left lower finger 302 b; left upper tail link 303 b; left upper front link 304 b; a roller 305 b; left lower tail link 306 b; left lower front link 307 b; the left roller shaft 308 b; a composite gear train speed reducer 4; an input shaft 401; a first seal ring 402; a first bearing 403; a first bearing set 404; a train wheel protective shell 405; a planetary gear train 406; a propeller shaft bracket 407; a cycloidal-pin-gear planetary reducer 408; a harmonic gear reducer 409; a second bearing set 410; a transmission shaft group 411; an output outer shaft 412; a second seal 413; an output inner shaft 414; a second bearing 415; a third bearing 416; a fourth bearing 417; a first spherical roller 418; a second spherical roller 419; a separator group 420; a left end cap 421; a flat key group 422; a central sun gear 461; a primary planetary gear set 462; a cycloid planetary gear set 481; a double eccentric set 482; a first sleeve 483; a cylindrical pin 484; a cylindrical roller 485; a cycloidal-pin-gear planetary reducer sun gear 486; a hole pin output mechanism 487; a second sleeve 488; a secondary planetary gear set 491; a waveform generator 492; a cylindrical roller set 493; a flexspline 494; rigid wheel 495.

Detailed Description

Example 1

As shown in fig. 1-8, a pipe gripping manipulator for a drill floor comprises a base 1, a composite gear train reducer 4 is arranged inside the base 1, the composite gear train reducer 4 drives two output outer shafts 412 and two output inner shafts 414 which are opposite in rotation direction, the upper part of the base 1 is connected with a top cover 2, clamping mechanisms are arranged on two sides of the base 1, the middle part of each single-side clamping mechanism is hinged with the top cover 2 through a connecting rod, and the connecting rods at the tail ends of the clamping mechanisms on two sides are respectively connected with the two output outer shafts 412 and the output inner shafts 414 which are opposite in rotation direction. The output mechanism is connected with a compound gear train speed reducer 4, and the compound gear train speed reducer 4 drives the output outer shaft 412 and the output inner shaft 414 to rotate in opposite directions. The ends of two fingers in the clamping mechanism are respectively connected with the output outer shaft 412 and the output inner shaft 414 to realize finger opening and closing. The manipulator has large opening degree and can adapt to tubular columns of various pipe diameters, so that the manipulator does not need to be replaced when the manipulator grabs the tubular column with the larger pipe diameter difference, and the pipe grabbing efficiency can be effectively improved. Meanwhile, the cycloidal pin gear reducer and the harmonic gear reducer adopted in the composite gear train reducer greatly improve the transmission ratio, the output torque and the transmission efficiency of the manipulator. The clamping mechanism comprises a right clamping mechanism 3a and a left clamping mechanism 3b, the right clamping mechanism 3a and the left clamping mechanism 3b are symmetrically arranged, the right clamping mechanism 3a comprises a right upper finger 301a and a right lower finger 302a which are symmetrically arranged, one end of the right upper finger 301a and one end of the right lower finger 302a are connected through a right roller shaft 308a, and a plurality of rollers 305a are arranged on the right roller shaft 308 a. The other end of the right upper finger 301a is hinged with a right upper front connecting rod 304a and a right upper tail connecting rod 303a, the right upper front connecting rod 304a is rotatably connected with the top cover 2, the right upper tail connecting rod 303a is fixedly connected with an output outer shaft 412 or an output inner shaft 414 of the compound gear train reducer 4 in the base 1, and the left upper tail connecting rod 303b of the left clamping mechanism 3b is fixedly connected with the output outer shaft 412 or the output inner shaft 414 of the compound gear train reducer 4 in the base 1. The right lower finger 302a is hinged with a right lower tail link 306a and a right lower front link 307a, and the ends of the right lower tail link 306a and the right lower front link 307a are respectively connected with the base 1 in a rotating way. The clamping mechanism includes fingers 301a-b and 302a-b, links 303a-b and 304a-b, rollers 305a-b, roller shafts 308 a-b; the four fingers are arranged in pairs in a group, wherein 301a and 302a are in a group, and 301b and 302b are in a group, and are respectively arranged on two sides of the base 1 and the top cover 2; the right upper finger 301a is connected with the output inner shaft 414 of the compound gear train reducer 4 through the right upper tail connecting rod 303a, meanwhile, the finger 301a is connected with the top cover 2 through the right upper front connecting rod 304a, the double connecting

rods

303a and 304a, the top cover 2 and the finger 301a form a parallelogram mechanism; the tail end of the finger 302a at the lower right side is connected with the base 1 through two connecting

rods

306a and 307a, and the double connecting

rods

306a and 307a, the base 1 and the finger 302a form a parallelogram mechanism; the two upper and

lower fingers

301b and 302b on the left side are symmetrically distributed with the

fingers

301a and 302a, except that the upper tail link 303b of the finger 301b on the upper left side is connected with the output outer shaft 412 of the compound gear train speed reducer 4.

In a preferred scheme, the compound gear train speed reducer 4 in the base 1 comprises a planetary gear transmission mechanism, a cycloidal-pin gear planetary speed reducer and a harmonic gear speed reducer, one side of the planetary gear transmission mechanism is connected with the input shaft 401, the other side of the planetary gear transmission mechanism is connected with the harmonic gear speed reducer through the cycloidal-pin gear planetary speed reducer, and the harmonic gear speed reducer drives the output outer shaft 412 and the output inner shaft 414 which rotate in opposite directions. The output mechanism drives the planetary gear transmission mechanism, the planetary gear transmission mechanism drives the cycloidal pin gear planetary reducer and the harmonic gear reducer to rotate, then the two reducers respectively drive the output inner shaft 412 and the output outer shaft 414 to rotate, the rotation directions are symmetrically opposite, finally the two output shafts drive the left fingers to complete the symmetrical opening and closing movement with the right fingers, the general input shaft is driven by a servo motor with higher precision, the opening and closing size of the left and right fingers can be controlled, the transmission ratio is large, the efficiency is high, and the transmission is stable.

In a preferable scheme, the planetary gear transmission mechanism comprises a gear train protection shell 405, a planetary gear train 406 is arranged in the gear train protection shell 405, the input shaft 401 penetrates through the gear train protection shell 405, the right end of the input shaft is provided with a central sun gear 461, the planetary gear train 406 comprises a primary planetary gear set 462 and the central sun gear 461, the primary planetary gear set 462 is rotatably connected with a transmission shaft support 407 through a transmission shaft set 411, and the transmission shaft set 411 is connected with a cycloidal pin gear planetary reducer 408. The planetary gear transmission mechanism is a primary gear transmission mechanism, a sun gear 461 at the end part of the input shaft 401 is meshed with a primary planetary gear set 462, and the primary planetary gear set 462 drives the cycloidal pin gear planetary reducer 408 and the harmonic gear reducer 409 to operate through a transmission shaft set 411.

In a preferable scheme, the cycloidal-pin-wheel planetary reducer 408 comprises a cycloidal-pin-wheel planetary reducer sun wheel 486, one end of the cycloidal-pin-wheel planetary reducer sun wheel 486 is connected with a gear train protective shell 405, the transmission shaft support 407 is rotationally connected with the cycloidal-pin-wheel planetary reducer sun wheel 486, a cycloidal planetary wheel set 481 formed by at least two cycloidal planetary wheels is arranged inside the cycloidal-pin-wheel planetary reducer sun wheel 486, the two cycloidal planetary wheels are connected through at least three sets of double eccentric sleeves 482, the double eccentric sleeves 482 are connected with the transmission shaft set 411, the tail end of the transmission shaft set 411 is connected with the harmonic gear reducer 409 through a hole pin output mechanism 487, a plurality of cylindrical pins 484 are uniformly arranged on the inner wall circumference of the cycloidal-pin-wheel planetary reducer sun wheel 486, and a first sleeve 483 is sleeved outside the cylindrical pins 484. Generally, a cycloidal planetary gear set 481 formed by two cycloidal planetary gears is adopted, an eccentric sleeve set 482 formed by three double eccentric sleeves is connected with a transmission shaft set 411, the transmission shaft set 411 drives the two cycloidal planetary gears to rotate, outer edge teeth of the cycloidal planetary gear set 481 are meshed with a needle wheel arranged on the inner edge of a sun gear 486, so that the cycloidal planetary gear set 481 drives the transmission shaft set 411 and a primary planetary gear set 462 to rotate around a central gear 461 of a planetary gear train in a revolution motion in the same direction as the rotation direction of an input shaft 401, high-order rolling is performed between meshing teeth in the process, surface contact rolling is performed between a sleeve 483 and a cylindrical pin 484 which form the needle wheel, and the abrasion of the cycloidal needle wheel set 481 can be reduced.

The cycloid planetary gear set 481 is further provided with a plurality of pin holes, one side of the hole pin output mechanism 487 penetrates through the pin holes of the cycloid planetary gear set 481, a second sleeve 488 is arranged between the hole pin output mechanism 487 and the cycloid planetary gear set 481, the hole pin output mechanism 487 is driven to rotate along with the rotation of the hole pin output mechanism 487 when the cycloid planetary gear set 481 rotates, as shown in fig. 4, the eccentric pin holes are used for installing pin shafts of the hole pin output mechanism 487, the pin shafts are in contact with the pin holes through the second sleeve 488, and the cycloid planetary gear set 481 drives the output inner shaft 414 to rotate through the hole pin output mechanism 487.

The other side of the hole-pin output mechanism 487 is connected to the output inner shaft 414, and the other side of the hole-pin output mechanism 487 is also rotatably connected to the sun gear 486 of the cycloidal-pin-wheel planetary reducer. The cycloid planetary gear set 481 drives the output inner shaft 414 to rotate through the hole pin output mechanism 487. The outer ring of the cotter output 487 is arranged in rotational connection with the cycloidal-pin planetary reducer sun 486.

In a preferable scheme, two eccentric wheels of the double eccentric sleeve group 482 are staggered by 180 degrees, a sun gear 486 of the cycloidal pin gear planetary reducer is connected with a rigid gear 495 of the harmonic gear reducer 409, bosses are arranged between the rigid gear 495 and the gear train protection shell 405 as well as between the sun gear 486 of the cycloidal pin gear planetary reducer, a circular disc body of the hole pin output mechanism 487 abuts against the boss of the rigid gear 495, and the transmission shaft bracket 407 abuts against the boss of the gear train protection shell 405. First and second

spherical rollers

418 and 419, respectively, are mounted between the output 487 of the hole pin and the outer periphery of the drive shaft carrier 407 and the sun gear 486 of the cycloidal-pin planetary reduction gear, and are rotatable relative to the drive housing. Meanwhile, the left end face of the transmission shaft bracket 407 is matched with the right end face of the gear train protection shell 405, the right end face of the hole pin output mechanism 487 is matched with the left end face of the harmonic reducer steel wheel 495, so that the axial movement of the transmission shaft group 411 is limited, and a partition plate group 420 is arranged between the transmission shaft bracket 407 and the left cycloid planet wheel 481a to prevent the double eccentric sleeve group 482 from axially sliding along the transmission shaft group 411.

In a preferable scheme, a circular disc body of the harmonic gear reducer 409 abuts against the inside of a rigid wheel 495, a fourth bearing 417 is arranged between a waveform generator 492 of the harmonic gear reducer 409 and an output inner shaft 414, a plurality of secondary planetary gear sets 491 are arranged inside the waveform generator 492, the plurality of secondary planetary gear sets 491 are connected with the tail ends of a plurality of transmission shaft sets 411, the plurality of secondary planetary gear sets 491 are meshed with external teeth on the inner wall of the waveform generator 492, a cylindrical roller set 493 consisting of at least two cylindrical rollers is assembled on the outer edge of the waveform generator 492, a flexible wheel 494 is sleeved outside the waveform generator 492, one side of the flexible wheel 494 is rotatably connected with the transmission shaft set 411 through a third bearing 416 and is connected with an output outer shaft 412 and is rotatably connected with the rigid wheel 495 through a second bearing 415 and a second sealing ring 413, the inner edge of the other side of the flexible wheel 494 is matched with the cylindrical roller set 493 installed on the waveform generator 492, the outer edge of the flexspline 494 engages the rigid spline 495 where the cylindrical rollers pass. The harmonic gear speed reducing mechanism comprises a transmission shaft group 411, a harmonic gear speed reducer 409 and an output outer shaft 412; the input shaft of the harmonic reducer is a transmission shaft group 411 connected with the planetary gear, and the tail ends of three transmission shafts 411a, 411b and 411c are respectively connected with three secondary planet wheels 491a, 491b and 491 c; harmonic gear reducer 409 includes a waveform generator 492, a flexspline 494, a rigid spline 495; the inner edge gear of the waveform generator 492 is meshed with three secondary planet wheels 491a, 491b and 491c simultaneously; the outer edge of the waveform generator 492 is fitted with three cylindrical rollers 493a, 493b, 493 c; the rigid wheel 495 is connected to the cycloidal-pin gear reducer sun gear 486, which also cooperates with the output inner shaft 414 via the bearing 417; a flexible gear 494 is mounted on the output inner shaft 414 through a bearing 416, the right end surface thereof is connected with the output outer shaft 412, the inner edge thereof is fitted with a cylindrical roller set 493 mounted on the waveform generator, and the outer edge thereof is engaged with a rigid gear 495 where the three cylindrical rollers 493a, 493b, 493c pass; the left end face of the output outer shaft 412 is connected with a flexible gear 494 and is matched with a rigid gear 495 by a bearing 415 and a sealing ring 413; the output shaft 412 rotates in the opposite direction to the input shaft 401 under the action of the harmonic reducer.

In a preferable scheme, a second bearing group 410 is arranged between the hole pin output mechanism 487 and the transmission shaft group 411; the second bearing set 410 can ensure that the transmission shaft set 411 and the hole pin output mechanism 487 rotate better.

A first bearing group 404 is arranged between the transmission shaft bracket 407 and the transmission shaft group 411; the first bearing set 404 can ensure that the rotation resistance between the transmission shaft bracket 407 and the transmission shaft set 411 is small, and the transmission effect is better.

The outer side of the gear train protection shell 405 is connected with the left end cover 421, a first bearing 403 is arranged between the input shaft 401 and the gear train protection shell 405 and the left end cover 421, a first sealing ring 402 is further arranged on one side of the first bearing 403, and the first sealing ring 402 is arranged on the left end cover 421. The first bearing 403 and the first seal ring 402 are used in cooperation, so that the composite gear train speed reducer 4 can be ensured to operate more stably.

Example 2

Further described in conjunction with embodiment 1, as shown in fig. 1 to 8, a dimension adaptive drill floor pipe gripping manipulator of the present invention includes a base 1, a top cover 2, gripping mechanisms 3 (a-b), a compound gear train reducer 4; the composite gear train speed reducer comprises a planetary gear transmission mechanism, a cycloidal pin gear planetary speed reducing mechanism and a harmonic gear speed reducing mechanism.

Wherein the clamping mechanism comprises fingers 301 (a-b) and 302 (a-b), links 303 (a-b), 304 (a-b), rollers 305 (a-b), roller shafts 308 (a-b); the four fingers are arranged in pairs in a group, wherein 301a and 302a are in a group, and 301b and 302b are in a group, and are respectively arranged on two sides of the base 1 and the top cover 2; the right upper finger 301a is connected with the output inner shaft 414 of the compound gear train reducer 4 through the right upper tail connecting rod 303a, meanwhile, the finger 301a is connected with the top cover 2 through the right upper front connecting rod 304a, the double connecting rods 303a and 304a, the top cover 2 and the finger 301a form a parallelogram mechanism; the tail end of the finger 302a at the lower right side is connected with the base 1 through two connecting rods 306a and 307a, and the double connecting rods 306a and 307a, the base 1 and the finger 302a form a parallelogram mechanism; the front ends of the upper and lower fingers 301a and 302a on the right side are connected through a roller shaft 308a, and each roller shaft is provided with two rollers 305 a; the upper and lower fingers 301b and 302b on the left side are symmetrically distributed with the fingers 301a and 302a, except that the upper tail link 303b of the upper finger 301b on the left side is connected with the output outer shaft 412 of the compound gear train speed reducer 4.

The planetary gear transmission mechanism comprises an input shaft 401, a planetary gear train 406, a transmission shaft group 411 and a transmission shaft bracket 407; the epicyclic gear train 406 comprises a central sun gear 461 and three

primary planet gears

462a, 462b, 462c, which are arranged in mesh; one end of the input shaft 401 is connected with a motor to transmit power to a speed reducer, the other end of the input shaft 401 is connected with a central sun gear 461, and the central sun gear 461 drives three

primary planet gears

462a, 462b and 462c to generate self-transmission under the driving of the input shaft 401; the three

primary planet gears

462a, 462b and 462c respectively drive the three

transmission shafts

411a, 411b and 411c to rotate, the rotation speed and the rotation direction are the same, and the transmission shaft group 411 is matched with the shaft hole on the transmission shaft bracket 407 through the bearing group 404; the left end face of the transmission shaft support 407 is matched with the right end face of the gear train protective shell 405 to prevent the transmission shaft from moving axially leftwards; a spherical roller 418 is arranged between the outer edge of the transmission shaft support 407 and the sun gear 486 of the cycloidal-pin gear planetary reducer.

The cycloidal-pin gear planetary speed reducing mechanism comprises a transmission shaft group 411, a cycloidal-pin gear planetary speed reducer 408 and an output inner shaft 414; the input shafts of the cycloidal-pin gear planetary speed reducer are three

transmission shafts

411a, 411b and 411c which are connected with three

primary planet gears

462a, 462b and 462c respectively; the cycloidal pin gear planetary reducer 408 includes a sun gear 486, a double eccentric set 482, two

cycloidal planets

481a and 481b, a hole pin output mechanism 487; one end of sun gear 486 of cycloidal pin gear planetary reducer is connected with gear train protective shell 405, and the other end is connected with harmonic reducer rigid wheel 495.

Sun 486 contains a series of pinwheels consisting of sleeve 483 and cylindrical pin 484 on the inside; the three groups of double eccentric sleeves 482a, 482b and 482c are respectively fixed on the three transmission shafts 411a, 411b and 411c through flat key groups 422, and two eccentricities of each group of double eccentric sleeves are staggered by 180 degrees; three sleeve holes are formed in the two cycloid planet gears 481a and 481b, three groups of double-eccentric sleeves 482a, 482b and 482c penetrate through the sleeve holes to be matched with the two cycloid planet gears 481a and 481b, a cylindrical roller 485 is arranged between the double-eccentric sleeve group 482 and the cycloid planet gear group 481, and the double-eccentric sleeve group 482 can rotate in the sleeve holes; the outer edge teeth of the cycloid planetary gear set 481 are meshed with the pinwheel arranged on the inner edge of the sun gear 486, so that the cycloid planetary gear set 481 drives the transmission shaft set 411 and the primary planetary gear set 462 to perform revolution motion around the planetary gear train central wheel 461 in the same rotating direction as the input shaft 401, high pair rolling is performed between the meshing teeth in the process, and surface contact rolling is performed between a sleeve 483 and a cylindrical pin 484 which form the pinwheel, so that the abrasion of the cycloid pinwheel set 481 can be reduced.

One side of the hole pin output mechanism 487 is provided with three shaft pins with rolling sleeves 488, the three shaft pins respectively penetrate through pin holes in the two cycloid

planetary gears

481a and 481b, and the cycloid planetary gear set 481 drives the hole pin output mechanism 487 to rotate along with the same direction when rotating; the other side of the hole pin output mechanism 487 is connected with the output inner shaft 414, and the other side is matched with the end face of a rigid wheel 495 of the harmonic gear reducer to prevent the transmission shaft group 411 from moving axially to the right; the output inner shaft 414 passes through the center of the output outer shaft 412 through the bearing 416, and can rotate independently of the output outer shaft 412 under the action of the hole-pin output mechanism 487, and the rotation is the same as the rotation of the input shaft 401.

The harmonic gear speed reducing mechanism comprises a transmission shaft group 411, a harmonic gear speed reducer 409 and an output outer shaft 412; the input shaft of the harmonic reducer is a transmission shaft group 411 connected with the planetary gear, and the tail ends of three

transmission shafts

411a, 411b and 411c are respectively connected with three

secondary planet wheels

491a, 491b and 491 c; harmonic gear reducer 409 includes a waveform generator 492, a flexspline 494, and a rigid spline 495.

The gear at the inner edge of the waveform generator 492 is meshed with three

secondary planet wheels

491a, 491b and 491c, and the outer edge of the waveform generator 492 is provided with three

cylindrical rollers

493a, 493b and 493 c; the rigid wheel 495 is connected to a cycloidal pin gear reducer sun gear 486, and is engaged with the output inner shaft 414 through a bearing 417; a flexible gear 494 is mounted on the output inner shaft 414 through a bearing 416, the right end surface thereof is connected with the output outer shaft 412, the inner edge thereof is fitted with a cylindrical roller set 493 mounted on the waveform generator, and the outer edge thereof is engaged with a rigid gear 495 where the three

cylindrical rollers

493a, 493b, 493c pass; the left end face of the output outer shaft 412 is connected with a flexible gear 494 and is matched with a rigid gear 495 by a bearing 415 and a sealing ring 413; the output shaft 412 rotates in the opposite direction to the input shaft 401 under the action of the harmonic reducer.

Wherein, the reducer casing is composed of a sun gear 486 of a cycloidal pin gear planetary reducer, a steel gear 495 of a harmonic gear reducer, a left end cover 421 and a gear train protective casing 405; the left end cover 421 is connected with the left end face of the gear train protection shell 405, the right end face of the gear train protection shell 405 is connected with the left end face of a sun gear 486 of the cycloidal-pin gear planetary reducer, and the right end face of the sun gear 486 of the cycloidal-pin gear planetary reducer is connected with the left end face of a rigid gear 495 of the harmonic gear reducer.

Wherein, the harmonic reducer flexspline 494 is connected with the output outer shaft 412 and is matched with the output inner shaft 414 through a bearing 416, a bearing 415 is arranged between the output outer shaft 412 and the harmonic reducer steel wheel 495, and a bearing 417 is arranged between the harmonic generator 492 and the output inner shaft 414; the harmonic reducer 492, the output outer shaft 412, the output inner shaft 414 rotate each other without interfering, the transmission ratio of the output outer shaft 412 and the output inner shaft 414 can be designed independently without interfering each other;

spherical rollers

419 and 418 are respectively arranged between the outer edges of the transmission shaft bracket 407 and the hole pin output mechanism 487 and a sun gear 486 of the cycloidal-pin gear planetary reducer and can rotate relative to a transmission case, meanwhile, the left end face of the transmission shaft bracket 407 is matched with the right end face of a gear train protection case 405, and the right end face of the hole pin output mechanism 487 is matched with the left end face of a steel wheel 495 of the harmonic reducer, so that the axial movement of the transmission shaft group 411 is limited.

A partition plate group 420 is arranged between the transmission shaft bracket 407 and the left cycloid planet gear 481a, and the double eccentric sleeve group 482 is prevented from sliding along the transmission shaft group 411.

The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention is defined by the claims, and equivalents including technical features described in the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the utility model.

Claims

1. The utility model provides a rig floor pipe grabbing mechanical arm which characterized by: including base (1), base (1) inside is equipped with compound train reduction gear (4), compound train reduction gear (4) drive two revolve to output outer axle (412) and output interior axle (414) opposite, base (1) top is connected with top cap (2), base (1) both sides are equipped with fixture, unilateral fixture middle part is articulated through connecting rod and top cap (2), the connecting rod of the fixture tail end of both sides is connected with two revolve to output outer axle (412) and output interior axle (414) opposite respectively, two connecting rods and fixture constitute parallelogram mechanism with base (1).

2. The drill floor pipe gripping robot of claim 1, wherein: fixture includes right fixture (3 a) and left fixture (3 b), right fixture (3 a) and left fixture (3 b) symmetry set up, right fixture (3 a) are including right side top finger (301 a) and right side below finger (302 a) that the symmetry set up, right side top finger (301 a) and right side below finger (302 a) one end are passed through right side roller shaft (308 a) and are connected, be equipped with a plurality of gyro wheels (305 a) on right side roller shaft (308 a).

3. The drill floor pipe gripping robot of claim 2, wherein: the other end of the right upper finger (301 a) is hinged with a right upper front connecting rod (304 a) and a right upper tail connecting rod (303 a), the right upper front connecting rod (304 a) is rotatably connected with the top cover (2), the right upper tail connecting rod (303 a) is fixedly connected with an output outer shaft (412) or an output inner shaft (414) of the composite gear train speed reducer (4) in the base (1), and the left upper tail connecting rod (303 b) of the left clamping mechanism (3 b) is fixedly connected with an output outer shaft (412) or an output inner shaft (414) of the composite gear train speed reducer (4) in the base (1).

4. The drill floor pipe gripping robot of claim 2, wherein: a right lower tail connecting rod (306 a) and a right lower front connecting rod (307 a) are hinged on the right lower finger (302 a), and the ends of the right lower tail connecting rod (306 a) and the right lower front connecting rod (307 a) are respectively connected with the base (1) in a rotating way.

5. The drill floor pipe gripping robot of claim 1, wherein: a composite gear train speed reducer (4) in a base (1) comprises a planetary gear transmission mechanism, a cycloidal-pin gear planetary speed reducing mechanism and a harmonic gear speed reducing mechanism, wherein one side of the planetary gear transmission mechanism is connected with an input shaft (401), the other side of the planetary gear transmission mechanism is connected with the harmonic gear speed reducing mechanism through the cycloidal-pin gear planetary speed reducing mechanism, and the harmonic gear speed reducing mechanism drives an output outer shaft (412) and an output inner shaft (414) which rotate in opposite directions to each other.

6. The drill floor pipe gripping robot of claim 5, wherein: planetary gear drive mechanism includes train protective housing (405), train protective housing (405) is inside to be equipped with planetary gear system (406), input shaft (401) tip passes train protective housing (405) and the tip is equipped with central sun gear (461), planetary gear system (406) include a plurality of one-level planetary gear set (462), central sun gear (461) and a plurality of one-level planetary gear set (462) meshing, one-level planetary gear set (462) are connected through transmission shaft group (411) and transmission shaft support (407) rotation, transmission shaft group (411) are connected with cycloid pin gear planetary reducer (408).

7. The drill floor pipe gripping robot of claim 6, wherein: the cycloidal-pin wheel planetary reducer (408) comprises a cycloidal-pin wheel planetary reducer sun wheel (486), one end of the cycloidal-pin wheel planetary reducer sun wheel (486) is connected with a gear train protective shell (405), a transmission shaft bracket (407) is rotationally connected with the cycloidal-pin wheel planetary reducer sun wheel (486), a cycloidal planetary wheel set (481) formed by at least two cycloidal planetary wheels is arranged inside the cycloidal-pin wheel planetary reducer sun wheel (486), the two cycloidal planetary wheels are connected through at least three sets of double eccentric sleeves (482), the double eccentric sleeves (482) are connected with a transmission shaft set (411), a tail end penetrating hole pin output mechanism (487) of the transmission shaft set (411) is connected with a harmonic gear reducer (409), a plurality of cylindrical pins (484) are uniformly arranged on the circumference of the inner wall of the cycloidal-pin wheel planetary reducer sun wheel (486), and a first sleeve (483) is sleeved outside the cylindrical pins (484), the outer edge teeth of the cycloid planetary gear set (481) are meshed with a cylindrical pin (484) at the inner edge of a sun gear (486) of the cycloid pin gear planetary reducer;

a plurality of eccentric pin holes are further formed in the cycloid planetary gear set (481), one side of the hole pin output mechanism (487) penetrates through the pin holes of the cycloid planetary gear set (481), a second sleeve (488) is arranged between the hole pin output mechanism (487) and the cycloid planetary gear set (481), and the hole pin output mechanism (487) is driven to rotate along with the rotation of the cycloid planetary gear set (481) in the same direction;

the other side of the hole pin output mechanism (487) is connected with the output inner shaft (414), and the other side of the hole pin output mechanism (487) is also rotationally connected with a sun gear (486) of the cycloidal pin gear planetary reducer.

8. The drill floor pipe gripping robot of claim 7, wherein: the two eccentric wheels of the double eccentric sleeve group (482) are staggered by 180 degrees;

a sun gear (486) of the cycloidal pin wheel planetary reducer is connected with a rigid gear (495) of the harmonic gear reducer (409), a boss is arranged between the rigid gear (495) and the sun gear (486) of the cycloidal pin wheel planetary reducer, a circular disc body of the hole pin output mechanism (487) abuts against the boss of the rigid gear (495), and a plurality of first spherical rollers (418) are arranged between the hole pin output mechanism (487) and the sun gear (486) of the cycloidal pin wheel planetary reducer;

a boss is arranged between the sun gear (486) of the cycloidal pin gear planetary reducer and the gear train protection shell (405), the transmission shaft bracket (407) abuts against the boss of the gear train protection shell (405), and a plurality of second spherical rollers (419) are arranged between the transmission shaft bracket (407) and the sun gear (486) of the cycloidal pin gear planetary reducer;

the cycloidal planetary gear set (481) and the transmission shaft bracket (407) or/and the intermediate hole pin output mechanism (487) are also provided with a partition plate group (420), and the partition plate group (420) is arranged on the transmission shaft group (411).

9. The drill floor pipe gripping robot of claim 7, wherein: the harmonic gear reducer (409) is arranged in a manner that a circular disc body abuts against the inside of a rigid wheel (495), a fourth bearing (417) is arranged between a waveform generator (492) of the harmonic gear reducer (409) and an output inner shaft (414), a plurality of secondary planetary gear sets (491) are arranged in the waveform generator (492), the plurality of secondary planetary gear sets (491) are connected with the tail ends of the plurality of transmission shaft sets (411), and the plurality of secondary planetary gear sets (491) are meshed with gear teeth on the inner wall of the waveform generator (492);

the outer edge of the waveform generator (492) is provided with a cylindrical roller group (493) consisting of at least two cylindrical rollers, a flexible wheel (494) is sleeved outside the waveform generator (492), one side of the flexible wheel (494) is rotatably connected with the output inner shaft (414) through a third bearing (416) and is fixedly connected with the output outer shaft (412), and meanwhile, the flexible wheel is rotatably connected with a rigid wheel (495) through a second bearing (415) and a second sealing ring (413);

the inner edge of the other side of the flexible wheel (494) is matched with a cylindrical roller group (493) arranged on a waveform generator (492), and the outer edge of the flexible wheel (494) is meshed with the rigid wheel (495) at the passing part of the cylindrical roller.

10. The drill floor pipe gripping robot of claim 7, wherein: a second bearing group (410) is arranged between the hole pin output mechanism (487) and the transmission shaft group (411);

a first bearing group (404) is arranged between the transmission shaft bracket (407) and the transmission shaft group (411);

the outer side of the gear train protection shell (405) is connected with the left end cover (421), a first bearing (403) is arranged between the input shaft (401) and the gear train protection shell (405) and the left end cover (421), a first sealing ring (402) is further arranged on one side of the first bearing (403), and the first sealing ring (402) is arranged on the left end cover (421).