CN104948124A - Mechanical assembly for clamping pipe - Google Patents
Mechanical assembly for clamping pipe Download PDFInfo
- Publication number
- CN104948124A CN104948124A CN201510273523.8A CN201510273523A CN104948124A CN 104948124 A CN104948124 A CN 104948124A CN 201510273523 A CN201510273523 A CN 201510273523A CN 104948124 A CN104948124 A CN 104948124A
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- China
- Prior art keywords
- upper arm
- hinged
- oil cylinder
- pedestal
- manipulator
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Abstract
The invention discloses a mechanical assembly for clamping a pipe. The mechanical assembly for clamping the pipe comprises a base, an upper arm, a front arm and a mechanical hand. One end of the upper arm is hinged to the base through a connecting pin, the other end of the upper arm is hinged to the front arm, a base oil cylinder is further connected between the upper arm and the base, and an upper arm and front arm oil cylinder is further arranged at the hinged position of the upper arm and the front arm. The top end of the front arm is hinged to the mechanical hand, a weight sensor, a touch sensor and an alarm are further mounted on the mechanical hand, and a mechanical hand oil cylinder is further arranged between the mechanical hand and the front arm. According to the design, the mechanical assembly for clamping the pipe is simple in structure, small in size and capable of accurately sensing the position and weight situations of pipe bodies and accurately achieving clamping and laying down operation on the pipe bodies, and alarm reminding can be further carried out when abnormal situations are generated on mechanical assemblies.
Description
Technical field
The present invention relates to field of petroleum machinery, be specifically related to pipe clamping machinery assembly.
Background technology
In 3 stages of development experience of pipe draining technology in drillng operation, be respectively mechanization, semi-automation and full-automatic.Through the development of 60 years, external pipe draining technology was very ripe, forms various types of exhaust system: horizontal type, vertical-type, horizontal vertical type and quadruple board platform exhaust system etc.External representational supplier is the MH company of national of the United States's oil well Hua Gao company and Norway.The technology of current two companies is all mainly used in ocean machinery platform, and portioned product is also only for large-scale land drilling rig.Due to systems bulky and complex structure, cannot use at middle-deep well and shallow well land machine.In order to develop the system of applicable middle-deep well and the use of shallow well land machine, improve the efficiency of operation, make system light, compact, need that structure is more simplified, volume mass constantly reduces, need the pipe clamping device designing a kind of applicable middle-deep well and shallow well land machine.
Summary of the invention
Instant invention overcomes the deficiencies in the prior art, pipe clamping machinery assembly is provided, this kind mechanical assembly structure is simple, volume is little, accurately can respond to position and the weights of body, realize the clamping of body accurately and put down operation, also can warning reminding when abnormal conditions appear in mechanical assembly.
For solving above-mentioned technical problem, the present invention is by the following technical solutions: pipe clamping machinery assembly, comprise pedestal, upper arm, forearm and manipulator, described upper arm one end by connecting pin and pedestal hinged, the other end and forearm hinged, between upper arm and support, also connect pedestal oil cylinder, upper arm forearm oil cylinder is also set in the hinged place of upper arm and forearm; Described forearm top articulated robot arm, also installs gravity sensor, touch sensor and alarm on a robotic arm, between manipulator and forearm, also arranges manipulator oil cylinder.The touch sensor that manipulator is installed, for detecting the relative position between body and manipulator, after the gravitational conditions simultaneously by gravity sensor induction body, mechanical assembly realization is to the clamping fast and accurately of body or lowering operation.When there are abnormal conditions in the process of manipulator gripping body, alarm then can warning reminding operating personnel check in time, safeguards in time.
Described upper arm and pedestal hinged end are arcuate structure.Make upper arm, connection between pedestal and pedestal oil cylinder compacter, avoid this mechanical assembly other mechanical part of scratch in the process of motion.
Described manipulator front end is fixed with pincers dental lamina.Better can realize the clamping to body.
Described base bottom arranges two pieces of installing plates, respectively with pedestal oil cylinder and upper arm one end hinged.Connect more firm, change more convenient.
Compared with prior art, the invention has the beneficial effects as follows:
1, touch sensor manipulator installed, for detecting the relative position between body and manipulator, after the gravitational conditions simultaneously by gravity sensor induction body, mechanical assembly realization is to the clamping fast and accurately of body or lowering operation; When there are abnormal conditions in the process of manipulator gripping body, alarm then can warning reminding operating personnel check in time, safeguards in time.
2, upper arm and pedestal hinged end are arcuate structure, make upper arm, connection between pedestal and pedestal oil cylinder compacter, avoid this mechanical assembly other mechanical part of scratch in the process of motion.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
In figure, Reference numeral is expressed as: 1, pedestal; 2, pedestal oil cylinder; 3, upper arm; 4, forearm; 5, manipulator; 6, manipulator oil cylinder; 7, upper arm forearm oil cylinder; 8, gravity sensor; 9, touch sensor; 10, alarm.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further elaborated, and embodiments of the invention are not limited thereto.
Embodiment 1:
As shown in Figure 1, the present invention includes pedestal 1, upper arm 3, forearm 4 and manipulator 5, described upper arm 3 one end by connecting pin and pedestal 1 hinged, the other end and forearm 4 hinged, between upper arm 3 and support 1, also connect pedestal oil cylinder 2, upper arm forearm oil cylinder 7 is also set at upper arm 3 and the hinged place of forearm 4; Described forearm 4 top articulated robot arm 5, manipulator 5 is also installed gravity sensor 8, touch sensor 9 and alarm 10, between manipulator 5 and forearm 4, also arranges manipulator oil cylinder 6.
When there being pipe near manipulator, the touch sensor that manipulator is installed, for detecting the relative position between body and manipulator, after the gravitational conditions simultaneously by gravity sensor induction body, mechanical assembly realization is to the clamping fast and accurately of body or lowering operation.When there are abnormal conditions in the process of manipulator gripping body, alarm then can warning reminding operating personnel check in time, safeguards in time.The effect of manipulator oil cylinder wherein keeps the manipulator capturing pipe to be in horizontal attitude all the time, and pedestal oil cylinder is then to provide the power of rotating between upper arm and pedestal, and upper arm and front end oil cylinder are then to provide the power of rotating between upper arm and forearm.This mechanical assembly structure is simple, and volume is little, compact to design, is very suitable for the pipe clamping of middle-deep well and shallow well land machine.
Embodiment 2:
The present embodiment is preferably as follows on the basis of embodiment 1: upper arm 3 and pedestal 1 hinged end are arcuate structure.Make upper arm, connection between pedestal and pedestal oil cylinder compacter, avoid this mechanical assembly other mechanical part of scratch in the process of motion.
Described manipulator 5 front end is fixed with pincers dental lamina.
Two pieces of installing plates are set bottom described pedestal 1, respectively with pedestal oil cylinder 2 and upper arm 3 one end hinged.
Just this invention can be realized as mentioned above.
Claims (4)
1. pipe clamping machinery assembly, it is characterized in that: comprise pedestal (1), upper arm (3), forearm (4) and manipulator (5), described upper arm (3) one end by connecting pin and pedestal (1) hinged, the other end and forearm (4) hinged, between upper arm (3) and support (1), also connect pedestal oil cylinder (2), upper arm forearm oil cylinder (7) is also set at upper arm (3) and the hinged place of forearm (4); Described forearm (4) top articulated robot arm (5), manipulator (5) is also installed gravity sensor (8), touch sensor (9) and alarm (10), also arranges manipulator oil cylinder (6) between manipulator (5) and forearm (4).
2. pipe clamping machinery assembly according to claim 1, is characterized in that: described upper arm (3) and pedestal (1) hinged end are arcuate structure.
3. pipe clamping machinery assembly according to claim 1, is characterized in that: described manipulator (5) front end is fixed with pincers dental lamina.
4. pipe clamping according to claim 1 machinery assembly, is characterized in that: described pedestal (1) bottom arranges two pieces of installing plates, respectively with pedestal oil cylinder (2) and upper arm (3) one end hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510273523.8A CN104948124A (en) | 2015-05-26 | 2015-05-26 | Mechanical assembly for clamping pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510273523.8A CN104948124A (en) | 2015-05-26 | 2015-05-26 | Mechanical assembly for clamping pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104948124A true CN104948124A (en) | 2015-09-30 |
Family
ID=54163132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510273523.8A Pending CN104948124A (en) | 2015-05-26 | 2015-05-26 | Mechanical assembly for clamping pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104948124A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166688A (en) * | 2016-07-29 | 2016-11-30 | 北海明杰科技有限公司 | A kind of mechanical pick-up means with gravity sensor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102174879A (en) * | 2011-03-21 | 2011-09-07 | 中国石油天然气股份有限公司 | Kelly board tubular column arrangement system and operation method thereof |
| CN102459804A (en) * | 2009-06-03 | 2012-05-16 | 长年Tm公司 | Drill rod handler |
| CN202673198U (en) * | 2012-06-12 | 2013-01-16 | 宝鸡石油机械有限责任公司 | Automatic derrick monkey of drilling machine |
| CN102926685A (en) * | 2012-11-23 | 2013-02-13 | 吉林大学 | All-hydraulic automatic drilling tool conveying device for deep-well drilling rig |
-
2015
- 2015-05-26 CN CN201510273523.8A patent/CN104948124A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102459804A (en) * | 2009-06-03 | 2012-05-16 | 长年Tm公司 | Drill rod handler |
| CN102174879A (en) * | 2011-03-21 | 2011-09-07 | 中国石油天然气股份有限公司 | Kelly board tubular column arrangement system and operation method thereof |
| CN202673198U (en) * | 2012-06-12 | 2013-01-16 | 宝鸡石油机械有限责任公司 | Automatic derrick monkey of drilling machine |
| CN102926685A (en) * | 2012-11-23 | 2013-02-13 | 吉林大学 | All-hydraulic automatic drilling tool conveying device for deep-well drilling rig |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166688A (en) * | 2016-07-29 | 2016-11-30 | 北海明杰科技有限公司 | A kind of mechanical pick-up means with gravity sensor |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150930 |