CN105401897B - Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm - Google Patents
Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm Download PDFInfo
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- CN105401897B CN105401897B CN201510814268.3A CN201510814268A CN105401897B CN 105401897 B CN105401897 B CN 105401897B CN 201510814268 A CN201510814268 A CN 201510814268A CN 105401897 B CN105401897 B CN 105401897B
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- 238000005553 drilling Methods 0.000 title claims description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 239000000203 mixture Substances 0.000 claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims abstract description 9
- 239000002828 fuel tank Substances 0.000 claims abstract description 7
- 238000010276 construction Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK 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
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- 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)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical arm, including turntable, principal arm, body cradle, auxiliary arm and mounting seat, the first end of the turntable and principal arm is hinged, second end of the principal arm is hinged on the body cradle, the first oil cylinder is hinged between the turntable and principal arm, the first end of the auxiliary arm is hinged on the body cradle, second end of the auxiliary arm is hinged with the mounting seat, the first pull bar and the second pull bar are also hinged between the turntable and the body cradle, first pull bar and the second pull bar are arranged in the principal arm both sides, the 3rd pull bar and four-pull-rod are also hinged between the body cradle and the mounting seat, 3rd pull bar and four-pull-rod are arranged in the auxiliary arm both sides, synchronous fuel tank is hinged between the principal arm and the auxiliary arm.The present invention is simple in construction, and what the pull bar of composition double parallel quadrangular mechanism took is the lateral space of mechanical arm, rather than the space of its telescopic direction, thus volume is smaller when mechanical arm shrinks, and structure is more compact.
Description
Technical field
The present invention relates to oil equipment field, is specifically related to a kind of mechanical arm, and is provided with the rig floor of the mechanical arm
Face manipulator and oil drilling and extracting equipment.
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.
For the needs for meeting comb He putting pipe, mechanical arm allows for multifreedom motion；Although existing mechanical arm energy
Multifreedom motion is enough realized, but structure is complex, not compact enough, reliability is not high enough, in addition, in order to ensure mechanical arm end
The tubing string at end helps mechanism to move in the horizontal direction all the time, and mechanical arm generally sets double parallel quadrangular mechanism, existing machinery
In arm, each arm of composition double parallel quadrangular mechanism is typically arranged in the direction of extension of mechanical arm, need to take larger stretch
Open up space so that volume when mechanical arm is retracted is larger, occupies larger rig floor space of planes, is unfavorable for space arrangement.
The content of the invention
In view of this, it is an object of the invention to provide volume is smaller, accounts for when a kind of simple in construction, compact in design, retraction
With the less mechanical arm in space, and drilling floor surface manipulator and oil drilling and extracting equipment using the mechanical arm.
The first aspect of the present invention, there is provided a kind of mechanical arm, including turntable, principal arm, body cradle, auxiliary arm and mounting seat,
The first end of the turntable and principal arm is hinged, and the second end of the principal arm is hinged on the body cradle, the turntable and principal arm
Between be hinged with the first oil cylinder, the first end of the auxiliary arm is hinged on the body cradle, the second end of the auxiliary arm with it is described
Mounting seat is hinged, and is also hinged with the first pull bar and the second pull bar between the turntable and the body cradle, first pull bar and
Second pull bar is arranged in the principal arm both sides, the turntable, body cradle, the first pull bar and the second pull bar composition parallelogram machine
Structure；The 3rd pull bar and four-pull-rod are also hinged between the body cradle and the mounting seat, the 3rd pull bar and the 4th draw
Bar is arranged in the auxiliary arm both sides, the body cradle, mounting seat, the 3rd pull bar and four-pull-rod composition parallel-crank mechanism；
Synchronous fuel tank is hinged between the principal arm and the auxiliary arm.
The second aspect of the present invention, a kind of drilling floor surface manipulator, including pulley mechanism and above-mentioned mechanical arm are additionally provided,
On the pulley mechanism, the mechanical arm tail end is hinged with tubing string and helps mechanism for the mechanical arm bottom.
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.
Further, the tubing string helps mechanism to grab bar including first, second grab bar and telescopic drive part, and described first grabs
First connecting rod, second connecting rod are hinged between the first end of bar and the telescopic drive part, described second grabs bar stretches with described
Third connecting rod, fourth link are hinged between the first end of actuator, described first grabs the second of bar and the telescopic drive part
It is hinged with the 5th connecting rod between end, 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, and described second grabs bar, the
Three connecting rods, 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 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.
The present invention is simple in construction, by setting double parallel quadrangular mechanism so that the tubing string of mechanical arm tail end helps mechanism
All the time it can in the horizontal direction move, ensure accuracy and agility that tubing string helps mechanism to grab pipe positioning；Pass through setting simultaneously
Synchronous fuel tank, principal arm and auxiliary arm, which can remain, to be synchronized with the movement.
In addition, the first pull bar and the second pull bar of composition parallel-crank mechanism are arranged in principal arm both sides, composition parallel four
The 3rd pull bar and four-pull-rod of Bian Xing mechanisms are arranged in auxiliary arm both sides, and in the structure, what pull bar took is the lateral of mechanical arm
Space, rather than the space of its telescopic direction is taken, thus volume is smaller during mechanical arm contraction, structure is more compact.
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 in one direction of mechanical arm of the present invention；
Fig. 2 is the structural representation in the another direction of mechanical arm of the present invention；
Fig. 3 is the structural representation of the operating position of drilling floor surface manipulator first of the present invention；
Fig. 4 is the structural representation of the operating position of drilling floor surface manipulator second of the present invention；
Fig. 5 is the structural representation that tubing string of the present invention helps mechanism first direction；
Fig. 6 is the structural representation that tubing string of the present invention helps mechanism second direction；
Fig. 7 is the structural representation that tubing string of the present invention helps mechanism third direction.
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；3021st, the first chute；311st, the first dolly；3111st, the second chute；
312nd, the second dolly；32nd, telescopic oil cylinder.
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.
Fig. 1, Fig. 2 show the structural representation of mechanical arm in the present embodiment drilling floor surface manipulator, and wherein Fig. 1 is mechanical arm
The structural representation in one direction, Fig. 2 are the structural representation of manipulator other direction.The main work(of the mechanical arm of the embodiment
It can be the support tubing string movement for driving tubing string to help mechanism, tubing string is moved between the position such as well head and pipe rack.Ability
Field technique personnel are it should be clear that " tubing string " of the present invention refers to drilling rod, thribble (three connected drilling rods), oil pipe etc..
As shown in Figure 1, 2, mechanical arm 2 includes turntable 21, principal arm 22, body cradle 23, auxiliary arm 24 and mounting seat 25, turntable 21
It is hinged with the first end of principal arm 22, the second end of principal arm 22 is hinged on body cradle 23, is hinged between turntable 21 and principal arm 22
Ffirst cylinder 26, the first end of auxiliary arm 24 are hinged on body cradle 23, and the second end of auxiliary arm 24 and mounting seat 25 are be hinged, turntable 21
The first pull bar 221 and the second pull bar 222 are also hinged between body cradle 23, the first pull bar 221 and the second pull bar 222 are 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 composition parallel-crank mechanism；Body cradle
The 3rd pull bar 241 and four-pull-rod 242 are also hinged between 23 and mounting seat 25, the 3rd pull 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 form parallel-crank mechanism, main
Synchronous fuel tank 27 is hinged between 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 ensured accuracy and agility that tubing string helps mechanism to grab pipe positioning；By setting synchronous fuel tank 27, principal arm 22
It can remain and be synchronized with the movement with auxiliary arm 24.
On the basis of the mechanical arm of above-described embodiment, present invention also offers a kind of drilling floor surface manipulator, Fig. 3, Fig. 4 institute
Show the structural representation for the drilling floor surface manipulator for being the present invention, be wherein drilling floor surface manipulator shown in Fig. 3 in the first operating position
Structural representation, be structural representation of the drilling floor surface manipulator in the second operating position shown in Fig. 4；Another Fig. 5-Fig. 7 is from difference
Direction illustrates the structure that tubing string of the present invention helps mechanism, is wherein that tubing string helps the structure of mechanism first direction to show shown in Fig. 5
It is intended to, is the structural representation that tubing string helps mechanism second direction shown in Fig. 6, is that tubing string helps mechanism third direction shown in Fig. 7
Structural representation.
As shown in Figure 3,4, 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, due to using upper
Mechanical arm 2 is stated, all advantages with aforementioned mechanical arm 2.
To make drilling floor surface robot work scope bigger, pulley mechanism is generally set in the bottom of mechanical arm 2, it is specific as Fig. 3,
Shown in 4, 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, can also be set in turn on the second dolly
Chute is put, the guide rail coordinated with chute is set on the second track, 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.
As illustrated in figs. 5-7, the tubing string of the present embodiment helps mechanism, including first grabs bar 101, second grabs bar 102 and flexible
Actuator 11, first grabs and is hinged with first connecting rod 121, second connecting rod 131 between the first end of bar 101 and telescopic drive part 11,
Second grabs and is hinged with third connecting rod 122, fourth link 132 between the first end of bar 102 and telescopic drive part 11, and first grabs bar
It is hinged with the 5th connecting rod 141 between 101 and the second end of telescopic drive part 11, second grabs the of bar 102 and telescopic drive part 11
Six-bar linkage 142 is hinged between two ends.
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, mechanical arm 2 slides into target tubing string by pulley mechanism and deposits point, unwinder first
Tool arm 2, tubing string support mechanism is moved to target tubing string, target tubing string is entered through the first block 151 and the second block 152
To first grab bar 101 and second grab between bar 102 after, start telescopic drive part 11 and extend, pass through the 5th connecting rod 141 and the 6th and connect
Bar 142 drives first to grab bar 101 and second and grabs bar 102 and close, and so as to clamp target tubing string, then moves tubing string and helps mechanism by mesh
After mark tubing string is transported to precalculated position, telescopic drive part 11 is retracted, and first is driven by the 5th connecting rod 141 and six-bar linkage 142
Grab bar 101 and second to grab bar 102 and open, unclamp target tubing string and simultaneously remove.The present embodiment tubing string help mechanism structure it is simple,
Space layout is compact, and functional reliability is good.
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.This has all advantages of aforementioned mechanical arm and foregoing drilling floor surface manipulator, 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 (7)
1. a kind of mechanical arm, is arranged on pulley mechanism, including turntable (21), principal 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, and the second end of the principal arm (22) is hinged on described
On body cradle (23), the first oil cylinder (26) is hinged between the turntable (21) and principal arm (22), the first of the auxiliary arm (24)
End is hinged on the body cradle (23), and the second end of the auxiliary arm (24) and the mounting seat (25) are be hinged, it is characterised in that：
Also it is hinged with the first pull bar (221) and the second pull bar (222) between the turntable (21) and the body cradle (23), described first
Pull bar (221) and the second pull bar (222) are arranged in the principal arm (22) both sides, and the turntable (21), body cradle (23), first are drawn
Bar (221) and the second pull bar (222) composition parallel-crank mechanism；Between the body cradle (23) and the mounting seat (25) also
The 3rd pull bar (241) and four-pull-rod (242) are hinged with, the 3rd pull bar (241) and four-pull-rod (242) are arranged in institute
Auxiliary arm (24) both sides are stated, the body cradle (23), mounting seat (25), the 3rd pull bar (241) are parallel with four-pull-rod (242) composition
Quadrangular mechanism；Synchronous fuel tank (27) is hinged between the principal arm (22) and the auxiliary arm (24)；
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).
A kind of 2. drilling floor surface manipulator, it is characterised in that：It is described including the mechanical arm (2) described in pulley mechanism and claim 1
On the pulley mechanism, mechanical arm (2) end is hinged with tubing string and helps mechanism (1) for mechanical arm (2) bottom.
3. drilling floor surface manipulator according to claim 2, 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).
4. drilling floor surface manipulator according to claim 2, 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.
5. the drilling floor surface manipulator according to claim 3 or 4, it is characterised in that：The tubing string helps mechanism (1) to include the
One grabs bar (101), second grabs bar (102) and telescopic drive part (11), and described first grabs bar (101) and the telescopic drive part
(11) first connecting rod (121), second connecting rod (131) are hinged between first end, described second grabs bar (102) stretches with described
Third connecting rod (122), fourth link (132) are hinged between the first end of actuator (11), described first grabs bar (101) and institute
State and be hinged with the 5th connecting rod (141) between the second end of telescopic drive part (11), described second grabs bar (102) and the flexible drive
Six-bar linkage (142) is hinged between second end of moving part (11), described first grabs bar (101), first connecting rod (121), second
Connecting rod (131) and telescopic drive part (11) composition parallel-crank mechanism, described second grab bar (102), third connecting rod (122),
Fourth link (132) and telescopic drive part (11) composition parallel-crank mechanism.
6. 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 2-5 institute
The drilling floor surface manipulator stated.
7. oil drilling and extracting equipment according to claim 6, 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 |
|---|---|---|---|
| CN201510814268.3A CN105401897B (en) | 2015-11-02 | 2015-11-19 | Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520865711 | 2015-11-02 | ||
| CN2015208657115 | 2015-11-02 | ||
| CN201510814268.3A CN105401897B (en) | 2015-11-02 | 2015-11-19 | Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105401897A CN105401897A (en) | 2016-03-16 |
| CN105401897B true CN105401897B (en) | 2017-12-08 |
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| CN201510814268.3A Active CN105401897B (en) | 2015-11-02 | 2015-11-19 | Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105370226B (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 tubing string help mechanism |
| 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 |
| CN108397144A (en) * | 2018-03-06 | 2018-08-14 | 常州大学 | A kind of support robot device of drilling rod automatic discharge system |
| CN108756957B (en) * | 2018-04-19 | 2020-04-07 | 陕西道一智能科技有限公司 | Special hydraulic clamp assembly for tunnel arch center installation |
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