CN103485736A - Manipulator device for seafloor drilling machine sampling pipe - Google Patents
Manipulator device for seafloor drilling machine sampling pipe Download PDFInfo
- Publication number
- CN103485736A CN103485736A CN201310422190.1A CN201310422190A CN103485736A CN 103485736 A CN103485736 A CN 103485736A CN 201310422190 A CN201310422190 A CN 201310422190A CN 103485736 A CN103485736 A CN 103485736A
- Authority
- CN
- China
- Prior art keywords
- pulley
- arm
- turning arm
- telescopic
- telescopic arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Earth Drilling (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator device for a seafloor drilling machine sampling pipe. The manipulator device comprises a base. A lower rotating arm is mounted on the upper surface of the base through a sliding bearing, and a driving mechanism is arranged on the lower rotating arm. A pulley and a coring cable winch are mounted on the lower section of the periphery of the lower rotating arm respectively. The lower rotating arm is fixedly connected with an upper rotating arm. A telescopic arm is mounted in an inner cavity of the upper rotating arm. A pulley set 2 is mounted at the upper end of the telescopic arm. A pulley set 1 is mounted in the middle of the periphery of the upper rotating arm. A guide wheel is mounted on the upper end edge of the periphery of the upper rotating arm. A telescopic cylinder is fixedly connected to the peripheries of the lower rotating arm and the upper rotating arm. A pulley assembly is connected to the end of a piston rod of the telescopic cylinder. The manipulator device for the seafloor drilling machine sampling pipe is high in automation and integration and has remote control capability; by the manipulator device, connecting, mounting and recycling of the sampling pipe, on a pipe rack of a seafloor combustible-ice exploration drilling machine, at an underwater wellhead can be realized.
Description
Technical field
The invention belongs to the oil & gas equipment technical field, relate to a kind of seabed rig probe tube robot device.
Background technology
Along with energy development is expanded from conventional energy resource (oil, natural gas etc.) to unconventional energy resource (seabed combustible ice etc.) field, the requirement that exploration and development is equipped also improves constantly.The tubing string discharge of land petroleum natural gas exploration equipment, mainly rely on operating personnel to utilize rig tool to assist at present, and personnel's labour intensity is high, and security risk is large; Tubing string exhaust apparatus and the land of marine oil and gas exploration and development equipment are basic identical, and automaticity slightly is improved.
At present, the exploration equipment of the new forms of energy such as seabed combustible ice requires on ocean scientific investigation ship, to support the use, realize that the whole series are equipped in seabed and complete the unconventional drilling well functions such as ground disturbance drilling well and pressurize coring, to comprising that the system units such as tubing string discharge have proposed to possess underwater operation and remote monitoring operation, the requirement of the integrated and automation of height.But existing equipment can't effectively meet integrated and requirement automation, becomes urgent problem.
Summary of the invention
The purpose of this invention is to provide a kind of seabed rig probe tube robot device, solved in prior art, for the sea floor exploration of the new forms of energy such as combustible ice equipment, can't meet automation, the problem that integrated and Long-distance Control requires.
The technical solution adopted in the present invention is, a kind of seabed rig probe tube robot device, comprise base, at base upper surface, by sliding bearing, lower turning arm is installed, and lower turning arm is provided with driving mechanism; Be separately installed with pulley and get core cable releasing winch at lower turning arm periphery hypomere;
Lower turning arm upwards is fixedly connected with upper turning arm, in the inner chamber of upper turning arm, telescopic arm is installed, and the telescopic arm upper end is equipped with assembly pulley two; At upper turning arm periphery middle part, assembly pulley one is installed, at upper turning arm periphery upper end edge, directive wheel is installed;
Lower turning arm periphery is fixedly connected with a telescopic oil cylinder together with upper turning arm periphery, on the piston rod end of telescopic oil cylinder, is connected with pulley assembly.
Seabed of the present invention rig probe tube robot device, its characteristics also are:
Get on the cylinder of core cable releasing winch and be wound with and get the core cable, get the core cable and draw from the cylinder of getting core cable releasing winch, by after assembly pulley one and assembly pulley two, at the other end of getting the core cable, be connected with suspension hook successively;
Be connected with telescopic arm and stretch out an end that drives cable on lower turning arm, telescopic arm stretches out the other end of driving cable successively by after pulley assembly, pulley and directive wheel, with telescopic arm, is fixedly connected with;
Be connected with the end that the telescopic arm retraction drives cable in the telescopic arm upper end, the telescopic arm retraction drives the other end of cable to be fixedly connected with upper turning arm by pulley assembly.
Driving mechanism is, in the periphery of base, rotary oil cylinder, motor or hydraulic motor is installed, and rotary oil cylinder, motor or hydraulic motor and lower turning arm are in transmission connection.
Pulley assembly includes two conductor rope pulleys, is installed with telescopic arm in one of them conductor rope pulley and stretches out the driving cable, is installed with the telescopic arm retraction in another conductor rope pulley and drives cable.
The invention has the beneficial effects as follows, effectively reduce volume and the weight of integral device, there is the rotation and lifting function, automation, integrated and remote control ability with height, by using with automatic tube-arranging system support, can realize probe tube on the combustible ice exploratory drilling rig pipe rack of seabed connection and the reclaimer operation of well head under water, thereby meet the exploration and development requirement of the novel energies such as seabed combustible ice.
The accompanying drawing explanation
Fig. 1 is the structural representation one of apparatus of the present invention;
Fig. 2 is the structural representation two of apparatus of the present invention.
In figure, 1. base, 2. descend turning arm, 3. go up turning arm, 4. telescopic oil cylinder, 5. telescopic arm, 6. rotary oil cylinder, 7. pulley, 8. get core cable releasing winch, 9. assembly pulley one, 10. pulley assembly, 11. directive wheels, 12. assembly pulley two, 13. get the core cable, 14. telescopic arms stretch out the driving cable, 15. telescopic arm retractions drive cable.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Seabed of the present invention rig probe tube robot device is a kind ofly in the deep-sea underwater operation and by fluid cylinder and winch, to combine and drive the automated machine arm device realize equipment rotation, lifting and lifting.
See figures.1.and.2, the structure of apparatus of the present invention is, comprise base 1, by sliding bearing, lower turning arm 2 is installed at base 1 upper surface, lower turning arm 2 is provided with driving mechanism, Fig. 1 embodiment is that the periphery at base 1 is equipped with rotary oil cylinder 6, and the piston rod end of rotary oil cylinder 6 is the hinged seat with lower turning arm 2(by bearing pin) be connected; Be separately installed with pulley 7 and get core cable releasing winch 8 at lower turning arm 2 periphery hypomeres;
Be wound with and get core cable 13 on the cylinder of getting core cable releasing winch 8, getting core cable 13 draws from the cylinder of getting core cable releasing winch 8, successively by after assembly pulley 1 and assembly pulley 2 12, be connected with suspension hook at the other end of getting core cable 13, for being connected with the coring tool of coring, realize the folding and unfolding of coring tool;
Be connected with telescopic arm and stretch out an end (fixed end) that drives cable 14 on lower turning arm 2, telescopic arm stretches out the other end of driving cable 14 successively by after pulley assembly 10, pulley 7 and directive wheel 11, with telescopic arm 5, is fixedly connected with;
Be connected with the end (fixed end) that the telescopic arm retraction drives cable 15 in telescopic arm 5 upper ends, the telescopic arm retraction drives the other end of cable 15 to be fixedly connected with upper turning arm 3 by pulley assembly 10.
Be provided with the directive wheel 11 of telescopic arm 5 on upper turning arm 3, for the stretching motion to telescopic arm 5, carry out guide-localization, directive wheel 11 can be two groups or the form of organizing as required.
The rotation of the lower turning arm 2 in the probe tube manipulator, by the expanding-contracting action of rotary oil cylinder 6 piston rods, be converted into the realization that rotatablely moves to rectilinear motion.Also can be by the rotation of motor or hydraulic motor or the lower turning arm 2 of alternate manner realization.
Stretching out and retracting of telescopic arm 5 in the probe tube manipulator, drive by the pitch increased type structure be comprised of telescopic oil cylinder 4 and pulley assembly 10.Can also realize by the form of structure of rack-and-pinion the lifting of telescopic arm 5.
Pulley assembly 10 includes two conductor rope pulleys, is installed with telescopic arm in one of them conductor rope pulley and stretches out driving cable 14, completes telescopic arm and stretches out process.Be installed with the telescopic arm retraction in another conductor rope pulley and drive cable 15, complete telescopic arm retraction process, concrete working method is as follows:
Telescopic arm stretches out and drives cable 14 1 ends to be fixed on lower turning arm 2, and finally with the lower bottom part of telescopic arm 5 inner chambers, be fixedly connected with by the guiding of pulley assembly 10, pulley 7 and directive wheel 11, when the piston rod of telescopic oil cylinder 4 stretches out, pulley assembly 10 rising heights that piston rod part connects, telescopic arm stretches out to drive on cable 14 carries telescopic arm 5, make telescopic arm 5 from turning arm 3 inner chambers stretch out.
The telescopic arm retraction drives cable 15 1 ends to be fixed on telescopic arm 5, the other end leads and is fixed on upper turning arm 3 by a pulley of pulley assembly 10, when the piston rod of telescopic oil cylinder 4 is retracted, the pulley assembly 10 that piston rod part connects highly descends, the telescopic arm retraction drives cable 15 to transfer telescopic arm 5, makes telescopic arm 5 be retracted to turning arm 3 inner chambers.
The operating principle of apparatus of the present invention is,
Place seabed under by above-decks equipment when seabed (combustible ice) rig while carrying out operation, the piston rod of telescopic oil cylinder 4 stretches out, make telescopic arm 5 from turning arm 3 inside protrude upward and arrive the assigned address height.Now, be arranged on coring tool on the probe tube robot device can be above the rig pipe rack fixed position hang and connect probe tube, and by getting core cable releasing winch 8, probe tube is promoted to setting height.Then, the piston rod of rotary oil cylinder 6 stretches out the length of setting, drives down turning arm 2 by bearing pin and rotates the angle of subscribing simultaneously, makes probe tube robot device integral-rotation, and make probe tube be positioned at pithead position, now get core cable releasing winch 8 and transfer probe tube to operating position.When coring completes, probe tube manipulator another mistake is sequentially carried out, and makes probe tube be returned to pipe rack.
Apparatus of the present invention by with other position and being connected of the functional blocks such as state-detection, automatically control, communication or deck remote control of Subsea Control Systems, automation, the integrated and Long-distance Control of height have been realized, realize probe tube on the combustible ice exploratory drilling rig pipe rack of seabed connection and the recovery operation of well head under water, thereby meet the exploration and development equipment Requirement of the novel energies such as seabed combustible ice.
Claims (4)
1. a seabed rig probe tube robot device, its characteristics are: comprise base (1), at base (1) upper surface, by sliding bearing, lower turning arm (2) is installed, lower turning arm (2) is provided with driving mechanism; Be separately installed with pulley (7) and get core cable releasing winch (8) at lower turning arm (2) periphery hypomere;
Lower turning arm (2) upwards is fixedly connected with upper turning arm (3), and telescopic arm (5) is installed in the inner chamber of upper turning arm (3), and telescopic arm (5) upper end is equipped with assembly pulley two (12); At upper turning arm (3) periphery middle part, assembly pulley one (9) is installed, at upper turning arm (3) periphery upper end edge, directive wheel (11) is installed;
Lower turning arm (2) periphery is fixedly connected with a telescopic oil cylinder (4) together with upper turning arm (3) periphery, is connected with pulley assembly (10) on the piston rod end of telescopic oil cylinder (4).
2. seabed according to claim 1 rig probe tube robot device, its characteristics are: on the described cylinder of getting core cable releasing winch (8), be wound with and get core cable (13), getting core cable (13) draws from the cylinder of getting core cable releasing winch (8), by after assembly pulley one (9) and assembly pulley two (12), at the other end of getting core cable (13), be connected with suspension hook successively;
Be connected with telescopic arm and stretch out an end that drives cable (14) on lower turning arm (2), telescopic arm stretches out the other end of driving cable (14) successively by after pulley assembly (10), pulley (7) and directive wheel (11), with telescopic arm (5), is fixedly connected with;
Be connected with the end that the telescopic arm retraction drives cable (15) in telescopic arm (5) upper end, the telescopic arm retraction drives the other end of cable (15) to be fixedly connected with upper turning arm (3) by pulley assembly (10).
3. seabed according to claim 1 rig probe tube robot device, its characteristics are: described driving mechanism is, periphery at base (1) is equipped with rotary oil cylinder (6), motor or hydraulic motor, and rotary oil cylinder (6), motor or hydraulic motor and lower turning arm (2) are in transmission connection.
4. seabed according to claim 1 rig probe tube robot device, its characteristics are: described pulley assembly (10) includes two conductor rope pulleys, be installed with telescopic arm in one of them conductor rope pulley and stretch out driving cable (14), be installed with the telescopic arm retraction in another conductor rope pulley and drive cable (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310422190.1A CN103485736B (en) | 2013-09-16 | 2013-09-16 | Manipulator device for seafloor drilling machine sampling pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310422190.1A CN103485736B (en) | 2013-09-16 | 2013-09-16 | Manipulator device for seafloor drilling machine sampling pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103485736A true CN103485736A (en) | 2014-01-01 |
| CN103485736B CN103485736B (en) | 2015-05-20 |
Family
ID=49826285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310422190.1A Expired - Fee Related CN103485736B (en) | 2013-09-16 | 2013-09-16 | Manipulator device for seafloor drilling machine sampling pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103485736B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696063A (en) * | 2017-10-10 | 2018-02-16 | 无锡迪奥机械有限公司 | Arm expanding device |
| CN109723394A (en) * | 2018-11-27 | 2019-05-07 | 中国石油集团川庆钻探工程有限公司 | Lower platform long-range control method on a kind of Operating Pressure tubing string |
| CN111924672A (en) * | 2020-09-08 | 2020-11-13 | 江苏健龙电器有限公司 | Vertical cable conveying device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4081087A (en) * | 1976-01-21 | 1978-03-28 | Freeman Sr Richard B | Pipe laydown and pickup machine |
| CN88203697U (en) * | 1988-02-24 | 1988-11-30 | 石油部第二石油机械厂 | Distance-increased type hydraulic beam-pumping unit |
| CN1057088A (en) * | 1991-02-11 | 1991-12-18 | 胜利石油管理局钻井工艺研究院 | Hydraulic energy-storage petroleum workover rig |
| CN102061899A (en) * | 2009-11-13 | 2011-05-18 | 江苏省金峰石油机械制造有限公司 | Hydraulic pressure balance work over rig |
| CN102913162A (en) * | 2012-10-26 | 2013-02-06 | 宝鸡石油机械有限责任公司 | Deep-sea sediment continuous pressure maintaining coring submarine drilling machine and operation method |
-
2013
- 2013-09-16 CN CN201310422190.1A patent/CN103485736B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4081087A (en) * | 1976-01-21 | 1978-03-28 | Freeman Sr Richard B | Pipe laydown and pickup machine |
| CN88203697U (en) * | 1988-02-24 | 1988-11-30 | 石油部第二石油机械厂 | Distance-increased type hydraulic beam-pumping unit |
| CN1057088A (en) * | 1991-02-11 | 1991-12-18 | 胜利石油管理局钻井工艺研究院 | Hydraulic energy-storage petroleum workover rig |
| CN102061899A (en) * | 2009-11-13 | 2011-05-18 | 江苏省金峰石油机械制造有限公司 | Hydraulic pressure balance work over rig |
| CN102913162A (en) * | 2012-10-26 | 2013-02-06 | 宝鸡石油机械有限责任公司 | Deep-sea sediment continuous pressure maintaining coring submarine drilling machine and operation method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696063A (en) * | 2017-10-10 | 2018-02-16 | 无锡迪奥机械有限公司 | Arm expanding device |
| CN109723394A (en) * | 2018-11-27 | 2019-05-07 | 中国石油集团川庆钻探工程有限公司 | Lower platform long-range control method on a kind of Operating Pressure tubing string |
| CN111924672A (en) * | 2020-09-08 | 2020-11-13 | 江苏健龙电器有限公司 | Vertical cable conveying device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103485736B (en) | 2015-05-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102913162B (en) | Deep-sea sediment continuous pressure maintaining coring submarine drilling machine and operation method | |
| EP3690182B1 (en) | Sediment core-boring drilling process suitable for submarine rope core-boring drill | |
| CN102383723B (en) | Seabed type conical investigating and drilling integrated machine | |
| CN102606074B (en) | Novel submarine deep hole pressure maintaining and core drilling rig | |
| CN102220841B (en) | Submarine sampling drilling rig | |
| US10927606B2 (en) | Sediment core-drilling process for submarine wire-line coring drill rig | |
| CN102787813B (en) | Intelligent full-hydraulic power catwalk | |
| CN206737872U (en) | Carrying type deep sea mineral resources core drilling rig | |
| WO2020024604A1 (en) | Submarine drilling rig core-fetching cable device employing two-stroke pushing of cylinder | |
| CN201310342Y (en) | Continuous-tube well logging machine | |
| CN105178884A (en) | Lifting and pressing device of truck-mounted drilling rig | |
| CN112267832A (en) | Seabed investigation drilling machine | |
| CN209961512U (en) | Deep sea core drilling sampling device | |
| CN114000828A (en) | Submarine multi-head continuous sampling drilling machine | |
| CN114000829B (en) | Central control type seabed multi-head continuous sampling drilling machine | |
| CN202767911U (en) | Fully hydraulic intelligent type power catwalk | |
| CN103485736B (en) | Manipulator device for seafloor drilling machine sampling pipe | |
| CN104295255B (en) | A kind of spring-type hydraulic riser string suspension device and hanging method | |
| RU186415U1 (en) | UNDERGROUND MINING DEVICE FOR COLLECTING IRON-MANGANese NUCLEI FROM THE SEA BOTTOM | |
| CN106988696B (en) | Carrying type deep sea mineral resource coring drilling machine | |
| CN204060558U (en) | Drilling tool movement discharging mechanism | |
| CN207111004U (en) | A kind of submarine deep-hole rig | |
| CN202520222U (en) | Novel submarine deep-hole pressure-maintaining core drilling machine | |
| CN213510442U (en) | Seabed investigation drilling machine | |
| CN202673191U (en) | Multi-functional maintenance service device for petroleum drilling machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150520 Termination date: 20170916 |