CN103485736B - Manipulator device for seafloor drilling machine sampling pipe - Google Patents
Manipulator device for seafloor drilling machine sampling pipe Download PDFInfo
- Publication number
- CN103485736B CN103485736B CN201310422190.1A CN201310422190A CN103485736B CN 103485736 B CN103485736 B CN 103485736B CN 201310422190 A CN201310422190 A CN 201310422190A CN 103485736 B CN103485736 B CN 103485736B
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- pulley
- arm
- turning arm
- telescopic
- telescopic arm
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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 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 of exploration and development equipment is also improved constantly.The tubing string discharge of current land petroleum natural gas exploration equipment, main dependence operating personnel utilize rig tool to assist, and the labour intensity of personnel is high, and security risk is large; The tubing string exhaust apparatus of gas and oil in sea exploitation equipment is substantially identical with land, and automaticity slightly improves.
At present, the exploration equipment of the new forms of energy such as seabed combustible ice requires to support the use on ocean scientific investigation ship, realize complete equipment and complete unconventional drilling well function such as ground disturbance drilling well and pressurize coring etc. in seabed, system units such as comprising tubing string discharge is proposed and possesses underwater operation and remote monitoring activities, the requirement of the integrated and automation of height.But existing equipment effectively can't meet integrated and requirement that is automation, becomes urgent problem.
Summary of the invention
The object of this invention is to provide a kind of seabed rig probe tube robot device, solve in prior art, the sea floor exploration for new forms of energy such as combustible ices is equipped, and can't meet automation, 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, and comprise base, be provided with lower turning arm at base upper surface by sliding bearing, lower turning arm is provided with driving mechanism; Be separately installed with pulley at lower turning arm periphery hypomere and get core cable releasing winch;
Lower turning arm is upwards fixedly connected with upper turning arm, in the inner chamber of upper turning arm, be provided with telescopic arm, and telescopic arm upper end is provided with assembly pulley two; In the middle part of upper turning arm periphery, be provided with assembly pulley one, in upper turning arm periphery, upper end edge is provided with directive wheel;
Lower turning arm periphery is fixedly connected with a telescopic oil cylinder together with upper turning arm periphery, and the piston rod end of telescopic oil cylinder is connected with pulley assembly.
Seabed of the present invention rig probe tube robot device, its feature is also:
The cylinder getting core cable releasing winch is wound with and gets core cable, get core cable and draw from the cylinder getting core cable releasing winch, successively by after assembly pulley one and assembly pulley two, be connected with suspension hook at the other end getting core cable;
Lower turning arm is connected with telescopic arm and stretches out the one end driving cable, telescopic arm stretches out and drives the other end of cable successively by after pulley assembly, pulley and directive wheel, is fixedly connected with telescopic arm;
Be connected with one end that telescopic arm retraction drives cable in telescopic arm upper end, telescopic arm retraction drives the other end of cable to be fixedly connected with upper turning arm by pulley assembly.
Driving mechanism is, is provided with rotary oil cylinder, motor or hydraulic motor in the periphery of base, 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 and stretches out driving cable in one of them conductor rope pulley, is installed with telescopic arm retraction and drives cable in another conductor rope pulley.
The invention has the beneficial effects as follows, effectively reduce volume and the weight of integral device, there is rotation and lifting function, there is the automation of height, integrated and remote control ability, by using with automatic tube-arranging system support, probe tube on the combustible ice exploratory drilling rig pipe rack of the seabed connection of well head and reclaimer operation under water can be realized, thus meet the exploration and development requirement of the novel energies such as seabed combustible ice.
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. descends 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 pulleys two, 13. get core cable, and 14. telescopic arms stretch out driving cable, and 15. telescopic arm retractions drive cable.
Detailed description of the invention
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 be a kind of in deep-sea underwater operation and by fluid cylinder and winch combine drive realize equipment rotate, lifting and lifting automated machine arm device.
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 provided with rotary oil cylinder 6 in the periphery of base 1, and the piston rod end of rotary oil cylinder 6 is by the hinged seat of bearing pin with lower turning arm 2() be connected; Be separately installed with pulley 7 at lower turning arm 2 periphery hypomere and get core cable releasing winch 8;
Lower turning arm 2 upper end is fixedly connected with upper turning arm 3 by flange, in the inner chamber of upper turning arm 3, be provided with telescopic arm 5, and telescopic arm 5 upper end is provided with (level is stretched out) assembly pulley 2 12; In the middle part of upper turning arm 3 periphery, be provided with assembly pulley 1, in upper turning arm 3 periphery, upper end edge is provided with directive wheel 11; Lower turning arm 2 periphery is fixedly connected with a telescopic oil cylinder 4 with upper turning arm 3 periphery together with respective bearing, the piston rod end of telescopic oil cylinder 4 is connected with pulley assembly 10;
The cylinder getting core cable releasing winch 8 is wound with and gets core cable 13, get core cable 13 to draw from the cylinder getting core cable releasing winch 8, successively by after assembly pulley 1 and assembly pulley 2 12, suspension hook is connected with at the other end getting core cable 13, for being connected with the coring tool of coring, realize the folding and unfolding of coring tool;
Lower turning arm 2 is connected with telescopic arm and stretches out the one end (fixed end) driving cable 14, telescopic arm stretches out and drives the other end of cable 14 successively by after pulley assembly 10, pulley 7 and directive wheel 11, is fixedly connected with telescopic arm 5;
Be connected with one end (fixed end) that telescopic arm retraction drives cable 15 in telescopic arm 5 upper end, telescopic arm retraction drives the other end of cable 15 to be fixedly connected with upper turning arm 3 by pulley assembly 10.
Upper turning arm 3 is provided with the directive wheel 11 of telescopic arm 5, for carrying out guide-localization to the stretching motion of telescopic arm 5, directive wheel 11 can be the form of two groups or many groups as required.
The rotation of the lower turning arm 2 in probe tube manipulator, by the expanding-contracting action of rotary oil cylinder 6 piston rod, is that rotary motion realizes transform linear motion.Also can by the rotation of turning arm 2 under motor or hydraulic motor or alternate manner realization.
Stretching out and retracting of telescopic arm 5 in probe tube manipulator, is driven by the pitch increased type structure be made up of telescopic oil cylinder 4 and pulley assembly 10.The lifting of telescopic arm 5 can also be realized by the form of structure of rack-and-pinion.
Pulley assembly 10 includes two conductor rope pulleys, is installed with telescopic arm and stretches out driving cable 14, complete telescopic arm and stretch out process in one of them conductor rope pulley.Be installed with 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 one end to be fixed on lower turning arm 2, and be finally fixedly connected with the lower bottom part of telescopic arm 5 inner chamber with the guiding of directive wheel 11 by pulley assembly 10, pulley 7, when the piston rod of telescopic oil cylinder 4 stretches out, pulley assembly 10 rising height that piston rod part connects, telescopic arm stretches out to drive on cable 14 carries telescopic arm 5, and telescopic arm 5 is stretched out from upper turning arm 3 inner chamber.
Telescopic arm retraction drives cable 15 one end to be fixed on telescopic arm 5, the other end is led by a pulley of pulley assembly 10 and is fixed on upper turning arm 3, when the piston rod of telescopic oil cylinder 4 is retracted, the pulley assembly 10 that piston rod part connects highly declines, telescopic arm retraction drives cable 15 to transfer telescopic arm 5, makes telescopic arm 5 be retracted to turning arm 3 inner chamber.
The operating principle of apparatus of the present invention is,
When seabed (combustible ice) rig carries out operation by placing seabed under above-decks equipment, the piston rod of telescopic oil cylinder 4 stretches out, and telescopic arm 5 is protruded upward from upper turning arm 3 inside and arrives assigned address height.Now, being arranged on coring tool on probe tube robot device can hang and connect probe tube by fixed position above rig pipe rack, 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 lower turning arm 2 to rotate the angle of reservation simultaneously, make probe tube robot device integral-rotation by bearing pin, 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 order performs, and makes probe tube be returned to pipe rack.
Apparatus of the present invention by with Subsea Control Systems other position and state-detection, automatically control, the connection of the functional block such as communication or deck remote control, achieve the automation of height, integrated and Long-distance Control, realize probe tube on the combustible ice exploratory drilling rig pipe rack of the seabed connection of well head and recovery operation under water, thus meet the exploration and development equipment Requirement of the novel energies such as seabed combustible ice.
Claims (3)
1. a seabed rig probe tube robot device, it is characterized in that: comprise base (1), be provided with lower turning arm (2) at base (1) upper surface by sliding bearing, lower turning arm (2) is provided with driving mechanism; Be separately installed with pulley (7) at lower turning arm (2) periphery hypomere and get core cable releasing winch (8);
Lower turning arm (2) is upwards fixedly connected with upper turning arm (3), in the inner chamber of upper turning arm (3), be provided with telescopic arm (5), telescopic arm (5) upper end is provided with assembly pulley two (12); In the middle part of upper turning arm (3) periphery, be provided with assembly pulley one (9), in upper turning arm (3) periphery, upper end edge is provided with directive wheel (11);
Lower turning arm (2) periphery is fixedly connected with a telescopic oil cylinder (4) together with upper turning arm (3) periphery, the piston rod end of telescopic oil cylinder (4) is connected with pulley assembly (10);
The described cylinder getting core cable releasing winch (8) is wound with and gets core cable (13), get core cable (13) to draw from the cylinder getting core cable releasing winch (8), successively by after assembly pulley one (9) and assembly pulley two (12), be connected with suspension hook at the other end getting core cable (13);
Lower turning arm (2) is connected with telescopic arm and stretches out the one end driving cable (14), telescopic arm stretches out the other end of driving cable (14) successively by after pulley assembly (10), pulley (7) and directive wheel (11), is fixedly connected with telescopic arm (5);
Be connected with one end that telescopic arm retraction drives cable (15) in telescopic arm (5) upper end, telescopic arm retraction drives the other end of cable (15) to be fixedly connected with upper turning arm (3) by pulley assembly (10).
2. seabed according to claim 1 rig probe tube robot device, it is characterized in that: described driving mechanism is, be provided with rotary oil cylinder (6), motor or hydraulic motor in the periphery of base (1), rotary oil cylinder (6), motor or hydraulic motor and lower turning arm (2) are in transmission connection.
3. seabed according to claim 1 rig probe tube robot device, it is characterized in that: 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 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 CN103485736A (en) | 2014-01-01 |
| CN103485736B true 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) |
Families Citing this family (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 |
| CN109723394B (en) * | 2018-11-27 | 2020-11-17 | 中国石油集团川庆钻探工程有限公司 | Remote control method for upper and lower platforms of under-pressure operation tubular column |
| CN111924672B (en) * | 2020-09-08 | 2024-07-02 | 江苏健龙电器有限公司 | Vertical flat cable conveying device |
Family Cites Families (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 |
| CN1019325B (en) * | 1991-02-11 | 1992-12-02 | 胜利石油管理局钻井工艺研究院 | Hydraulic energy storage petroleum workover rig or well drilling machine |
| CN102061899B (en) * | 2009-11-13 | 2013-02-13 | 江苏省金峰石油机械制造有限公司 | Hydraulic pressure balance work over rig |
| CN102913162B (en) * | 2012-10-26 | 2015-06-24 | 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
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| Publication number | Publication date |
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| CN103485736A (en) | 2014-01-01 |
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Granted publication date: 20150520 Termination date: 20170916 |