CN104389536B - A kind of pipe tool movement mechanical hand - Google Patents

A kind of pipe tool movement mechanical hand Download PDF

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Publication number
CN104389536B
CN104389536B CN201410670604.7A CN201410670604A CN104389536B CN 104389536 B CN104389536 B CN 104389536B CN 201410670604 A CN201410670604 A CN 201410670604A CN 104389536 B CN104389536 B CN 104389536B
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CN
China
Prior art keywords
mechanical hand
thribble
pipe
pincers
roller
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CN201410670604.7A
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Chinese (zh)
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CN104389536A (en
Inventor
于芳
魏双会
常健
高杭
何波
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四川宏华石油设备有限公司
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Priority to CN201410670604.7A priority Critical patent/CN104389536B/en
Publication of CN104389536A publication Critical patent/CN104389536A/en
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Publication of CN104389536B publication Critical patent/CN104389536B/en

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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole

Abstract

The invention discloses a kind of pipe tool movement mechanical hand, belong to oil drilling and extracting equipment field of mechanical technique.The pipe tool movement mechanical hand of the present invention, including guide rail, upper mechanical hand and lower mechanical hand, guide rails assembling is on tube drawbench girder;Upper mechanical hand and lower mechanical hand are arranged on guide rail.The pipe tool movement mechanical hand of the present invention, clamping clip and righting clamp moves the most in the horizontal direction, and before and after grasping thribble, the shift invariant of thribble in the vertical direction, thribble movement process need not additionally thribble be carried out vertical height adjustment.Additionally, owing to upper and lower robot work principle is identical, under the conditions of the first telescopic oil cylinder using same size and the second telescopic oil cylinder, only in controlling software, the first telescopic oil cylinder and the second telescopic oil cylinder need to be used identical controlling curve, can realize upper and lower mechanical hand stretches out speed and displacement holding synchronization;The control system of device, programs and controls realization simple, easy and debugging is simple, and the low cost of device, maintenance are simply.

Description

A kind of pipe tool movement mechanical hand
Technical field
The present invention relates to a kind of pipe tool movement mechanical hand, vertical particularly to a kind of offshore oil drilling platform discharge Root drilling rod, the New pipe tool movement mechanical hand of drill collar operation, belong to oil drilling and extracting equipment field of mechanical technique.
Background technology
Tube drawbench is the cargo carrier in a kind of oil-well rig pipe processing system.In order to soon in drillng operation Speed drillng operation, it usually needs in advance by drilling rod, drill collar and many of sleeve pipe connect into thribble, leave derrick in Inside fingerboard.Tube drawbench is exactly, movement the most crawled in thribble, tear thribble open and connect drill string during clamping move The mechanical hand of fortune thribble.
Tube drawbench on land rig is substantially Single Mechanical hands operates because limiting by working space.But Single Mechanical hands Single 1/3 top height and position topmost can only be clamped, below manipulator clamping position nearly during grasping thribble The pipe tool of 20m length is in runaway condition, and whole thribble is rocked the biggest during movement, it is difficult to be accurately positioned. During movement, need on table top, have a people to hold up thribble hypomere all the time.Comb is in the semi-automatic stage.
On marine drilling platform, working space is big, and the pipe tool diameter range of needs is wide, and international petroleum association wants Ask every operation to must be equipped with automatization's pipe tool processing system in marine rig, thus tube drawbench the most all It is to possess upper and lower double-mechanical-arm structure, only double-manipulator could be held by the pipe tool more than 27 meters.Upper and lower 2 positions of mechanical hand effect lay respectively at first and the 3rd single centre position of thribble.Upper machine Tool hands clamping pipe tool, lower mechanical hand righting pipe has, it is to avoid thribble left and right whipping, especially at floating platform On, the effect of centralising manipulator is particularly necessary.But the mechanical arm version base of the mechanical hand on existing equipment Originally it is following two forms: the first is mechanical arm identical 2 linkages of employing of upper and lower mechanical hand (such as Figure 17).The upper and lower mechanical arm of this mechanism by rigid link a, drive fluid cylinder b, apparatus for suspension c, Track thribble d and lifting device h composition.Wherein the D point of connecting rod a is fixed on apparatus for suspension c, E point with Oil cylinder b is hinged, and A point connects the clamp e of grasping pipe tool;The F point driving fluid cylinder b is also secured at apparatus for suspension c On;Apparatus for suspension c can be moved up and down by lifting device, and each pin joint D, E, A, F are connected by bearing pin. When delivery tube has, whole mechanism is by the A hinge motion of pantograph drive link a of fluid cylinder b, thus realizes folder The function of the pipe tool of pincers transport clamping.The second is that the mechanical arm structure of upper and lower mechanical hand is different, upper machinery Arm is parallelogram sturcutre, and lower mechanical arm uses double parallelogram linkage (such as Figure 18).This mechanism Upper arm is shaped as by drive rod FD adjustable length on a vertical direction, rigid link FE and one The rigid member ABCD composition of parallelogram, wherein AB bar and CD bar are isometric, BC bar and AD bar Isometric;And B point is fixed relative to A point position, C point is fixed relative to D point position;E point is to A, D two Point distance is equal and EF=AD/2, AF point-blank and vertical with DF, ADF forms a right angle three Dihedral.C, D of CD bar are point articulated on upper pulley a, and F is point articulated on lower block b, and lower block is solid Being scheduled on girder d, upper pulley a can slide up and down along girder d;Mechanical hand q1 in A, B connection of AB bar. Drive rod F point is fixing during whole mechanism uses, when only drive rod length changes, and upper pulley a Slide up and down along girder d, thus drive upper mechanical hand q1 to move along a straight line in the horizontal direction.Underarm is by one Can around the drive rod XY that hinge rotates, two shapes are variable but be the rigid member of parallelogram all the time GHKI and LMON forms, and wherein GI bar, HM bar, MO bar and LN bar are isometric;IK bar, GH Bar, LM bar and NO bar are isometric;Four hinges H, K, M, N of HK bar and MO bar are hinged on one On individual rigid member, and constitute the isosceles trapezoid with plane-parallel;L, N connect lower mechanical hand q2;Drive The Y of bar XY is point articulated on connecting rod NO.When drive rod XY length changes, X point position is solid Fixed, XY bar rotates around X point, thus drives lower mechanical hand q2 to move along a straight line in the horizontal direction.Upper, Lower mechanical hand simultaneously synchronization action, can realize the work (such as f to f ') of movement pipe tool f.
Above two construction machine hands has the disadvantage that 1, upper and lower in the mechanical arm structure shown in Figure 17 The structure of mechanical arm is identical, seems simple but retracts and during stretching out at mechanical arm, the A of connecting rod a With final position A ' the most on the same line, AA ' is curved for its movement locus, and this results in for some original position The original position of clamp and final position, not on sustained height, also result in pipe tool and are extending and retracting process The height in middle-range destage face is inconsistent.If it is consistent with on clamp height during final position to reach original position, Lifting device to be passed through while hydraulic oil cylinder driving mechanical arm stretches out is needed to complete D, F point (i.e. apparatus for suspension c) Position adjustment on vertical direction, controls complicated and speed is slow.2, in the mechanical arm structure shown in Figure 18, The structure of upper and lower mechanical arm is different, and upper arm is single parallel-crank mechanism;Underarm is double parallelogram machines Structure.This mechanism overcomes mechanical arm present in Fig. 1 mechanism also will be by carrying while extending and retracting Liter device coordinates the deficiency adjusting pipe tool height, but it has caused again the difficult problem in another control.In movement Need to keep upper and lower mechanical hand to be synchronized with the movement during pipe tool, and the realization that this is synchronized with the movement is to pass through The distance of stretch out and draw back of displacement transducer detection drive rod realizes, and controls machine by the speed controlling drive rod The speed that tool hands stretches out.Can be seen that from structure upper and lower mechanical arm structure is different, the position of drive rod is not With.The distance of stretch out and draw back of the most upper and lower two drive rods is also different.And then programming and control are also It is the most complicated, and debugging difficulty is big.3 it addition, above two structure tube drawbench is on single during shackle, whole Individual pipe tool weight all can act on following drill string, easily causes drilling tool thread and damages.When discharging thribble, Manipulator loose opens the moment of root, and table top can be caused great impact by thribble.
Further, since pipe tool arranges into permutation shape in fingerboard, the distance between pipe tool is the least, for avoiding making Interfering in industry, it is the most ingenious that the upper mechanical-hand clamp of clamping pipe tool the most all does.Pincers tooth (y) of the prior art (Figure 19, the Figure 20) being integrally fixed on clamping limb (x), when clamping different-diameter pipes tool, adjusts clamping The aperture of arm (x) realizes the function of clamping pipe tool.But the scope of the mechanical-hand clamp of said structure clamping pipe tool Little (3in~6 5/8in), and there is potential safety hazard;Pincers tooth is fixed on clamping limb, at clamping different-diameter pipes During tool, application point is different, it may appear that in the edge (such as Figure 20) of pincers tooth, affects clamping effect and the longevity of pincers tooth Life;And can not judge when capturing pipe tool whether pipe tool comes into the Clamping Center of mechanical hand, as not yet entered Entering, pliers begins to closing motion, and at this moment pipe tool can pushed away from the contrary and topple over.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency in the presence of prior art, it is provided that a kind of pipe tool is pressed from both sides The original position held and final position highly consistent pipe tool movement mechanical hand, and this pipe tool movement mechanical hand Programming and control simple, debugging easily.
Another goal of the invention of the present invention also resides in provides a kind of pipe tool that can be used for grasping the thribble of different length Movement mechanical hand, and this pipe tool movement mechanical hand can carry out lifting or the decline of big stroke to thribble.
A further object of the present invention also resides in provides a kind of can be used for reduce the pipe tool that thribble tubing thread damages Movement mechanical hand.
Further, the present invention also aims to provide a kind of pipe tool with pincers tooth automatic centering function to move Fortune mechanical hand clamping clip.
Another object of the present invention also resides in provides a kind of pipe that detects to have the pipe tool shifting whether entering Clamping Center Fortune mechanical hand.
In order to realize foregoing invention purpose, the invention provides techniques below scheme:
A kind of pipe tool movement mechanical hand, including guide rail, upper mechanical hand and lower mechanical hand, described guide rails assembling exists On tube drawbench girder;Described upper mechanical hand and described lower mechanical hand are arranged on described guide rail, described upper machinery Hands includes the first upper pulley frame and the first downslide vehicle frame, described first upper pulley frame and described first downslide vehicle frame Being connected by the first telescopic oil cylinder, described first upper pulley frame is arranged on described guide rail and can be along described guide rail Move up and down;Being hinged with the first principal arm on described first upper pulley frame, the other end of described first principal arm is hinged There is clamping clip;Being hinged with first connecting rod on described first downslide vehicle frame, one end of described first connecting rod is hinged on On described first downslide vehicle frame, the other end is hinged on the centre of described principal arm;Described first connecting rod a length of The half of described first principal arm length;Described lower mechanical hand include the second upper pulley frame, the second telescopic oil cylinder, Lower fixed frame, righting pincers, second connecting rod and the second principal arm;Described lower fixed frame is fixed under tube drawbench girder End, described second upper pulley frame is arranged on described guide rail and can move up and down along described guide rail;Under described Fixed mount and described second upper pulley frame are connected by described second telescopic oil cylinder;Described second principal arm one end hinge Being connected on described second upper pulley frame, the other end is hinged with described righting pincers;One end hinge of described second connecting rod Being connected on described lower fixed frame, the other end is hinged on the centre of described second principal arm, and described second connecting rod is institute State the half of the second principal arm length.The pipe tool movement mechanical hand of said structure, during work, described first stretches Oil cylinder and described second telescopic oil cylinder synchronous simultaneously, drive described first upper pulley frame relatively described respectively First downslide vehicle frame moves downward, and the described second the most described lower fixed frame of upper pulley frame moves downward.Described First upper pulley frame and described second upper pulley frame are driven by described first principal arm and described second principal arm respectively Described clamping clip and described righting pincers move to target thribble position.Due to first connecting rod and the work of second connecting rod With (described first connecting rod and described second connecting rod are respectively, and with described first principal arm and described second principal arm are Hypotenuse, it is respectively the hypotenuse center line of two right angled triangles of right-angle side with vertical straight line and horizontal linear), by Hypotenuse center line theorem is learnt, during this, described clamping clip and described righting clamp all the time along level Direction is moved, before and after grasping thribble, and the shift invariant of thribble in the vertical direction, thribble movement process Need not additionally carry out thribble vertical height adjustment, pipe tool movement robot work process control is simple and work Make efficiency high.Further, since robot work principle is identical up and down, when design, it is only necessary to arrange first Principal arm and the second principal arm length are identical, and the first telescopic oil cylinder and the second telescopic oil cylinder use the oil cylinder of same size, Only in controlling software, the first telescopic oil cylinder and the second telescopic oil cylinder need to be used identical controlling curve, Realize upper and lower mechanical hand stretches out speed and displacement holding synchronization.The control system of device, programs and controls Simply, easily realize and debugging be simple, the low cost of device, safeguard simple.
As the preferred version of the present invention, described first downslide vehicle frame is arranged on described guide rail and can be along described Guide rail moves up and down;Described pipe tool movement mechanical hand also includes lifting device, and described lifting device drives described First downslide vehicle frame moves up and down along described guide rail.The pipe tool movement mechanical hand of said structure, is carried by described Rising device and can regulate the height of described upper mechanical hand entirety in the vertical direction, pipe tool movement mechanical hand is permissible The thribble of grasping different length, and the thribble grasped can be carried out lifting or the decline of big stroke.
As the preferred version of the present invention, described lifting device includes winch and steel wire rope;Described winch is fixed Upper end at described tube drawbench girder;Described steel wire rope one end is connected on described winch, and the other end is with described First downslide vehicle frame connects.The lifting device of said structure, simple in construction, easy to operate and installation cost is low.
As the preferred version of the present invention, described pipe tool movement mechanical hand also includes weight-balancing device, described steel Cord is connected with described first downslide vehicle frame by described weight-balancing device;Described weight-balancing device includes trying to stop people from fighting each other, Balance weight fluid cylinder, fork and balanced connecting rod;Described balanced connecting rod horizontal positioned, the lower end of described steel wire rope is even It is connected on the middle part of described balanced connecting rod;The two ends of described balanced connecting rod connect a described fork respectively, described The lower end of fork is respectively connected with balance weight fluid cylinder;The upper end of described balance weight fluid cylinder is connected with described fork lower end, On the lower end of described balance weight fluid cylinder is arranged on and tries to stop people from fighting each other;The described lower end tried to stop people from fighting each other is arranged on described first lower block On frame.The pipe tool movement mechanical hand of said structure, thribble single upper shackle or time thribble is put on quadruple board platform, In the transportation of thribble 7, single Shang shackle or that thribble is put into quadruple board platform is first-class, balance heavy-fluid can be made Pressure in cylinder pressure reduces, and two balance weight hydraulic cylinder oil-feeds simultaneously make oil cylinder working-pressure rise to hydraulic system Setting value, hydraulic cylinder reset transportation state.Now clamping clip clamping thribble upper pipes tool, balances heavy-fluid Cylinder pressure undertakes the part gravity of thribble, and thribble lower tube tool undertakes the gravity of upper tube tool small part, can subtract The stress of the tubing thread between little two pipes tool.
As the preferred version of the present invention, two balance weight fluid cylinders of described weight-balancing device use same peace Full valve and ratio decompression overflow valve, described ratio decompression overflow valve is for controlling two described balance weight fluid cylinders Oil-feed, described relief valve is for controlling the oil return of described balance weight fluid cylinder.Two balance weight fluid cylinders use same Individual relief valve and ratio decompression overflow valve, it is ensured that the synchronization of two balance weight fluid cylinders is carried out, it is to avoid upper machine Tool hands works under the conditions of left and right is unbalanced, damages mechanical hand and the tubing thread of held thribble.
As the preferred version of the present invention, described clamping clip includes gripper clamp and gripper clamp driving means, described Gripper clamp includes that gripper clamp clamp arm and dental lamina assembly, described dental lamina assembly are arranged on described gripper clamp clamp arm On;Described gripper clamp driving means drives described gripper clamp clamp arm to open and close;Described dental lamina assembly bag Include dental lamina seat, rotating seat and pincers dental lamina;Described pincers dental lamina is fixed on described rotating seat;On described rotating seat Being provided with mounting hole, be provided with connecting bolt in described mounting hole, described rotating seat is installed by described connecting bolt On described dental lamina seat;Described rotating seat is cambered surface with the contact surface of described pincers dental lamina, and described rotating seat is permissible Rotate along described cambered surface relative to described dental lamina seat and described connecting bolt.The gripper clamp of said structure, clamping is not During with the thribble of caliber, thribble can force rotating seat to rotate when contacting with pincers dental lamina, automatic centering thribble center. Pincers dental lamina contacts for face with thribble, and contact area is big, can improve the gripper clamp clamping effect to thribble, The service life of gripper clamp can be extended again.Further, since the automatic centering function of pincers dental lamina, it is avoided that thribble With contacting in pincers dental lamina edge of pincers dental lamina, the scope of gripper clamp clamping thribble caliber increases.
As the preferred version of the present invention, described clamping clip also includes that roller clamps, and described roller pincers are arranged on institute State the surface of gripper clamp;Described roller pincers include roller clamp gripping arm and roller pincers driving means, described rolling Son pincers driving means drives described roller clamp gripping arm to open and close;It is provided with in described roller clamp gripping arm The rollers organizing longitudinal arrangement, described roller is positioned at directly over described pincers dental lamina, and described roller can be along self more Axis rotates.Said structure clamping clip, is provided above described roller pincers, clamping clip clamping thribble at gripper clamp It is that described roller is in units of group, and four groups of symmetrical two-by-two rollers are joined and position thribble, carry simultaneously For sufficiently large chucking power, it is used for balancing the weight of thribble.Further, since described roller can be along self axle Line rotates, and opens described gripper clamp and keeps described roller icarceration to close, and the rotary freedom of thribble is released, Can assist when tearing thribble open.
As the preferred version of the present invention, it is described that described clamping clip also includes that safety tongs, described safety tongs are positioned at The underface of gripper clamp.When auxiliary tears thribble open, keep described safety tongs to close and be possible to prevent thribble to clamp at roller In come off when doing rotational run, improve the processing safety of device.
As the preferred version of the present invention, described clamping clip is provided with pipe detector;During clamping thribble, Whether described pipe detector is used for detecting described clamping clip and moves and put in place.Clamping clip is installed pipe detection Device, when pipe detector is related with thribble, pipe detector can feed back information to control system, Showing that thribble enters clamping clip, clamping clip motion puts in place.The pipe tool movement mechanical hand of the present invention, at clamping clip Whether upper installation pipe detector is used for detecting clamping clip and moves and put in place, is possible to prevent occur that clamping clip moves not Put in place and thribble is pushed away the phenomenon generation of clamping clip, pipe tool movement manipulator clamping thribble accurate positioning, movement The efficiency of thribble is high.
As the preferred version of the present invention, described pipe detector is hingedly mounted on the top of described clamping clip also It is positioned at the top of described roller pincers, is also equipped with spring between described pipe detector and described clamping clip, institute Stating spring and time described pipe detector is in poised state, described pipe detector and vertical direction have one sharp Angle angle.The pipe detector of said mechanism, may be used for detecting the thribble clamping of different tube diameters.When bigger When the thribble of caliber is held, pipe detector can rotate with the jointed shaft of clamping clip around it, automatically adapts to The center position of thribble, during release thribble, described spring drives described pipe detector to reset;When clamping relatively During the thribble of pipe with small pipe diameter, pipe detector contacts with thribble and i.e. can detect that whether thribble enters clamping clip and put in place. The pipe detector of said structure, simple in construction, easy for installation, can automatically adapt to the thribble of different tube diameters.
Compared with prior art, beneficial effects of the present invention:
1, the pipe tool movement mechanical hand of the present invention, clamping clip and righting pincers move the most in the horizontal direction, are grabbing Before and after holding thribble, the shift invariant of thribble in the vertical direction, thribble movement process need not additionally oppose Root carries out vertical height adjustment, and pipe tool movement robot work process control is simple and work efficiency is high.It addition, Owing to upper and lower robot work principle is identical, at the flexible oil of the first telescopic oil cylinder and second using same size Under conditions of the first principal arm that cylinder, length are identical and the second principal arm, only need to stretch to first in controlling software Oil cylinder and the second telescopic oil cylinder use identical controlling curve, and can realize upper and lower mechanical hand stretches out speed Keep synchronizing with displacement;The control system of device, programs and controls realization simple, easy and debugging is simple, The low cost of device, maintenance are simply.
2, the pipe tool movement mechanical hand of the present invention, upper mechanical hand entirety can move along guide rail in the vertical direction, Pipe tool movement mechanical hand can grasp the thribble of different length and the thribble grasped can be carried out big stroke Promote or decline.
3, the pipe tool movement mechanical hand of the present invention, lifting device is by the weight of the upper mechanical hand of weight-balancing device balance Amount, on thribble is single shackle or when thribble being put on quadruple board platform, balance weight hydraulic cylinder oil-feed recovers to being System setting value, retaining clip clencher clamping thribble, balance weight hydraulic cylinder undertake the state of thribble part gravity, vertical Root lower tube tool undertakes the gravity of upper tube tool small part, can reduce being subject to of the tubing thread between two pipe tools Power.
4, the pipe tool movement mechanical hand of the present invention, the gripper clamp of clamping clip, when clamping the thribble of different tube diameters, Thribble can force rotating seat to rotate when contacting with pincers dental lamina, automatic centering thribble center.Pincers dental lamina and thribble Contacting for face, contact area is big, can improve the gripper clamp clamping effect to thribble, can extend again gripper clamp Service life.Further, since the automatic centering function of pincers dental lamina, it is avoided that thribble and clamps clamping of dental lamina Dental lamina edge contacts, and the scope of gripper clamp clamping thribble caliber increases.
5, the pipe tool movement mechanical hand of the present invention, is provided with pipe detector on clamping clip, can be used for detecting Whether clamping clip moves is put in place, prevents the clamping clip motion phenomenon that thribble pushes away clamping clip not in place and sends out Raw, pipe tool movement manipulator clamping thribble accurate positioning, the efficiency of movement thribble is high.
Accompanying drawing illustrates:
Fig. 1 is the axonometric drawing of the pipe tool movement mechanical hand of the present invention;
Fig. 2 is the operating principle schematic diagram of the pipe tool movement mechanical hand of the present invention;
Fig. 3 is the upper robot manipulator structure schematic diagram of the pipe tool movement mechanical hand of the present invention;
Fig. 4 is the lower robot manipulator structure schematic diagram of the pipe tool movement mechanical hand of the present invention;
Fig. 5 is the parts schematic diagram (weight-balancing device) of the pipe tool movement mechanical hand of the present invention;
Fig. 6 is the balance weight cylinder hydraulic principle schematic of the pipe tool movement mechanical hand of the present invention;
Fig. 7 is the parts schematic diagram (clamping clip) of the pipe tool movement mechanical hand of the present invention;
Fig. 8 is the parts schematic diagram (dental lamina assembly) of the pipe tool movement mechanical hand of the present invention;
Fig. 9 is the parts schematic diagram (dental lamina assembly) of the pipe tool movement mechanical hand of the present invention;
Figure 10 is the top view that clamping clip clamps the thribble that caliber is 135/8in;
Figure 11 is gripper clamp each member connection structure sectional view in Figure 10;
Figure 12 is the top view that clamping clip clamps the thribble that caliber is 21/4in;
Figure 13 is gripper clamp each member connection structure sectional view in Figure 12;
Figure 14 be the present invention pipe tool movement manipulator clamping thribble front view one (mechanical hand is in and stretches out shape State);
Figure 15 be the present invention pipe tool movement manipulator clamping thribble front view two (mechanical hand is in withdrawal shape State);
Figure 16 is front view three (the upper robot movement extremely row of the pipe tool movement manipulator clamping thribble of the present invention In the middle part of pipe main beam);
Figure 17 is the operating principle schematic diagram of the tube drawbench mechanical hand of the first structure in prior art;
Figure 18 is the operating principle schematic diagram of the tube drawbench mechanical hand of the second structure in prior art;
Figure 19 be a kind of gripper clamp clamping caliber of the prior art be 3 " thribble vertical view cutaway drawing;
Figure 20 be gripper clamp described in Figure 19 clamping caliber be 65/8 " thribble vertical view cutaway drawing.
Labelling in figure: 1-lifting device, 11-winch, 12-steel wire rope, 2-guide rail, 3-weight-balancing device, 31-tries to stop people from fighting each other, 32-balance weight fluid cylinder, 33-fork, 34-balanced connecting rod, 35-proximity switch, 36-connecting pin Axle, 37-relief valve, 38-ratio decompression overflow valve, the upper mechanical hand of 4-, 41-the first upper pulley frame, 42-the One telescopic oil cylinder, 43-first glides vehicle frame, 44-clamping clip, 441-integral type oil cylinder, 4411-gripper clamp oil Cylinder, 442-pipe detector, 443-roller clamps, 4431-roller clamp gripping arm, 444-gripper clamp, and 445-protects Protecting pincers, 4451-pedestal, 4452-finger drives fluid cylinder, 4453-finger, 446-connecting rod, 447-roller, 448- Gripper clamp clamp arm, 449-dental lamina assembly, 4491-dental lamina seat, 4492-rotating seat, 4493-connects screw rod, 4494-clamps dental lamina, 4410-spring, 45-first connecting rod, 46-the first principal arm, 47-the first attitude connecting rod, 5- Lower mechanical hand, 51-the second upper pulley frame, 52-the second telescopic oil cylinder, 53-lower fixed frame, 54-righting clamps, 55-second connecting rod, 56-the second principal arm, 57-the second attitude connecting rod, 6-tube drawbench girder, 7-thribble.
Detailed description of the invention
Below in conjunction with test example and detailed description of the invention, the present invention is described in further detail.But should be by This is interpreted as that the scope of the above-mentioned theme of the present invention is only limitted to below example, all real based on present invention institute Existing technology belongs to the scope of the present invention.
Embodiment 1
Tube drawbench girder 6 shown in Fig. 1 to Fig. 4 is the installation carrier of the present embodiment pipe tool movement mechanical hand. The two ends up and down of tube drawbench girder 6 are respectively hinged on uplink and downlink walking apparatus, it is possible to achieve whole pipe tool moves Transport moving integrally and rotating of mechanical hand.
The pipe tool movement mechanical hand of the present embodiment is as it is shown in figure 1, include lifting device 1, guide rail 2, balance weight Device 3, upper mechanical hand 4 and lower mechanical hand 5.Guide rail 2 is fixed on the both sides, front of tube drawbench girder 6, on Mechanical hand 4 and lower mechanical hand 5 are arranged on guide rail 2 by roller, and guide rail 2 is upper mechanical hand 4 and lower machine The slip of tool hands 5 provides shiftable haulage line.Lifting device 1 includes winch 11 and steel wire rope 12, and winch 11 is solid Being scheduled on the upper end, front of girder 6, one end of steel wire rope 12 is connected on winch 11, and the other end connects balance Refitting puts 3, and the lower end of weight-balancing device 3 is arranged on mechanical hand 4.Lifting device 1 can pass through steel wire Upper mechanical hand 4 entirety of rope 12 drive moves up and down along guide rail 2.
As it is shown in figure 5, weight-balancing device 3 includes trying to stop people from fighting each other 31, balance weight fluid cylinder 32, fork 33, balance even Bar 34, proximity switch 35 and connection bearing pin 36.Balanced connecting rod 34 horizontal positioned, the lower end of steel wire rope 12 Being connected to the middle part of balanced connecting rod 34, the two ends of balanced connecting rod 34 connect a fork 33, fork 33 respectively Lower end be respectively connected with balance weight fluid cylinder 32.The fluid cylinder axle of balance weight fluid cylinder 32 passes through with the lower end of fork 33 Connecting bearing pin 36 hinged, the fluid cylinder of balance weight fluid cylinder 32 is arranged on tries to stop people from fighting each other on 31.Try to stop people from fighting each other and 31 be provided with edge The chute that vertical direction extends, connect bearing pin 36 be arranged on try to stop people from fighting each other 31 described chute in, and can be along described Chute slides up and down.Proximity switch 35 is arranged on tries to stop people from fighting each other on 31, for detecting the position connecting bearing pin 36. Try to stop people from fighting each other 31 lower end be arranged on mechanical hand 4, the winch 11 of lifting device 1 rotates and drives steel wire rope 12 Shrink, mechanical hand 4 entirety can be driven to slide up and down along guide rail 2, it is achieved the overall shifting of upper mechanical hand 4 Dynamic.Fig. 6 is that two balance weight fluid cylinder 32 hydraulic pressure of the weight-balancing device 3 of present tube tool movement mechanical hand are former Reason figure.Wherein, A is oil-in, and B is oil return opening, and C is drain tap.Two balance weight fluid cylinders 32 use Same ratio decompression overflow valve 38 and relief valve 37 are to ensure its synchronicity.Weight-balancing device 3 all the time can Compensate upper mechanical hand 4 and thribble 7 about 70% weight, balance weight fluid cylinder 32 is located all the time in the process In tension state.In the transportation of thribble 7, single upper shackle or that thribble is put into quadruple board platform is first-class, The situation that the pressure in balance weight hydraulic cylinder 32 can be made to reduce occurs, now, and balance weight hydraulic cylinder 32 oil-feed Make oil cylinder working-pressure rise to the setting value of hydraulic system, connect bearing pin 36 and be reset at connecting valve 35, this Time balance weight hydraulic cylinder 32 undertake major part even all gravity of thribble upper tube tool, reduce thribble 7 bottom Pipe tool undertakes the gravity of thribble 7 upper tube tool, can reduce the stress of tubing thread between two pipes tool, protection Tubing thread is not damaged by.
The structure of upper mechanical hand 4 as it is shown on figure 3, include first upper pulley frame the 41, first telescopic oil cylinder 42, First downslide vehicle frame 43, clamping clip 44, first connecting rod the 45, first principal arm 46 and the first attitude connecting rod 47. First upper pulley frame 41 and the first downslide vehicle frame 43 are arranged on guide rail 2 by roller, the first upper pulley frame 41 and first downslide vehicle frame 43 can move up and down along guide rail 2.One end of first telescopic oil cylinder 42 is arranged on On first upper pulley frame 41, the other end is arranged on the first downslide vehicle frame 43.One end of first principal arm 46 leads to Crossing hinge on the first upper pulley frame 41, the other end is hinged with clamping clip 44 by bearing pin;First appearance State connecting rod 47 is positioned at the surface of the first principal arm 46, and one end of the first attitude connecting rod 47 is existed by hinge On first upper pulley frame 41, the other end is hinged with clamping clip 44 by bearing pin.First upper pulley frame 41, folder It is parallel four that clencher the 44, first principal arm 46 consists of at perpendicular each hinge with the first attitude connecting rod 47 The rigid parallel quadrilateral connecting rod mechanism of limit shape.So by the first attitude connecting rod 47 and the first principal arm 46 with There are two pin joints in clamping clip 44, and forms rigid parallel quadrilateral structure with the first upper pulley frame 41, Can ensure that the attitude of clamping clip 44 is in vertical state all the time, it is to avoid clamping clip 44 around with the first principal arm 46 unique hinges do pendular movement, it is impossible to the problem being accurately positioned thribble occurs.Simultaneously at mechanical hand During movement thribble, clamping clip 44 forms two pin joints in rigid parallel quadrilateral structure, can keep away Exempt from thribble transportation, clamping clip 44 and thribble 7 about inertia force or ship motion acceleration under back and forth Whipping, manipulation easily realization, movement safety coefficient height during thribble 7 movement.One end of first connecting rod 45 Being hinged on the first downslide vehicle frame 43, the other end is hinged on the bottom center and first of the first principal arm 46 The half of a length of first principal arm 46 length of connecting rod 45, i.e. with the first principal arm 46 as hypotenuse, with level and Vertical direction is that right-angle side forms triangle, and first connecting rod 45 is this hypotenuse center line.Pipe tool movement During robot work, the first downslide vehicle frame 43 maintains static on guide rail 2, and the first telescopic oil cylinder 42 stretches The first upper pulley frame 41 is driven to move up and down along guide rail 2.During this, first connecting rod 45 is around first connecting rod 45 and first downslide vehicle frame jointed shaft rotate, and then drive the first upper pulley frame 41, clamping clip 44, first The rigid parallel quadrilateral connecting rod mechanism of principal arm 46 and the first attitude connecting rod 47 composition is overall in perpendicular Rotation.From hypotenuse center line theorem, the first upper pulley frame 41 along guide rail 2 in vertically side Move upward, it is ensured that clamping clip 44 moves back and forth in the horizontal direction, complete the transport of thribble 7, and vertical Highly consistent by before and after movement of root 7.Pipe tool movement robot work process control is simple and work efficiency is high.
Fig. 2 show the work process schematic diagram of pipe tool movement mechanical hand, the principle signal of top half in figure Figure is the operation principle schematic diagram of upper mechanical hand 4.E in figure (E ') it is first connecting rod 45 and the first principal arm 46 Pin joint;F is the pin joint of the first downslide vehicle frame 43 and first connecting rod 45, is also the first flexible oil simultaneously Cylinder 42 and the pin joint of the first downslide vehicle frame 43;D (D ') it is the first principal arm 46 and the first upper pulley frame 41 Pin joint;A (A ') it is the first principal arm 46 and the pin joint of clamping clip 44;B (B ') it is the first attitude Connecting rod 46 and the pin joint of clamping clip 44;C (C ') it is the first attitude connecting rod 46 and the first upper pulley frame 41 Pin joint.Wherein, ABCD forms rigid parallel quadrilateral structure, i.e. motor process in perpendicular The relative invariant position of middle ABCD each point, AB=CD, AD=BC.E is the midpoint of AD, AE=ED=FE, FD⊥FA.F point invariant position in the whole work process of mechanical hand.ABCDE is each pin joint of mechanical hand Initial position, now the first telescopic oil cylinder 42 extends to range (FD), and clamping clip 44 minimizes Stretch out stroke;A ' B ' C ' D ' E ' is that clamping clip 44 is positioned at maximum when stretching out travel position, the position of each pin joint Graph of a relation, now the first telescopic oil cylinder 42 is contracted to minimum stroke (FD).Clamping clip 44 can clamp its stroke In (AB to A ' B ' stroke range in) target thribble 7.In first telescopic oil cylinder 42 telescopic process, CD then moves with the first upper pulley frame 41 under guide rail 2 in the vertical direction, by hypotenuse Line theorem understands, and can ensure that AB moves back and forth in the horizontal direction during this.
Lower mechanical hand 5 as shown in Figure 4, including second upper pulley frame the 51, second telescopic oil cylinder 52, lower fixing Frame 53, righting pincers 54, second connecting rod the 55, second principal arm 56 and the second attitude connecting rod 57.Lower mechanical hand 5 Operation principle identical with upper mechanical hand 4.Each mechanism of upper mechanical hand 4 and lower mechanical hand 5 Each position of articulating point is corresponding, i.e. in Fig. 2, in the movement travel of clamping clip 44, and upper mechanical hand 4 and lower machine Each twisted point (ABCDEF) movement velocity of tool hands 5, the direction of motion and each pin joint of a certain moment The equal one_to_one corresponding of location.The length of the second principal arm 56 is identical with the length of the first principal arm 46;First Telescopic oil cylinder 42 and the second telescopic oil cylinder 52 are also same specification (equal built-in linear displacement transducers, and leading to Cross the distance of stretch out and draw back of displacement transducer detection telescopic oil cylinder drive rod).Lower mechanical hand 5 is with upper mechanical hand 4 not Being with part: 1, lower fixed frame 53 is fixed on tube drawbench and is fixed on girder 6, lower mechanical hand 5 is overall Can not move up and down along guide rail 2;2, lower mechanical hand 5 righting pincers 55 for thribble rightings and and need not Thribble in clamping thribble, righting pincers can move up and down.
When the pipe of said structure has robot work, upper and lower robot work principle is identical, only need to control software In the first telescopic oil cylinder 42 and the second telescopic oil cylinder 52 are used identical controlling curve, can realize, Stretch out speed and the displacement of lower mechanical hand keep synchronizing.The pipe tool movement mechanical hand of the present invention, upper mechanical hand 4 With the control system of lower mechanical hand 5, program and control realization simple, easy and debugging is simple, the one-tenth of device This is low, maintenance is simple.
As it is shown in fig. 7, clamping clip 44 include integral type oil cylinder 441, pipe detector 442, roller pincers 443, Gripper clamp 444 and protection pincers 445.Integral type oil cylinder 441 provides clamping for roller pincers 443, gripper clamp 444 Power, is used for clamping thribble 7.Pipe detector 442 is hingedly mounted on the top of clamping clip 44 and is positioned at rolling The top of son pincers 443, pipe detector 442 is also equipped with spring 4410, the other end peace of spring 4410 It is contained on clamping clip 44, when spring 4410 and pipe detector 442 are in poised state, pipe detector 442 have an acute angle with vertical direction.When clamping clip 44 clamps thribble 7, thribble 7 detects with pipe Device 442 has contact then expression clamping clip 44 motion to put in place, and thribble 7 enters clamping clip 44 and suffers.When bigger When the thribble 7 of caliber is held, pipe detector 442 can rotate with the jointed shaft of clamping clip 44 around it, Automatically adapting to the center position of thribble 7, during release thribble 7, spring 4410 drives pipe detector 442 multiple Position;When clamping the thribble 7 of relatively pipe with small pipe diameter, pipe detector 442 contact with thribble 7 i.e. can detect that vertical Whether root 7 enters clamping clip 44 is put in place.The pipe detector 442 of said structure, simple in construction, installation side Just, it is used for detecting thribble 7 position, it is possible to achieve the clamping clip 44 accurate clamping to thribble 7.
Roller pincers 443 include roller clamp gripping arm 4431, roller clamp gripping arm 4431 is provided with and organizes longitudinal direction more The roller 447 of arrangement, roller 447 can be around own axis.During roller pincers 443 clamping thribble 7, many groups The roller 447 of longitudinal arrangement is for the location of thribble 7.Connecting rod 446 includes two, with roller pincers 443 Symmetrical centre face is the plane of symmetry, and two connecting rods 446 are symmetrically distributed in roller and clamp the both sides of 443 median planes, even One end of bar 446 is hinged in the roller clamp gripping arm 4431 of roller pincers 443, and the other end is hinged on roller pincers On the fluid cylinder axle of oil cylinder.Oil cylinder is clamped along roller in stretch one end of drivening rod 446 of the fluid cylinder axle of roller pincers oil cylinder Fluid cylinder axle move axially back and forth, and then drive roller pincers 443 roller clamp gripping arm 4431 open with Guan Bi, Realize roller pincers 446 to open or close.Roller pincers 443 in the present embodiment are simultaneously by integral type oil cylinder 441 On three rollers pincers hydraulic oil cylinder driving, be provided that sufficiently large chucking power, make to organize roller 447 more and produce enough Frictional force balance the weight of thribble 7.
Gripper clamp 444 is positioned at the lower section of roller pincers 443, and gripper clamp 444 includes gripper clamp clamp arm 448 He Dental lamina assembly 449, dental lamina assembly 449 is arranged on gripper clamp clamp arm 448, and gripper clamp 444 is by integral type Gripper clamp oil cylinder 4411 in oil cylinder 441 drives, and is provided that the holding capability of 10MT.Integral type oil cylinder 441 In gripper clamp oil cylinder 4411 drive gripper clamp 444 open with principle and the roller of Guan Bi clamp 443 clamping former Manage identical.Dental lamina assembly 449 clamps thribble 7, dental lamina assembly with the merging of opening of gripper clamp clamp arm 448 449 lower sections being positioned at roller 447 correspondence position on roller pincers 443, roller 447 is to thribble 7 clamping position After, gripper clamp clamp arm 448 Guan Bi drives dental lamina assembly 449 to clamp thribble 7.Pressing from both sides of dental lamina assembly 449 Hold the mounting structure on pincers clamp arm 448 as shown in Figure 8, Figure 9, including dental lamina seat 4491, rotating seat 4492, Connect screw rod 4493 and pincers dental lamina 4494.Pincers dental lamina 4494 is fixed on semicircle rotating seat 4492, rotates Having a waist-shaped hole on seat 4492, connecting bolt 4493 will rotation through the waist-shaped hole in the middle of rotating seat 4492 Swivel base 4492 is arranged on dental lamina seat 4491, and rotating seat 4492 is joined by mounting hole and connecting bolt 4493 Close, relatively can have certain anglec of rotation, again without departing from dental lamina seat 4491 by dental lamina seat 4491.Work as clamping When pincers 444 clamp the drilling rod of different tube diameters, pincers dental lamina 4494 and rotating seat 4492 entirety can be along rotating seats Mounting hole circumferential direction on 4492 rotates, it is achieved the thribble behind pincers dental lamina 4494 opposing rollers pincers 443 location 7 automatic centerings.When so gripper clamp 444 clamps thribble 7, dental lamina assembly 449 connects with held thribble 7 Contacting surface is long-pending big.During pipe tool movement manipulator clamping thribble 7, do not have the work of thribble 7 and pincers dental lamina 4494 With point appear in pincers dental lamina 4494 edge, pipe tool movement manipulator clamping thribble 7 good clamping effect, Robot work safety is high, and the service life of pincers tooth is long.It addition, pincers dental lamina 4494 automatic centering thribble 7, Gripper clamp 444 can automatically adapt to different tube diameters pipe tool, can expand gripper clamp 444 range of application and Gripper clamp 444 clamps effect and the safety height of the thribble 7 of multiple caliber.Figure 10 and Figure 12 is the present invention Clamping clip 44 clamp thribble 7 top view of two kinds of different tube diameters;Figure 11 is that the gripper clamp 444 of Figure 10 is each The annexation sectional view of parts;Figure 13 is the annexation sectional view of each parts of gripper clamp 444 of Figure 12.
Protection pincers 445 are arranged on the lower section of gripper clamp 444, move with gripper clamp 444;Protection pincers 445 are by solely The vertical oil cylinder that drives realizes opening or closing of protection pincers 445.Such as Fig. 7, protection pincers 445 include pedestal 4451, Finger drives fluid cylinder 4452 and finger 4453.Pedestal 4451 is bolted the clamping at gripper clamp 444 On arm 448, protection pincers 444 entirety are with gripper clamp 444 forward or open and close movement.Finger 4453 includes two, Being separately mounted on two pedestals 4451, the layout upper-lower height of two fingers 4453 in left and right staggers, and does not exists Same level height.Finger drives fluid cylinder 4452 one end to be connected on pedestal 4451, and the other end is connected in finger 4453 On.During protection pincers 445 work, the on off state of protection pincers 445 is detected by sensor.The guarantor of said structure Protecting pincers 445 to be bolted on gripper clamp, finger driving fluid cylinder 4452 need to provide the least driving force Drive what finger 4453 upset achieved that thribble 7 to hold function tightly.Additionally protection pincers 445 are symmetric about the axis Arranging, spatially misplace layout by finger 4453, the actuating range of the protection pincers 445 that spatially stagger, Reducing the overall dimensions of protection pincers 445, the volume of whole protection pincers 445 is little.
Introduce in detail below the present embodiment pipe tool movement mechanical hand process of making:
By the upper mechanical hand 4 position on guide rail 2 of lifting device 1 regulation.Clamping clip 44 is in clamping thribble 7 Time, upper mechanical hand 4 and lower mechanical hand 5 synchronize to stretch out towards thribble 7, and righting pincers 54, clamping clip 44 are successively Open, and detected clamping clip 44 by pipe detector 442 and whether move and put in place.Clamping clip 44 motion puts in place After, the roller pincers 443 of clamping clip 44 first clamp, and thribble 7 are positioned by roller 447.Close the most successively Close gripper clamp 444, protection pincers 445 and righting pincers 54 clamping thribble 7, as shown in figure 14.Then by stretching Contracting oil cylinder (42,52) drives upper and lower parallelogram linkage to retract, and then drives clamping clip 44 and hold up Just clamping 54 retractions, as shown in figure 15.When telescopic oil cylinder (42,52) reaches retraction stroke, rotate comb Main beam 6 is directed at target location.Then (42,52) retract, and are driven by parallelogram linkage Clamping clip 44 and righting pincers 45 extend out to target location, transfer thribble 7, in the process, lower mechanical hand 5 Stretch out and keep consistent with withdrawal action with upper mechanical hand 4.So circulation carries out the clamping fortune of thribble next time Defeated operation.During above-mentioned pipe tool robot work, during clamping clip 44 clamps pipe tool 7, clamping After pincers 44 clamping thribble 7, can be by being built in the linear displacement transducer sense bottom the first telescopic oil cylinder 42 Answering the displacement of telescopic oil cylinder 43, and pass it to control system, control system is by the first telescopic oil cylinder The flow of 42 carries out fuzzy control, thus controls the speed of the first telescopic oil cylinder 42, the control of lower mechanical hand 5 Principle is identical with the control principle of upper mechanical hand 4.
When movement mechanical hand auxiliary tears thribble open: manipulator clamping thribble 7 sends into rat hole position, when tearing thribble open Gripper clamp 444 is opened certain aperture by mechanical hand, keeps roller pincers 443, protection pincers 445, righting pincers 54 Close attitude.The rotary freedom of thribble 7 is released, etc. thribble 7 pull down single after turn off gripper clamp 444 Remaining pipe had movement.Thribble clamping manipulator auxiliary connects drill string and uses contrary flow process.Clamp in thribble When gripper clamp 444 is opened certain aperture by mechanical hand, protection pincers 445 closedown attitude will prevent thribble at roller Come off when pincers 443 do rotational run.
When needing thribble 7 carries out the lifting of big stroke or declines, need to be at upper mechanical hand 4 and lower mechanical hand 5 Carry out, such as Figure 15 all under the state regained.The winch 11 of lifting device 1 rotates and drives steel wire rope 12 Shrinking, in drive, mechanical hand 4 entirety slides up and down along guide rail 2, regulation clamping clip 44 in the vertical direction Position, when thribble 7 arrives required height, then by Arm expanding.Simultaneously as press from both sides at mechanical hand Hold double thribble location of root vertical with clamping clip during three thribbles 44 clamping different, lifting device 1 regulation clamping is set Clamp the position of 44 in the vertical directions can also meet pipe tool movement mechanical hand grasping different length thribble (as Double thribbles or three thribbles) requirement.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all in the present invention Spirit and principle within any amendment, equivalent and the improvement etc. made, should be included in the present invention's Within protection domain.

Claims (7)

1. a pipe tool movement mechanical hand, including guide rail, upper mechanical hand and lower mechanical hand, described guide rails assembling is on tube drawbench girder;Described upper mechanical hand and described lower mechanical hand are arranged on described guide rail, it is characterised in that:
Described upper mechanical hand includes that the first upper pulley frame and the first downslide vehicle frame, described first upper pulley frame and described first downslide vehicle frame are connected by the first telescopic oil cylinder, and described first upper pulley frame is arranged on described guide rail and can move up and down along described guide rail;Being hinged with the first principal arm on described first upper pulley frame, the other end of described first principal arm is hinged with clamping clip;Being hinged with first connecting rod on described first downslide vehicle frame, one end of described first connecting rod is hinged on described first downslide vehicle frame, and the other end is hinged on the centre of described first principal arm;The half of a length of described first principal arm length of described first connecting rod;
Described lower mechanical hand includes the second upper pulley frame, the second telescopic oil cylinder, lower fixed frame, righting pincers, second connecting rod and the second principal arm;Described lower fixed frame is fixed on tube drawbench girder lower end, and described second upper pulley frame is arranged on described guide rail and can move up and down along described guide rail;Described lower fixed frame and described second upper pulley frame are connected by described second telescopic oil cylinder;Described second principal arm one end is hinged on described upper pulley frame, and the other end is hinged with described righting pincers;One end of described second connecting rod is hinged on described lower fixed frame, the other end is hinged on the centre of described second principal arm, the half of a length of described second principal arm length of described second connecting rod, described first downslide vehicle frame is arranged on described guide rail and can move up and down along described guide rail;Described pipe tool movement mechanical hand also includes lifting device, and described lifting device drives described first downslide vehicle frame to move up and down along described guide rail, and described lifting device includes winch and steel wire rope;Described winch is fixed on the upper end of described tube drawbench girder;Described steel wire rope one end is connected on described winch, and the other end is connected with described first downslide vehicle frame,
Described pipe tool movement mechanical hand also includes weight-balancing device, and described steel wire rope is connected with described first downslide vehicle frame by described weight-balancing device;
Described weight-balancing device includes trying to stop people from fighting each other, balance weight fluid cylinder, fork and balanced connecting rod;Described balanced connecting rod horizontal positioned, the lower end of described steel wire rope is connected to the middle part of described balanced connecting rod;The two ends of described balanced connecting rod connect a described fork respectively, and the lower end of described fork is respectively connected with balance weight fluid cylinder;The upper end of described balance weight fluid cylinder is connected with described fork lower end, on the lower end of described balance weight fluid cylinder is arranged on and tries to stop people from fighting each other;The described lower end tried to stop people from fighting each other is arranged on described first downslide vehicle frame.
Pipe the most according to claim 1 tool movement mechanical hand, it is characterized in that: two balance weight fluid cylinders of described weight-balancing device use same relief valve and ratio decompression overflow valve, described ratio decompression overflow valve is for controlling the oil-feed of two described balance weight fluid cylinders, and described relief valve is for controlling the oil return of described balance weight fluid cylinder.
Pipe the most according to claim 1 tool movement mechanical hand, it is characterised in that:
Described clamping clip includes gripper clamp and gripper clamp driving means, and described gripper clamp includes that gripper clamp clamp arm and dental lamina assembly, described dental lamina assembly are arranged on described gripper clamp clamp arm;Described gripper clamp driving means drives described gripper clamp clamp arm to open and close;
Described dental lamina assembly includes dental lamina seat, rotating seat and pincers dental lamina;Described pincers dental lamina is fixed on described rotating seat;Described rotating seat is provided with mounting hole, is provided with connecting bolt in described mounting hole, and described rotating seat is arranged on described dental lamina seat by described connecting bolt;Described rotating seat is cambered surface with the contact surface of described pincers dental lamina, and described rotating seat can rotate along described cambered surface relative to described dental lamina seat and described connecting bolt.
Pipe the most according to claim 3 tool movement mechanical hand, it is characterised in that: described clamping clip also includes that roller clamps, and described roller pincers are arranged on the surface of described gripper clamp;Described roller pincers include roller clamp gripping arm and roller pincers driving means, and described roller pincers driving means drives described roller clamp gripping arm to open and close;Being provided with the roller organizing longitudinal arrangement in described roller clamp gripping arm, described roller is positioned at directly over described pincers dental lamina and described roller can be along own axis more.
Pipe the most according to claim 4 tool movement mechanical hand, it is characterised in that: described clamping clip also includes that safety tongs, described safety tongs are positioned at the underface of described gripper clamp.
6. have movement mechanical hand according to the pipe described in claim 4-5 any one, it is characterised in that: pipe detector is installed on described clamping clip;During clamping thribble, whether described pipe detector is used for detecting described clamping clip and moves and put in place.
Pipe the most according to claim 6 tool movement mechanical hand, it is characterized in that: described pipe detector is hingedly mounted on the top of described clamping clip and is positioned at the top of described roller pincers, it is also equipped with spring between described pipe detector and described clamping clip, when described spring and described pipe detector are in poised state, described pipe detector and vertical direction have an acute angle.
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