WO2022135364A1 - Drill floor surface manipulator - Google Patents

Drill floor surface manipulator Download PDF

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Publication number
WO2022135364A1
WO2022135364A1 PCT/CN2021/139896 CN2021139896W WO2022135364A1 WO 2022135364 A1 WO2022135364 A1 WO 2022135364A1 CN 2021139896 W CN2021139896 W CN 2021139896W WO 2022135364 A1 WO2022135364 A1 WO 2022135364A1
Authority
WO
WIPO (PCT)
Prior art keywords
pulley mechanism
segment
pipe string
track
guide
Prior art date
Application number
PCT/CN2021/139896
Other languages
French (fr)
Chinese (zh)
Inventor
蒋林宏
欧小武
吕岩
柴俊卿
Original Assignee
四川宏华石油设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 四川宏华石油设备有限公司 filed Critical 四川宏华石油设备有限公司
Publication of WO2022135364A1 publication Critical patent/WO2022135364A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK 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
    • E21B19/10—Slips; Spiders ; Catching devices

Definitions

  • the invention belongs to the technical field of oil and natural gas drilling, and particularly relates to a drilling floor manipulator.
  • Drill floor manipulator is a common wellhead automation equipment.
  • the existing drill floor manipulator generally includes a track, a pulley mechanism and a manipulator body.
  • the track is installed on the drill floor, and the manipulator body is fixed on the pulley mechanism.
  • the pulley mechanism is adapted to the track;
  • the table moves and drives the manipulator body to move. When the manipulator body moves to the position of the pipe string, the manipulator body begins to stretch and approach the pipe string. After the manipulator body clamps the pipe string, the pipe string is moved.
  • the drill floor manipulator is arranged on the drill floor, because it cannot cross operations with equipment such as catwalks and iron drillers. Therefore, the existing drill floor manipulators generally use the overall translation method to avoid other equipment.
  • the overall translation method refers to the simultaneous translation of the entire track, the pulley mechanism and the manipulator body, but the overall translation will occupy a lot of vertical box space, resulting in Its capacity is reduced.
  • the purpose of the present invention is to provide a drill floor manipulator in view of the problem of occupying a large amount of space in the stand box when the existing drill floor manipulator avoids equipment such as catwalks and iron drillers in the prior art.
  • a drill floor manipulator includes a base, a track and a manipulator body slidably matched with the track, the base is provided with a working area and an avoidance area, the track has a first section and a second section, the first section The segment is located in the working area, the second segment is located in the avoidance area, and the manipulator body can slide into the first segment or the second segment.
  • the invention includes a base, a track and a manipulator body, the track is mounted on the base, the manipulator is slidably matched with the track, an avoidance area and a working area are arranged on the base, the track includes a first segment and a second segment, and the first segment is located in the working area, and the second segment is located in the avoidance area; thus, when the manipulator body of the present invention needs to work, the manipulator body can be moved to the working area position of the base through the sliding cooperation between the manipulator body and the track, and the manipulator body can be moved by the manipulator body to the working area of the base.
  • the manipulator body of the present invention When the manipulator body of the present invention needs to avoid catwalks, iron drillers and other equipment, the manipulator body can be moved to the working area of the base for avoidance through the sliding cooperation between the manipulator body and the track.
  • the invention is provided with an avoidance area and a work area on the base, and when the manipulator body needs to avoid other equipment, the manipulator body can be moved to the avoidance area.
  • the present invention is simple and convenient to operate when avoiding catwalks, iron drillers and other equipment, and does not occupy a large amount of space of the stand box, and will not reduce the capacity of the stand box.
  • a pulley mechanism is provided below the manipulator body, the pulley mechanism includes a driving device and a moving device arranged under the pulley mechanism, and under the action of the driving device, the pulley mechanism passes through the pulley mechanism.
  • the moving device can move on the track.
  • the moving device includes a support roller arranged at the bottom of the pulley mechanism, and the support roller is rotatably fitted on the top of the track; a rack is installed on the track, and the rack runs along the track.
  • the arrangement direction of the track is set; the output end of the driving device is provided with a gear, and the gear meshes with the rack.
  • the pulley mechanism drives the manipulator body to move on the track, and the transmission is stable and reliable, so that the movement accuracy of the pulley mechanism can be improved; and the moving device includes a support roller, which is rolled and matched with the top of the track, thereby When the pulley mechanism can roll on the track, the frictional resistance between the pulley mechanism and the track can be reduced.
  • the moving device further includes limit rollers, which are respectively located on both sides of the bottom of the pulley mechanism; wheel grooves are provided on the track, and the wheel grooves are correspondingly arranged with the limit rollers , and the limit roller is in rolling fit with the wheel groove.
  • Setting limit rollers on both sides of the bottom of the pulley mechanism, and making the limit rollers cooperate with the wheel grooves, can prevent the pulley mechanism from rolling over, thereby improving the stability of the pulley mechanism when walking, and improving the safety of the present invention during operation. .
  • first segment is connected to the second segment through an arc-shaped segment guide rail; the limit roller matched with the inner arc edge of the arc-shaped segment guide rail is arranged at the bottom of the pulley mechanism.
  • the limit rollers matched with the inner arc edges of the arc-shaped guide rails are arranged at the two ends of the other side of the bottom of the pulley mechanism.
  • the pulley mechanism can adapt to the arc shape change of the arc-shaped section guide rail when the pulley mechanism travels through the arc-shaped section guide rail, so that the pulley mechanism can turn smoothly.
  • the first segment and the second segment of the present invention are connected by the arc-shaped guide rails, so the pulley mechanism passes through the arc-shaped turn of the arc-shaped guide rails, rather than a direct right-angle turn. It will be more convenient and smooth, which will make the manipulator body move more smoothly during operation, so that when the pulley mechanism walks on the arc section guide rail, the problem that the cable is difficult to turn can be avoided.
  • the drive device is a drive motor
  • the cable released from the cable reel is electrically connected to the drive device through the guide device. connect.
  • the invention also includes a cable reel, and when the pulley mechanism runs away from the cable reel, the cable can be pulled out from the cable reel, so that the cable reel can unwind the cable; and the pulley mechanism is facing the cable.
  • the cable reel travels, the cable reel can automatically rewind the cable; and because the cable reel can automatically retract the cable, the cable unrolled from the cable reel can be in a taut state, Therefore, the problem of winding between the cable and the ground or other structural parts can occur, thereby improving the safety during use; in addition, the present invention also includes a guide device for unwinding the cable from the cable reel.
  • the guiding device After passing through the guiding device, it is then electrically connected to the driving device, so that when the pulley mechanism is running on the track, the guiding device can guide the cable and ensure that the cable unrolled from the cable reel does not collide with the ground or the ground. Other structural parts contact and rub, so as to avoid frictional damage of the cable, so that the present invention is more safe and reliable during operation.
  • the guide device includes a base, a turning guide wheel and a pair of limit guide rollers assembled on the base; when the pulley mechanism travels along the track, the cable reel is placed in the middle.
  • the unwinding cable can be guided by the turning guide wheel or the limiting guide roller.
  • the turning guide wheel can change the direction of the cable, and the limit guide roller can prevent the cable from contacting the base, so that the cable passing through the guide device can only be guided in contact with the turning guide wheel or limit guide roller of the guide device.
  • the cable acts as a turning guide or a protective limit guide.
  • the manipulator body includes a manipulator, a column and a pipe column support mechanism, the pulley mechanism is connected to one end of the mechanical arm through the column, and the other end of the mechanical arm is connected to the pipe column support structure.
  • the mechanical arm can drive the pipe string support mechanism to move in the horizontal direction, and the pipe string support mechanism is used for clamping the pipe string.
  • a slewing mechanism is also provided between the upright column and the pulley mechanism.
  • it also includes a vertical root box disposed on the side of the working area, and a detection device is installed under the vertical root box, and the detection device is used for detecting the number of pipe strings in the vertical root box.
  • the present invention is provided with a stand box on the side of the working area, so that after the present invention clamps the pipe string, it can be quickly stored; or it is convenient for the present invention to quickly grab the pipe string.
  • a detection device is arranged below the stand box, and the number of pipe strings in the stand box and the remaining capacity of the stand box can be fed back through the test device.
  • the video signal collection device is installed on the pipe string support mechanism, and the video signal collection device is electrically connected to the machine vision recognition system; the video signal collection device is electrically connected to the machine vision recognition system;
  • the video signal collection device is used for collecting the minimum distance information between the pipe string support mechanism and the pipe string, and for collecting the minimum distance information between the pipe string and the vertical root box;
  • the minimum distance information formed by the control signal forms a control signal, and transmits the control signal to the machine vision recognition system; the machine vision recognition system judges whether the pipe string support mechanism stably holds the pipe string through the control signal, or judges whether the pipe string is stably clamped or not. Whether it is in contact with the stand box.
  • a video signal acquisition device is arranged on the pipe string supporting mechanism, and the video signal acquisition device is electrically connected with the machine vision recognition system; According to the control signal, the visual recognition system automatically judges whether the pipe string support mechanism stably holds the pipe string, or whether the pipe string is in contact with the stand box, thereby improving the automation degree of the present invention.
  • the detection device can be electrically connected to the machine vision recognition system, so that the present invention can automatically position the manipulator body to the corresponding position in the stand box according to the information detected by the detection device when storing or grasping the pipe string.
  • the corresponding position in the stand box refers to: when storing the pipe string, the machine vision recognition system automatically calculates the position where the pipe string can be stored in the stand box according to the information detected by the detection device; or, when grabbing the pipe string, the machine vision
  • the identification system automatically calculates the position where the manipulator body needs to grab the pipe string from the stand box according to the information detected by the detection device.
  • the detection device is a pressure sensor or a proximity switch.
  • the weight of the pipe string in the standing box can be effectively detected by the pressure sensor, so that the number of pipe strings in the standing box and the remaining capacity of the standing box can be calculated; the proximity switch can effectively detect the weight of the pipe string in the standing box. quantity, and the remaining capacity of the stand box.
  • the present invention is provided with an avoidance area and a work area on the base.
  • the manipulator body needs to avoid other equipment, the manipulator body can be moved to the avoidance area.
  • the present invention is simple and convenient to operate when avoiding catwalks, iron drillers and other equipment, and does not occupy a large amount of space of the stand box, and will not reduce the capacity of the stand box.
  • the first segment and the second segment of the present invention are connected by the arc-shaped guide rail, so the pulley mechanism passes through the arc-shaped turn of the arc-shaped guide rail, rather than a direct right-angle turn. It will be more convenient and smooth, which will make the manipulator body move more smoothly during operation, so that when the pulley mechanism walks on the arc section guide rail, the problem that the cable is difficult to turn can be avoided.
  • the present invention is provided with a stand box on the side of the working area, so that after the present invention clamps the pipe string, it can be quickly stored; or it is convenient for the present invention to quickly grab the pipe string.
  • a detection device is arranged below the stand box, and the number of pipe strings in the stand box and the remaining capacity of the stand box can be fed back through the test device.
  • FIG. 1 is a schematic diagram of the three-dimensional structure of the present invention.
  • FIG. 2 is a partial enlarged schematic view of the position A in FIG. 1 .
  • FIG. 3 is a partial enlarged schematic view of B in FIG. 1 .
  • FIG. 4 is a schematic diagram of the three-dimensional structure of the guide device.
  • Figure 5 is a schematic structural diagram of the bottom of the pulley mechanism.
  • FIG. 6 is a schematic top view of the base in the present invention.
  • FIG. 7 is a schematic diagram of the relative positions of the avoidance area and the working area on the base.
  • FIG. 8 is a schematic diagram of the relative positions of the cable reel, the guide device and the pulley mechanism.
  • this embodiment includes a base 3 , a pulley mechanism 1 and a manipulator body 2 fixed above the pulley mechanism 1 ;
  • the manipulator body 2 of this embodiment includes a manipulator arm 21 , a column 22 and a pipe column support mechanism 23 .
  • the pulley mechanism 1 is connected to one end of the manipulator arm 21 through the column 22 , and the other end of the manipulator arm 21 is connected to the pipe column. Supporting structures are connected.
  • the robotic arm 21 can drive the pipe string supporting mechanism 23 to move in the horizontal direction, and the pipe string supporting mechanism 23 can clamp the pipe string.
  • a slewing mechanism 24 is further provided between the upright column 22 and the pulley mechanism 1 in this embodiment.
  • the pulley mechanism 1 of this embodiment includes a driving device and a moving device 11 disposed below the pulley mechanism 1 .
  • this embodiment includes a base 3, a track 4 and a manipulator body 2 slidingly matched with the track 4.
  • the base 3 is provided with a working area and a area
  • the track 4 has a first segment 32 and a second segment 31, the first segment 32 is located in the working area, the second segment 31 is located in the avoidance area, and the manipulator body 2 can slide to the first segment 32 and the second segment 31.
  • the manipulator body 2 can slide to the first segment 32 and the second segment 31.
  • the first segment 32 and the second segment 31 are connected by the arc-shaped guide rail 33 , so the pulley mechanism 1 passes through the arc-shaped turn of the arc-shaped guide rail 33 , instead of A direct right-angle turn, therefore, the pulley mechanism 1 is more convenient and smooth when walking, which in turn enables the manipulator body 2 to move more smoothly during operation.
  • the base 3 can be set as a rectangular structure, and the avoidance area and the work area can be respectively set on opposite sides of the base 3 , and the avoidance area and the work area can also be set on the adjacent sides of the base 3 respectively. sides.
  • the avoidance area and the work area are respectively arranged on two adjacent sides of the base 3 .
  • a vertical root box 5 is provided on the side of the first segment 32 , and a detection device is installed below the vertical root box 5 , and the detection device is used to detect the inside of the vertical root box 5 .
  • the detection device may comprise a pressure sensor. Therefore, the weight of the pipe string in the stand box 5 can be effectively detected by the pressure sensor, and then the number of pipe strings in the stand box 5 and the remaining capacity of the stand box 5 can be calculated.
  • the detection device may also include a proximity switch. Therefore, the number of the pipe strings in the stand box 5 and the remaining capacity of the stand box 5 can be effectively detected by the proximity switch.
  • a stand box 5 is provided on the side of the first segment 32, so that after the pipe string is clamped in this embodiment, it can be quickly stored; or it is convenient for this embodiment to quickly grab the pipe string.
  • a detection device is provided below the stand box 5 , and the number of pipe strings in the stand box 5 and the remaining capacity of the stand box 5 can be fed back through the detection device.
  • this embodiment also includes a video signal collection device 6 and a machine vision recognition system, the video signal collection device 6 is installed on the pipe string support mechanism 23, and the video signal collection device 6 is electrically connected with the machine vision recognition system;
  • the device 6 is used for collecting the minimum distance information between the pipe string support mechanism 23 and the pipe string, and for collecting the minimum distance information between the pipe string and the vertical root box 5;
  • the video signal collecting device 6 is formed according to the collected minimum distance information.
  • control signal and transmit the control signal to the machine vision recognition system; the machine vision recognition system judges whether the pipe string support mechanism 23 stably holds the pipe string through the control signal, or whether the pipe string is in contact with the stand box 5 .
  • the video signal acquisition device 6 can be selected as a camera.
  • a video signal acquisition device 6 is provided on the pipe string support mechanism 23, and the video signal acquisition device 6 is electrically connected with the machine vision recognition system; signal, and the machine vision recognition system automatically judges whether the pipe string support mechanism 23 stably holds the pipe string according to the control signal, or whether the pipe string is in contact with the stand box 5, thereby improving the automation degree of this embodiment.
  • the detection device can be electrically connected to the machine vision recognition system, so that the manipulator body 2 can be automatically positioned to the stand box 5 according to the information detected by the detection device when storing or grasping the pipe string in this embodiment.
  • Grab or store the pipe string at the corresponding position in the The corresponding position in the standing box 5 refers to: when storing the pipe string, the machine vision recognition system automatically calculates the position where the pipe string can be stored in the standing box 5 according to the information detected by the detection device; or, when grabbing the pipe string, The machine vision recognition system automatically calculates the position where the manipulator body 2 needs to grab the pipe string from the stand box 5 according to the information detected by the detection device.
  • the pulley mechanism 1 under the action of the driving device, the pulley mechanism 1 can move on the track 4 through the moving device 11;
  • the mobile device 11 includes a support roller 12 and a limit roller 13 , the support roller 12 is arranged at the bottom of the pulley mechanism 1 , and the support roller 12 is rotatably fitted on the top of the track 4 ; the limit roller 13 are respectively located on both sides of the bottom of the pulley mechanism 1, and the track 4 is provided with a wheel groove 41, the wheel groove 41 is correspondingly arranged with the limit roller 13; the limit roller 13 is in rolling fit with the wheel groove 41.
  • a rack 42 is installed on the rail 4 , and the rack 42 is arranged along the arrangement direction of the rail 4 ;
  • the pulley mechanism 1 drives the manipulator body 2 to move on the track 4, and the transmission is stable and reliable, so that the movement accuracy of the pulley mechanism 1 can be improved; and the moving device 11 includes a support roller 12 , the support rollers 12 are in rolling fit with the top of the track 4, so that when the pulley mechanism 1 can roll on the track 4, the frictional resistance between the pulley mechanism 1 and the track 4 can be reduced;
  • the roller 13 is installed, and the limit roller 13 is matched with the wheel groove 41 to prevent the pulley mechanism 1 from overturning, thereby improving the stability of the pulley mechanism 1 when walking, and improving the safety of this embodiment during operation.
  • the pulley mechanism 1 when the pulley mechanism 1 travels through the arc-shaped guide rail 33, it can adapt to the arc shape change of the arc-shaped guide rail 33, so that the pulley mechanism 1 can turn smoothly.
  • the first segment 32 and the second segment 31 in this embodiment are connected by the arc-shaped guide rails 33, so the pulley mechanism 1 passes through the arc-shaped turn of the arc-shaped guide rails 33, rather than a direct right-angle turn. Therefore, The pulley mechanism 1 will be more convenient and smooth when walking, which will make the manipulator body 2 move more smoothly during operation, so that when the pulley mechanism 1 is walking on the arc-shaped guide rail 33, it can avoid the difficulty of turning the cable. problem occurs.
  • the number of rails 4 is two, and each rail 4 is provided with a wheel groove 41 , the two rails 4 are arranged at intervals, and the rack 42 is installed on the two rails 4 . between tracks 4.
  • each rail 4 is provided with a wheel groove 41 adapted to the limit roller, and the rack 42 is installed between the two rails 4, that is, the installation position of the rack 42 is lower than
  • the upper surface of the track 4 can further improve the stability of the movement of the pulley mechanism 1 on the track 4 .
  • the driving device may be selected as an electric motor, or may be selected as a hydraulic motor.
  • this embodiment also includes a guide device 8 and a cable reel 7 that can automatically wind up the cable, The cables unwound from the cable reel 7 are electrically connected to the driving device through the guide device 8 .
  • the driving device in this embodiment is a driving motor, and the cable in the cable reel 7 is connected to the driving motor, so that under the action of the driving motor, the pulley mechanism 1 is facilitated to walk on the rail 4; and the rail in this embodiment is 4 is connected by the arc section guide rail 33 at the bend, and the cable in the cable reel 7 is connected with the drive motor through the guide device 8, so that when the pulley mechanism 1 walks on the arc section rail 4, the wire can be avoided.
  • the problem that the cable is difficult to turn occurs.
  • the guide device 8 includes a base 81 and a turning guide wheel 82 and a pair of limit guide rollers 83 assembled on the base 81;
  • the cable unrolled from the reel 7 can be guided by turning guide wheel 82 or limited guide by limit guide roller 83 .
  • the turning guide wheel 82 can change the direction of the cable, and the limit guide roller 83 can prevent the cable from contacting the base 81 , so that the cable passing through the guide device 8 can only contact the turning guide wheel 82 of the guide device 8 or the limit guide.
  • the rollers 83 conduct contact guidance, and play the role of turning guidance or protection limit guidance for the cable. For ease of understanding, as shown in FIG.
  • the cable reel 7 is arranged beside the outer arc edge of the arc-shaped guide rail 33 , and the guide device 8 is arranged between the cable reel 7 and the arc-shaped guide rail.
  • the turning guide wheel 82 corresponds to one end of the track 4
  • the limit guide roller 83 corresponds to the other end of the track 4 .
  • the cable unwound from the cable reel 7 is limited and guided to the pulley mechanism 1 by a pair of limit guide rollers 83, and the cable is limited at this position.
  • the position-limiting guide rollers 83 play a role of protecting the position-limiting guide for the cables, so as to avoid contact friction between the cables and the base 81 .
  • the cables in the cable reel 7 can be arranged inside the base 3, so that the cables can be better protected.
  • the present invention includes a base 3, a track 4 and a manipulator body 2, the track is installed on the base 3, the manipulator body 2 is slidably matched with the track 4, an avoidance area and a working area are set on the base 3, and the track 4 includes a first segment 32 and The second segment 31, the first segment 32 is located in the working area, and the second segment 31 is located in the avoidance area; thus, when the manipulator body 2 of the present invention needs to work, the manipulator body 2 and the rail 4 are slidably matched , the manipulator body 2 can be moved to the working area of the base 3, and the manipulator body 2 can perform operations; when the manipulator body 2 of the present invention needs to avoid catwalks, iron drillers and other equipment, the manipulator body 2 and the track 4 By sliding fit, the manipulator body 2 can be moved to the position of the working area of the base 3 for avoidance.
  • the base 3 is provided with an avoidance area and a work area.
  • the manipulator body 2 can be moved to the avoidance area.
  • the present invention is simple and convenient to operate when avoiding catwalks, iron drillers and other equipment, and will not occupy a large amount of space of the stand box 5 and will not reduce the capacity of the stand box 5 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Fluid Mechanics (AREA)
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Abstract

A drill floor surface manipulator, comprising a base (3), a rail (4) and a manipulator body (2) in sliding fit with the rail. A working area and an avoidance area are formed on the base; the rail is provided with a first section (32) and a second section (31), the first section being located in the working area, and the second section being located in the avoidance area; and the manipulator body may slide into the first section or the second section. The avoidance area and the working area are formed on the base, so that when the manipulator body needs to avoid other devices, the manipulator body may be moved to the avoidance area. Compared to the use of integral translation manners, when the drill floor surface manipulator avoids equipment such as a catwalk and an iron roughneck, the operation thereof is easy and convenient, a large amount of pipe setback space will not be occupied, and the pipe setback capacity will not be reduced.

Description

钻台面机械手Drill Floor Manipulator
本申请要求于2020年12月22日提交中国专利局、申请号为202011528399.2、发明名称为“钻台面机械手”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number 202011528399.2 and the invention name "Drill Floor Manipulator" filed with the China Patent Office on December 22, 2020, the entire contents of which are incorporated into this application by reference.
技术领域technical field
本发明属于石油及天然气钻探技术领域，具体涉及一种钻台面机械手。The invention belongs to the technical field of oil and natural gas drilling, and particularly relates to a drilling floor manipulator.
背景技术Background technique
钻台面机械手是一种常见的井口自动化设备。现有的钻台面机械手一般包括轨道、滑车机构和机械手本体，轨道安装在钻台面上，机械手本体固定在滑车机构上，滑车机构与轨道适配；在需要搬运管柱的时候，滑车机构在钻台面上移动，并带动机械手本体移动，当到机械手本体移动到管柱位置时，机械手本体开始伸展并靠近管柱，在机械手本体夹持住管柱后再对管柱进行移动。Drill floor manipulator is a common wellhead automation equipment. The existing drill floor manipulator generally includes a track, a pulley mechanism and a manipulator body. The track is installed on the drill floor, and the manipulator body is fixed on the pulley mechanism. The pulley mechanism is adapted to the track; The table moves and drives the manipulator body to move. When the manipulator body moves to the position of the pipe string, the manipulator body begins to stretch and approach the pipe string. After the manipulator body clamps the pipe string, the pipe string is moved.
目前，钻台机械手布置在钻台面上，因不能与猫道、铁钻工等设备进行交叉作业。所以，现有的钻台机械手一般是采用整体平移的方式避让其他设备，整体平移的方式是指将整个轨道、滑车机构和机械手本体同时进行平移，但是整体平移会占用大量的立根盒空间，造成其容量降低。At present, the drill floor manipulator is arranged on the drill floor, because it cannot cross operations with equipment such as catwalks and iron drillers. Therefore, the existing drill floor manipulators generally use the overall translation method to avoid other equipment. The overall translation method refers to the simultaneous translation of the entire track, the pulley mechanism and the manipulator body, but the overall translation will occupy a lot of vertical box space, resulting in Its capacity is reduced.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于：针对现有技术中，现有的钻台机械手在避让猫道、铁钻工等设备时，会造成占用大量立根盒空间的问题，提供一种钻台面机械手。The purpose of the present invention is to provide a drill floor manipulator in view of the problem of occupying a large amount of space in the stand box when the existing drill floor manipulator avoids equipment such as catwalks and iron drillers in the prior art.
为了实现上述发明目的，本发明提供了以下技术方案：In order to achieve the above-mentioned purpose of the invention, the present invention provides the following technical solutions:
钻台面机械手，包括底座、轨道和与所述轨道滑动配合的机械手本体，所述底座上设置有工作区域和避让区域，所述轨道具有第一节段和第二节段，所述第一节段位于所述工作区域内，所述第二节段位于避让区域内，所述机械手本体能够滑动至所述第一节段或第二节段内。A drill floor manipulator includes a base, a track and a manipulator body slidably matched with the track, the base is provided with a working area and an avoidance area, the track has a first section and a second section, the first section The segment is located in the working area, the second segment is located in the avoidance area, and the manipulator body can slide into the first segment or the second segment.
本发明包括底座、轨道和机械手本体，轨道安装在底座上，机械手与轨道滑动配合，在底座上设置有避让区域和工作区域，轨道包括第一节段和第二节段，并且第一节段位于工作区域内，第二节段位于避让区域内；从而，在本发明的机械手本体需要作业时，通过机械手本体与轨道的滑动配合，能够将机械手本体移动到底座的工作区域位置，并由机械手本体进行作业；在本发明的机械手本体需要避让猫道、铁钻工等设备时，通过机械手本体与轨道的滑动配合，能够将机械手本体移动到底座的工作区域位置进行避让。本发明在底座上设置有避让区域和工作区域，在需要机械手本体避让其它设备时，可以通过将机械手本体移动到避让区域。相对于采用整体平移的方式而言，本发明在避让猫道、铁钻工等设备时，操作简单、方便，并且不会占用大量的立根盒空间，不会造成立根盒的容量降低。The invention includes a base, a track and a manipulator body, the track is mounted on the base, the manipulator is slidably matched with the track, an avoidance area and a working area are arranged on the base, the track includes a first segment and a second segment, and the first segment is located in the working area, and the second segment is located in the avoidance area; thus, when the manipulator body of the present invention needs to work, the manipulator body can be moved to the working area position of the base through the sliding cooperation between the manipulator body and the track, and the manipulator body can be moved by the manipulator body to the working area of the base. When the manipulator body of the present invention needs to avoid catwalks, iron drillers and other equipment, the manipulator body can be moved to the working area of the base for avoidance through the sliding cooperation between the manipulator body and the track. The invention is provided with an avoidance area and a work area on the base, and when the manipulator body needs to avoid other equipment, the manipulator body can be moved to the avoidance area. Compared with the overall translation method, the present invention is simple and convenient to operate when avoiding catwalks, iron drillers and other equipment, and does not occupy a large amount of space of the stand box, and will not reduce the capacity of the stand box.
进一步的，所述机械手本体的下方设置有滑车机构，所述滑车机构包括驱动装置和设置在所述滑车机构下方的移动装置，且在所述驱动装置的作用下，所述滑车机构通过所述移动装置能够在所述轨道上移动。通过使滑车机构与轨道配合，可以使得机械手本体能够在轨道上稳定的移动。Further, a pulley mechanism is provided below the manipulator body, the pulley mechanism includes a driving device and a moving device arranged under the pulley mechanism, and under the action of the driving device, the pulley mechanism passes through the pulley mechanism. The moving device can move on the track. By making the pulley mechanism cooperate with the track, the manipulator body can move stably on the track.
进一步的，所述移动装置包括设置在所述滑车机构底部的支撑滚轮，所述支撑滚轮可滚动地配合在所述轨道的顶部；所述轨道上安装有齿条，所述齿条沿所述轨道的布置方向设置；所述驱动装置的输出端安装有齿轮，所述齿轮与所述齿条啮合。通过齿轮与齿条的相互啮合，使滑车机构带动机械手本体在轨道上移动，且传动平稳可靠，从而可以提高滑车机构的移动精度；并且移动装置包括支撑滚轮，支撑滚轮与轨道顶部滚动配合，从而使得滑车机构能够在轨道上滚动行走时，能够降低滑车机构与轨道之间的摩擦阻力。Further, the moving device includes a support roller arranged at the bottom of the pulley mechanism, and the support roller is rotatably fitted on the top of the track; a rack is installed on the track, and the rack runs along the track. The arrangement direction of the track is set; the output end of the driving device is provided with a gear, and the gear meshes with the rack. Through the mutual meshing of the gear and the rack, the pulley mechanism drives the manipulator body to move on the track, and the transmission is stable and reliable, so that the movement accuracy of the pulley mechanism can be improved; and the moving device includes a support roller, which is rolled and matched with the top of the track, thereby When the pulley mechanism can roll on the track, the frictional resistance between the pulley mechanism and the track can be reduced.
进一步的，所述移动装置还包括限位滚轮，所述限位滚轮分别位于所述滑车机构的底部两侧；所述轨道上设置有轮槽，所述轮槽与所述限位滚轮对应设置，且所述限位滚轮与所述轮槽滚动配合。在滑车机构底部的两侧设置限位滚轮，并使限位滚轮与轮槽配合，能够避免滑车机构发生侧翻，进而可以提高滑车机构行走时的稳定性，提高本发明在运行时的安全性。Further, the moving device further includes limit rollers, which are respectively located on both sides of the bottom of the pulley mechanism; wheel grooves are provided on the track, and the wheel grooves are correspondingly arranged with the limit rollers , and the limit roller is in rolling fit with the wheel groove. Setting limit rollers on both sides of the bottom of the pulley mechanism, and making the limit rollers cooperate with the wheel grooves, can prevent the pulley mechanism from rolling over, thereby improving the stability of the pulley mechanism when walking, and improving the safety of the present invention during operation. .
进一步的，所述第一节段通过弧形段导轨与所述第二节段连接；与所 述弧形段导轨的内弧边配合的所述限位滚轮设置于所述滑车机构的底部一侧中间位置，与所述弧形段导轨的内弧边配合的所述限位滚轮设置于所述滑车机构的底部另一侧两端位置。Further, the first segment is connected to the second segment through an arc-shaped segment guide rail; the limit roller matched with the inner arc edge of the arc-shaped segment guide rail is arranged at the bottom of the pulley mechanism. In the side middle position, the limit rollers matched with the inner arc edges of the arc-shaped guide rails are arranged at the two ends of the other side of the bottom of the pulley mechanism.
通过上述结构，使滑车机构在行走经过弧形段导轨时，能够适配弧形段导轨的弧形变化，使得滑车机构顺利的转弯。另外，本发明的第一节段与第二节段通过弧形段导轨连接，所以滑车机构是经过了弧形段导轨的弧形转弯，而非直接直角转弯，因此，滑车机构在行走更时会加方便顺畅，进而会使得机械手本体在作业时能够进行更加顺畅地移动，从而当滑车机构在弧形段导轨上行走时，可以避免线缆难以转向的问题发生。Through the above structure, the pulley mechanism can adapt to the arc shape change of the arc-shaped section guide rail when the pulley mechanism travels through the arc-shaped section guide rail, so that the pulley mechanism can turn smoothly. In addition, the first segment and the second segment of the present invention are connected by the arc-shaped guide rails, so the pulley mechanism passes through the arc-shaped turn of the arc-shaped guide rails, rather than a direct right-angle turn. It will be more convenient and smooth, which will make the manipulator body move more smoothly during operation, so that when the pulley mechanism walks on the arc section guide rail, the problem that the cable is difficult to turn can be avoided.
进一步的，还包括导向装置和可自动收卷线缆的线缆卷盘，所述驱动装置为驱动电机，所述线缆卷盘放出的线缆通过所述导向装置与所述驱动装置电性连接。Further, it also includes a guide device and a cable reel that can automatically wind up the cable, the drive device is a drive motor, and the cable released from the cable reel is electrically connected to the drive device through the guide device. connect.
本发明还包括线缆卷盘，在滑车机构背向线缆卷盘行走时，能够将线缆从线缆卷盘上拉扯出，使得线缆卷盘放卷线缆；而滑车机构在面向线缆卷盘行走时，线缆卷盘能够自动的收卷线缆；并且由于线缆卷盘能够自动收放线缆，从而可使得从线缆卷盘放卷出的线缆处于绷紧状态，从而可以线缆与地面或其他结构件发生绕线的问题，进而可以提高在使用过程中的安全性；并且，本发明还包括导向装置，从所述线缆卷盘上放卷出的线缆通过导向装置后，再与驱动装置电性连接，从而滑车机构在轨道上行走时，导向装置能够对线缆起到导向作用，能够确保从线缆卷盘放卷出的线缆不与地面或其他结构件接触摩擦，从而避免电缆的摩擦损坏，使得本发明在运行时更加安全可靠。The invention also includes a cable reel, and when the pulley mechanism runs away from the cable reel, the cable can be pulled out from the cable reel, so that the cable reel can unwind the cable; and the pulley mechanism is facing the cable. When the cable reel travels, the cable reel can automatically rewind the cable; and because the cable reel can automatically retract the cable, the cable unrolled from the cable reel can be in a taut state, Therefore, the problem of winding between the cable and the ground or other structural parts can occur, thereby improving the safety during use; in addition, the present invention also includes a guide device for unwinding the cable from the cable reel. After passing through the guiding device, it is then electrically connected to the driving device, so that when the pulley mechanism is running on the track, the guiding device can guide the cable and ensure that the cable unrolled from the cable reel does not collide with the ground or the ground. Other structural parts contact and rub, so as to avoid frictional damage of the cable, so that the present invention is more safe and reliable during operation.
进一步的，所述导向装置包括基座以及装配于所述基座上的转弯导向轮和一对限位导辊；当所述滑车机构沿所述轨道行走时，所述线缆卷盘中放卷出的线缆将可经所述转弯导向轮转弯导向或所述限位导辊限位导向。转弯导向轮能够改变线缆的方向，而限位导辊能够避免线缆与基座接触，使得通过导向装置的线缆仅能够与导向装置的转弯导向轮或限位导辊进行接触导向，对线缆起到了转弯导向或保护限位导向作用。Further, the guide device includes a base, a turning guide wheel and a pair of limit guide rollers assembled on the base; when the pulley mechanism travels along the track, the cable reel is placed in the middle. The unwinding cable can be guided by the turning guide wheel or the limiting guide roller. The turning guide wheel can change the direction of the cable, and the limit guide roller can prevent the cable from contacting the base, so that the cable passing through the guide device can only be guided in contact with the turning guide wheel or limit guide roller of the guide device. The cable acts as a turning guide or a protective limit guide.
进一步的，所述机械手本体包括机械臂、立柱和管柱扶持机构，所述 滑车机构通过所述立柱与所述机械臂的一端相连，所述机械臂的另一端与所述管柱扶持结构相连；所述机械臂能够带动所述管柱扶持机构在水平方向上移动，所述管柱扶持机构用于夹持管柱。通过上述结构，便于本发明稳定有效地夹持管柱。Further, the manipulator body includes a manipulator, a column and a pipe column support mechanism, the pulley mechanism is connected to one end of the mechanical arm through the column, and the other end of the mechanical arm is connected to the pipe column support structure. ; The mechanical arm can drive the pipe string support mechanism to move in the horizontal direction, and the pipe string support mechanism is used for clamping the pipe string. With the above structure, it is convenient for the present invention to hold the pipe string stably and effectively.
进一步的，所述立柱与所述滑车机构之间还设置有回转机构。通过上述结构，在夹持管柱后，便于本发明能够进行旋转调节。Further, a slewing mechanism is also provided between the upright column and the pulley mechanism. With the above structure, it is convenient for the present invention to be able to perform rotational adjustment after the pipe string is clamped.
进一步的，还包括设置在所述工作区域侧面的立根盒，所述立根盒的下方安装有检测装置，所述检测装置用于检测所述立根盒中管柱的数量。Further, it also includes a vertical root box disposed on the side of the working area, and a detection device is installed under the vertical root box, and the detection device is used for detecting the number of pipe strings in the vertical root box.
本发明在工作区域的侧面设置有立根盒，从而在本发明夹持管柱后，能够进行快速的存放；或者便于本发明能够快速地抓取管柱。并且，本发明在立根盒的下方设置有检测装置，通检测装置可以反馈出立根盒中管柱的数量，以及立根盒的剩余容量。The present invention is provided with a stand box on the side of the working area, so that after the present invention clamps the pipe string, it can be quickly stored; or it is convenient for the present invention to quickly grab the pipe string. In addition, in the present invention, a detection device is arranged below the stand box, and the number of pipe strings in the stand box and the remaining capacity of the stand box can be fed back through the test device.
进一步的，还包括视频信号采集装置和机器视觉识别***，所述视频信号采集装置安装在所述管柱扶持机构上，所述视频信号采集装置与所述机器视觉识别***电性连接；所述视频信号采集装置用于采集所述管柱扶持机构与管柱之间的最小距离信息，以及用于采集管柱与所述立根盒之间的最小距离信息；所述视频信号采集装置根据所采集的最小距离信息形成控制信号，并将控制信号传输给所述机器视觉识别***；所述机器视觉识别***通过所述控制信号判断所述管柱扶持机构是否稳定夹持管柱，或者判断管柱是否与所述立根盒接触。Further, it also includes a video signal collection device and a machine vision recognition system, the video signal collection device is installed on the pipe string support mechanism, and the video signal collection device is electrically connected to the machine vision recognition system; the video signal collection device is electrically connected to the machine vision recognition system; The video signal collection device is used for collecting the minimum distance information between the pipe string support mechanism and the pipe string, and for collecting the minimum distance information between the pipe string and the vertical root box; The minimum distance information formed by the control signal forms a control signal, and transmits the control signal to the machine vision recognition system; the machine vision recognition system judges whether the pipe string support mechanism stably holds the pipe string through the control signal, or judges whether the pipe string is stably clamped or not. Whether it is in contact with the stand box.
本发明在管柱扶持机构上设置有视频信号采集装置，并且使视频信号采集装置与机器视觉识别***电性连接；进而，可以通过视频信号采集装置将采集到的信息形成控制信号，并由机器视觉识别***根据控制信号自动判断管柱扶持机构是否稳定夹持管柱，或者管柱是否与立根盒接触，进而可以提高本发明的自动化程度。In the present invention, a video signal acquisition device is arranged on the pipe string supporting mechanism, and the video signal acquisition device is electrically connected with the machine vision recognition system; According to the control signal, the visual recognition system automatically judges whether the pipe string support mechanism stably holds the pipe string, or whether the pipe string is in contact with the stand box, thereby improving the automation degree of the present invention.
优选地，可以使检测装置与机器视觉识别***电性连接，进而可以使得本发明在存放或者抓取管柱时，能够根据检测装置检测出的信息，将机械手本体自动定位到立根盒中对应的位置抓取或者存放管柱。立根盒中对应的位置是指：在存放管柱时，机器视觉识别***根据检测装置检测的信 息，自动计算出立根盒中可存放管柱的位置；或者，在抓取管柱时，机器视觉识别***根据检测装置检测的信息，自动计算出机械手本体需要从立根盒中抓取管柱的位置。Preferably, the detection device can be electrically connected to the machine vision recognition system, so that the present invention can automatically position the manipulator body to the corresponding position in the stand box according to the information detected by the detection device when storing or grasping the pipe string. Location to grab or store the string. The corresponding position in the stand box refers to: when storing the pipe string, the machine vision recognition system automatically calculates the position where the pipe string can be stored in the stand box according to the information detected by the detection device; or, when grabbing the pipe string, the machine vision The identification system automatically calculates the position where the manipulator body needs to grab the pipe string from the stand box according to the information detected by the detection device.
进一步的，所述检测装置为压力传感器或接近开关。通过压力传感器可以有效地检测出立根盒中的管柱的重量，从而可以计算出立根盒中管柱的数量，以及立根盒的剩余容量；通过接近开关可以有效地检测出立根盒中管柱的数量，以及立根盒的剩余容量。Further, the detection device is a pressure sensor or a proximity switch. The weight of the pipe string in the standing box can be effectively detected by the pressure sensor, so that the number of pipe strings in the standing box and the remaining capacity of the standing box can be calculated; the proximity switch can effectively detect the weight of the pipe string in the standing box. quantity, and the remaining capacity of the stand box.
与现有技术相比，本发明的有益效果：Compared with the prior art, the beneficial effects of the present invention:
1、本发明在底座上设置有避让区域和工作区域，在需要机械手本体避让其它设备时，可以通过将机械手本体移动到避让区域。相对于采用整体平移的方式而言，本发明在避让猫道、铁钻工等设备时，操作简单、方便，并且不会占用大量的立根盒空间，不会造成立根盒的容量降低。1. The present invention is provided with an avoidance area and a work area on the base. When the manipulator body needs to avoid other equipment, the manipulator body can be moved to the avoidance area. Compared with the overall translation method, the present invention is simple and convenient to operate when avoiding catwalks, iron drillers and other equipment, and does not occupy a large amount of space of the stand box, and will not reduce the capacity of the stand box.
2、本发明的第一节段与第二节段通过弧形段导轨连接，所以滑车机构是经过了弧形段导轨的弧形转弯，而非直接直角转弯，因此，滑车机构在行走更时会加方便顺畅，进而会使得机械手本体在作业时能够进行更加顺畅地移动，从而当滑车机构在弧形段导轨上行走时，可以避免线缆难以转向的问题发生。2. The first segment and the second segment of the present invention are connected by the arc-shaped guide rail, so the pulley mechanism passes through the arc-shaped turn of the arc-shaped guide rail, rather than a direct right-angle turn. It will be more convenient and smooth, which will make the manipulator body move more smoothly during operation, so that when the pulley mechanism walks on the arc section guide rail, the problem that the cable is difficult to turn can be avoided.
3、本发明在工作区域的侧面设置有立根盒，从而在本发明夹持管柱后，能够进行快速的存放；或者便于本发明能够快速地抓取管柱。并且，本发明在立根盒的下方设置有检测装置，通检测装置可以反馈出立根盒中管柱的数量，以及立根盒的剩余容量。3. The present invention is provided with a stand box on the side of the working area, so that after the present invention clamps the pipe string, it can be quickly stored; or it is convenient for the present invention to quickly grab the pipe string. In addition, in the present invention, a detection device is arranged below the stand box, and the number of pipe strings in the stand box and the remaining capacity of the stand box can be fed back through the test device.
附图说明Description of drawings
图1为本发明的三维结构示意图。FIG. 1 is a schematic diagram of the three-dimensional structure of the present invention.
图2为图1中A处的局部放大示意图。FIG. 2 is a partial enlarged schematic view of the position A in FIG. 1 .
图3为图1中B处的局部放大示意图。FIG. 3 is a partial enlarged schematic view of B in FIG. 1 .
图4为导向装置的三维结构示意图。FIG. 4 is a schematic diagram of the three-dimensional structure of the guide device.
图5为滑车机构底部的结构示意图。Figure 5 is a schematic structural diagram of the bottom of the pulley mechanism.
图6为本发明中底座的俯视示意图。FIG. 6 is a schematic top view of the base in the present invention.
图7为底座上的避让区域和工作区域的相对位置示意图。FIG. 7 is a schematic diagram of the relative positions of the avoidance area and the working area on the base.
图8为线缆卷盘、导向装置和滑车机构的相对位置示意图。FIG. 8 is a schematic diagram of the relative positions of the cable reel, the guide device and the pulley mechanism.
图中标记：1-滑车机构，11-移动装置，12-支撑滚轮，13-限位滚轮，2-机械手本体，21-机械臂，22-立柱，23-管柱扶持机构，24-回转机构，3-底座，31-第二节段，32-第一节段，33-弧形段导轨，4-轨道，41-轮槽，42-齿条，43-齿轮，5-立根盒，6-视频信号采集装置，7-线缆卷盘，8-导向装置，81-基座，82-转弯导向轮，83-限位导辊。Markings in the figure: 1- pulley mechanism, 11- mobile device, 12- support roller, 13- limit roller, 2- manipulator body, 21- manipulator arm, 22- column, 23- column support mechanism, 24- slewing mechanism , 3-base, 31-second segment, 32-first segment, 33-arc segment guide rail, 4-track, 41-wheel groove, 42-rack, 43-gear, 5-stand box, 6 -Video signal acquisition device, 7-cable reel, 8-guide device, 81-base, 82-turning guide wheel, 83-limit guide roller.
具体实施方式Detailed ways
下面结合试验例及具体实施方式对本实施例作进一步的详细描述。但不应将此理解为本实施例上述主题的范围仅限于以下的实施例，凡基于本实施例内容所实现的技术均属于本实施例的范围。The present embodiment will be further described in detail below in conjunction with the test examples and specific implementations. However, it should not be understood that the scope of the above-mentioned subject matter of this embodiment is limited to the following embodiments, and all technologies implemented based on the content of this embodiment belong to the scope of this embodiment.
如图1至图8所示，本实施例包括底座3、滑车机构1和固定在滑车机构1上方的机械手本体2；As shown in FIGS. 1 to 8 , this embodiment includes a base 3 , a pulley mechanism 1 and a manipulator body 2 fixed above the pulley mechanism 1 ;
如图1所示，本实施例的机械手本体2包括机械臂21、立柱22和管柱扶持机构23，滑车机构1通过立柱22与机械臂21的一端相连，机械臂21的另一端与管柱扶持结构相连。在本实施例中，机械臂21能够带动管柱扶持机构23在水平方向上移动，管柱扶持机构23能够夹持管柱。进一步的，为了便于本实施例能够进行旋转调节，本实施例在立柱22与滑车机构1之间还设置有回转机构24。As shown in FIG. 1 , the manipulator body 2 of this embodiment includes a manipulator arm 21 , a column 22 and a pipe column support mechanism 23 . The pulley mechanism 1 is connected to one end of the manipulator arm 21 through the column 22 , and the other end of the manipulator arm 21 is connected to the pipe column. Supporting structures are connected. In this embodiment, the robotic arm 21 can drive the pipe string supporting mechanism 23 to move in the horizontal direction, and the pipe string supporting mechanism 23 can clamp the pipe string. Further, in order to facilitate the rotation adjustment in this embodiment, a slewing mechanism 24 is further provided between the upright column 22 and the pulley mechanism 1 in this embodiment.
如图1、图3和图5所示，本实施例的滑车机构1包括驱动装置和设置在滑车机构1下方的移动装置11。As shown in FIG. 1 , FIG. 3 and FIG. 5 , the pulley mechanism 1 of this embodiment includes a driving device and a moving device 11 disposed below the pulley mechanism 1 .
如图1、图2、图3、图5、图7和图8所示，本实施例包括底座3、轨道4和与轨道4滑动配合的机械手本体2，底座3上设置有工作区域和避让区域，轨道4具有第一节段32和第二节段31，第一节段32位于工作区域内，第二节段31位于避让区域内，机械手本体2能够滑动至第一节段32和第二节段31内。As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 5, Fig. 7 and Fig. 8, this embodiment includes a base 3, a track 4 and a manipulator body 2 slidingly matched with the track 4. The base 3 is provided with a working area and a area, the track 4 has a first segment 32 and a second segment 31, the first segment 32 is located in the working area, the second segment 31 is located in the avoidance area, and the manipulator body 2 can slide to the first segment 32 and the second segment 31. Inside the second segment 31 .
如图7所示，在本实施例中，第一节段32与第二节段31通过弧形段导轨33连接，所以滑车机构1是经过了弧形段导轨33的弧形转弯，而非 直接直角转弯，因此，滑车机构1在行走更时会加方便顺畅，进而会使得机械手本体2在作业时能够进行更加顺畅地移动。As shown in FIG. 7 , in this embodiment, the first segment 32 and the second segment 31 are connected by the arc-shaped guide rail 33 , so the pulley mechanism 1 passes through the arc-shaped turn of the arc-shaped guide rail 33 , instead of A direct right-angle turn, therefore, the pulley mechanism 1 is more convenient and smooth when walking, which in turn enables the manipulator body 2 to move more smoothly during operation.
具体地，在本实施例中，底座3可以设置为矩形状结构，并且避让区域和工作区域可以分别设置在底座3相对的两侧，避让区域和工作区域也可以分别设置在底座3相邻的两侧。在图6和图7中，避让区域和工作区域分别设置在底座3相邻的两侧。Specifically, in this embodiment, the base 3 can be set as a rectangular structure, and the avoidance area and the work area can be respectively set on opposite sides of the base 3 , and the avoidance area and the work area can also be set on the adjacent sides of the base 3 respectively. sides. In FIG. 6 and FIG. 7 , the avoidance area and the work area are respectively arranged on two adjacent sides of the base 3 .
如图1、图6和图7所示，本实施例在第一节段32的侧面设置有立根盒5，且在立根盒5的下方安装有检测装置，检测装置用于检测立根盒5中管柱的数量。具体地，检测装置可以包括压力传感器。从而通过压力传感器可以有效地检测出立根盒5中的管柱的重量，进而可以计算出立根盒5中管柱的数量，以及立根盒5的剩余容量。检测装置也可以包括接近开关。从而通过接近开关可以有效地检测出立根盒5中管柱的数量，以及立根盒5的剩余容量。As shown in FIG. 1 , FIG. 6 and FIG. 7 , in this embodiment, a vertical root box 5 is provided on the side of the first segment 32 , and a detection device is installed below the vertical root box 5 , and the detection device is used to detect the inside of the vertical root box 5 . The number of columns. Specifically, the detection device may comprise a pressure sensor. Therefore, the weight of the pipe string in the stand box 5 can be effectively detected by the pressure sensor, and then the number of pipe strings in the stand box 5 and the remaining capacity of the stand box 5 can be calculated. The detection device may also include a proximity switch. Therefore, the number of the pipe strings in the stand box 5 and the remaining capacity of the stand box 5 can be effectively detected by the proximity switch.
本实施例在第一节段32的侧面设置有立根盒5，从而在本实施例夹持管柱后，能够进行快速的存放；或者便于本实施例能够快速地抓取管柱。并且，本实施例在立根盒5的下方设置有检测装置，通检测装置可以反馈出立根盒5中管柱的数量，以及立根盒5的剩余容量。In this embodiment, a stand box 5 is provided on the side of the first segment 32, so that after the pipe string is clamped in this embodiment, it can be quickly stored; or it is convenient for this embodiment to quickly grab the pipe string. In addition, in this embodiment, a detection device is provided below the stand box 5 , and the number of pipe strings in the stand box 5 and the remaining capacity of the stand box 5 can be fed back through the detection device.
进一步的，本实施例还包括视频信号采集装置6和机器视觉识别***，视频信号采集装置6安装在管柱扶持机构23上，视频信号采集装置6与机器视觉识别***电性连接；视频信号采集装置6用于采集管柱扶持机构23与管柱之间的最小距离信息，以及用于采集管柱与立根盒5之间的最小距离信息；视频信号采集装置6根据所采集的最小距离信息形成控制信号，并将控制信号传输给机器视觉识别***；机器视觉识别***通过控制信号判断管柱扶持机构23是否稳定夹持管柱，或者判断管柱是否与立根盒5接触。具体地，视频信号采集装置6可以选择为摄像头。Further, this embodiment also includes a video signal collection device 6 and a machine vision recognition system, the video signal collection device 6 is installed on the pipe string support mechanism 23, and the video signal collection device 6 is electrically connected with the machine vision recognition system; The device 6 is used for collecting the minimum distance information between the pipe string support mechanism 23 and the pipe string, and for collecting the minimum distance information between the pipe string and the vertical root box 5; the video signal collecting device 6 is formed according to the collected minimum distance information. control signal, and transmit the control signal to the machine vision recognition system; the machine vision recognition system judges whether the pipe string support mechanism 23 stably holds the pipe string through the control signal, or whether the pipe string is in contact with the stand box 5 . Specifically, the video signal acquisition device 6 can be selected as a camera.
本实施例在管柱扶持机构23上设置有视频信号采集装置6，并且使视频信号采集装置6与机器视觉识别***电性连接；进而，可以通过视频信号采集装置6将采集到的信息形成控制信号，并由机器视觉识别***根据控制信号自动判断管柱扶持机构23是否稳定夹持管柱，或者管柱是否与立 根盒5接触，进而可以提高本实施例的自动化程度。In this embodiment, a video signal acquisition device 6 is provided on the pipe string support mechanism 23, and the video signal acquisition device 6 is electrically connected with the machine vision recognition system; signal, and the machine vision recognition system automatically judges whether the pipe string support mechanism 23 stably holds the pipe string according to the control signal, or whether the pipe string is in contact with the stand box 5, thereby improving the automation degree of this embodiment.
优选地，可以使检测装置与机器视觉识别***电性连接，进而可以使得本实施例在存放或者抓取管柱时，能够根据检测装置检测出的信息，将机械手本体2自动定位到立根盒5中对应的位置抓取或者存放管柱。立根盒5中对应的位置是指：在存放管柱时，机器视觉识别***根据检测装置检测的信息，自动计算出立根盒5中可存放管柱的位置；或者，在抓取管柱时，机器视觉识别***根据检测装置检测的信息，自动计算出机械手本体2需要从立根盒5中抓取管柱的位置。Preferably, the detection device can be electrically connected to the machine vision recognition system, so that the manipulator body 2 can be automatically positioned to the stand box 5 according to the information detected by the detection device when storing or grasping the pipe string in this embodiment. Grab or store the pipe string at the corresponding position in the The corresponding position in the standing box 5 refers to: when storing the pipe string, the machine vision recognition system automatically calculates the position where the pipe string can be stored in the standing box 5 according to the information detected by the detection device; or, when grabbing the pipe string, The machine vision recognition system automatically calculates the position where the manipulator body 2 needs to grab the pipe string from the stand box 5 according to the information detected by the detection device.
在本实施例中，在驱动装置的作用下，滑车机构1通过移动装置11能够在轨道4上移动；In this embodiment, under the action of the driving device, the pulley mechanism 1 can move on the track 4 through the moving device 11;
具体地，如图5所示，移动装置11包括支撑滚轮12和限位滚轮13，支撑滚轮12设置在滑车机构1的底部，且支撑滚轮12可滚动地配合在轨道4的顶部；限位滚轮13分别位于滑车机构1的底部两侧，且轨道4上设置有轮槽41，轮槽41与限位滚轮13对应设置；限位滚轮13与轮槽41滚动配合。如图3和图5所示，轨道4上安装有齿条42，齿条42沿轨道4的布置方向设置；驱动装置的输出端安装有齿轮43，齿轮43与齿条42啮合。Specifically, as shown in FIG. 5 , the mobile device 11 includes a support roller 12 and a limit roller 13 , the support roller 12 is arranged at the bottom of the pulley mechanism 1 , and the support roller 12 is rotatably fitted on the top of the track 4 ; the limit roller 13 are respectively located on both sides of the bottom of the pulley mechanism 1, and the track 4 is provided with a wheel groove 41, the wheel groove 41 is correspondingly arranged with the limit roller 13; the limit roller 13 is in rolling fit with the wheel groove 41. As shown in FIG. 3 and FIG. 5 , a rack 42 is installed on the rail 4 , and the rack 42 is arranged along the arrangement direction of the rail 4 ;
从而，通过齿轮43与齿条42的相互啮合，使滑车机构1带动机械手本体2在轨道4上移动，且传动平稳可靠，从而可以提高滑车机构1的移动精度；并且移动装置11包括支撑滚轮12，支撑滚轮12与轨道4顶部滚动配合，从而使得滑车机构1能够在轨道4上滚动行走时，能够降低滑车机构1与轨道4之间的摩擦阻力；在滑车机构1底部的两侧设置限位滚轮13，并使限位滚轮13与轮槽41配合，能够避免滑车机构1发生侧翻，进而可以提高滑车机构1行走时的稳定性，提高本实施例在运行时的安全性。Therefore, through the mutual meshing of the gear 43 and the rack 42, the pulley mechanism 1 drives the manipulator body 2 to move on the track 4, and the transmission is stable and reliable, so that the movement accuracy of the pulley mechanism 1 can be improved; and the moving device 11 includes a support roller 12 , the support rollers 12 are in rolling fit with the top of the track 4, so that when the pulley mechanism 1 can roll on the track 4, the frictional resistance between the pulley mechanism 1 and the track 4 can be reduced; The roller 13 is installed, and the limit roller 13 is matched with the wheel groove 41 to prevent the pulley mechanism 1 from overturning, thereby improving the stability of the pulley mechanism 1 when walking, and improving the safety of this embodiment during operation.
进一步的，如图7所示，当第一节段32通过弧形段导轨33与第二节段31连接；在图5中，与弧形段导轨33的内弧边配合的限位滚轮13设置于滑车机构1的底部一侧中间位置，与弧形段导轨33的内弧边配合的限位滚轮13设置于滑车机构1的底部另一侧两端位置。Further, as shown in FIG. 7 , when the first segment 32 is connected to the second segment 31 through the arc-shaped guide rail 33 ; in FIG. 5 , the limit roller 13 matched with the inner arc edge of the arc-shaped guide rail 33 The limit rollers 13 are arranged at the middle position on one side of the bottom of the pulley mechanism 1 , and the limit rollers 13 matched with the inner arc edge of the arc-shaped guide rail 33 are disposed at both ends of the other side of the bottom of the pulley mechanism 1 .
从而，使滑车机构1在行走经过弧形段导轨33时，能够适配弧形段导 轨33的弧形变化，使得滑车机构1顺利的转弯。另外，本实施例的第一节段32与第二节段31通过弧形段导轨33连接，所以滑车机构1是经过了弧形段导轨33的弧形转弯，而非直接直角转弯，因此，滑车机构1在行走更时会加方便顺畅，进而会使得机械手本体2在作业时能够进行更加顺畅地移动，从而当滑车机构1在弧形段导轨33上行走时，可以避免线缆难以转向的问题发生。Therefore, when the pulley mechanism 1 travels through the arc-shaped guide rail 33, it can adapt to the arc shape change of the arc-shaped guide rail 33, so that the pulley mechanism 1 can turn smoothly. In addition, the first segment 32 and the second segment 31 in this embodiment are connected by the arc-shaped guide rails 33, so the pulley mechanism 1 passes through the arc-shaped turn of the arc-shaped guide rails 33, rather than a direct right-angle turn. Therefore, The pulley mechanism 1 will be more convenient and smooth when walking, which will make the manipulator body 2 move more smoothly during operation, so that when the pulley mechanism 1 is walking on the arc-shaped guide rail 33, it can avoid the difficulty of turning the cable. problem occurs.
进一步的，如图2所示，在本实施例中，轨道4的数量为两条，且在每条轨道4上均设置有轮槽41，两条轨道4间隔设置，齿条42安装在两条轨道4之间。轨道4设置为两条，每条轨道4上均设置有与限位滚轮适配的轮槽41，并且将齿条42安装在两条轨道4之间，也即齿条42的安装位置低于轨道4的上表面，进而可以提高滑车机构1在轨道4上移动的稳定性。Further, as shown in FIG. 2 , in this embodiment, the number of rails 4 is two, and each rail 4 is provided with a wheel groove 41 , the two rails 4 are arranged at intervals, and the rack 42 is installed on the two rails 4 . between tracks 4. There are two rails 4, each rail 4 is provided with a wheel groove 41 adapted to the limit roller, and the rack 42 is installed between the two rails 4, that is, the installation position of the rack 42 is lower than The upper surface of the track 4 can further improve the stability of the movement of the pulley mechanism 1 on the track 4 .
在本实施例中，驱动装置可以选择为电机，也可以选择为液压马达。如图1、图6、图7和图8所示，在本实施例的驱动装置选择为驱动电机时，本实施例还包括导向装置8和可自动收卷线缆的线缆卷盘7，线缆卷盘7放出的线缆通过导向装置8与驱动装置电性连接。In this embodiment, the driving device may be selected as an electric motor, or may be selected as a hydraulic motor. As shown in Figure 1, Figure 6, Figure 7 and Figure 8, when the driving device in this embodiment is selected as a driving motor, this embodiment also includes a guide device 8 and a cable reel 7 that can automatically wind up the cable, The cables unwound from the cable reel 7 are electrically connected to the driving device through the guide device 8 .
本实施例中的驱动装置为驱动电机，线缆卷盘7中的线缆与驱动电机相连，从而在驱动电机的作用下，便于使滑车机构1在轨道4上行走；并且本实施例的轨道4在折弯处通过弧形段导轨33连接，并且线缆卷盘7中的线缆通过导向装置8与驱动电机相连，从而当滑车机构1在弧形段轨道4上行走时，可以避免线缆难以转向的问题发生。The driving device in this embodiment is a driving motor, and the cable in the cable reel 7 is connected to the driving motor, so that under the action of the driving motor, the pulley mechanism 1 is facilitated to walk on the rail 4; and the rail in this embodiment is 4 is connected by the arc section guide rail 33 at the bend, and the cable in the cable reel 7 is connected with the drive motor through the guide device 8, so that when the pulley mechanism 1 walks on the arc section rail 4, the wire can be avoided. The problem that the cable is difficult to turn occurs.
具体地，如图4所示，导向装置8包括基座81以及装配于基座81上的转弯导向轮82和一对限位导辊83；当滑车机构1沿导轨4行走时，从线缆卷盘7放卷出的线缆将可经转弯导向轮82转弯导向或限位导辊83限位导向。转弯导向轮82能够改变线缆的方向，而限位导辊83能够避免线缆与基座81接触，使得通过导向装置8的线缆仅能够与导向装置8的转弯导向轮82或限位导辊83进行接触导向，对线缆起到了转弯导向或保护限位导向作用。为了便于理解，如图8所示，线缆卷盘7布置于弧形段导轨33的外弧边旁边，导向装置8布置于线缆卷盘7与弧形段导轨之间，导向 装置8的转弯导向轮82对应于轨道4的一端，限位导辊83对应于轨道4的另一端。当滑车机构1在轨道4的一端上行走时，从线缆卷盘7放卷出的线缆由转弯导向轮82转弯导向至滑车机构1，转弯导向轮82对线缆起到了转弯导向的作用。当滑车机构1在轨道4的另一端上行走时，从线缆卷盘7放卷出的线缆由一对限位导辊83限位导向至滑车机构1，线缆被限位在这一对限位导辊83之间，对线缆起到了保护限位导向的作用，避免线缆与基座81产生接触摩擦。Specifically, as shown in FIG. 4 , the guide device 8 includes a base 81 and a turning guide wheel 82 and a pair of limit guide rollers 83 assembled on the base 81; The cable unrolled from the reel 7 can be guided by turning guide wheel 82 or limited guide by limit guide roller 83 . The turning guide wheel 82 can change the direction of the cable, and the limit guide roller 83 can prevent the cable from contacting the base 81 , so that the cable passing through the guide device 8 can only contact the turning guide wheel 82 of the guide device 8 or the limit guide. The rollers 83 conduct contact guidance, and play the role of turning guidance or protection limit guidance for the cable. For ease of understanding, as shown in FIG. 8 , the cable reel 7 is arranged beside the outer arc edge of the arc-shaped guide rail 33 , and the guide device 8 is arranged between the cable reel 7 and the arc-shaped guide rail. The turning guide wheel 82 corresponds to one end of the track 4 , and the limit guide roller 83 corresponds to the other end of the track 4 . When the pulley mechanism 1 walks on one end of the track 4, the cable unrolled from the cable reel 7 is turned and guided to the pulley mechanism 1 by the turning guide wheel 82, and the turning guide wheel 82 plays the role of turning guide for the cable. . When the pulley mechanism 1 runs on the other end of the track 4, the cable unwound from the cable reel 7 is limited and guided to the pulley mechanism 1 by a pair of limit guide rollers 83, and the cable is limited at this position. The position-limiting guide rollers 83 play a role of protecting the position-limiting guide for the cables, so as to avoid contact friction between the cables and the base 81 .
优选地，在本实施例中，可以将线缆卷盘7中的线缆设置在底座3的内部，从而还可以对线缆起到较好的保护作用。Preferably, in this embodiment, the cables in the cable reel 7 can be arranged inside the base 3, so that the cables can be better protected.
本发明包括底座3、轨道4和机械手本体2，轨道安装在底座3上，机械手本体2与轨道4滑动配合，在底座3上设置有避让区域和工作区域，轨道4包括第一节段32和第二节段31，并且第一节段32位于工作区域内，第二节段31位于避让区域内；从而，在本发明的机械手本体2需要作业时，通过机械手本体2与轨道4的滑动配合，能够将机械手本体2移动到底座3的工作区域位置，并由机械手本体2进行作业；在本发明的机械手本体2需要避让猫道、铁钻工等设备时，通过机械手本体2与轨道4的滑动配合，能够将机械手本体2移动到底座3的工作区域位置进行避让。本发明在底座3上设置有避让区域和工作区域，在需要机械手本体2避让其它设备时，可以通过将机械手本体2移动到避让区域。相对于采用整体平移的方式而言，本发明在避让猫道、铁钻工等设备时，操作简单、方便，并且不会占用大量的立根盒5空间，不会造成立根盒5的容量降低。The present invention includes a base 3, a track 4 and a manipulator body 2, the track is installed on the base 3, the manipulator body 2 is slidably matched with the track 4, an avoidance area and a working area are set on the base 3, and the track 4 includes a first segment 32 and The second segment 31, the first segment 32 is located in the working area, and the second segment 31 is located in the avoidance area; thus, when the manipulator body 2 of the present invention needs to work, the manipulator body 2 and the rail 4 are slidably matched , the manipulator body 2 can be moved to the working area of the base 3, and the manipulator body 2 can perform operations; when the manipulator body 2 of the present invention needs to avoid catwalks, iron drillers and other equipment, the manipulator body 2 and the track 4 By sliding fit, the manipulator body 2 can be moved to the position of the working area of the base 3 for avoidance. In the present invention, the base 3 is provided with an avoidance area and a work area. When the manipulator body 2 needs to avoid other equipment, the manipulator body 2 can be moved to the avoidance area. Compared with the overall translation method, the present invention is simple and convenient to operate when avoiding catwalks, iron drillers and other equipment, and will not occupy a large amount of space of the stand box 5 and will not reduce the capacity of the stand box 5 .
以上仅为本实施例的较佳实施例而已，并不用以限制本实施例，凡在本实施例的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实施例的保护范围之内。The above is only a preferred embodiment of this embodiment, and is not intended to limit this embodiment. Any modifications, equivalent replacements, and improvements made within the spirit and principles of this embodiment shall be included in this embodiment. within the scope of protection.

Claims (12)

  1. 钻台面机械手，其特征在于：包括底座(3)、轨道(4)和与所述轨道(4)滑动配合的机械手本体(2)，所述底座(3)上设置有工作区域和避让区域，所述轨道(4)具有第一节段(32)和第二节段(31)，所述第一节段(32)位于所述工作区域内，所述第二节段(31)位于避让区域内，所述机械手本体(2)能够滑动至所述第一节段(32)或第二节段(31)内。The drill floor manipulator is characterized in that it comprises a base (3), a track (4) and a manipulator body (2) slidingly matched with the track (4), and a working area and an avoidance area are provided on the base (3), The track (4) has a first segment (32) and a second segment (31), the first segment (32) being located in the working area and the second segment (31) being located in the avoidance In the area, the manipulator body (2) can slide into the first segment (32) or the second segment (31).
  2. 根据权利要求1所述钻台面机械手，其特征在于：所述机械手本体(2)的下方设置有滑车机构(1)，所述滑车机构(1)包括驱动装置和设置在所述滑车机构(1)下方的移动装置(11)，且在所述驱动装置的作用下，所述滑车机构(1)通过所述移动装置(11)能够在所述轨道(4)上移动。The drill floor manipulator according to claim 1, characterized in that: a pulley mechanism (1) is provided under the manipulator body (2), and the pulley mechanism (1) includes a driving device and a pulley mechanism (1) provided on the pulley mechanism (1). ) below the moving device (11), and under the action of the driving device, the pulley mechanism (1) can move on the track (4) through the moving device (11).
  3. 根据权利要求2所述钻台面机械手，其特征在于：所述移动装置(11)包括设置在所述滑车机构(1)底部的支撑滚轮(12)，所述支撑滚轮(12)可滚动地配合在所述轨道(4)的顶部；The drilling floor manipulator according to claim 2, characterized in that: the moving device (11) comprises a support roller (12) arranged at the bottom of the pulley mechanism (1), and the support roller (12) is rotatably matched on top of the track (4);
    所述轨道(4)上安装有齿条(42)，所述齿条(42)沿所述轨道(4)的布置方向设置；所述驱动装置的输出端安装有齿轮(43)，所述齿轮(43)与所述齿条(42)啮合。A rack (42) is installed on the rail (4), and the rack (42) is arranged along the arrangement direction of the rail (4); a gear (43) is installed at the output end of the driving device, and the A gear (43) meshes with the rack (42).
  4. 根据权利要求3所述钻台面机械手，其特征在于：所述移动装置(11)还包括限位滚轮(13)，所述限位滚轮(13)分别位于所述滑车机构(1)的底部两侧；所述轨道(4)上设置有轮槽(41)，所述轮槽(41)与所述限位滚轮(13)对应设置，且所述限位滚轮(13)与所述轮槽(41)滚动配合。The drill floor manipulator according to claim 3, characterized in that: the moving device (11) further comprises limit rollers (13), and the limit rollers (13) are respectively located at the bottom two of the pulley mechanism (1). The track (4) is provided with a wheel groove (41), the wheel groove (41) is correspondingly arranged with the limit roller (13), and the limit roller (13) is connected with the wheel groove (41) Rolling fit.
  5. 根据权利要求4所述的钻台面机械手，其特征在于：所述第一节段(32)通过弧形段导轨(33)与所述第二节段(31)连接；The drilling floor manipulator according to claim 4, characterized in that: the first segment (32) is connected to the second segment (31) through an arc-shaped segment guide rail (33);
    与所述弧形段导轨(33)的内弧边配合的所述限位滚轮(13)设置于所述滑车机构(1)的底部一侧中间位置，与所述弧形段导轨(33)的内弧边配合的所述限位滚轮(13)设置于所述滑车机构(1)的底部另一侧两端位置。The limit roller (13) matched with the inner arc edge of the arc-shaped segment guide rail (33) is arranged in the middle position of the bottom side of the pulley mechanism (1), and the arc-shaped segment guide rail (33) The limit rollers (13) matched with the inner arc edge of the pulley mechanism (1) are arranged at both ends of the other side of the bottom of the pulley mechanism (1).
  6. 根据权利要求2至5中任意一项所述钻台面机械手，其特征在于： 还包括导向装置(8)和可自动收卷线缆的线缆卷盘(7)，所述驱动装置为驱动电机，所述线缆卷盘(7)放出的线缆通过所述导向装置(8)与所述驱动装置电性连接。The drill floor manipulator according to any one of claims 2 to 5, characterized in that: it further comprises a guide device (8) and a cable reel (7) capable of automatically winding cables, and the driving device is a driving motor , the cables released from the cable reel (7) are electrically connected to the driving device through the guide device (8).
  7. 根据权利要求6所述的钻台面机械手，其特征在于：所述导向装置(8)包括基座(81)以及装配于所述基座(81)上的转弯导向轮(82)和一对限位导辊(83)；当所述滑车机构(1)沿所述轨道(4)行走时，所述线缆卷盘(7)中放卷出的线缆将可经所述转弯导向轮(82)转弯导向或所述限位导辊(83)限位导向。The drill floor manipulator according to claim 6, characterized in that: the guide device (8) comprises a base (81), a turning guide wheel (82) assembled on the base (81), and a pair of limiters Position guide roller (83); when the pulley mechanism (1) travels along the track (4), the cable unrolled from the cable reel (7) will pass through the turning guide wheel ( 82) Turning guide or the limit guide roller (83) limit guide.
  8. 根据权利要求2至5中任意一项所述钻台面机械手，其特征在于：所述机械手本体(2)包括机械臂(21)、立柱(22)和管柱扶持机构(23)，所述滑车机构(1)通过所述立柱(22)与所述机械臂(21)的一端相连，所述机械臂(21)的另一端与所述管柱扶持机构(23)相连；所述机械臂(21)能够带动所述管柱扶持机构(23)在水平方向上移动，所述管柱扶持机构(23)用于夹持管柱。The drilling floor manipulator according to any one of claims 2 to 5, characterized in that: the manipulator body (2) comprises a manipulator arm (21), a column (22) and a pipe string support mechanism (23), and the pulley The mechanism (1) is connected to one end of the mechanical arm (21) through the vertical column (22), and the other end of the mechanical arm (21) is connected to the pipe column supporting mechanism (23); the mechanical arm (21) 21) The pipe string supporting mechanism (23) can be driven to move in the horizontal direction, and the pipe string supporting mechanism (23) is used for holding the pipe string.
  9. 根据权利要求8所述钻台面机械手，其特征在于：所述立柱(22)与所述滑车机构(1)之间还设置有回转机构(24)。The drilling floor manipulator according to claim 8, characterized in that a slewing mechanism (24) is further arranged between the upright column (22) and the pulley mechanism (1).
  10. 根据权利要求8所述钻台面机械手，其特征在于：还包括设置在所述第一节段(32)侧面的立根盒(5)，所述立根盒(5)的下方安装有检测装置，所述检测装置用于检测所述立根盒(5)中管柱的数量。The drilling floor manipulator according to claim 8, characterized in that it further comprises a stand box (5) arranged on the side of the first segment (32), and a detection device is installed under the stand box (5), so that the The detection device is used for detecting the number of pipe strings in the stand box (5).
  11. 根据权利要求10所述钻台面机械手，其特征在于：还包括视频信号采集装置(6)和机器视觉识别***，所述视频信号采集装置(6)安装在所述管柱扶持机构(23)上，所述视频信号采集装置(6)与所述机器视觉识别***电性连接；The drilling floor manipulator according to claim 10, further comprising a video signal acquisition device (6) and a machine vision recognition system, wherein the video signal acquisition device (6) is installed on the pipe string support mechanism (23) , the video signal acquisition device (6) is electrically connected with the machine vision recognition system;
    所述视频信号采集装置(6)用于采集所述管柱扶持机构(23)与管柱之间的最小距离信息，以及用于采集管柱与所述立根盒(5)之间的最小距离信息；所述视频信号采集装置(6)根据所采集的最小距离信息形成控制信号，并将控制信号传输给所述机器视觉识别***；所述机器视觉识别***通过所述控制信号判断所述管柱扶持机构(23)是否稳定夹持管柱，或者判断管柱是否与所述立根盒(5)接触。The video signal collection device (6) is used to collect the minimum distance information between the pipe string support mechanism (23) and the pipe string, and to collect the minimum distance between the pipe string and the stand box (5) information; the video signal collection device (6) forms a control signal according to the collected minimum distance information, and transmits the control signal to the machine vision recognition system; the machine vision recognition system judges the pipe according to the control signal Whether the column support mechanism (23) stably holds the pipe string, or judges whether the pipe string is in contact with the stand box (5).
  12. 根据权利要求11所述钻台面机械手，其特征在于：所述检测装置为压力传感器或接近开关。The drilling floor manipulator according to claim 11, wherein the detection device is a pressure sensor or a proximity switch.
PCT/CN2021/139896 2020-12-22 2021-12-21 Drill floor surface manipulator WO2022135364A1 (en)

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