CN105822239B - A kind of quadruple board platform intelligence pipe system - Google Patents
A kind of quadruple board platform intelligence pipe system Download PDFInfo
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- CN105822239B CN105822239B CN201610378522.4A CN201610378522A CN105822239B CN 105822239 B CN105822239 B CN 105822239B CN 201610378522 A CN201610378522 A CN 201610378522A CN 105822239 B CN105822239 B CN 105822239B
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- 210000000245 forearm Anatomy 0.000 claims abstract description 82
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000003208 petroleum Substances 0.000 abstract description 2
- 238000005553 drilling Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003796 beauty Effects 0.000 description 2
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- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- 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
- E21B19/146—Carousel systems, i.e. rotating rack systems
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- Mining & Mineral Resources (AREA)
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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Abstract
The present invention relates to petroleum equipment technical field, especially a kind of quadruple board platform intelligence pipe system.Comprising: fulcrum bearing, turntable, rotary drive mechanism, clamping jaw, linear moving mechanism, mechanical arm and controller, mechanical arm is mainly made of fixing seat, forearm, postbrachium, forearm link, rear arm link, forearm oil cylinder, postbrachium oil cylinder and connecting plate.It can realize moving horizontally for the quadruple board platform intelligence pipe system by linear moving mechanism；Rotary drive mechanism uses the rotary reducer with encoder, structure is reliable, it is compact, can accurately control angle of revolution；Clamping jaw can be made to remain horizontality, it can control the travel relationships of forearm oil cylinder and postbrachium oil cylinder between the two by first angle measuring device and second angle measuring device and controller, it realizes that the horizontal linear of clamping jaw is mobile, keeps extending and retracting for manipulator more stable；Clamping jaw it is compact-sized, occupy little space, fingerboard lock and the pneumatic bar of fingerboard can play safeguard protection, prevent tubing string from deviating from.
Description
Technical field
The present invention relates to petroleum equipment technical field, especially a kind of quadruple board platform intelligence pipe system.
Background technique
In Process of Oil Well Drilling, the work of lifting drilling rod is carried out, crane slings drilling rod, needs several operators
Auxiliary carries out drilling rod, drilling rod and gets rid of brill into mouse hole, kelly bar into big rat hole, stacks make-up, row's column, lower pillar stand, complete well
The work such as bar.
During drilling rod operation, since drilling rod is long, when removing drilling rod, the amplitude of fluctuation of drilling rod is larger, by
Human assistance operation safety hidden danger is larger；And several operators are needed to assist, waste of manpower, working efficiency is lower.
Tubing string is mainly transplanted in fingerboard by elevator and takes out feeding elevator by fingerboard by quadruple board platform swing pipe manipulator.
Tubing string is transplanted in fingerboard by manipulator by elevator: after tubing string sits ground, the stretching of quadruple board platform intelligence pipe system is caught
Tubing string, elevator are opened, and manipulator retraction is taken out tubing string by elevator, and manipulator is rotated by 90 °, and manipulator is mobile to be directed at phase for tubing string
The fingerboard answered, fingerboard lock are opened, and then tubing string is sent into fingerboard by Arm expanding, and fingerboard lock is closed, and gripper retracts, and are returned to
Start position；
Tubing string is taken out by fingerboard and is sent into elevator by manipulator: manipulator being moved to corresponding fingerboard position, manipulator is stretched
Tubing string is grabbed out, and fingerboard lock is opened, and arm retracts, and tubing string is hauled out fingerboard, fingerboard lock is closed, and manipulator is moved to well head position
It sets, is then rotated by 90 °, tubing string is directed at elevator, arm is released, and tubing string is sent into elevator.
The two action process are opposite.
Summary of the invention
Present invention seek to address that the above problem, provides a kind of quadruple board platform intelligence pipe system, topology layout is reasonable, leads to
Moving horizontally for the quadruple board platform intelligence pipe system can be realized by crossing linear moving mechanism, realize quadruple board platform intelligence pipe system face
Fingerboard；Rotary drive mechanism uses rotary reducer, and structure is reliable, compact；Encoder is had on rotary reducer, it can be accurate
Control angle of revolution；It can make clamping jaw always by the first parallelogram and the second parallelogram and their shared connecting plates
Horizontality is kept, can control by first angle measuring device and second angle measuring device and controller and adjustment forearm is oily
The travel relationships of cylinder and postbrachium oil cylinder between the two realize that the horizontal linear of clamping jaw is mobile, keep extending and retracting for manipulator more flat
Surely；Clamping jaw it is compact-sized, occupy little space, fingerboard lock and the pneumatic bar of fingerboard can play safeguard protection, prevent tubing string
Abjection, the technical scheme adopted is as follows:
A kind of quadruple board platform intelligence pipe system characterized by comprising
Fulcrum bearing is installed on quadruple board platform assembly, and straight on quadruple board platform assembly by linear moving mechanism driving
Line movement；
Turntable is rotatably installed in fulcrum bearing；
Rotary drive mechanism for driving turntable to rotate relative to fulcrum bearing；
Clamping jaw is fixed on clamping jaw seat；
Mechanical arm, mainly by fixing seat, forearm, postbrachium, forearm link, rear arm link, for drive forearm relatively after
The forearm oil cylinder of arm rotation, postbrachium oil cylinder and connecting plate composition for driving postbrachium to rotate relative to fixed seat, the fixing seat
It is fixed on turntable, the postbrachium top is hinged with fixing seat, and hinge joint is the first hinge joint；Postbrachium bottom end passes through shaft
It is hinged with the bottom end of forearm, hinge joint is the second hinge joint；The connecting plate is rotationally connected in shaft, the rear arm link
Top is hinged with fixing seat, and hinge joint is third hinge joint；The first end of arm link bottom end and connecting plate is hinged afterwards, hingedly
Point is the 4th hinge joint；The second end of the forearm link bottom end and connecting plate is hinged, and hinge joint is the 5th hinge joint, forearm
Connecting rod top is hinged with clamping jaw seat, and hinge joint is the 6th hinge joint；The top of the forearm is hinged with clamping jaw seat, hinge joint
For the 7th hinge joint；Postbrachium oil cylinder one end is hinged with fixing seat, and the other end is hinged with postbrachium, the forearm oil cylinder one
End is hinged with postbrachium, and the other end is hinged with forearm；First hinge joint, the second hinge joint, the 4th hinge joint and third
Successively line forms the first parallelogram, second hinge joint, the 5th hinge joint, the 6th hinge joint and the 7th hinge to hinge joint
Successively line forms the second parallelogram to contact；
And controller.
On that basis of the above technical scheme, the clamping jaw level is fixed on clamping jaw seat.
On that basis of the above technical scheme, first parallelogram and the second parallelogram are with hinged by second
The vertical line of point is symmetry axis axial symmetry.
In order to improve the structural strength of forearm and postbrachium, the postbrachium and forearm are case girder structure, for whole beauty
It sees, the forearm link is located in forearm, and the rear arm link is located in postbrachium.
In order to further increase the structural strength of forearm and postbrachium, the inside of the postbrachium and forearm is fixedly installed several
Lateral stiffening plate, offers the through-hole passed through for forearm link and rear arm link, the length of the through-hole in the stiffening plate
Degree should be greater than the diameter of forearm link and rear arm link, so as to make forearm link and rear arm link can the activity in through-hole.
On that basis of the above technical scheme, it is provided at the position that the fixing seat and postbrachium are hinged for measuring postbrachium
The angle value of relatively fixed seat or the first angle measuring device of angle change value, at the position that the forearm and postbrachium are hinged
It is provided with for measuring forearm with respect to the angle value of postbrachium or the second angle measuring device of angle change value.
On that basis of the above technical scheme, the first angle measuring device and second angle measuring device are coding
Device.
On that basis of the above technical scheme, the controller is according to first angle measuring device and second angle measuring device
The stroke of measured value, the stroke and postbrachium oil cylinder that control forearm oil cylinder makes clamping jaw horizontal rectilinear motion always.
On that basis of the above technical scheme, the fingerboard on the quadruple board platform assembly is equipped on one end of mechanical arm
Fingerboard lock, the fingerboard lock are mainly made of rotary cylinder and baffle, and the rotary cylinder is fixedly installed on fingerboard, the rotation
Rotaring cylinder drives flapper by shaft coupling, and the pneumatic bar of fingerboard, institute are provided on the front end face of the fingerboard of front end
It states the pneumatic bar of fingerboard to be mainly made of cylinder and bar, the cylinder is fixedly installed on fingerboard, the bar and cylinder
Piston rod is connected.
On that basis of the above technical scheme, the clamping jaw includes: clamping jaw arm, clamping jaw intermediate, clamping jaw oil cylinder, clamping jaw arm company
Bar, connector and connecting rod, the clamping jaw intermediate are fixed on clamping jaw seat, and the clamping jaw oil cylinder is fixedly installed among clamping jaw
In body, the connector is connected with the free end of clamping jaw oil cylinder piston rod, and clamping jaw arm link one end is mutually cut with scissors with connector
It connects, the other end is hinged with clamping jaw arm；Described connecting rod one end is hinged with clamping jaw arm, and the other end is mutually cut with scissors with clamping jaw intermediate
It connects；With clamping jaw arm link interconnected, clamping jaw arm and connecting rod for one group, it is symmetrically disposed on clamping jaw intermediate two for totally two groups
Side.
Preferably, the connecting rod is at least four, is parallel to each other between the connecting rod of clamping jaw intermediate the same side.
The stability of clamping so can be improved.
Preferably, the front end face of the clamping jaw intermediate is arc, is fixed with the first flexible pad of arc, the folder thereon
The clamping face of pawl arm is arc, and the second flexible pad of arc is fixed on the clamping face.
On that basis of the above technical scheme, the clamping jaw further includes the camera for observing clamping jaw arm clamp position, institute
Camera is stated to be installed on clamping jaw intermediate.
On that basis of the above technical scheme, the clamping jaw further includes approaching switch, described to be installed on clamping jaw seat close to switch
On.
On that basis of the above technical scheme, the end of the clamping jaw arm is removably connected with for making clamping jaw arm be suitable for pressing from both sides
Hold the replaceable expansion block of small diameter tubing string.
On that basis of the above technical scheme, the rotary drive mechanism includes with the rotary reducer of encoder and hydraulic
Motor, the hydraulic motor and rotary reducer are installed in fulcrum bearing, and the hydraulic motor is driven by rotary reducer to be revolved
Turntable rotation.
On that basis of the above technical scheme, the linear moving mechanism is mainly by linear guide, motor, gear and rack gear group
At the linear guide and rack gear are fixedly installed on quadruple board platform assembly, and the fulcrum bearing is slidably connected with linear guide, institute
It states motor to be installed in fulcrum bearing, the gear is driven by motor and is meshed with rack gear.
On that basis of the above technical scheme, the bottom end of the forearm extends rearwardly to form extension, the forearm oil cylinder
Bottom end is hinged with extension, and hinge joint is located at the rear of the second hinge joint；The forearm oil cylinder and postbrachium oil cylinder are all set in
The rear of postbrachium.Being realized by extension can be set to forearm oil cylinder at the rear of postbrachium, be arranged compared to by forearm oil cylinder
At the front of postbrachium, more compact structure, occupied space is smaller.
The present invention has the advantage that topology layout is reasonable, which can be realized by linear moving mechanism
Guard system moves horizontally, and realizes quadruple board platform intelligence pipe system face fingerboard；Rotary drive mechanism uses rotary reducer, knot
Structure is reliable, compact；Encoder is had on rotary reducer, can accurately control angle of revolution；By the first parallelogram and
Second parallelogram and their shared connecting plates can make clamping jaw remain horizontality, pass through first angle measuring device
It can control and adjust the travel relationships of forearm oil cylinder and postbrachium oil cylinder between the two with second angle measuring device and controller, realize
The horizontal linear of clamping jaw is mobile, keeps extending and retracting for manipulator more stable；Clamping jaw it is compact-sized, occupy little space, fingerboard
Lock and the pneumatic bar of fingerboard can play safeguard protection, prevent tubing string from deviating from.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
A kind of embodiment of invention for those of ordinary skill in the art without creative efforts, can be with
It is extended according to the attached drawing of offer and obtains other implementation attached drawings.
Fig. 1: schematic perspective view of the invention；
Fig. 2: overlooking structure diagram of the invention；
Fig. 3: left view structural representation of the invention；
Fig. 4: the structural schematic diagram of mechanical arm of the present invention；
Fig. 5: the schematic diagram of mechanism of one action process of mechanical arm of the present invention；
Fig. 6: the overlooking structure diagram of clamping jaw of the present invention；
Fig. 7: Fig. 5 A-A profile structure diagram；
Fig. 8: the enlarged structure schematic diagram of fingerboard lock of the present invention；
Fig. 9: the enlarged structure schematic diagram of the pneumatic bar of fingerboard of the present invention；
Specific embodiment
The invention will be further described with example with reference to the accompanying drawing:
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
It, can also be indirectly connected through an intermediary to be to be connected directly.It for the ordinary skill in the art, can be specific
Situation understands the concrete meaning of above-mentioned term in the present invention.
In the description of the present invention, it should be noted that term "front", "rear", "upper", "lower", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom" is positional relationship based on the figure, is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", " third ", " the 4th " are only used for
Purpose is described, relative importance is not understood to indicate or imply.
As shown in Figures 1 to 4, a kind of quadruple board platform intelligence pipe system characterized by comprising
Fulcrum bearing 1 is installed on quadruple board platform assembly 3, and by linear moving mechanism driving on quadruple board platform assembly
Linear motion；
Turntable 2 is rotatably installed in fulcrum bearing 1；
Rotary drive mechanism for driving turntable 2 to rotate relative to fulcrum bearing 1；
Clamping jaw 4 is fixed on clamping jaw seat 40；
Mechanical arm 5, mainly by fixing seat 17, forearm 10, postbrachium 11, forearm link 12, rear arm link 13, for driving
Forearm oil cylinder 14 that forearm is rotated relative to postbrachium, postbrachium oil cylinder 15 and connecting plate for driving postbrachium to rotate relative to fixed seat 17
16 compositions, the fixing seat 17 is fixed on turntable 2, and 11 top of postbrachium is hinged with fixing seat 17, hinge joint the
One hinge joint A1；11 bottom end of postbrachium is hinged by shaft 18 and the bottom end of forearm 10, and hinge joint is the second hinge joint A2；It is described
Connecting plate 16 is rotationally connected in shaft 18, and rear 13 top of arm link is hinged with fixing seat 17, and hinge joint is third hinge
Contact A3；13 bottom end of arm link and the first end of connecting plate 16 are hinged afterwards, and hinge joint is the 4th hinge joint A4；The forearm connects
12 bottom end of bar and the second end of connecting plate 16 are hinged, and hinge joint is the 5th hinge joint B1,12 top of forearm link and clamping jaw seat
40 are hinged, and hinge joint is the 6th hinge joint B2；The top of the forearm 10 is hinged with clamping jaw seat 40, and hinge joint is the 7th hinge
Contact B3；Described 15 one end of postbrachium oil cylinder is hinged with fixing seat 17, and the other end is hinged with postbrachium 11, the forearm oil cylinder 14
One end is hinged with postbrachium 11, and the other end is hinged with forearm 10；The first hinge joint A1, the second hinge joint A2, the 4th hinge
Contact A4 and third hinge joint A3 successively line form the first parallelogram, the second hinge joint A2, the 5th hinge joint B1,
Successively line forms the second parallelogram to 6th hinge joint B2 and the 7th hinge joint B3；
And controller.
Preferably, 4 level of clamping jaw is fixed on clamping jaw seat 40.
Preferably, first parallelogram is with the vertical line by the second hinge joint A2 with the second parallelogram
Symmetry axis axial symmetry.
In order to improve the structural strength of forearm and postbrachium, the postbrachium and forearm are case girder structure, for whole beauty
It sees, the forearm link 12 is located in forearm 10, and the rear arm link 13 is located in postbrachium 11；
In order to further increase the structural strength of forearm and postbrachium, the inside of the postbrachium and forearm is fixedly installed several
Lateral stiffening plate, offers the through-hole passed through for forearm link 12 and rear arm link 13, the through-hole in the stiffening plate
Length be greater than forearm link 12 and rear arm link 13 diameter.
Preferably, it is provided at the position that the fixing seat 17 and postbrachium 11 are hinged relatively fixed for measuring postbrachium 11
The first angle measuring device of 17 angle values of seat or angle change value is arranged at the position that the forearm 10 and postbrachium 11 are hinged
Have for measuring forearm 10 with respect to 11 angle value of postbrachium or the second angle measuring device of angle change value.
Preferably, the first angle measuring device and second angle measuring device are encoder (absolute type encoder
Or incremental encoder).
Preferably, controller value according to measured by first angle measuring device and second angle measuring device, control
The stroke of forearm oil cylinder 14 processed and the stroke of postbrachium oil cylinder 15 make the horizontal rectilinear motion always of clamping jaw 4.
As shown in figure 5, due to the upper short side A1A3 of the first parallelogram be it is fixed, according to parallelogram feature
The angle of two short side relative level lines of one parallelogram be always it is constant, due to the first parallelogram and second flat
Row quadrangle shares same connecting plate 16, therefore the angle of the lower short side A2B1 relative level line of the second parallelogram is not always
Become, the angle according to the characteristic of parallelogram, and then the upper short side B2B3 relative level line of the second parallelogram is also
It is thick-and-thin, therefore pass through the structure of two parallelogram and shared connecting plate 16 and ensure that in quadruple board platform Intelligent drainage piping
In the course of work of uniting, no matter how forearm oil cylinder 14 and postbrachium oil cylinder 15 are acted, and clamping jaw 4 remains horizontality.
Meanwhile the angle value that controller is fed back by first angle measuring device and second angle measuring device, and according to
The relational expression in controller between two angles is defaulted in, the stroke of the stroke and postbrachium oil cylinder 15 that control forearm oil cylinder 14 makes
The horizontal rectilinear motion always of clamping jaw 4.
As shown in Fig. 2, Fig. 8 and Fig. 9, it is preferred that the fingerboard 32 on the quadruple board platform assembly 3 is close to the one of mechanical arm 5
Fingerboard lock 30 is installed, the fingerboard lock 30 is mainly made of rotary cylinder 30-1 and baffle 30-4, the rotary cylinder on end
30-1 is fixedly installed on fingerboard 32, and the rotary cylinder 30-1 drives baffle 30-4 rotation by shaft coupling 30-2, further,
It is fixedly installed with first bearing seat 30-3 on the fingerboard 32 and second bearing seat 30-5, the baffle 30-4 pass through axis and bearing
It is rotationally connected between first bearing seat 30-3 and second bearing seat 30-5, the stability of baffle 30-4 rotation so can be improved,
Withstand more force baffle 30-4 simultaneously, the baffle 30-4 is advisable with vertical fingerboard 32；
The pneumatic bar 31 of fingerboard, the fingerboard gas are provided with as shown in Fig. 2, being located on the front end face of the fingerboard 32 of front end
Dynamic bar 31 is mainly made of cylinder 31-1 and bar 31-3, and the cylinder 31-1 is fixedly installed on fingerboard 32, the bar
31-3 is connected with the piston rod of cylinder 31-1, further, is fixedly installed with cunning on the front end face of the fingerboard 32 of front end
31-2 is covered, the bar 31-3 is threaded onto sliding sleeve 31-2 and is slidably connected with sliding sleeve 31-2, can so enable bar 31-3
It withstands more force.
As shown in Fig. 2, being to first pass through the 33 (free end of fingerboard and two of the first introduction channel when tubing string is by well head to area under control
Folded region between layer platform assembly 3) enter the second introduction channel 34 (folded region between adjacent fingerboard), fingerboard locks 30 peaces
The effect of full guard prevents tubing string from deviating from from the second introduction channel 34, and the pneumatic bar 31 of fingerboard prevents tubing string from importing from first
Deviate from channel 33.
As shown in Figure 6 and Figure 7, it is preferred that the clamping jaw 4 include: clamping jaw arm 41, clamping jaw intermediate 42, clamping jaw oil cylinder 43,
Clamping jaw arm link 44, connector 45 and connecting rod 46, the clamping jaw intermediate 42 are fixed on clamping jaw seat 40, the clamping jaw oil cylinder
43 are fixedly installed in clamping jaw intermediate 42, and the connector 45 is connected with the free end of 43 piston rod of clamping jaw oil cylinder, described
44 one end of clamping jaw arm link is hinged with connector 45, and the other end is hinged with clamping jaw arm 41；Described 46 one end of connecting rod and folder
Pawl arm 41 is hinged, and the other end is hinged with clamping jaw intermediate 42；With clamping jaw arm link 44 interconnected, clamping jaw arm 41 and connect
Extension bar 46 is one group, is symmetrically disposed on 42 two sides of clamping jaw intermediate for totally two groups.It is compact-sized, it occupies little space.
Preferably, the connecting rod 46 is at least four, the phase between the connecting rod 46 of 42 the same side of clamping jaw intermediate
It is mutually parallel.The stability of clamping can be improved by passive constraint.
Preferably, the front end face of the clamping jaw intermediate 42 is arc, is fixed with the first flexible pad 50 of arc, institute thereon
The clamping face for stating clamping jaw arm 41 is arc, and the second flexible pad 51 of arc is fixed on the clamping face.When clamping jaw intermediate 42
When with clamping jaw arm 41 by impact force, the first flexible pad 50 and the second flexible pad 51 carry out buffer protection clamping jaw intermediate 42 and folder
Pawl arm 41.
Preferably, the clamping jaw 4 further includes the camera 47 for observing 41 clamp position of clamping jaw arm, the camera 47
It is installed on clamping jaw intermediate 42.
Preferably, the clamping jaw 4 further includes close to switch 48, and the close switch 48 is installed on clamping jaw seat 40.
Preferably, the end of the clamping jaw arm 41 is removably connected with for making clamping jaw arm 41 be suitable for holding smaller diameter
The replaceable expansion block 49 of tubing string.
Further, the rotary drive mechanism includes the rotary reducer 8 and hydraulic motor for having encoder, described hydraulic
Motor and rotary reducer are installed in fulcrum bearing 1, and the hydraulic motor drives turntable 2 to rotate by rotary reducer.Knot
Structure is reliable, compact；The encoder having on rotary reducer can accurately control angle of revolution.
Further, the linear moving mechanism is mainly made of linear guide, motor, gear and rack gear 7, and the straight line is led
Rail and rack gear are fixedly installed on quadruple board platform assembly, and the fulcrum bearing 1 is slidably connected with linear guide, and the motor is installed on
In fulcrum bearing 1, the gear is driven by motor and is meshed with rack gear 7.The quadruple board platform intelligence pipe system so can be achieved
It moves horizontally, realizes quadruple board platform intelligence pipe system face fingerboard.
Further, the bottom end of the forearm 10 extends rearwardly to form extension 100, the bottom end of the forearm oil cylinder 14 with
Extension 100 is hinged, and hinge joint is located at the rear of the second hinge joint A2；The forearm oil cylinder 14 and postbrachium oil cylinder 15 are respectively provided with
In the rear of postbrachium 11.Being realized by extension can be set to forearm oil cylinder at the rear of postbrachium, compare forearm oil cylinder
It is set at the front of postbrachium, more compact structure, occupied space is smaller.
The present invention is described by way of example above, but the present invention is not limited to above-mentioned specific embodiment, all to be based on
Any changes or modifications that the present invention is done are fallen within the scope of the claimed invention.
Claims (8)
1. a kind of quadruple board platform intelligence pipe system characterized by comprising
Fulcrum bearing (1) is installed on quadruple board platform assembly (3), and by linear moving mechanism driving on quadruple board platform assembly
Linear motion；
Turntable (2) is rotatably installed on fulcrum bearing (1)；
Rotary drive mechanism for driving turntable (2) to rotate relative to fulcrum bearing (1)；
Clamping jaw (4) is fixed on clamping jaw seat (40)；Clamping jaw (4) level is fixed on clamping jaw seat (40)；
Mechanical arm (5), mainly by fixing seat (17), forearm (10), postbrachium (11), forearm link (12), rear arm link (13),
Forearm oil cylinder (14) for driving forearm to rotate relative to postbrachium, the postbrachium oil for driving postbrachium to rotate relative to fixed seat (17)
Cylinder (15) and connecting plate (16) composition, the fixing seat (17) are fixed on turntable (2), postbrachium (11) top and fixation
Seat (17) is hinged, and hinge joint is the first hinge joint (A1)；Postbrachium (11) bottom end passes through the bottom end of shaft (18) and forearm (10)
It is hinged, hinge joint is the second hinge joint (A2)；The connecting plate (16) is rotationally connected on shaft (18), the rear arm link
(13) top is hinged with fixing seat (17), and hinge joint is third hinge joint (A3)；Arm link (13) bottom end and connecting plate afterwards
(16) first end is hinged, and hinge joint is the 4th hinge joint (A4)；Forearm link (12) bottom end and connecting plate (16)
Second end is hinged, and hinge joint is the 5th hinge joint (B1), and forearm link (12) top is hinged with clamping jaw seat (40), hinge joint
For the 6th hinge joint (B2)；The top of the forearm (10) is hinged with clamping jaw seat (40), and hinge joint is the 7th hinge joint (B3)；
Described postbrachium oil cylinder (15) one end is hinged with fixing seat (17), and the other end is hinged with postbrachium (11), the forearm oil cylinder
(14) one end is hinged with postbrachium (11), the other end and forearm (10)
It is hinged；First hinge joint (A1), the second hinge joint (A2), the 4th hinge joint (A4) and third hinge joint (A3) according to
Secondary line forms the first parallelogram, second hinge joint (A2), the 5th hinge joint (B1), the 6th hinge joint (B2) and the
Successively line forms the second parallelogram to seven hinge joints (B3)；The forearm link (12) is located in forearm (10), after described
Arm link (13) is located in postbrachium (11)；
And controller;
It is provided at the position that the fixing seat (17) and postbrachium (11) are hinged for measuring the relatively fixed seat of postbrachium (11)
(17) position that the first angle measuring device of angle value or angle change value, the forearm (10) and postbrachium (11) are hinged
Place is provided with for measuring forearm (10) with respect to the angle value of postbrachium (11) or the second angle measuring device of angle change value, institute
Stating first angle measuring device and second angle measuring device is encoder;The controller is measured according to first angle and is filled
It sets and value measured by second angle measuring device, the stroke of control forearm oil cylinder (14) and the stroke of postbrachium oil cylinder (15)
Make clamping jaw (4) horizontal rectilinear motion always, the inside of the postbrachium and forearm is fixedly installed several lateral stiffening plates, in institute
The through-hole for offering in stiffening plate and passing through for forearm link (12) and rear arm link (13) is stated, the length of the through-hole is greater than forearm
The diameter of connecting rod (12) and rear arm link (13).
2. a kind of quadruple board platform intelligence pipe system according to claim 1, it is characterised in that: the quadruple board platform assembly
(3) fingerboard (32) on is equipped with fingerboard lock (30) on the one end of mechanical arm (5), and the fingerboard lock (30) is mainly by rotating
Cylinder (30-1) and baffle (30-4) composition, the rotary cylinder (30-1) are fixedly installed on fingerboard (32), the rotary pneumatic
Cylinder (30-1) is rotated by shaft coupling (30-2) driving baffle (30-4),
The pneumatic bar of fingerboard (31), the pneumatic bar of fingerboard (31) are provided on the front end face of the fingerboard (32) of front end
It is mainly made of cylinder (31-1) and bar (31-3), the cylinder (31-1) is fixedly installed on fingerboard (32), the bar
(31-3) is connected with the piston rod of cylinder (31-1).
3. a kind of quadruple board platform intelligence pipe system according to claim 1, it is characterised in that: the clamping jaw (4) includes: folder
Pawl arm (41), clamping jaw intermediate (42), clamping jaw oil cylinder (43), clamping jaw arm link (44), connector (45) and connecting rod (46), institute
It states clamping jaw intermediate (42) to be fixed on clamping jaw seat (40), the clamping jaw oil cylinder (43) is fixedly installed on clamping jaw intermediate (42)
In, the connector (45) is connected with the free end of clamping jaw oil cylinder (43) piston rod, described clamping jaw arm link (44) one end with
Connector (45) is hinged, and the other end is hinged with clamping jaw arm (41)；It is mutually cut with scissors with clamping jaw arm (41) described connecting rod (46) one end
It connects, the other end is hinged with clamping jaw intermediate (42)；With clamping jaw arm link (44) interconnected, clamping jaw arm (41) and connecting rod
(46) it is one group, is symmetrically disposed on clamping jaw intermediate (42) two sides for totally two groups, the connecting rod (46) is at least four, is located at folder
It being parallel to each other between the connecting rod (46) of pawl intermediate (42) the same side, the front end face of the clamping jaw intermediate (42) is arc,
It is fixed with the first flexible pad (50) of arc thereon, the clamping face of the clamping jaw arm (41) is arc, is fixed on the clamping face
There is the second flexible pad (51) of arc.
4. a kind of quadruple board platform intelligence pipe system according to claim 2, it is characterised in that: the clamping jaw (4) further includes
For observing the camera (47) of clamping jaw arm (41) clamp position and close to switch (48), the camera (47) is installed on clamping jaw
It is described to be installed on clamping jaw seat (40) close to switch (48) on intermediate (42).
5. a kind of quadruple board platform intelligence pipe system according to claim 3, feature exist
In: the end of the clamping jaw arm (41) is removably connected with for making clamping jaw arm (41) be suitable for holding smaller diameter tubing string
Replaceable expansion block (49).
6. a kind of quadruple board platform intelligence pipe system according to claim 1, it is characterised in that: the rotary drive mechanism packet
Rotary reducer (8) and hydraulic motor with encoder are included, the hydraulic motor and rotary reducer are installed on fulcrum bearing (1)
On, the hydraulic motor is rotated by rotary reducer driving turntable (2).
7. a kind of quadruple board platform intelligence pipe system according to claim 1, it is characterised in that: the linear moving mechanism master
It to be made of linear guide, motor, gear and rack gear (7), the linear guide and rack gear are fixedly installed in quadruple board platform assembly
On, the fulcrum bearing (1) is slidably connected with linear guide, and the motor is installed on fulcrum bearing (1), and the gear is driven by motor
It moves and is meshed with rack gear.
8. a kind of quadruple board platform intelligence pipe system according to claim 1, it is characterised in that: the bottom end of the forearm (10)
It extends rearwardly to form extension (100), bottom end and the extension (100) of the forearm oil cylinder (14) are hinged, and hinge joint is located at
The rear of second hinge joint (A2)；The forearm oil cylinder (14) and postbrachium oil cylinder (15) are all set in the rear of postbrachium (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610378522.4A CN105822239B (en) | 2016-05-31 | 2016-05-31 | A kind of quadruple board platform intelligence pipe system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610378522.4A CN105822239B (en) | 2016-05-31 | 2016-05-31 | A kind of quadruple board platform intelligence pipe system |
Publications (2)
| Publication Number | Publication Date |
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| CN105822239A CN105822239A (en) | 2016-08-03 |
| CN105822239B true CN105822239B (en) | 2019-06-21 |
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| CN201610378522.4A Active CN105822239B (en) | 2016-05-31 | 2016-05-31 | A kind of quadruple board platform intelligence pipe system |
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| CN106593324B (en) * | 2016-11-25 | 2018-01-09 | 山东瑞奥智能设备有限责任公司 | Oil drilling machine quadruple board platform pipe arranging robot and method |
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| CN111997538B (en) * | 2020-09-25 | 2022-10-04 | 中油国家油气钻井装备工程技术研究中心有限公司 | Oil rig derrick racking platform device capable of suspending and discharging drill rods |
| CN112627747A (en) * | 2020-11-27 | 2021-04-09 | 四川宏华石油设备有限公司 | Pipe supporting device |
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| CN112647870B (en) * | 2020-12-24 | 2021-10-29 | 中国地质大学（武汉） | Drill rod taking and placing method and system for cylindrical cage type rotary dumping pipe rack of submarine drilling rig |
| CN115992657B (en) * | 2023-01-09 | 2023-07-25 | 山东爱特机电技术有限责任公司 | Automatic racking platform pipe arranging device for drilling machine operation |
| CN116892372B (en) * | 2023-09-11 | 2024-01-23 | 合力（天津）能源科技股份有限公司 | Intelligent mechanical arm for automatically righting casing |
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