CN106593324B - Oil drilling machine quadruple board platform pipe arranging robot and method - Google Patents
Oil drilling machine quadruple board platform pipe arranging robot and method Download PDFInfo
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- CN106593324B CN106593324B CN201611053154.2A CN201611053154A CN106593324B CN 106593324 B CN106593324 B CN 106593324B CN 201611053154 A CN201611053154 A CN 201611053154A CN 106593324 B CN106593324 B CN 106593324B
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- tubing string
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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
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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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Abstract
The present invention relates to a kind of oil drilling machine quadruple board platform pipe arranging robot and method.Its technical scheme is：Including tubing string pawl, telescopic arm, slew gear, sliding bottom, telescopic rail and upset quadruple board platform, tubing string pawl is hinged on one end of telescopic arm, the upper end of telescopic arm is connected to slew gear, slew gear is arranged on sliding bottom, sliding bottom power can walk on telescopic rail, and telescopic rail is installed on upset quadruple board platform bottom.This beneficial effect is：Realize Fully-mechanized the working continuously of quadruple board platform tubing string automatic-discharging, the labor intensity of operating personnel is greatly reduced, the very big accident rate that must reduce drillng operation, reduce worker's work risk simultaneously, security greatly improves, and has saved cost of labor, coordinates with power elevator, the unmanned operation of quadruple board platform is realized, perfection solves the problems, such as to need to discharge quadruple board platform under special state and guide rail particular orientation is taken up space.
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 a huge risk engineering of investment, 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, at present tubing string in drillng operation（70）Rise put typically work
People operates elevator, by elevator clamping, is then discharged into specified location by manpower, then seted out by worker and discharge 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, operating efficiency 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 has the following disadvantages and deficiency：Artificial work high above the ground is dangerous high, and accident rate is high；Worker's physical demands
Greatly, work under hard conditions, work sustainability is poor, and efficiency is low；The higher economical difference of cost of labor, can not be solved 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 drawbacks described above existing for prior art, there is provided a kind of oil drilling machine quadruple board platform row
Pipe robot and method, cost of labor can be saved, reduce worker's work risk, realize automation drilling and repairing well operation, in addition,
The present invention realizes quadruple board platform comb mechanization, and the high-altitude round trip of danger is accomplished manually for substituting, and is rising for rig
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 mentions, its technical scheme are：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）Set
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 moves, and tubing string pawl（10）Movement locus in a horizontal plane
On；Slew gear（30）Drive tubing string pawl（10）And telescopic arm（20）Rotation, to change tubing string pawl（10）The direction of work；It is sliding
Dynamic base（40）Can be in telescopic rail（50）Upper power walking, to drive tubing string pawl（10）Direction along ng a path translates；Telescopic arm
（20）, slew gear（30）And sliding bottom（40）Combinative movement can make tubing string pawl（10）Freely transported 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）Both 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 be hinged, the other end and connecting seat（11）It is be hinged.
Preferably, above-mentioned telescopic arm（20）Including the arm seat that stretches（21）, principal arm（22）, auxiliary（23）, auxiliary counter-jib
（24）, gripper counter-jib（25）, gripper balanced lever（26）, drive cylinder（27）, the principal arm（22）Upper end is with stretching
Arm seat（21）It is be hinged, lower end and gripper balanced lever（26）And auxiliary（23）It is be hinged, the auxiliary（23）The other end and pipe
Post pawl（10）It is be hinged, auxiliary counter-jib（24）Upper end and flexible arm seat（21）It is be hinged, lower end and auxiliary（23）Be hinged, gripper is put down
Weigh arm（25）Altogether two pieces, wherein the both ends of one respectively with flexible arm seat（21）With gripper balanced lever（26）It is be hinged, it is another
The both ends of part respectively with tubing string pawl（10）With gripper balanced lever（26）It is be hinged, the drive cylinder（27）One end be hinged to
Principal arm（22）, the other end is articulated with auxiliary（23）.
Preferably, above-mentioned drive cylinder（27）Drive principal arm（22）And auxiliary（23）Angle is produced, makes tubing string pawl（10）Can
With extension, stretch arm seat（21）, principal arm（22）, auxiliary（23）With auxiliary counter-jib（24）, this four are hinged as double leval jib
Mechanism, work 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）, rack（46）, the base roller（43）Provided with more than one piece, 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, rack（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）Rotating, by moving drive gear（45）With rack（46）Engagement, drive slide
Dynamic base（40）Along guide rail（51）Slide, so as to realize that the part of its carrying of driving moves together.
Preferably, above-mentioned base roller（43）It is distributed in guide rail（51）Upper and lower both sides, can clamp guide rail, and bottom is slided in carrying
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）Slip is formed to match somebody with somebody
Close, in sliding bottom（40）Along guide rail（51）When slidably, its moving direction is limited, prevents sideslip.
Preferably, above-mentioned telescopic rail（50）Including guide rail（51）, slide bar（52）, track roller（53）, guide rail slide rail
（54）, guide rail hook（55）, guide rail hangers（56）, guide rail drive cylinder（57）, slide bar（52）, track roller（53）Hung with guide rail
Hook（55）It is fixed on guide rail（51）On, guide rail slides rail（54）It is fixedly welded on quadruple board platform（61）On, guide rail drive cylinder（57）
Both ends are hingedly connected to guide rail（51）Rail is slided with guide 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）Pass through Upset hinge（63）Connect quadruple board platform roll-over table（62）.
A kind of application method for oil drilling machine quadruple board platform pipe arranging robot that the present invention mentions, including procedure below：
First, work as lever driver（15）When flexible, pass through crank（14）Drive tubing string lever drive rod（13）Rotation, from
And drive tubing string lever（12）90 ° of upsets are produced, when tubing string lever（12）It is turned to and connecting seat（11）Angle state in 90 °
When, connecting seat（11）U-shaped tubing string pawl（10）In open mode, it can now store or discharge tubing string（70）, now manage
Post lever（12）It will not expand outwardly, overall width will not increase, and can be inserted and removed from the tubing string discharged, work as 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, this
When can move tubing string；
Second, drive cylinder（27）Drive principal arm（22）And auxiliary（23）Angle is produced, makes tubing string pawl（10）It can protract,
Flexible arm seat（21）, principal arm（22）, auxiliary（23）With auxiliary counter-jib（24）, this four are hinged as quadric chain, when
Principal arm（22）And auxiliary（23）When mutually motion produces angle, this angle is always maintained at by vertical plane decile；
Third, 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；
Fourth, base drive motor（44）Drive drive gear（45）Rotation, by moving drive gear（45）With rack（46）
Engagement, drive sliding bottom（40）Along guide rail（51）Slide, so as to realize that the part of its carrying of driving moves together；In addition,
Telescopic rail（50）With upset quadruple board platform（60）Possess the state of two different shapes, and can be between the two states mutually
Conversion：
Fifth, in guide rail drive cylinder（57）Driving under, track roller（53）Make guide rail（51）Rail can be slided in guide 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 stable state, and larger load can be carried, when device transform arrives
During quadruple board platform rollover states, guide rail drive 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 drive cylinder（57）It is automatically stopped after stroke release completely, when equipment is converted into normally again
During working condition, in guide rail drive cylinder（57）Driving under, guide rail（51）Delay forward and move, until guide rail is linked up with（55）With guide rail
Hangers（56）It is automatically stopped after closing hook；
Sixth, when equipment is in normal operating conditions, quadruple board platform（60）Expansion, when requiring transformation into quadruple board platform flip-like
During state, telescopic rail（50）State when first should complete to be converted into quadruple board platform rollover states, after confirming in place, quadruple board platform roll-over table
（62）Bit flipping extreme position is pulled upwardly, i.e. completion status switches；Otherwise when device transform to normal condition, should first by
Quadruple board platform roll-over table（62）Decentralization, after confirming in place, telescopic rail（50）Normal operating conditions, i.e. completion status are switched to again
Switching, integrally realize quadruple board platform tubing string automatic-discharging nobody Fully-mechanized work continuously.
The beneficial effects of the invention are 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 operating personnel, it is very big to reduce the accident rate of drillng operation, while worker'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
The problem of needing release quadruple board platform and guide rail particular orientation to take up space under state.
Brief description of the drawings
Fig. 1 is the use state 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 of guide rail drive cylinder
In figure：Tubing string pawl（10）, telescopic arm（20）, slew gear（30）, sliding bottom（40）, telescopic rail（50）, turn over
Turn quadruple board platform（60）, tubing string（70）, connecting seat（11）, tubing string lever（12）, tubing string lever drive rod（13）, crank（14）, shelves
Bar driver（15）, contracting arm seat（21）, principal arm（22）, auxiliary（23）, auxiliary counter-jib（24）, gripper counter-jib（25）, machine
Machinery claw balanced lever（26）, drive cylinder（27）, revolving bed（31）, slewing bearing（32）, revolution driving gear（33）, return
Turn drive motor（34）, base body（41）, sliding shaft sleeve（42）, base roller（43）, base drive motor（44）, base driving
Gear（45）, rack（46）, guide rail（51）, slide bar（52）, track roller（53）, guide rail slide rail（54）, guide rail hook（55）,
Guide rail hangers（56）, guide rail drive cylinder（57）, quadruple board platform（61）, quadruple board platform roll-over table（62）, Upset hinge（63）, oil cylinder sheet
Body（571）, hydraulic control one-way valve（572）, hydraulic line（573）, reversal valve（574）.
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 mentions, as shown in Fig. 2 including tubing string pawl（10）、
Telescopic arm（20）, slew gear（30）, sliding bottom（40）, guide rail and guide rail telescoping mechanism.Tubing string pawl（10）It is hinged on flexible
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.
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 driving
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）Both 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）It can be stored in U-tube post and do open and close movement on mouth.Lever driver（15）One end and crank
（14）It is be hinged, the other end and connecting seat（11）It is be hinged.
When lever driver（15）When flexible, pass through 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 store or discharge tubing string（70）.Now tubing string lever
（12）It will not expand outwardly, overall width will not increase, and easily can be inserted and removed from the tubing string discharged, improve
The discharge efficiency of tubing string, emission intensity will not be reduced；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 the arm seat that stretches（21）, principal arm（22）, auxiliary（23）, auxiliary
Counter-jib（24）, gripper counter-jib（25）, gripper balanced lever（26）, drive 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 be hinged,
Lower end simultaneously with gripper balanced lever（26）And auxiliary（23）It is be hinged, auxiliary（23）The other end and tubing string pawl（10）It is be hinged, it is secondary
Arm counter-jib（24）Upper end and flexible arm seat（21）It is be hinged, lower end and auxiliary（23）It is be hinged, gripper counter-jib（25）Two pieces altogether,
A wherein both ends respectively with flexible arm seat（21）With gripper balanced lever（26）It is be hinged, another with both ends respectively with tubing string
Pawl（10）With gripper balanced lever（26）It is be hinged.Drive cylinder（27）One end is hinged to principal arm（22）, the other end is articulated with pair
Arm（23）.
Drive cylinder（27）Drive principal arm（22）And auxiliary（23）Angle is produced, makes tubing string pawl（10）It 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
To ensureing that the steady operation of total is most important.Flexible arm seat（21）, principal arm（22）, gripper counter-jib（25）And machinery
Pawl balanced lever（26）Form parallelogram linkage, auxiliary（23）, gripper counter-jib（25）, gripper balanced lever
（26）With tubing string pawl（10）The parallelogram linkage of same size is formed, by this parallelogram connection-rod machine at two
Structure, it is combined with special quadric chain effect above, tubing string pawl can be kept（10）Done in same level into move back
Make, specific curve movement is as shown in Figure 5.
Referring to the drawings 6, slew gear of the 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）Outside
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, sliding bottom of the invention（40）Including base body（41）, sliding shaft sleeve（42）, base roller
（43）, base drive motor（44）, base drive gear（45）, rack（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, rack（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）Upper and lower both sides, guide rail can be clamped, 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.Sliding bottom
Seat（40）Along guide rail（51）When slidably, its moving direction is limited, prevents sideslip.Base drive motor（44）Drive sliding tooth
Wheel（45）Rotating, by moving drive gear（45）With rack（46）Engagement, drive sliding bottom（40）Along guide rail（51）It is sliding
It is dynamic.So as to realize that the part of its carrying of driving moves together.
In the present invention, telescopic rail（50）With upset quadruple board platform（60）Possess the state of two different shapes, and can
Mutually converted 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 loading normally in this case for a long time
Work.
Quadruple board platform rollover states are shown in Figure 10, are the special states of equipment, this state is by overturning quadruple board platform（62）And guide rail
（51）Evolution discharge 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, telescopic rail of the invention（50）Including guide rail（51）, slide bar（52）, track roller（53）, guide rail
Slide rail（54）, guide rail hook（55）, guide rail hangers（56）, guide rail drive cylinder（57）, slide bar（52）, track roller（53）With
Guide rail is linked up with（55）It is fixed on guide rail（51）On.Guide rail slides rail（54）It is fixedly welded on quadruple board platform（61）On.Guide rail driving oil
Cylinder（57）Both ends are hingedly connected to guide rail（51）Rail is slided with guide rail（54）.Guide rail is linked up with（55）Totally 4 are fixedly welded on upset
Quadruple board platform（60）.
In guide rail drive cylinder（57）Driving under, track roller（53）Make guide rail（51）Rail can be slided in guide 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 stable state, and larger load can be carried.Work as equipment
When transforming to quadruple board platform rollover states, as shown in Figure 10：Guide rail drive 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 drive cylinder（57）It is automatically stopped after stroke release completely.When setting
It is standby when being converted into normal operating conditions again, in guide rail drive cylinder（57）Driving under, guide rail（51）Delay forward and move, until leading
Rail is linked up with（55）With guide rail hangers（56）It is automatically stopped after closing hook.
Shown in reference picture 9, Figure 10, upset quadruple board platform of the 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 needing to change
During to quadruple board platform rollover states, telescopic rail（50）State when first should complete to be converted into quadruple board platform rollover states, confirm in place it
Afterwards, quadruple board platform roll-over table（62）Bit flipping extreme position is pulled upwardly, i.e. completion status switches.Otherwise when device transform is to just
, should be first by quadruple board platform roll-over table during normal state（62）Decentralization, after confirming in place, telescopic rail（50）Normal work is switched to again
State, i.e. completion status switch.
Referring to the drawings 11, for the guide rail drive cylinder of the present invention（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 inlet and oil return opening, passes through exterior tubing and the oil inlet 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, pass through 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 mouth 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 is that hydraulic cylinder can be made to be locked in the case where oil inlet falls pressure, decompression, will not be in extraneous mechanical force
Effect is lower to produce motion, and this function is particularly important to the security of present example, it is fallen pressure, decompression, very in external oil circuit
In the case of damaging or remove completely to oil pipe, the current position state of hydraulic cylinder can be locked, will not be produced because of External force interference
It is raw to move and then trigger guide rail hook（55）In use the problem of uncontrolled unhook.
It is described above, only it is the part preferred embodiment of the present invention, any those skilled in the art may profit
Equivalent technical scheme is changed or is revised as with the technical scheme of above-mentioned elaboration.Therefore, the technology according to 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 (8)
1. a kind of oil drilling machine quadruple board platform pipe arranging robot, it 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 moves, 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 translates；Telescopic arm
（20）, slew gear（30）And sliding bottom（40）Combinative movement can make tubing string pawl（10）Freely transported in a specific plane
It is dynamic；
The telescopic rail（50）Including guide rail（51）, slide bar（52）, track roller（53）, guide rail slide rail（54）, guide rail hang
Hook（55）, guide rail hangers（56）, guide rail drive cylinder（57）, slide bar（52）, track roller（53）Linked up with guide rail（55）It is fixed
In guide rail（51）On, guide rail slides rail（54）It is fixedly welded on quadruple board platform（61）On, guide rail drive cylinder（57）Cut with scissors respectively at both ends
It is connected to guide rail（51）Rail is slided with guide rail（54）, guide rail hook（55）Totally four are fixedly welded on upset quadruple board platform（60）.
2. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, it 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）Both 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 be hinged, the other end and connecting seat（11）It is be hinged.
3. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, it 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 cylinder（27）, the principal arm（22）Upper end and flexible arm seat（21）It is be hinged, lower end and gripper balanced lever
（26）And auxiliary（23）It is be hinged, the auxiliary（23）The other end and tubing string pawl（10）It is be hinged, auxiliary counter-jib（24）Upper end with
Flexible arm seat（21）It is be hinged, lower end and auxiliary（23）It is be hinged, gripper counter-jib（25）Two pieces altogether, wherein the both ends difference of one
With flexible arm seat（21）With gripper balanced lever（26）It is be hinged, the both ends of another respectively with tubing string pawl（10）Put down with gripper
Weigh lever（26）It is be hinged, the drive cylinder of the telescopic arm（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, it is characterized in that：The driving of the telescopic arm
Oil cylinder（27）, driving principal arm（22）And auxiliary（23）Angle is produced, makes tubing string pawl（10）It can protract, stretch arm seat（21）, it is main
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.
5. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, it 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 branch
Support bearing（32）It is a thrust ball bearing of the outer ring with gear, inner ring and sliding bottom（40）It is fixedly connected, outer ring and 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, it 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）Provided with more than one piece, 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, rack（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）Revolving
Turn, by moving drive gear（45）With rack（46）Engagement, drive sliding bottom（40）Along guide rail（51）Slide, so as to realize
Its part carried is driven to move together.
7. oil drilling machine quadruple board platform pipe arranging robot according to claim 6, it is characterized in that：The base roller（43）
It is distributed in guide rail（51）Upper and lower both sides, guide rail can be clamped, 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, prevents sideslip.
8. oil drilling machine quadruple board platform pipe arranging robot according to claim 1, it 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）Pass through Upset hinge
（63）Connect quadruple board platform roll-over table（62）.
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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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| 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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| CN106593324B true CN106593324B (en) | 2018-01-09 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN109577882B (en) * | 2018-11-15 | 2020-08-07 | 亨通海洋工程有限公司 | Drill rod loading and unloading method for offshore wind power construction |
| CN109611038B (en) * | 2018-11-27 | 2020-07-28 | 西安石油大学 | An automatic pipe arrangement for an offshore drilling platform |
| 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 |
| CN111188584A (en) * | 2019-12-24 | 2020-05-22 | 宝鸡石油机械有限责任公司 | Righting manipulator |
| CN111140186A (en) * | 2020-01-22 | 2020-05-12 | 青岛贝恒智能科技有限责任公司 | Automatic calandria device of foldable racking platform of main part |
| CN112192603B (en) * | 2020-09-30 | 2022-06-21 | 中石化四机石油机械有限公司 | Minor repair platform oil pipe pushing and supporting manipulator device and using method |
| CN112814592B (en) * | 2021-03-17 | 2023-03-14 | 河北炜煜智能装备有限公司 | Intelligent mechanical arm for well repairing platform and intelligent well repairing vehicle |
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Address after: 257000 Shandong Province, Dongying city Dongying District Zhao Dong Trade City No. 30 Applicant after: SHANDONG RUIAO INTELLIGENT EQUIPMENT CO.,LTD. Address before: 257000 Shandong Province, Dongying city Dongying District Zhao Dong Trade City No. 30 Applicant before: DONGYING REAL |
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Address after: No. 1123, yunmenshan Road, Dongying District, Dongying City, Shandong Province Patentee after: Shandong Ryo Intelligent Equipment Co.,Ltd. Address before: 257000 Shandong Province, Dongying city Dongying District Zhao Dong Trade City No. 30 Patentee before: SHANDONG RUIAO INTELLIGENT EQUIPMENT Co.,Ltd. |
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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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Denomination of invention: Pipe laying robot and method for racking platform of oil drilling machine Effective date of registration: 20220624 Granted publication date: 20180109 Pledgee: Dongying rural commercial bank Limited by Share Ltd. Shengli branch Pledgor: Shandong Ryo Intelligent Equipment Co.,Ltd. Registration number: Y2022980008859 |
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Denomination of invention: Robot and method for arranging pipes on the second floor platform of oil drilling machines Granted publication date: 20180109 Pledgee: Dongying rural commercial bank Limited by Share Ltd. Shengli branch Pledgor: Shandong Ryo Intelligent Equipment Co.,Ltd. Registration number: Y2024980020764 |
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