CN106593324A - Tube-arraying robot for racking platform of petroleum well drill and method - Google Patents
Tube-arraying robot for racking platform of petroleum well drill and method Download PDFInfo
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- CN106593324A CN106593324A CN201611053154.2A CN201611053154A CN106593324A CN 106593324 A CN106593324 A CN 106593324A CN 201611053154 A CN201611053154 A CN 201611053154A CN 106593324 A CN106593324 A CN 106593324A
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- guide rail
- tubing string
- drive
- board platform
- quadruple board
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000003208 petroleum Substances 0.000 title abstract 2
- 238000005553 drilling Methods 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 230000008859 change Effects 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 238000005303 weighing Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 6
- 239000000203 mixture Substances 0.000 description 3
- 230000006837 decompression Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- E21B19/146—Carousel systems, i.e. rotating rack systems
Abstract
The invention relates to a tube-arraying robot for a racking platform of a petroleum well drill and a method. According to the technical scheme, the tube-arraying robot comprises a tubular column claw, a telescopic boom, a rotating mechanism, a sliding base, a stretchable guide rail and an overturning racking platform, wherein the tubular column claw is hinged at one end of the telescopic boom; the upper end of the telescopic boom is connected with the rotating mechanism; the rotating mechanism is arranged on the sliding base; the sliding base can move on the stretchable guide rail; and the stretchable guide rail is arranged at the bottom of the overturning racking platform. The tube-arraying robot has the beneficial effects that the full mechanical continuous operation for automatically arraying and placing the tubular columns of the racking platform is realized; the labor intensity of the operator is greatly reduced; the accident rate of the drilling operation is greatly reduced; the work danger of the worker is reduced; the safety is greatly promoted; the labor cost is saved; the tube-arraying robot is coordinated with a power elevator, so that the unmanned operation of the racking platform is realized and the problem that the space is occupied by the racking platform and the guide rail which are released on specific positions under a special state is effectively solved.
Description
Technical field
The present invention relates to a kind of oil drilling machine auxiliary machinery and method, more particularly to a kind of two layers of oil drilling machine
Platform pipe arranging robot and method.
Background technology
Drillng operation is one and invests huge risk engineering, the quality of drilling equipment directly affect bit speed,
Drilling safety and drilling well economic benefit.As shown in Figure 1, quadruple board platform tubing string（70）Discharge is tubing string in drilling process（70）From
Well head moves to fingerboard（80）Necessary process in the discharge frame of composition, tubing string in current drillng operation（70）Rise put typically work
People operates elevator, by elevator clamping, is then discharged into specified location by manpower, then by workman's dislodging release elevator.It is this
Crawl and release, mobile, discharge tubing string（70）Work high above the ground it is abnormally dangerous and labor intensity is larger, working performance is very low
Under.Under certain special operation condition, quadruple board platform segment space is interfered with rig traveling system, so as to limit the working line of traveling system
Journey.
Prior art is suffered from the drawback that and not enough：Artificial work high above the ground is dangerous high, and accident rate is high；Workman's physical demandss
Greatly, work under hard conditions, work sustainability is poor, and efficiency is low；The higher economical difference of cost of labor, it is impossible to solve two under special operation condition
The release problem that layer platform particular orientation is taken up space.
The content of the invention
The purpose of the present invention is aiming at the drawbacks described above of prior art presence, there is provided a kind of oil drilling machine quadruple board platform row
Pipe robot and method, can save cost of labor, reduce workman's work risk, realize automatization's drilling and repairing well operation, in addition,
Present invention achieves quadruple board platform comb mechanization, is rising for rig for substituting the high-altitude round trip for being accomplished manually danger
Lower brill automatic tube-arranging operational security provides reliable guarantee, eliminates dependence of the round trip to quadruple board platform rigger.
A kind of oil drilling machine quadruple board platform pipe arranging robot that the present invention is mentioned, its technical scheme is：Including tubing string pawl
（10）, telescopic arm（20）, slew gear（30）, sliding bottom（40）, guide rail and guide rail telescoping mechanism, the tubing string pawl（10）It is living
It is dynamic to be connected to telescopic arm（20）One end, telescopic arm（20）Upper end be connected to slew gear（30）, slew gear（30）Arrange
In sliding bottom（40）On, sliding bottom（40）Can be in telescopic rail（50）Upper power walking, telescopic rail（50）It is installed on and turns over
Turn quadruple board platform（60）Bottom；
Telescopic arm（20）Drive tubing string pawl（10）Fore-and-aft direction is moved, and tubing string pawl（10）Movement locus on a horizontal plane；
Slew gear（30）Drive tubing string pawl（10）And telescopic arm（20）Rotation, to change tubing string pawl（10）The direction of work；Slide
Base（40）Can be in telescopic rail（50）Upper power walking, to drive tubing string pawl（10）Direction along ng a path is translated；Telescopic arm
（20）, slew gear（30）And sliding bottom（40）Combinative movement can make tubing string pawl（10）Freely transport in a specific plane
It is dynamic.
Preferably, above-mentioned tubing string pawl（10）With connecting seat（11）Link together, described tubing string pawl（10）Side set
There is tubing string lever（12）, with tubing string pawl（10）The retaining groove of both sides coordinates, tubing string lever drive rod（13）Two ends respectively with tubing string shelves
Bar（12）And crank（14）It is fixedly connected, and is installed to connecting seat（11）, make tubing string lever（12）Can be in the tubing string pawl of U-shaped
（10）On do open and close movement, lever driver（15）One end and crank（14）It is hinged, the other end and connecting seat（11）It is hinged.
Preferably, above-mentioned telescopic arm（20）Including flexible arm seat（21）, principal arm（22）, auxiliary（23）, auxiliary counter-jib
（24）, gripper counter-jib（25）, gripper balanced lever（26）, drive oil cylinder（27）, the principal arm（22）Upper end with it is flexible
Arm seat（21）It is hinged, lower end and gripper balanced lever（26）And auxiliary（23）It is hinged, the auxiliary（23）The other end with pipe
Post pawl（10）It is hinged, auxiliary counter-jib（24）Upper end and flexible arm seat（21）It is hinged, lower end and auxiliary（23）It is hinged, gripper is put down
Weighing apparatus arm（25）Altogether two pieces, wherein the two ends of respectively with flexible arm seat（21）With gripper balanced lever（26）It is hinged, it is another
The two ends of part respectively with tubing string pawl（10）With gripper balanced lever（26）It is hinged, the driving oil cylinder（27）One end be hinged to
Principal arm（22）, the other end is articulated with auxiliary（23）.
Preferably, above-mentioned driving oil cylinder（27）Drive principal arm（22）And auxiliary（23）Angle is produced, tubing string pawl is made（10）Can
To protract, stretch arm seat（21）, principal arm（22）, auxiliary（23）With auxiliary counter-jib（24）, this four are hinged as double leval jib
Mechanism, works as principal arm（22）And auxiliary（23）When mutually motion produces angle, this angle is always maintained at by vertical plane decile.
Preferably, above-mentioned slew gear（30）Including revolving bed（31）, slewing bearing（32）, revolution driving gear
（33）, revolution driving motor（34）, the slewing bearing（32）A thrust ball bearing of the outer ring with gear, inner ring with
Sliding bottom（40）It is fixedly connected, outer ring and revolving bed（31）Connection, revolution driving motor（34）With sliding bottom（40）It is fixed
Connection, motor drive shaft and revolution driving gear（33）It is fixedly connected, revolution driving gear（33）With slewing bearing（32）Outer ring
Tooth engagement；Revolution driving motor（34）During rotation, slewing bearing is driven（32）Outer ring rotates, and drives revolving bed（31）Turn
It is dynamic.
Preferably, above-mentioned sliding bottom（40）Including base body（41）, sliding shaft sleeve（42）, base roller（43）, base
Drive motor（44）, base drive gear（45）, tooth bar（46）, the base roller（43）More than one piece is provided with, with base body（41）
It is fixedly connected and can freely rotates, sliding shaft sleeve（42）With base body（41）It is fixedly connected, base drive motor（44）It is fixed
In base body（41）On, base drive motor（44）Output shaft drive base drive gear（45）Rotation, tooth bar（46）It is fixed
In telescopic rail（50）On, sliding shaft sleeve（42）With positioned at telescopic rail（50）On slide bar（52）Formation is slidably matched；Base
Drive motor（44）Drive drive gear（45）In rotation, by moving drive gear（45）With tooth bar（46）Engagement, drive slide
Dynamic base（40）Along guide rail（51）Slide, so as to realize that the part for driving it to carry is moved together.
Preferably, above-mentioned base roller（43）It is distributed in guide rail（51）Up and down both sides, can clamp guide rail, carry slip bottom
Seat（40）Weight and service load, it is allowed to sliding bottom（40）Along guide rail in the presence of driving force（51）Slidably, and
There is provided inverted constraint prevents from toppling；The sliding shaft sleeve（42）With positioned at telescopic rail（50）On slide bar（52）Form slip to match somebody with somebody
Close, in sliding bottom（40）Along guide rail（51）When slidably, its moving direction is limited, prevent sideslip.
Preferably, above-mentioned telescopic rail（50）Including guide rail（51）, slide bar（52）, track roller（53）, slide rail
（54）, guide rail hook（55）, guide rail hangers（56）, guide rail driving oil cylinder（57）, slide bar（52）, track roller（53）Hang with guide rail
Hook（55）It is fixed on guide rail（51）On, slide rail（54）It is fixedly welded on quadruple board platform（61）On, guide rail drives oil cylinder（57）
Two ends are hingedly connected to guide rail（51）With slide rail（54）, guide rail hook（55）Totally four are fixedly welded on upset quadruple board platform
（60）.
Preferably, above-mentioned upset quadruple board platform（60）Including quadruple board platform（61）, quadruple board platform roll-over table（62）And Upset hinge
（63）, the quadruple board platform（61）By Upset hinge（63）Connection quadruple board platform roll-over table（62）.
A kind of using method of oil drilling machine quadruple board platform pipe arranging robot that the present invention is mentioned, including procedure below：
One is when lever driver（15）When flexible, by crank（14）Drive tubing string lever drive rod（13）Rotation, so as to band
Dynamic tubing string lever（12）90 ° of upsets are produced, when tubing string lever（12）It is turned to and connecting seat（11）During angle state in 90 °, even
Joint chair（11）U-shaped tubing string pawl（10）In open mode, tubing string can be now received or discharged（70）, now tubing string lever
（12）Will not expand outwardly, overall width will not increase, can be inserted and removed from the tubing string for having discharged, when tubing string lever
（12）It is turned to and connecting seat（11）During horizontality, connecting seat（11）U-tube post storage mouth be in closure state, now may be used
To move tubing string；
Two is to drive oil cylinder（27）Drive principal arm（22）And auxiliary（23）Angle is produced, tubing string pawl is made（10）Can protract, stretch
Arm seat（21）, principal arm（22）, auxiliary（23）With auxiliary counter-jib（24）, this four are hinged as quadric chain, work as principal arm
（22）And auxiliary（23）When mutually motion produces angle, this angle is always maintained at by vertical plane decile；
Three is revolution driving motor（34）During rotation, slewing bearing is driven（32）Outer ring rotates, and drives revolving bed（31）Turn
It is dynamic, so as to realize that the part being hinged on revolving bed can rotate；
Four is base drive motor（44）Drive drive gear（45）Rotation, by moving drive gear（45）With tooth bar（46）Nibble
Close, drive sliding bottom（40）Along guide rail（51）Slide, so as to realize that the part for driving it to carry is moved together；In addition, flexible
Guide rail（50）With upset quadruple board platform（60）Possess the state of two different shapes, and being capable of the phase change between the two states
Change：
Five is to drive oil cylinder in guide rail（57）Driving under, track roller（53）Make guide rail（51）Can be in slide rail（54）
Inside slidably, when equipment is in normal operating conditions, guide rail（51）On guide rail hook（55）With quadruple board platform（60）On
Guide rail hangers（56）Hang and close, make guide rail（51）In steady statue, and larger load can be carried, when device transform to two layers
During platform rollover states, guide rail drives oil cylinder（57）Driving lower guideway（51）Delay backward and move, guide rail hook（55）With guide rail hangers
（56）Break off relations, until guide rail drives oil cylinder（57）Stroke is automatically stopped after discharging completely, when equipment is converted into again normal work
During state, in guide rail oil cylinder is driven（57）Driving under, guide rail（51）Delay forward and move, until guide rail hook（55）With guide rail hangers
（56）Close and be automatically stopped after hook；
Six is the quadruple board platform when equipment is in normal operating conditions（60）Launch, when quadruple board platform rollover states are required transformation into,
Telescopic rail（50）State when should first complete to be converted into quadruple board platform rollover states, after confirming in place, quadruple board platform roll-over table（62）
It is pulled upwardly bit flipping extreme position, i.e. completion statuses switching；Otherwise when device transform is to normal condition, should first by two layers
Platform roll-over table（62）Decentralization, after confirming in place, telescopic rail（50）Switch to normal operating conditions, i.e. completion statuses again to cut
Change, integrally realize quadruple board platform tubing string automatic-discharging nobody Fully-mechanized work continuously.
The invention has the beneficial effects as follows：Fully-mechanized the working continuously of quadruple board platform tubing string automatic-discharging is realized, is significantly subtracted
The labor intensity of few operator, the very big accident rate that must reduce drillng operation, while workman's work risk is reduced, safety
Property greatly improve, saved cost of labor, with power elevator coordinate, realize the unmanned operation of quadruple board platform, perfection solves special
Need to discharge the problem that quadruple board platform and guide rail particular orientation are taken up space under state.
Description of the drawings
Fig. 1 is the use state schematic diagram of the present invention
Fig. 2 is the structural representation of the present invention
Fig. 3 is the structural representation of gripper
Fig. 4 is the structural representation of telescopic arm
Fig. 5 is the telescopic displacement curve synoptic diagram of telescopic arm
Fig. 6 is the structural representation of slew gear
Fig. 7 is the structural representation of sliding bottom
Fig. 8 is the structural representation of telescopic rail
Fig. 9 is that telescopic rail and quadruple board platform are in normal operating conditions schematic diagram
Figure 10 is that telescopic rail and quadruple board platform are in quadruple board platform rollover states schematic diagram
Figure 11 is the hydraulic principle schematic diagram that guide rail drives oil cylinder
In figure：Tubing string pawl（10）, telescopic arm（20）, slew gear（30）, sliding bottom（40）, telescopic rail（50）, upset two
Layer platform（60）, tubing string（70）, connecting seat（11）, tubing string lever（12）, tubing string lever drive rod（13）, crank（14）, lever drive
Dynamic device（15）, contracting arm seat（21）, principal arm（22）, auxiliary（23）, auxiliary counter-jib（24）, gripper counter-jib（25）, gripper
Balanced lever（26）, drive oil cylinder（27）, revolving bed（31）, slewing bearing（32）, revolution driving gear（33）, revolution drive
Dynamic motor（34）, base body（41）, sliding shaft sleeve（42）, base roller（43）, base drive motor（44）, base drive gear
（45）, tooth bar（46）, guide rail（51）, slide bar（52）, track roller（53）, slide rail（54）, guide rail hook（55）, guide rail
Hangers（56）, guide rail driving oil cylinder（57）, quadruple board platform（61）, quadruple board platform roll-over table（62）, Upset hinge（63）, oil cylinder body
（571）, hydraulic control one-way valve（572）, hydraulic line（573）, reversal valve（574）.
Specific embodiment
With reference to accompanying drawing, the invention will be further described：
A kind of oil drilling machine quadruple board platform pipe arranging robot that the present invention is mentioned, as shown in Fig. 2 including tubing string pawl（10）, it is flexible
Arm（20）, slew gear（30）, sliding bottom（40）, guide rail and guide rail telescoping mechanism.Tubing string pawl（10）It is hinged on telescopic arm
（20）One end, telescopic arm（20）Upper end be connected to slew gear（30）, slew gear（30）It is arranged on sliding bottom（40）
On, sliding bottom（40）Can be in telescopic rail（50）Upper power walking, telescopic rail（50）It is installed on upset quadruple board platform（60）Bottom
Portion.
In the concrete application of the present invention, tubing string pawl（10）Structure is as shown in figure 3, above-mentioned tubing string pawl（10）With connecting seat（11）
Link together, connecting seat（11）It is provided with tubing string lever（12）, tubing string lever drive rod（13）, crank（14）, lever drive
Device（15）；
Wherein, connecting seat（11）Tubing string can be accommodated with one（70）U-tube post storage mouth, that is, tubing string pawl.Tubing string
Lever drive rod（13）Two ends respectively with tubing string lever（12）And crank（14）It is fixedly connected, and is installed to connecting seat（11）, make
Tubing string lever（12）Open and close movement can be done on U-tube post storage mouth.Lever driver（15）One end and crank（14）It is hinged,
The other end and connecting seat（11）It is hinged.
When lever driver（15）When flexible, by crank（14）Drive tubing string lever drive rod（13）Rotation, so as to band
Dynamic tubing string lever（12）90 ° of upsets are produced, when tubing string lever（12）It is turned to and connecting seat（11）During angle state in 90 °, even
Joint chair（11）U-tube post storage mouth be in open mode, can now receive or discharge tubing string（70）.Now tubing string lever
（12）Will not expand outwardly, overall width will not increase, easily can be inserted and removed from the tubing string for having discharged, improve
The discharge efficiency of tubing string, will not reduce emission intensity；When tubing string lever（12）It is turned to and connecting seat（11）During horizontality, even
Joint chair（11）U-tube post storage mouth be in closure state, can now move tubing string.
Referring to the drawings 4, in the telescopic arm of the present invention（20）Including flexible arm seat（21）, principal arm（22）, auxiliary（23）, auxiliary
Counter-jib（24）, gripper counter-jib（25）, gripper balanced lever（26）, drive oil cylinder（27）；
Telescopic arm（20）In all parts using being articulated and connected.Principal arm（22）Upper end and flexible arm seat（21）It is hinged, lower end
Simultaneously with gripper balanced lever（26）And auxiliary（23）It is hinged, auxiliary（23）The other end and tubing string pawl（10）It is hinged, auxiliary is put down
Weighing apparatus arm（24）Upper end and flexible arm seat（21）It is hinged, lower end and auxiliary（23）It is hinged, gripper counter-jib（25）Common two pieces, wherein
One two ends respectively with flexible arm seat（21）With gripper balanced lever（26）Be hinged, another with two ends respectively with tubing string pawl
（10）With gripper balanced lever（26）It is hinged.Drive oil cylinder（27）One end is hinged to principal arm（22）, the other end is articulated with auxiliary
（23）.
Drive oil cylinder（27）Drive principal arm（22）And auxiliary（23）Angle is produced, tubing string pawl is made（10）Can protract, stretch
Arm seat（21）, principal arm（22）, auxiliary（23）With auxiliary counter-jib（24）, this 4 are hinged as quadric chain, what it was realized
Function is to work as principal arm（22）And auxiliary（23）When mutually motion produces angle, this angle is always maintained at by vertical plane decile, this function
Steady operation to ensureing total is most important.Flexible arm seat（21）, principal arm（22）, gripper counter-jib（25）And machinery
Pawl balanced lever（26）Composition parallelogram linkage, auxiliary（23）, gripper counter-jib（25）, gripper balanced lever
（26）With tubing string pawl（10）The parallelogram linkage of composition same size, by this parallelogram connection-rod machine at two
Structure, in combination with special quadric chain effect above, can keep tubing string pawl（10）Do into move back in same level
Make, concrete curve movement is as shown in Figure 5.
Referring to the drawings 6, the slew gear of the present invention（30）Including revolving bed（31）, slewing bearing（32）, revolution drive
Moving gear（33）, revolution driving motor（34）, slewing bearing（32）It is a thrust ball bearing of the outer ring with gear.Inner ring
With sliding bottom（40）It is fixedly connected, outer ring and revolving bed（31）Connection, revolution driving motor（34）With sliding bottom（40）Gu
Fixed connection, motor drive shaft and revolution driving gear（33）It is fixedly connected, revolution driving gear（33）With slewing bearing（32）Outward
The tooth engagement of circle；Revolution driving motor（34）During rotation, slewing bearing is driven（32）Outer ring rotates, and drives revolving bed（31）
Rotate, so as to realize that the part being hinged on revolving bed can rotate.
Referring to the drawings 7, the sliding bottom of the present invention（40）Including base body（41）, sliding shaft sleeve（42）, base roller
（43）, base drive motor（44）, base drive gear（45）, tooth bar（46）, base roller（43）Totally 8, with base body
（41）It is fixedly connected and can freely rotates, sliding shaft sleeve（42）With base body（41）It is fixedly connected, base drive motor（44）
It is fixed on base body（41）On, its axle can drive base drive gear（45）Rotation, tooth bar（46）It is fixed on telescopic rail（50）
On, sliding shaft sleeve（42）With positioned at telescopic rail（50）On slide bar（52）Formation is slidably matched.
Base roller（43）It is distributed in guide rail（51）Up and down both sides, can clamp guide rail, carry sliding bottom（40）Weight
Amount and service load, it allows sliding bottom（40）Along guide rail in the presence of driving force（51）Slidably, and provide reverse
Constraint prevents from toppling.Sliding shaft sleeve（42）With positioned at telescopic rail（50）On slide bar（52）Formation is slidably matched.At slip bottom
Seat（40）Along guide rail（51）When slidably, its moving direction is limited, prevent sideslip.Base drive motor（44）Drive sliding tooth
Wheel（45）In rotation, by moving drive gear（45）With tooth bar（46）Engagement, drive sliding bottom（40）Along guide rail（51）It is sliding
It is dynamic.So as to realize that the part for driving it to carry is moved together.
In the present invention, telescopic rail（50）With upset quadruple board platform（60）Possess the state of two different shapes, and can
Mutually convert between the two states：1. normal operating conditions；2 quadruple board platform rollover states.
Normal operating conditions is shown in Fig. 9, is the principal states of equipment work, and equipment carries out for a long time loading normally in this case
Work.
Quadruple board platform rollover states are shown in Figure 10, are the special states of equipment, and this state is by overturning quadruple board platform（62）And guide rail
（51）Evolution discharging being taken up space for its particular orientation, in order to the work of rig traveling system, equipment is in this shape
Loaded work piece can not be carried out under state.
Referring to the drawings 8, the telescopic rail of the present invention（50）Including guide rail（51）, slide bar（52）, track roller（53）, guide rail
Slip rail（54）, guide rail hook（55）, guide rail hangers（56）, guide rail driving oil cylinder（57）, slide bar（52）, track roller（53）With
Guide rail is linked up with（55）It is fixed on guide rail（51）On.Slide rail（54）It is fixedly welded on quadruple board platform（61）On.Guide rail drives oil
Cylinder（57）Two ends are hingedly connected to guide rail（51）With slide rail（54）.Guide rail is linked up with（55）Totally 4 are fixedly welded on upset
Quadruple board platform（60）.
Oil cylinder is driven in guide rail（57）Driving under, track roller（53）Make guide rail（51）Can be in slide rail（54）
Inside slidably.As shown in figure 9, when equipment is in normal operating conditions, guide rail（51）On guide rail hook（55）With two layers
Platform（60）On guide rail hangers（56）Hang and close, make guide rail（51）In steady statue, and larger load can be carried.Work as equipment
When transforming to quadruple board platform rollover states, as shown in Figure 10：Guide rail drives oil cylinder（57）Driving lower guideway（51）Delay backward and move, lead
Rail is linked up with（55）With guide rail hangers（56）Break off relations, until guide rail drives oil cylinder（57）Stroke is automatically stopped after discharging completely.When setting
For when being converted into normal operating conditions again, in guide rail oil cylinder is driven（57）Driving under, guide rail（51）Delay forward and move, until leading
Rail is linked up with（55）With guide rail hangers（56）Close and be automatically stopped after hook.
With reference to shown in Fig. 9, Figure 10, the upset quadruple board platform of the present invention（60）Including quadruple board platform（61）, quadruple board platform roll-over table
（62）, Upset hinge（63）, when equipment is in normal operating conditions, quadruple board platform（60）State is as shown in Figure 9.When need conversion
During to quadruple board platform rollover states, telescopic rail（50）State when should first complete to be converted into quadruple board platform rollover states, confirm in place it
Afterwards, quadruple board platform roll-over table（62）It is pulled upwardly bit flipping extreme position, i.e. completion statuses switching.Otherwise when device transform is to just
Often during state, should first by quadruple board platform roll-over table（62）Decentralization, after confirming in place, telescopic rail（50）Normal work is switched to again
State, i.e. completion statuses switch.
It is that the guide rail of the present invention drives oil cylinder referring to the drawings 11（57）Hydraulic schematic diagram, it includes oil cylinder body
（571）, hydraulic control one-way valve（572）, hydraulic line（573）, reversal valve（574）, reversal valve（574）Hydraulic control mounted externally
In standing, itself A1 and B1 mouth is respectively oil-in and oil return opening, by exterior tubing and the oil-in and oil return opening at external hydraulic station
It is connected, hydraulic control one-way valve（572）It is integrated in oil cylinder body（571）On, by hydraulic line（573）With reversal valve（574）It is connected,
Reversal valve（574）Hydraulic control one-way valve can be controlled（572）A2, B2 completes mouthful oil-feed and oil return commutation, and then realizes oil cylinder
Power is stretched, indention is, hydraulic control one-way valve（572）It is made up of two guide's hydraulic control one-way valves, itself and oil cylinder body（571）Joint shape
Into hydraulic lock, its function can be hydraulic cylinder is locked in the case where oil-in falls pressure, decompression, will not be in extraneous mechanical force
Effect is lower to produce motion, and safety of this function to present example is particularly important so as to fall pressure, decompression, very in external oil circuit
In the case of damaging completely or remove to oil pipe, the current position state of hydraulic cylinder can be locked, will not be produced because of External force interference
Raw motion and then initiation guide rail hook（55）The problem of uncontrolled unhook in use.
The above, is only the part preferred embodiment of the present invention, and any those of ordinary skill in the art may profit
The technical scheme being equal to is changed or is revised as with the technical scheme of above-mentioned elaboration.Therefore, according to the technology of the present invention
Any simple modification or substitute equivalents that scheme is carried out, belong to the greatest extent the scope of protection of present invention.
Claims (10)
1. a kind of oil drilling machine quadruple board platform pipe arranging robot, is characterized in that：Including tubing string pawl（10）, telescopic arm（20）, revolution
Mechanism（30）, sliding bottom（40）, guide rail and guide rail telescoping mechanism, the tubing string pawl（10）It is movably connected in telescopic arm（20）'s
One end, telescopic arm（20）Upper end be connected to slew gear（30）, slew gear（30）It is arranged on sliding bottom（40）On, slide
Base（40）Can be in telescopic rail（50）Upper power walking, telescopic rail（50）It is installed on upset quadruple board platform（60）Bottom；
Telescopic arm（20）Drive tubing string pawl（10）Fore-and-aft direction is moved, and tubing string pawl（10）Movement locus on a horizontal plane；
Slew gear（30）Drive tubing string pawl（10）And telescopic arm（20）Rotation, to change tubing string pawl（10）The direction of work；Slide
Base（40）Can be in telescopic rail（50）Upper power walking, to drive tubing string pawl（10）Direction along ng a path is translated；Telescopic arm
（20）, slew gear（30）And sliding bottom（40）Combinative movement can make tubing string pawl（10）Freely transport in a specific plane
It is dynamic.
2. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, is characterized in that：The tubing string pawl（10）With
Connecting seat（11）Link together, described tubing string pawl（10）Side be provided with tubing string lever（12）, with tubing string pawl（10）Both sides
Retaining groove coordinate, tubing string lever drive rod（13）Two ends respectively with tubing string lever（12）And crank（14）It is fixedly connected, and installs
To connecting seat（11）, make tubing string lever（12）Can be in the tubing string pawl of U-shaped（10）On do open and close movement, lever driver（15）One
End and crank（14）It is hinged, the other end and connecting seat（11）It is hinged.
3. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, is characterized in that：The telescopic arm（20）Bag
Include flexible arm seat（21）, principal arm（22）, auxiliary（23）, auxiliary counter-jib（24）, gripper counter-jib（25）, gripper balance bar
Bar（26）, drive oil cylinder（27）, the principal arm（22）Upper end and flexible arm seat（21）It is hinged, lower end and gripper balanced lever
（26）And auxiliary（23）It is hinged, the auxiliary（23）The other end and tubing string pawl（10）It is hinged, auxiliary counter-jib（24）Upper end with
Flexible arm seat（21）It is hinged, lower end and auxiliary（23）It is hinged, gripper counter-jib（25）Common two pieces, wherein the two ends difference of
With flexible arm seat（21）With gripper balanced lever（26）Be hinged, the two ends of another respectively with tubing string pawl（10）It is flat with gripper
Weighing apparatus lever（26）It is hinged, the driving oil cylinder（27）One end be hinged to principal arm（22）, the other end is articulated with auxiliary（23）.
4. oil drilling machine quadruple board platform pipe arranging robot according to claim 3, is characterized in that：The driving oil cylinder（27）
Drive principal arm（22）And auxiliary（23）Angle is produced, tubing string pawl is made（10）Can protract, stretch arm seat（21）, principal arm（22）, it is secondary
Arm（23）With auxiliary counter-jib（24）, this four are hinged as quadric chain, work as principal arm（22）And auxiliary（23）Mutually transport
During movable property life angle, this angle is always maintained at by vertical plane decile.
5. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, is characterized in that：The slew gear（30）
Including revolving bed（31）, slewing bearing（32）, revolution driving gear（33）, revolution driving motor（34）, the revolution
Support bearing（32）It is a thrust ball bearing of the outer ring with gear, inner ring and sliding bottom（40）Be fixedly connected, outer ring with revolution
Seat（31）Connection, revolution driving motor（34）With sliding bottom（40）It is fixedly connected, motor drive shaft and revolution driving gear（33）Gu
Fixed connection, revolution driving gear（33）With slewing bearing（32）The tooth engagement of outer ring；Revolution driving motor（34）During rotation,
Drive slewing bearing（32）Outer ring rotates, and drives revolving bed（31）Rotate.
6. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, is characterized in that：The sliding bottom（40）
Including base body（41）, sliding shaft sleeve（42）, base roller（43）, base drive motor（44）, base drive gear（45）, tooth
Bar（46）, the base roller（43）More than one piece is provided with, with base body（41）It is fixedly connected and can freely rotates, sliding shaft sleeve
（42）With base body（41）It is fixedly connected, base drive motor（44）It is fixed on base body（41）On, base drive motor（44）
Output shaft drive base drive gear（45）Rotation, tooth bar（46）It is fixed on telescopic rail（50）On, sliding shaft sleeve（42）With
Positioned at telescopic rail（50）On slide bar（52）Formation is slidably matched；Base drive motor（44）Drive drive gear（45）In rotation
Turn, by moving drive gear（45）With tooth bar（46）Engagement, drive sliding bottom（40）Along guide rail（51）Slide, so as to realize
Its part for carrying is driven to move together.
7. oil drilling machine quadruple board platform pipe arranging robot according to claim 6, is characterized in that：The base roller（43）
It is distributed in guide rail（51）Up and down both sides, can clamp guide rail, carry sliding bottom（40）Weight and service load, it is allowed to slide
Base（40）Along guide rail in the presence of driving force（51）Slidably, and inverted constraint is provided prevents from toppling；The sliding axle
Set（42）With positioned at telescopic rail（50）On slide bar（52）Formation is slidably matched, in sliding bottom（40）Along guide rail（51）Freely
During slip, its moving direction is limited, prevent sideslip.
8. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, is characterized in that：The telescopic rail（50）
Including guide rail（51）, slide bar（52）, track roller（53）, slide rail（54）, guide rail hook（55）, guide rail hangers（56）,
Guide rail drives oil cylinder（57）, slide bar（52）, track roller（53）With guide rail hook（55）It is fixed on guide rail（51）On, slide
Rail（54）It is fixedly welded on quadruple board platform（61）On, guide rail drives oil cylinder（57）Two ends are hingedly connected to guide rail（51）And slide
Rail（54）, guide rail hook（55）Totally four are fixedly welded on upset quadruple board platform（60）.
9. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, is characterized in that：The upset quadruple board platform
（60）Including quadruple board platform（61）, quadruple board platform roll-over table（62）And Upset hinge（63）, the quadruple board platform（61）By Upset hinge
（63）Connection quadruple board platform roll-over table（62）.
10. a kind of using method of oil drilling machine quadruple board platform pipe arranging robot as claimed in any one of claims 1-9 wherein, its
It is characterized in that including procedure below：
One is when lever driver（15）When flexible, by crank（14）Drive tubing string lever drive rod（13）Rotation, so as to band
Dynamic tubing string lever（12）90 ° of upsets are produced, when tubing string lever（12）It is turned to and connecting seat（11）During angle state in 90 °, even
Joint chair（11）U-shaped tubing string pawl（10）In open mode, tubing string can be now received or discharged（70）, now tubing string lever
（12）Will not expand outwardly, overall width will not increase, can be inserted and removed from the tubing string for having discharged, when tubing string lever
（12）It is turned to and connecting seat（11）During horizontality, connecting seat（11）U-tube post storage mouth be in closure state, now may be used
To move tubing string；
Two is to drive oil cylinder（27）Drive principal arm（22）And auxiliary（23）Angle is produced, tubing string pawl is made（10）Can protract, stretch
Arm seat（21）, principal arm（22）, auxiliary（23）With auxiliary counter-jib（24）, this four are hinged as quadric chain, work as principal arm
（22）And auxiliary（23）When mutually motion produces angle, this angle is always maintained at by vertical plane decile；
Three is revolution driving motor（34）During rotation, slewing bearing is driven（32）Outer ring rotates, and drives revolving bed（31）Turn
It is dynamic, so as to realize that the part being hinged on revolving bed can rotate；
Four is base drive motor（44）Drive drive gear（45）Rotation, by moving drive gear（45）With tooth bar（46）Nibble
Close, drive sliding bottom（40）Along guide rail（51）Slide, so as to realize that the part for driving it to carry is moved together；In addition, flexible
Guide rail（50）With upset quadruple board platform（60）Possess the state of two different shapes, and being capable of the phase change between the two states
Change：
Five is to drive oil cylinder in guide rail（57）Driving under, track roller（53）Make guide rail（51）Can be in slide rail（54）
Inside slidably, when equipment is in normal operating conditions, guide rail（51）On guide rail hook（55）With quadruple board platform（60）On
Guide rail hangers（56）Hang and close, make guide rail（51）In steady statue, and larger load can be carried, when device transform to two layers
During platform rollover states, guide rail drives oil cylinder（57）Driving lower guideway（51）Delay backward and move, guide rail hook（55）With guide rail hangers
（56）Break off relations, until guide rail drives oil cylinder（57）Stroke is automatically stopped after discharging completely, when equipment is converted into again normal work
During state, in guide rail oil cylinder is driven（57）Driving under, guide rail（51）Delay forward and move, until guide rail hook（55）With guide rail hangers
（56）Close and be automatically stopped after hook；
Six is the quadruple board platform when equipment is in normal operating conditions（60）Launch, when quadruple board platform rollover states are required transformation into,
Telescopic rail（50）State when should first complete to be converted into quadruple board platform rollover states, after confirming in place, quadruple board platform roll-over table（62）
It is pulled upwardly bit flipping extreme position, i.e. completion statuses switching；Otherwise when device transform is to normal condition, should first by two layers
Platform roll-over table（62）Decentralization, after confirming in place, telescopic rail（50）Switch to normal operating conditions, i.e. completion statuses again to cut
Change, integrally realize quadruple board platform tubing string automatic-discharging nobody Fully-mechanized work continuously.
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| CN201611053154.2A CN106593324B (en) | 2016-11-25 | 2016-11-25 | Oil drilling machine quadruple board platform pipe arranging robot and method |
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| CN107097206A (en) * | 2017-05-15 | 2017-08-29 | 中石化石油工程机械有限公司研究院 | Robot track for rig floor |
| 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 |
| CN109577882A (en) * | 2018-11-15 | 2019-04-05 | 亨通海洋工程有限公司 | Offshore wind farm construction drilling rod handling method |
| CN109611038A (en) * | 2018-11-27 | 2019-04-12 | 西安石油大学 | A kind of marine drilling platform automatic tube-arranging device |
| CN110512856A (en) * | 2019-08-30 | 2019-11-29 | 南京宁贺表面技术有限公司 | All-around intelligent inspection platform in a kind of spherical tank |
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Denomination of invention: Tube-arraying robot for racking platform of petroleum well drill and method Effective date of registration: 20200624 Granted publication date: 20180109 Pledgee: Dongying rural commercial bank Limited by Share Ltd. Shengli branch Pledgor: Shandong Ryo Intelligent Equipment Co.,Ltd. Registration number: Y2020980003476 |
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Denomination of invention: Pipe arrangement robot and method of oil drilling machine's racking board Effective date of registration: 20210630 Granted publication date: 20180109 Pledgee: Dongying rural commercial bank Limited by Share Ltd. Shengli branch Pledgor: Shandong Ryo Intelligent Equipment Co.,Ltd. Registration number: Y2021980005599 |
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