CN105370226B - Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism - Google Patents
Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism Download PDFInfo
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- CN105370226B CN105370226B CN201510799405.0A CN201510799405A CN105370226B CN 105370226 B CN105370226 B CN 105370226B CN 201510799405 A CN201510799405 A CN 201510799405A CN 105370226 B CN105370226 B CN 105370226B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/24—Guiding or centralising devices for drilling rods or pipes
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism.The invention discloses a kind of tubing string to help mechanism, bar is grabbed including first, second grabs bar and telescopic drive part, described first grabs and is hinged with first connecting rod between the first end of bar and the telescopic drive part, second connecting rod, described second grabs and is hinged with third connecting rod between the first end of bar and the telescopic drive part, fourth link, described first grabs and is hinged with the 5th connecting rod between the second end of bar and the telescopic drive part, described second grabs and is hinged with six-bar linkage between the second end of bar and the telescopic drive part, described first grabs bar, first connecting rod, second connecting rod and telescopic drive part composition parallel-crank mechanism, described second grabs bar, third connecting rod, fourth link and telescopic drive part composition parallel-crank mechanism.Tubing string of the present invention helps that mechanism structure is simple, space layout is compact, accurate positioning when grabbing pipe, quick, and functional reliability is good.
Description
Technical field
The present invention relates to oil equipment field, is specifically related to a kind of tubing string and helps mechanism, and is provided with the tubing string and helps
Hold the drilling floor surface manipulator and oil drilling and extracting equipment of mechanism.
Background technology
Well head automation, it is unmanned be petroleum equipment developing direction.Drilling floor surface manipulator be a kind of main well head from
Dynamic makeup is standby, and it generally coordinates with two-deck table mechanical arm, instead of drilling floor surface operator complete tubing string well head and pipe rack it
Between carrying, can also be aided in drilling process iron driller complete tubing string make-up when to middle operation.
Drilling floor surface manipulator generally comprises pulley mechanism, mechanical arm and tubing string and helps mechanism, and pulley mechanism is installed on rig floor
On, mechanical arm bottom is arranged on pulley mechanism；Tubing string support mechanism is hinged on the end of mechanical arm, when needs will carry tubing string
When, pulley mechanism work, driving mechanical arm and tubing string are helped at mechanism to tubing string position, mechanical arm expansion, drive tubing string
Help mechanism to shift near and finally clamp tubing string, then again drive tubing string to precalculated position.
It is to help the direct actuating member of tubing string that tubing string, which helps mechanism, and its reliability directly decides the behaviour of drilling floor surface manipulator
Make reliability and service life.When head pipe post helps mechanism general structure to set complexity, cost is high, and functional reliability is bad.
The content of the invention
In view of this, it is an object of the invention to provide a kind of support of the tubing string of simple in construction, compact in design, good reliability
Mechanism, and drilling floor surface manipulator and oil drilling and extracting equipment using tubing string support mechanism.
The first aspect of the present invention, there is provided a kind of tubing string helps mechanism, including first grabs bar, second grabs bar and flexible drive
Moving part, described first grabs first connecting rod, second connecting rod is hinged between the first end of bar and the telescopic drive part, and described second
Grab and be hinged with third connecting rod, fourth link between the first end of bar and the telescopic drive part, described first grabs bar stretches with described
It is hinged with the 5th connecting rod between second end of contracting actuator, described second grabs and cut with scissors between the second end of bar and the telescopic drive part
Six-bar linkage is connected to, described first grabs bar, first connecting rod, second connecting rod and telescopic drive part composition parallel-crank mechanism, institute
State second and grab bar, third connecting rod, fourth link and telescopic drive part composition parallel-crank mechanism.
Further, the first connecting rod and the third connecting rod, which are arranged on described first and grab bar and second, grabs the first of bar
Face, the second connecting rod and the fourth link, which are arranged on described first, grabs bar and second and grabs the second face of bar.
Further, first the second end for grabbing bar is hinged with the first block, and described second grabs the second end of bar
It is hinged with the second block.
The second aspect of the present invention, additionally provide a kind of drilling floor surface manipulator, including mechanical arm and pulley mechanism, the machine
On the pulley mechanism, the tubing string that the mechanical arm tail end is hinged with described in any of the above-described helps mechanism for tool arm bottom.
Further, the mechanical arm includes turntable, principal arm, body cradle, auxiliary arm and mounting seat, the turntable and principal arm
First end is hinged, and the second end of the principal arm is hinged on the body cradle, and the first oil is hinged between the turntable and principal arm
Cylinder, the first end of the auxiliary arm are hinged on the body cradle, and the second end and the mounting seat of the auxiliary arm are hinged, described turn
The first pull bar and the second pull bar are also hinged between platform and the body cradle, first pull bar and the second pull bar are arranged in described
Principal arm both sides, the turntable, body cradle, the first pull bar and the second pull bar composition parallel-crank mechanism；The body cradle and institute
State and be also hinged with the 3rd pull bar and four-pull-rod between mounting seat, the 3rd pull bar and four-pull-rod are arranged in the auxiliary arm two
Side, the body cradle, mounting seat, the 3rd pull bar and four-pull-rod composition parallel-crank mechanism；The principal arm and the auxiliary arm
Between be hinged with synchronous fuel tank.
Further, the pulley mechanism includes the first track and the first dolly, and first dolly can be along described first
Track is slided, and the second track is provided with first traces cross, is additionally provided with the second dolly on first dolly, and described second
Telescopic oil cylinder is provided between dolly and first dolly, the telescopic oil cylinder both ends are respectively hinged at first dolly and institute
State on the second dolly, one of second track and second dolly are provided with guide rail, second track and described
The other of two dollies are provided with the chute coordinated with guide rail.
Further, guide rail is set on second dolly, second track sets the first chute coordinated with guide rail,
First dolly is also equipped with the second chute coordinated with guide rail, and second chute connects with first chute.
Further, chute is set on second dolly, second track sets the first guide rail coordinated with chute,
First dolly is also equipped with the second guide rail coordinated with chute, and second guide rail connects with first guide rail.
The third aspect of the present invention, additionally provides a kind of oil drilling and extracting equipment, including rig floor, and the rig floor is provided with above-mentioned
Drilling floor surface manipulator described in any one.
Further, first track and the second track installation are on the rig floor.
Tubing string support mechanism structure of the present invention is simple, space layout is compact, the setting of double parallel quadrangular mechanism, makes first
Grab bar and second to grab bar and can move in the horizontal direction all the time, when grabbing pipe, positioning is more accurate, quick, and functional reliability is good.
Brief description of the drawings
The accompanying drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structural representation that tubing string of the present invention helps mechanism first direction；
Fig. 2 is the structural representation that tubing string of the present invention helps mechanism second direction；
Fig. 3 is the structural representation that tubing string of the present invention helps mechanism third direction；
Fig. 4 is the structural representation of the operating position of drilling floor surface manipulator first of the present invention；
Fig. 5 is the structural representation of the operating position of drilling floor surface manipulator second of the present invention；
Fig. 6 is the structural representation in one direction of mechanical arm of the present invention；
Fig. 7 is the structural representation in the another direction of mechanical arm of the present invention.
Description of reference numerals：
1st, tubing string helps mechanism；101st, first bar is grabbed；102nd, second bar is grabbed；11st, telescopic drive part；121st, first connecting rod；
122nd, third connecting rod；131st, second connecting rod；132nd, fourth link；141st, the 5th connecting rod；142nd, six-bar linkage；151st, first gear
Block；152nd, the second block；
2nd, mechanical arm；21st, turntable；22nd, principal arm；221st, the first pull bar；222nd, the second pull bar；23rd, body cradle；24th, auxiliary arm；
241st, the 3rd pull bar；242nd, four-pull-rod；25th, mounting seat；26th, the first oil cylinder；27th, synchronous fuel tank；
301st, the first track；302nd, the second track；311st, the first dolly；312nd, the second dolly；32nd, telescopic oil cylinder；3121、
Guide rail；3021st, the first chute；3111st, the second chute.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In the present invention, term " first ", " second " are mainly used in distinguishing different parts or direction, but not to part and side
To progress concrete restriction.
It is that the tubing string of the present invention helps the structural representation of mechanism shown in Fig. 1-Fig. 3, is wherein that tubing string helps machine shown in Fig. 1
The structural representation of structure first direction, it is the structural representation that tubing string helps mechanism second direction shown in Fig. 2, is pipe shown in Fig. 3
Post helps the structural representation of mechanism third direction.It is to help tubing string to move that the tubing string of the embodiment, which helps the major function of mechanism,
It is dynamic, tubing string is moved between well head and pipe rack etc..It will be apparent to those skilled in the art that " tubing string " of the present invention refers to
Drilling rod, thribble (three connected drilling rods), oil pipe etc..
As shown in Figure 1, Figure 2, Figure 3 shows, the tubing string of the present embodiment helps mechanism, including first grabs bar 101, second grabs bar 102
Grab the company of first connecting rod 121, second is hinged between the first end of bar 101 and telescopic drive part 11 with telescopic drive part 11, first
Bar 131, second grabs third connecting rod 122, fourth link 132 is hinged between the first end of bar 102 and telescopic drive part 11, and first
Grab and the 5th connecting rod 141 is hinged between bar 101 and the second end of telescopic drive part 11, second grabs bar 102 and telescopic drive part 11
The second end between be hinged with six-bar linkage 142.
In the present embodiment, first grab bar 101, first connecting rod 121, second connecting rod 131 formed with telescopic drive part 11 it is parallel
Quadrangular mechanism, second, which grabs bar 102, third connecting rod 122, fourth link 132 and telescopic drive part 11, forms parallelogram machine
Structure.The setting of double parallel quadrangular mechanism, enable first to grab bar 101 and second and grab bar 102 and move in the horizontal direction all the time, grabbing
Positioning is more accurate, quick during pipe.
In the present embodiment, telescopic drive part 11 is preferably telescopic oil cylinder, then the first end of telescopic drive part 11 and the second end
Can be understood as be respectively telescopic oil cylinder tailpiece of the piston rod and cylinder barrel end, naturally it is also possible to be the driving that other can move along a straight line
Mechanism, the present invention is not limited thereto.
In the present embodiment, by the 5th connecting rod 141, six-bar linkage 142 control first grab bar 101 and second grab bar 102 it
Between folding amplitude.So that first grabs bar 101 and the second folding amplitude for grabbing bar 102 and can freely adjust, it is adapted to various different pipes
The tubing string in footpath, it is applied widely.
Preferably, in order to which more preferable structure space is laid out, in the present embodiment, first connecting rod 121 and third connecting rod 122 are set
Put and grab bar 101 and second first and grab the first face of bar 102, second connecting rod 131 and fourth link 132 are arranged on first and grab bar
101 and second the second face for grabbing bar 102.
Preferably, the first the second end for grabbing bar 101 is hinged with the first block 151, and second grabs the second end hinge of bar 102
The second block 152 is connected to, the first block 151 and the second block 152 are oppositely arranged so that tubing string helps mechanism in moving process
In, being clamped in first and grabbing bar 101 and the second tubing string grabbed between bar 102 to be skidded off so that safety is ensured.
When needing grab pipe operation, mobile tubing string helps mechanism target tubing string is passed through first gear close to target tubing string
The block 152 of block 151 and second enter first grab bar 101 and second grab between bar 102 after, start telescopic drive part 11 and extend,
Drive first to grab bar 101 and second by the 5th connecting rod 141 and six-bar linkage 142 to grab bar 102 and close, so as to clamp target tube
Post, then move tubing string and help after target tubing string is transported to precalculated position by mechanism, telescopic drive part 11 is retracted, and passes through the 5th connecting rod
141 and six-bar linkage 142 drive first to grab bar 101 and second to grab bar 102 and open, unclamp target tubing string and simultaneously remove.This reality
Apply tubing string and help that mechanism structure is simple, space layout is compact, functional reliability is good.
On the basis of the tubing string of above-described embodiment helps mechanism, present invention also offers a kind of drilling floor surface manipulator, figure
4th, be shown in Fig. 5 the present invention drilling floor surface manipulator structural representation, be wherein drilling floor surface manipulator shown in Fig. 4 in the first work
Make the structural representation of position, be structural representation of the drilling floor surface manipulator in the second operating position shown in Fig. 5；Another Fig. 6, Fig. 7
The structure that mechanical arm and tubing string in drilling floor surface manipulator help mechanism is also illustrated from different directions.
As shown in Figure 4,5, a kind of drilling floor surface manipulator, including mechanical arm 2 and pulley mechanism, pulley mechanism are installed on rig floor
On, on pulley mechanism, the end of mechanical arm 2 is hinged with foregoing tubing string and helps mechanism 1 bottom of mechanical arm 2, has foregoing pipe
Post helps all advantages of mechanism.
Further, in the present embodiment, as shown in Figure 6,7, mechanical arm 2 includes turntable 21, principal arm 22, body cradle 23, auxiliary
Arm 24 and mounting seat 25, the first end of turntable 21 and principal arm 22 are hinged, and the second end of principal arm 22 is hinged on body cradle 23, turntable
Ffirst cylinder 26 is hinged between 21 and principal arm 22, the first end of auxiliary arm 24 is hinged on body cradle 23, the second end of auxiliary arm 24
It is be hinged with mounting seat 25, the first pull bar 221 and the second pull bar 222, the first pull bar are also hinged between turntable 21 and body cradle 23
221 and second pull bar 222 be arranged in the both sides of principal arm 22, turntable 21, body cradle 23, the first pull bar 221 and the second pull bar 222 form
Parallel-crank mechanism；The 3rd pull bar 241 and four-pull-rod 242 are also hinged between body cradle 23 and mounting seat 25, the 3rd draws
Bar 241 and four-pull-rod 242 are arranged in the auxiliary both sides of arm 24, body cradle 23, mounting seat 25, the 3rd pull bar 241 and four-pull-rod 242
Parallel-crank mechanism is formed, synchronous fuel tank 27 is hinged between principal arm 22 and auxiliary arm 24.
In the present embodiment, the first pull bar 221 and the second pull bar 222 are arranged in the both sides of principal arm 22, the 3rd pull bar 241 and the 4th
Pull bar 242 is arranged in the auxiliary both sides of arm 24, and in the structure, pull bar is the lateral space for taking mechanical arm, rather than takes it and stretch
The space in contracting direction, thus volume is smaller during mechanical arm contraction, structure is more compact.
Meanwhile the setting of double parallel quadrangular mechanism so that the tubing string of mechanical arm tail end helps mechanism all the time can be along level
Direction is moved, and has further ensured accuracy and agility that tubing string helps mechanism to grab pipe positioning；By setting synchronous fuel tank 27,
Principal arm 22 and auxiliary arm 24, which can remain, to be synchronized with the movement.
To make drilling floor surface robot work scope bigger, pulley mechanism is generally set in mechanical arm bottom, it is specific such as Fig. 4,5
Shown, in the present embodiment, pulley mechanism includes the first track 301 and the first dolly 311, and the first dolly 311 can be along the first track
301 are slided, and certain limit is moved on drilling floor surface so as to driving mechanical arm.
Due to rig floor general work of the drilling floor surface manipulator typically between well head and pipe rack, its first track 301
It is preferably provided near well head, this just brings a trouble, i.e., when drilling floor surface manipulator does not work, mechanical arm is parked in
On first track 301, the expensive real estate near well head is occupied, so as to such as pass through power to other constructing operations on drilling floor surface
Rig floor etc. interferes with cat road conveying tubing string up and down, influences its normal work, therefore, to reduce this interference, this reality as far as possible
Apply in example, intersect with the first track 301 and be additionally provided with the second track 302, be additionally provided with the second dolly 312 on the first dolly 311, second
Telescopic oil cylinder 32 is provided between the dolly 311 of dolly 312 and first, the both ends of telescopic oil cylinder 32 are respectively hinged at the He of the first dolly 311
On second dolly 312, one of the second track 302 and the second dolly 312 are provided with guide rail, the second track 302 and the second dolly
The other of 312 are provided with the chute coordinated with guide rail, and specifically in the present embodiment, the second dolly 312 is provided with guide rail 3121,
Second track 302 is provided with the first chute 3021 coordinated with guide rail 3121.Certainly, also can in turn, on the second dolly 312
Chute is set, the guide rail coordinated with chute is set on the second track 302, the present invention is not limited to this.
When other constructing operations need to be carried out, to avoid drilling floor surface manipulator of the present invention from causing to interfere to it, start flexible
Oil cylinder 32 is stretched out, and the second dolly 312 is pushed away into the first dolly 311 and the first track 301, into the second track 302, made it away from
Well head, the well head space of occupancy is conceded, when needing drilling floor surface robot work, start telescopic oil cylinder 32 and retract, make second small
Car 312 and its mechanical arm on top are returned on the first track 301.The present embodiment is by setting two-orbit and can tie automatically
The double-layer trolley structure closed and departed from, is not required to dismantle, is not required to manual intervention, you can manipulator conveniently is withdrawn into well head.
In the present embodiment, to make the slip between the first dolly 311 and the second dolly 312 more flexible, in the first dolly
311 are provided with the second chute 3111 coordinated with the guide rail 3121 of the second dolly 312, the second chute 3111 and the first chute 3021
Connect.
The third aspect of the present invention, additionally provides a kind of oil drilling and extracting equipment, including rig floor, and foregoing drilling floor surface manipulator is set
Put on rig floor, be specifically, the first track 301 and the second track 302 of drilling floor surface manipulator are arranged on rig floor close to well head
Position.There is foregoing tubing string to help mechanism and all advantages of foregoing drilling floor surface manipulator for this, will not be repeated here.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (9)
1. a kind of tubing string helps mechanism, pulley mechanism motion is followed to help tubing string, including first grabs bar (101), the
Two grab bar (102) and telescopic drive part (11), it is characterised in that：Described first grabs bar (101) and the telescopic drive part (11)
First end between be hinged with first connecting rod (121), second connecting rod (131), described second grabs bar (102) and the telescopic drive
Third connecting rod (122), fourth link (132) are hinged between the first end of part (11), described first grabs bar (101) stretches with described
The 5th connecting rod (141) is hinged between second end of contracting actuator (11), described second grabs bar (102) and the telescopic drive part
(11) six-bar linkage (142) is hinged between the second end, described first grabs bar (101), first connecting rod (121), second connecting rod
(131) and telescopic drive part (11) forms parallel-crank mechanism, and described second grabs bar (102), third connecting rod (122), the 4th
Connecting rod (132) and telescopic drive part (11) composition parallel-crank mechanism；
The pulley mechanism includes the first track (301) and the first dolly (311), and first dolly (311) can be along described
One track (301) slides, coplanar with first track (301) and intersect and be provided with the second track (302), first dolly
(311) the second dolly (312) is additionally provided with, flexible oil is provided between second dolly (312) and first dolly (311)
Cylinder (32), telescopic oil cylinder (32) both ends are respectively hinged on first dolly (311) and second dolly (312),
First dolly (311) and second dolly (312) form the double-layer trolley structure that can be combined and departed from automatically, and described the
One of two tracks (302) and second dolly (312) are provided with guide rail, second track (302) and described second small
The other of car (312) is provided with the chute coordinated with guide rail；
The telescopic oil cylinder (32) is stretched out, and second dolly (312) is pushed away into first dolly (311) and first rail
Road (301), into second track (302)；The telescopic oil cylinder (32) is retracted, and second dolly (312) returns to described
First track (301).
2. tubing string according to claim 1 helps mechanism, it is characterised in that：The first connecting rod (121) and the described 3rd
Connecting rod (122), which is arranged on described first, grabs bar (101) and second and grabs the first face of bar (102), the second connecting rod (131) and institute
State fourth link (132) and be arranged on described first and grab bar (101) and second and grab the second face of bar (102).
3. tubing string according to claim 1 or 2 helps mechanism, it is characterised in that：Described first grabs the second end of bar (101)
Portion is hinged with the first block (151), and the described second the second end for grabbing bar (102) is hinged with the second block (152).
A kind of 4. drilling floor surface manipulator, it is characterised in that：Including mechanical arm (2) and pulley mechanism, mechanical arm (2) bottom is set
In on the pulley mechanism, the tubing string that mechanical arm (2) end is hinged with described in Claims 2 or 3 helps mechanism (1).
5. drilling floor surface manipulator according to claim 4, it is characterised in that：The mechanical arm (2) includes turntable (21), master
Arm (22), body cradle (23), auxiliary arm (24) and mounting seat (25), the turntable (21) and the first end of principal arm (22) are hinged, institute
The second end for stating principal arm (22) is hinged on the body cradle (23), and first is hinged between the turntable (21) and principal arm (22)
Oil cylinder (26), the first end of the auxiliary arm (24) are hinged on the body cradle (23), the second end of the auxiliary arm (24) and institute
It is be hinged to state mounting seat (25), the first pull bar (221) and second are also hinged between the turntable (21) and the body cradle (23)
Pull bar (222), first pull bar (221) and the second pull bar (222) are arranged in the principal arm (22) both sides, the turntable
(21), body cradle (23), the first pull bar (221) and the second pull bar (222) composition parallel-crank mechanism；The body cradle (23)
Also be hinged with the 3rd pull bar (241) and four-pull-rod (242) between the mounting seat (25), the 3rd pull bar (241) and
Four-pull-rod (242) is arranged in auxiliary arm (24) both sides, the body cradle (23), mounting seat (25), the 3rd pull bar (241) and
Four-pull-rod (242) forms parallel-crank mechanism；Synchronous fuel tank is hinged between the principal arm (22) and the auxiliary arm (24)
(27)。
6. drilling floor surface manipulator according to claim 5, it is characterised in that：Guide rail is set on second dolly (312),
Second track (302) sets the first chute (3021) coordinated with guide rail, and first dolly (311) is also equipped with and led
The second chute (3111) that rail coordinates, second chute (3111) connect with first chute (3021).
7. drilling floor surface manipulator according to claim 5, it is characterised in that：Chute is set on second dolly (312),
Second track (302) sets the first guide rail coordinated with chute, and first dolly (311) is also equipped with coordinating with chute
The second guide rail, second guide rail connects with first guide rail.
8. a kind of oil drilling and extracting equipment, including rig floor, it is characterised in that：The rig floor is provided with any one of claim 4-7 institute
The drilling floor surface manipulator stated.
9. oil drilling and extracting equipment according to claim 8, it is characterised in that：First track (301) and the second track
(302) it is installed on the rig floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510799405.0A CN105370226B (en) | 2015-11-02 | 2015-11-19 | Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520862428 | 2015-11-02 | ||
| CN2015208624287 | 2015-11-02 | ||
| CN201510799405.0A CN105370226B (en) | 2015-11-02 | 2015-11-19 | Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105370226A CN105370226A (en) | 2016-03-02 |
| CN105370226B true CN105370226B (en) | 2017-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510799405.0A Active CN105370226B (en) | 2015-11-02 | 2015-11-19 | Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism |
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| CN (1) | CN105370226B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105401897B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm |
| CN105401896B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and pulley mechanism |
| CN107855688A (en) * | 2016-06-08 | 2018-03-30 | 长沙双合盛企业管理有限公司 | A kind of welding system based on robot technology |
| CN105880882B (en) * | 2016-06-08 | 2018-01-09 | 肇庆谊龙科技有限公司 | A kind of robot system for pipe fitting welding |
| CN106437562A (en) * | 2016-12-09 | 2017-02-22 | 北京海格立斯智能装备技术有限公司 | Portable and detachable racking platform automatic pipe arranging device for workover rig |
| CN110792402A (en) * | 2018-08-01 | 2020-02-14 | 沈阳新松机器人自动化股份有限公司 | Pipe arranging robot for derrick racking platform |
| CN110259395B (en) * | 2019-06-28 | 2021-07-13 | 宝鸡石油机械有限责任公司 | Convertible rig floor manipulator |
| CN112647869B (en) * | 2020-12-22 | 2022-06-21 | 四川宏华石油设备有限公司 | Drill floor manipulator |
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