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CN-121990452-A - Truss carrying manipulator for processing oil casing based on intelligence and operation method

CN121990452ACN 121990452 ACN121990452 ACN 121990452ACN-121990452-A

Abstract

The invention discloses a truss carrying manipulator for processing oil casing based on intelligence and an operation method thereof, relating to the technical field of oil casing transportation and comprising a carrying main body and a truss, the center department rotation at transport main part top is connected with the connecting axle, and the bottom fixedly connected with cross axle of connecting axle, and the bottom fixedly connected with mounting disc of cross axle. According to the invention, the two first electric control telescopic rods are started at the bottom of the lifting appliance and far away from one end of the V-shaped hook, so that the arc-shaped blocks arranged at the output ends of the two first electric control telescopic rods continuously move downwards until the arc-shaped blocks are contacted with the oil sleeve in the V-shaped hook, the oil sleeve is fixed, and the problem that the oil sleeve falls off due to the fact that the lifting appliance cannot stably lift the oil sleeve due to the fact that the conveying device tilts in the using process of the traditional truss conveying manipulator for intelligent oil sleeve processing is solved, and the oil sleeve is further caused to slide in the lifting appliance and deviate from the center of the lifting appliance.

Inventors

  • WANG FANG
  • WANG LEILEI
  • HAO DAOZHENG

Assignees

  • 徐州考拉机器人科技有限公司

Dates

Publication Date
20260508
Application Date
20260401

Claims (10)

  1. 1. The truss carrying manipulator for processing the oil jacket based on the intelligence comprises a carrying main body (1) and a truss (2) and is characterized in that a connecting shaft (3) is rotationally connected to the center of the top of the carrying main body (1), a cross shaft (4) is fixedly connected to the bottom of the connecting shaft (3), a mounting disc (5) is fixedly connected to the bottom of the cross shaft (4), a connecting plate (6) is rotationally connected to the outer wall of the mounting disc (5), a lifting appliance (7) is fixedly connected to the bottom of the connecting plate (6), a plurality of V-shaped hooks (8) are fixedly connected to one end of the bottom of the lifting appliance (7), two mutually symmetrical first electric control telescopic rods (9) are fixedly connected to one end of the bottom of the lifting appliance (7) away from the V-shaped hooks (8), an arc-shaped block (10) is fixedly connected to the output ends of the two first electric control telescopic rods (9), and a detection assembly is arranged at the center of an inner cavity of the lifting appliance (7); One end rotation at truss (2) top is connected with first automatically controlled lead screw (11), and the one end fixedly connected with first gag lever post (12) of first automatically controlled lead screw (11) are kept away from at truss (2) top, the outer wall threaded connection of first automatically controlled lead screw (11) has mobile station (13), and the one end and the outer wall sliding connection of first gag lever post (12) of first automatically controlled lead screw (11) are kept away from to mobile station (13) bottom, the one end rotation of mobile station (13) inner wall is connected with second automatically controlled lead screw (14), and the one end fixedly connected with second gag lever post (15) of second automatically controlled lead screw (14) are kept away from to mobile station (13) inner wall, the inner wall sliding connection of mobile station (13) has control cabinet (16), and the one end and the outer wall sliding connection of second automatically controlled lead screw (14) of second automatically controlled lead screw (16) inner chamber, the inner wall of control cabinet (16) inner chamber is kept away from the one end and second gag lever post (15) is provided with adjusting part.
  2. 2. The truss carrying manipulator for intelligent oil casing processing based on claim 1, wherein the detection assembly comprises a cavity (17) formed in the center of an inner cavity of a lifting appliance (7), a detection bin (18) is fixedly connected to the center of the top of the inner wall of the cavity (17), a groove is formed in the center of the top of the inner wall of the detection bin (18), one end, close to the groove, of the top of the inner wall of the detection bin (18) is fixedly connected with an annular receiver (19), and an electric control telescopic table (20) is fixedly connected between the outer wall of the detection bin (18) and the inner wall of the cavity (17).
  3. 3. The truss carrying manipulator for intelligent oil sleeve processing according to claim 2, wherein the output end of the electric control telescopic table (20) is fixedly connected with a supporting plate (21), the top of the supporting plate (21) is fixedly connected with a plurality of mutually symmetrical extension rods (22), the outer walls of the extension rods (22) penetrate through the inner wall of the detection bin (18) and are in sealing sliding connection, and the end parts of the extension rods (22) are fixedly connected with annular electrodes (23).
  4. 4. The truss carrying manipulator for intelligent oil sleeve processing according to claim 3, wherein a plurality of second electric control telescopic rods (24) which are symmetrical to each other are fixedly connected to four corners of the bottom of the carrying main body (1), the output ends of the second electric control telescopic rods (24) are fixedly connected with contact blocks (25), and the bottoms of the contact blocks (25) are in contact with the top of the connecting plate (6).
  5. 5. The truss carrying manipulator for intelligent oil jacket processing is characterized in that the adjusting assembly comprises a supporting shaft (26) rotatably connected to the center of an inner cavity of a control console (16), a bearing table (27) is fixedly connected to the center of the outer wall of the supporting shaft (26), limit posts (28) are fixedly connected to two sides of the outer wall of the bearing table (27), limit grooves (29) are formed in the inner wall of the control console (16) close to two sides of the supporting shaft (26), the inner wall of the limit grooves (29) is in sliding connection with the outer wall of the limit posts (28), electric control push rods (30) are fixedly connected to two ends, far away from the supporting shaft (26), of the inner wall of the control console (16), anti-slip plates (31) are fixedly connected to the output ends of the electric control push rods (30), and the outer wall of the anti-slip plates (31) are in contact with the outer wall of the bearing table (27).
  6. 6. The truss handling manipulator for intelligent oil jacket processing according to claim 5, wherein limit boxes (32) are fixedly connected to two ends of the outer wall of the bearing table (27), rigid arms (33) are slidably connected to the inner walls of the two limit boxes (32), bottoms of the two rigid arms (33) are fixedly connected to two ends of the top of the handling main body (1), and anti-collision blocks are fixedly connected to the bottoms of one side of the outer walls of the two rigid arms (33).
  7. 7. The truss handling manipulator for intelligent oil sleeve processing according to claim 6, wherein one end of the inner wall of the limit box (32) is rotatably connected with a linkage gear ring (34), the inner wall of the linkage gear ring (34) is fixedly connected with a screw nut (35), the inner wall of the screw nut (35) is in threaded connection with a transmission screw (36), and the end part of the transmission screw (36) is rotatably connected with the inner cavity of the rigid arm (33).
  8. 8. The truss handling manipulator for machining based on intelligent oil jackets is characterized in that one end of the outer wall of the linkage gear ring (34) is meshed with a guide gear rod (37), the outer wall of the guide gear rod (37) is rotationally connected with the inner wall of the limit box (32), one end, close to the guide gear rod (37), of the inner wall of the limit box (32) is rotationally connected with a transmission gear rod (38), the outer wall of the transmission gear rod (38) is meshed with the outer wall of the guide gear rod (37), the bottom of the transmission gear rod (38) is fixedly connected with a worm wheel (39), and the bottom of the worm wheel (39) is rotationally connected with the bottom of the inner wall of the limit box (32).
  9. 9. The truss handling manipulator for intelligent oil jacket processing according to claim 8, wherein a double-headed motor (40) is fixedly connected to the center of an inner cavity of the bearing table (27), a transmission rod (41) is fixedly connected to the output end of the double-headed motor (40), the outer wall of the transmission rod (41) is penetrated and rotatably connected with the inner cavity of the bearing table (27), a worm (42) is fixedly connected to the end of the transmission rod (41), the end of the worm (42) is rotatably connected with the bottom of the inner wall of the limit box (32), and one end of the outer wall of the worm (42) is meshed with the outer wall of the worm wheel (39).
  10. 10. An operation method based on an intelligent truss handling manipulator for oil casing processing, the method adopts the truss handling manipulator for oil casing processing according to any one of claims 1-9, and is characterized in that: the method is as follows: S1, a first electric control screw rod (11) and a first limiting rod (12) are respectively arranged at two ends of the top of a truss (2), a moving table (13) is controlled to transversely move by the aid of the first electric control screw rod (11) and the first limiting rod (12), a second electric control screw rod (14) and a second limiting rod (15) are respectively arranged at two ends of the inner wall of the moving table (13), a control console (16) is longitudinally moved by the aid of the second electric control screw rod (14) and the second limiting rod (15), a supporting shaft (26) is arranged on the inner wall of the control console (16), a bearing table (27) arranged on the outer wall of the bearing table is used for supporting, a double-headed motor (40) arranged in an inner cavity of the bearing table (27) is started, a rigid arm (33) drives a carrying main body (1), a connecting plate (6), a lifting appliance (7) and a V-shaped hook (8) which are arranged at the bottom of the bearing table to be close to an oil sleeve, an arc-shaped block (10) arranged at the output end of the bearing table is enabled to be arranged in the inner wall of the V-shaped hook (8), the first electric control telescopic rod (9) is started, the inner cavity (8) is fixedly arranged in the V-shaped hook (8), the inner cavity (8) by the bearing sleeve, the inner cavity (7) by the aid of the bearing assembly is detected, the inner cavity (7) and the inner cavity (7) is enabled to be fixedly arranged at the second electric control screw rod (7) by the inner cavity (7) through the inner cavity (inner cavity) and the inner cavity (7) and the inner cavity (inner cavity) through the inner wall, the oil sleeve is carried; S2, a cavity (17) is arranged in the center of an inner cavity of the lifting tool (7), a detection bin (18) is arranged in the center of the top of the inner wall of the cavity (17), and as insulating liquid is filled in the detection bin (18), a groove is arranged in the center of the top of the inner wall of the detection bin (18), suspension bubbles exist in the groove, when the lifting tool (7) lifts an oil sleeve, an electric control telescopic table (20) arranged between the outer wall of the detection bin (18) and the inner wall of the cavity (17) is started, a supporting plate (21) arranged at the output end of the electric control telescopic table drives a plurality of mutually symmetrical extension rods (22) and annular electrodes (23) arranged at the end of the extension rods to continuously move upwards, and as the annular electrodes (23) are always in a discharge state, when the lifting tool (7) inclines, the suspension bubbles are separated from the groove and move between the annular electrodes (23) and the annular receivers (19), and at the moment, currents released by the annular electrodes (23) pass through the suspension bubbles to be received by the annular receivers (19), and a second electric control telescopic rod (24) arranged at the corresponding positions are controlled to squeeze a connecting plate (6) so as to achieve the effect that the level of the oil sleeve in the V-shaped hook (8) is kept; S3, setting an electric control push rod (30) at two ends of the inner wall of the control console (16) far away from the supporting shaft (26), setting a antiskid plate (31) at the output end of the electric control push rod (30), when the bearing table (27) is in a standby state, controlling the antiskid plate (31) to be separated from the fixation of the bearing table (27) by the electric control push rod (30), enabling the bearing table (27) to be automatically kept vertical under the influence of gravity, and when the bearing table (27) is about to work, pushing the antiskid plate (31) by the electric control push rod (30), enabling the antiskid surface of the antiskid plate (31) to be in contact with the surface of the bearing table (27), and clamping and fixing the bearing table (27).

Description

Truss carrying manipulator for processing oil casing based on intelligence and operation method Technical Field The invention relates to the technical field of oil casing transportation, in particular to an intelligent truss-based carrying manipulator for oil casing processing and an operation method. Background In the field of petroleum and natural gas exploitation and processing, an oil sleeve is used as a core part in the construction and production process of an oil and gas well, plays a key role in fixing a well wall and guaranteeing the stability of an oil and gas conveying channel, and the processing quality and the conveying safety of the oil sleeve directly influence the efficiency and the safety of the whole oil and gas exploitation engineering; The conventional truss lifting tool carrying system consists of a truss main body, a lifting tool, a driving mechanism and a conveying device, but has the prominent defects that the truss lifting tool bears oil sleeve load for a long time, frequent start-stop vibration is adopted, structural abrasion and deformation are easy to occur, the lifting tool is inclined, the alignment precision is damaged, stable lifting cannot be realized, and a matched conveying device (such as a forklift, a flat car and a conveyor) supports looseness, roller way abrasion or foundation settlement can cause the oil sleeve to be placed and inclined and displaced, so that the lifting instability is further aggravated. The following problems exist in the prior art: 1. In the using process of the truss carrying manipulator for processing the existing intelligent oil sleeve, the lifting appliance cannot stably lift the oil sleeve due to the inclination of the carrying device, so that the oil sleeve is caused to slide in the lifting appliance and deviate from the center of the lifting appliance, and the oil sleeve falls off; 2. The existing truss carrying manipulator for intelligent oil sleeve processing is easy to cause sinking of a foundation where the device is positioned when carrying the oil sleeve in the use process, and the whole machine is inclined in time, so that the mechanical arm of the rigid crane is severely worn. Disclosure of Invention The invention provides a truss carrying manipulator for processing an intelligent oil sleeve and an operation method thereof, which are used for solving the problems in the background technology. In order to solve the technical problems, the invention adopts the following technical scheme: The truss carrying manipulator comprises a carrying main body and a truss, wherein the center of the top of the carrying main body is rotationally connected with a connecting shaft, the bottom of the connecting shaft is fixedly connected with a cross shaft, the bottom of the cross shaft is fixedly connected with a mounting plate, the outer wall of the mounting plate is rotationally connected with a connecting plate, the bottom of the connecting plate is fixedly connected with a lifting appliance, one end of the bottom of the lifting appliance is fixedly connected with a plurality of V-shaped hooks, one end of the bottom of the lifting appliance, far away from the V-shaped hooks, is fixedly connected with two mutually symmetrical first electric control telescopic rods, the output ends of the two first electric control telescopic rods are fixedly connected with arc blocks, and the center of an inner cavity of the lifting appliance is provided with a detection assembly; The one end rotation at truss top is connected with first automatically controlled lead screw, and the one end fixedly connected with first gag lever post of first automatically controlled lead screw is kept away from at the truss top, the outer wall threaded connection of first automatically controlled lead screw has the mobile station, and the one end and the outer wall sliding connection of first gag lever post of first automatically controlled lead screw are kept away from to the mobile station bottom, the one end rotation of mobile station inner wall is connected with the second automatically controlled lead screw, and the one end fixedly connected with second gag lever post of second automatically controlled lead screw is kept away from to the mobile station inner wall, the inner wall sliding connection of mobile station has the control cabinet, and the one end and the outer wall sliding connection of second automatically controlled lead screw are kept away from to the control cabinet inner chamber, the one end and the outer wall sliding connection of second gag lever post of second automatically controlled lead screw are kept away from to the control cabinet inner chamber, the inner wall of control cabinet is provided with adjusting part. The technical scheme of the invention is further improved in that the detection assembly comprises a cavity arranged at the center of the inner cavity of the lifting appliance, a detection bin is fixedly connected to the center of the top of the in