CN104929543A - Suspension fixing type stand column placing mechanism below two-layer table middle pedal - Google Patents
Suspension fixing type stand column placing mechanism below two-layer table middle pedal Download PDFInfo
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- CN104929543A CN104929543A CN201510424868.9A CN201510424868A CN104929543A CN 104929543 A CN104929543 A CN 104929543A CN 201510424868 A CN201510424868 A CN 201510424868A CN 104929543 A CN104929543 A CN 104929543A
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- guide rail
- pedal
- mechanical arm
- manipulator
- stand column
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Abstract
The invention discloses a suspension fixing type stand column placing mechanism below a two-layer table middle pedal. The suspension fixing type stand column placing mechanism solves the problem that in the prior art, a stand column placing mechanism is used under manual work, and therefore efficiency is low. The suspension fixing type stand column placing mechanism comprise a guide rail fixed to the lower surface of the crossing pedal, a position adjusting mechanism arranged on the guide rail and moving linearly on the guide rail in a reciprocating mode, and a mechanical arm connected to the tail end of the position adjusting mechanism, wherein the extending direction of the guide rail is the same with the extending direction of the crossing pedal, the position of the mechanical arm is controlled by the position adjusting mechanism, and a sensor used for sensing a stand column is arranged at the end of the mechanical arm. According to the suspension fixing type stand column placing mechanism below the two-layer table middle pedal, the guide rail is arranged on the lower surface of the crossing pedal, the position of the mechanical arm can be adjusted through the position adjusting mechanism, when the sensor at the end of the mechanical arm senses the stand column, the stand column is clamped, and the stand column is grabbed. The whole process is simple, the automation degree is high, and efficiency is very high.
Description
Technical field
The present invention relates to petroleum well workover implement technical field, refer in particular in the middle of a kind of portable construction, succinct quadruple board platform and hang fixed column arranging mechanism under pedal.
Background technology
In petroleum well workover operation, heavy repair task is established one by one on job platform by column (connectors of two or three oil pipes), the process of putting of quadruple board platform column as shown in Figure 1, first well head 2 is proposed column 1, then its lower end is placed on platform, operating personnel afterwards on quadruple board platform is manually placed in column 1 between the fingerboard 3 on quadruple board platform again, in its walking path and figure shown in arrow, this mode need rely on and manually complete, efficiency is lower, and there is certain risk.Therefore, the prerequisite that well head automation realizes is exactly that first quadruple board platform realizes automation, but because quadruple board platform is in the high vacancy of 20 meters, there is guardrail in the surrounding of People's Bank of China's pedal 4 again, add quadruple board platform after repairing completion will be pulled up and be attached on derrick, therefore column arranging mechanism can not be placed on People's Bank of China's pedal 4.
Summary of the invention
The present invention proposes to hang fixed column arranging mechanism under pedal in the middle of a kind of quadruple board platform, solves prior art central post arranging mechanism and need rely on and manually complete, the problem that efficiency is lower.
For solving the problems of the technologies described above, technical scheme of the present invention is: hang fixed column arranging mechanism under pedal in the middle of quadruple board platform, comprising:
Guide rail, described guide rail is fixed on the soffit of People's Bank of China's pedal, and the bearing of trend of described guide rail is identical with the bearing of trend of described People's Bank of China pedal;
Position adjusting mechanism, to be arranged on described guide rail and along described guide rail linear reciprocating motion;
Manipulator, described manipulator is connected to the end of described position adjusting mechanism, controls its position by described position adjusting mechanism, and the end of described manipulator is provided with the sensor for responding to column.
Preferably, described position adjusting mechanism comprises linear position governor motion and circumferential position governor motion;
Described linear position governor motion and described guide rail match and merge along described guide rail linear reciprocating motion;
Described circumferential position governor motion is fixed on described linear position governor motion and also can rotates in horizontal plane;
Described manipulator is connected on described circumferential position governor motion by mechanical arm.
Preferably, described linear position governor motion comprises the ball-screw paralleled with described guide rail, also comprises the walking dolly matched with described ball-screw, described walking dolly is also provided with the roller that multiple and described guide rail contacts.
Preferably, described circumferential position governor motion comprises and is fixed on servomotor on described walking dolly and planetary reducer, is connected between described servomotor with described planetary reducer by driving belt;
The end of described mechanical arm is connected on described planetary reducer, controls the anglec of rotation of described manipulator in horizontal plane by described planetary reducer.
Preferably, described mechanical arm comprises the mechanical principal arm and mechanical auxiliary that are connected, and the end of described mechanical principal arm is fixedly connected on described planetary reducer, and the end of described mechanical auxiliary is fixedly connected on described manipulator;
Described mechanical arm also comprises the leveling pull bar for regulating described manipulator to balance.
Preferably, the both sides of described roller are provided with edge, side.
Preferably, described ball-screw is by driven by servomotor.
The beneficial effect of the present invention after have employed technique scheme is: be arranged on by guide rail on the soffit of People's Bank of China's pedal, first the position of manipulator can be regulated by position adjusting mechanism, when the inductor of robot end senses column, clamp by column, complete the crawl of column.Whole process is simple, and automaticity is high, has very high efficiency.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention will be further described:
Fig. 1 is the schematic top plan view of prior art column arranging mechanism;
Fig. 2 is the structural representation of an embodiment of the present invention;
Fig. 3 is the partial structurtes schematic diagram at roller place;
In figure: 1-column; 2-well head; 3-fingerboard; 4-People's Bank of China pedal; 5-guide rail; 6-manipulator; 7-roller; 8-ball-screw; 9-planetary reducer; 10-machinery principal arm; 11-machinery auxiliary; Leveling pull bar before 12-; Leveling pull bar after 13-; Edge, 14-side; 15-servomotor; 16-servo electric jar; 17-pull bar; 18-driving belt; 19-walking dolly; 20-guide rail fixed block; 21-square steel; 22-balancing pole.
Detailed description of the invention
As shown in Figure 1, for the schematic top plan view of prior art central post arranging mechanism, its basic functional principle first column 1 is proposed well head 2, then its lower end is placed on platform, operating personnel afterwards on quadruple board platform is manually placed in column 1 between the fingerboard 3 on quadruple board platform again, and in its walking path and figure shown in arrow, this mode need rely on and manually complete, efficiency is lower, and there is certain risk.
As shown in Figures 2 and 3, for a kind of embodiment of the present invention, hang fixed column arranging mechanism under pedal in the middle of this quadruple board platform and first comprise guide rail 5, described guide rail 5 is fixed on the soffit of People's Bank of China's pedal 4, and the bearing of trend of described guide rail 5 is identical with the bearing of trend of described People's Bank of China pedal 4.
Described guide rail 5 is provided with the position adjusting mechanism along its linear reciprocating motion, the end of position adjusting mechanism is connected with manipulator 6, the position of manipulator 6 is controlled by described position adjusting mechanism, and be provided with the sensor for responding to column in the end of described manipulator 6, the folding of mechanical finger is by the extension and contraction control of cylinder, the telescopic band carry-over bar of cylinder does straight reciprocating motion, mechanical finger and being connected with the gear that tooth bar is meshed, when tooth bar stretches, the gear be meshed with it just can produce clockwise or be rotated counterclockwise, so just, driven the folding of manipulator.
Above-mentioned position adjusting mechanism comprises linear position governor motion and circumferential position governor motion, wherein, linear position governor motion comprises the ball-screw 8 paralleled with described guide rail 5, also comprise the walking dolly 19 matched with described ball-screw 8, described walking dolly 19 is also provided with the roller 7 (in this embodiment being eight) that multiple and described guide rail 5 contacts, ball-screw 8 drives rotation by servomotor 15, use ball-screw 8, one can produce larger walking power, two can coordinate with servomotor 15 and accurately control indicating positions, three is that ball-screw 8 has auto-lock function, simplify writing of frame for movement and program.
In addition, the box of ball-screw 8 is connected with walking dolly 19, walking dolly 19 both sides are respectively embedded in up and down between two guide rails 5 of respective side, four rolling 7 primary responsibility above walking dolly 19 bears the weight moving integrally part, below four rolling 7 primary responsibility offsets the moment owing to producing when mechanical arm stretches out, ball-screw 8 can be made so not by the impact of any radial load, not produce and suppress strength, thus the work making servomotor 15 stable.
Described circumferential position governor motion comprises and is fixed on servomotor 15 on described walking dolly 19 and planetary reducer 9, is connected between described servomotor 15 with described planetary reducer 9 by driving belt 18; The end of described mechanical arm is connected on described planetary reducer 9, controls the anglec of rotation of described manipulator 6 in horizontal plane, can produce the dynamic moment of inertia of satisfying the demand like this by described planetary reducer 9.。
Mechanical arm in this embodiment comprises the mechanical principal arm 10 and mechanical auxiliary 11 that are connected, and the end of described mechanical principal arm 10 is fixedly connected on described planetary reducer 9, and the end of described mechanical auxiliary 11 is fixedly connected on described manipulator 6; Described mechanical arm also comprises the levelling gear (i.e. front leveling pull bar 12, rear leveling pull bar 13, servo electric jar 16, pull bar 17 and balancing pole 22) for regulating described manipulator 6 to balance.
In addition, the guide rail in this embodiment is made up of square steel 21, and guide rail is also provided with multiple guide rail fixed block 20.
As shown in Figure 3, the both sides of roller 7 are also provided with side along 14, walking dolly 19 can be made to move ahead accurately along guide rail 5 and not produce left and right skew, ensure the steady of operation.
After column 1 is raised, platform mechanical arm is responsible for putting bottom a column 1 putting in place, then two-deck table mechanical arm 6 is started working, now, manipulator 6 opens completely, mechanical arm stretches out, when column 1 enters after between manipulator 6, the sensor being arranged on manipulator 6 end can sense, now input a signal to PLC, PLC sends an instruction makes manipulator 6 close up completely, complete the crawl of column 1, quadruple board platform elevator is opened afterwards, mechanical arm starts to retract, after mechanical arm is retracted completely, orientation is put according to this column 1 lower end of platform, mechanical arm starts clockwise or is rotated counterclockwise 90 °, then mechanical arm starts walking, time between the fingerboard 3 that mechanical arm goes to regulation, mechanical arm starts to stretch out, when stretching out the position of specifying between fingerboard 3, stop flexible, manipulator 6 opens afterwards, decontrol column 1, this completes putting of a root post 1.Going down process is then completely contrary with it.
Mechanical arm of the present invention adopts the double rocker mechanism of mechanical principal arm and mechanical auxiliary, under the prerequisite that can need at content with funtion, takies less space.Wherein, mechanical arm is flexible is power with servo electric jar, principal arm is drive crank, auxiliary is driven rocking bar, auxiliary end installation manipulator, the degree of balance of manipulator 6 coordinates realization primarily of front and back leveling pull bar, and mechanical arm walking adopts lead-screw drive mechanism, rotates and adopts servomotor and planetary reduction gear machine mechanism.The weight of integrated machine mechanical arm is born by roller and guide rail thereof, and guide rail is made up of square steel, portable construction, and compressive property is strong, and such ball-screw motion does not just affect by radial load, is only responsible for walking movement before and after generation.Roller both sides, with edge, side, produced guide effect when roller so both can have been made to run along guide rail, also can offset the moment that mechanical arm stretches out rear generation.
The present invention is not limited to above-mentioned detailed description of the invention, and all are based on technical conceive of the present invention, and done structural improvement, all falls among protection scope of the present invention.
Claims (7)
1. hang fixed column arranging mechanism under pedal in the middle of quadruple board platform, it is characterized in that, comprising:
Guide rail, described guide rail is fixed on the soffit of People's Bank of China's pedal, and the bearing of trend of described guide rail is identical with the bearing of trend of described People's Bank of China pedal;
Position adjusting mechanism, to be arranged on described guide rail and along described guide rail linear reciprocating motion;
Manipulator, described manipulator is connected to the end of described position adjusting mechanism, controls its position by described position adjusting mechanism, and the end of described manipulator is provided with the sensor for responding to column.
2. hang fixed column arranging mechanism under pedal in the middle of quadruple board platform as claimed in claim 1, it is characterized in that: described position adjusting mechanism comprises linear position governor motion and circumferential position governor motion;
Described linear position governor motion and described guide rail match and merge along described guide rail linear reciprocating motion;
Described circumferential position governor motion is fixed on described linear position governor motion and also can rotates in horizontal plane;
Described manipulator is connected on described circumferential position governor motion by mechanical arm.
3. hang fixed column arranging mechanism under pedal in the middle of quadruple board platform as claimed in claim 2, it is characterized in that: described linear position governor motion comprises the ball-screw paralleled with described guide rail, also comprise the walking dolly matched with described ball-screw, described walking dolly is also provided with the roller that multiple and described guide rail contacts.
4. hang fixed column arranging mechanism under pedal in the middle of quadruple board platform as claimed in claim 3, it is characterized in that: described circumferential position governor motion comprises and is fixed on servomotor on described walking dolly and planetary reducer, is connected between described servomotor with described planetary reducer by driving belt;
The end of described mechanical arm is connected on described planetary reducer, controls the anglec of rotation of described manipulator in horizontal plane by described planetary reducer.
5. hang fixed column arranging mechanism under pedal in the middle of quadruple board platform as claimed in claim 4, it is characterized in that: described mechanical arm comprises the mechanical principal arm and mechanical auxiliary that are connected, the end of described mechanical principal arm is fixedly connected on described planetary reducer, and the end of described mechanical auxiliary is fixedly connected on described manipulator;
Described mechanical arm also comprises the leveling pull bar for regulating described manipulator to balance.
6. hang fixed column arranging mechanism under pedal in the middle of quadruple board platform as claimed in claim 3, it is characterized in that: the both sides of described roller are provided with edge, side.
7. hang fixed column arranging mechanism under pedal in the middle of quadruple board platform as claimed in claim 4, it is characterized in that: described ball-screw is by driven by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510424868.9A CN104929543A (en) | 2015-07-18 | 2015-07-18 | Suspension fixing type stand column placing mechanism below two-layer table middle pedal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510424868.9A CN104929543A (en) | 2015-07-18 | 2015-07-18 | Suspension fixing type stand column placing mechanism below two-layer table middle pedal |
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| Publication Number | Publication Date |
|---|---|
| CN104929543A true CN104929543A (en) | 2015-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510424868.9A Pending CN104929543A (en) | 2015-07-18 | 2015-07-18 | Suspension fixing type stand column placing mechanism below two-layer table middle pedal |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101723170A (en) * | 2009-11-12 | 2010-06-09 | 浙江大学城市学院 | Self-propelled replenish truck system of cargo allocation line of distribution center |
| CN102449259A (en) * | 2009-06-01 | 2012-05-09 | 国民油井华高有限公司 | Pipe stand transfer systems and methods |
| CN102606092A (en) * | 2012-03-29 | 2012-07-25 | 吉林大学 | Hanging type adaptive automatic drill pipe string discharge device |
| CN203515388U (en) * | 2013-08-30 | 2014-04-02 | 武汉市元博智能控制技术研究设计院（有限合伙） | Novel automatic tube arranging mechanical arm |
| CN203791101U (en) * | 2014-04-04 | 2014-08-27 | 浙江梦天木业有限公司 | Automatic wood door turner |
| CN204804720U (en) * | 2015-07-18 | 2015-11-25 | 王吉福 | Hang fixed stand under footboard in middle of quadruple board platform and put mechanism |
-
2015
- 2015-07-18 CN CN201510424868.9A patent/CN104929543A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102449259A (en) * | 2009-06-01 | 2012-05-09 | 国民油井华高有限公司 | Pipe stand transfer systems and methods |
| CN101723170A (en) * | 2009-11-12 | 2010-06-09 | 浙江大学城市学院 | Self-propelled replenish truck system of cargo allocation line of distribution center |
| CN102606092A (en) * | 2012-03-29 | 2012-07-25 | 吉林大学 | Hanging type adaptive automatic drill pipe string discharge device |
| CN203515388U (en) * | 2013-08-30 | 2014-04-02 | 武汉市元博智能控制技术研究设计院（有限合伙） | Novel automatic tube arranging mechanical arm |
| CN203791101U (en) * | 2014-04-04 | 2014-08-27 | 浙江梦天木业有限公司 | Automatic wood door turner |
| CN204804720U (en) * | 2015-07-18 | 2015-11-25 | 王吉福 | Hang fixed stand under footboard in middle of quadruple board platform and put mechanism |
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Application publication date: 20150923 |
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