CN108131106A - A kind of automated drilling rig tubular column mechanical hand - Google Patents
A kind of automated drilling rig tubular column mechanical hand Download PDFInfo
- Publication number
- CN108131106A CN108131106A CN201711111914.5A CN201711111914A CN108131106A CN 108131106 A CN108131106 A CN 108131106A CN 201711111914 A CN201711111914 A CN 201711111914A CN 108131106 A CN108131106 A CN 108131106A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- active
- driven
- fixing axle
- straight bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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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
- E21B19/24—Guiding or centralising devices for drilling rods or pipes
Abstract
The present invention discloses a kind of automated drilling rig tubular column mechanical hand and includes：Mounting seat；Parallel the first fixing axle and the second fixing axle；The first clamping device being installed in first fixing axle and the second fixing axle；Be installed on the second clamping device in the first fixing axle and the second fixing axle；The first active clamping jaw, the first driven clamping jaw, the second active clamping jaw and the second driven clamping jaw have same inscribed circle；Driving mechanism；The driving mechanism can drive the first active clamping jaw and the second active clamping jaw, so that the first active clamping jaw, the first driven clamping jaw, the second active clamping jaw and the second driven clamping jaw and the circumference for boring completion tubular column are tangent, the central axis for boring completion tubular column is overlapped with the center of the inscribed circle.The drilling machine tubular column mechanical hand can realize precisely quick positioning in tubing string location control according to the position at inscribed circle center.
Description
Technical field
The present invention relates to oil drilling machine field more particularly to a kind of automated drilling rig tubular column mechanical hands.
Background technology
Drilling machine tubular column mechanical hand is the important component of drilling machine (drilling machinery) mechanical automation, is mainly used for pressing from both sides
It holds various brill completion tubular columns, manual operation is replaced with this.
Existing tubular column mechanical hand, has the following problems：(1) when clamping different tube diameters tubing string, the center of each tubing string does not exist
On same center line, to ensure tubing string accurate positioning, during different tubing string operations control system will constantly adjusting control parameter, lead
It causes situ of drilling well operation sufficiently complex, extends duty cycle；(2) each mechanical gripper tubing string clamping range is limited, drilling rod, drill collar,
Casing etc. mostly using dedicated clamping mechanical gripper, also needs to change mechanical gripper gripper jaw when caliber span is big；(3) existing machinery
Handgrip is difficult to meet the control requirement that control system is quick, accurate, stable.
Invention content
In view of the deficiencies in the prior art, the object of the present invention is to provide a kind of automated drilling rig tubular column mechanical hand, with energy
It is enough at least to solve one of more than technical problem.
The technical scheme is that：
A kind of automated drilling rig tubular column mechanical hand, including：
Mounting seat；
Parallel the first fixing axle and the second fixing axle；The position of first fixing axle and the second fixing axle fix and
Positioned at the side of the mounting seat；
The first clamping device being installed in first fixing axle and the second fixing axle；First clamping device includes
First active clamping jaw, the first driven clamping jaw；The first active clamping jaw can surround the first fixing axle and rotate；Described first actively presss from both sides
Pawl drives the described first driven clamping jaw to be rotated around second fixing axle when being rotated around first fixing axle；
Be installed on the second clamping device in the first fixing axle and the second fixing axle；Second clamping device includes the
Two active clamping jaws, the second driven clamping jaw；The second active clamping jaw can surround second fixing axle and rotate；Described second actively
Clamping jaw drives the described second driven clamping jaw to be rotated around first fixing axle when being rotated around second fixing axle；It is described
First active clamping jaw, the first driven clamping jaw, the second active clamping jaw and the second driven clamping jaw have an inscribed circle；Described first actively
The center of clamping jaw, the first driven clamping jaw, the second active clamping jaw and the second driven clamping jaw inscribed circle when moving is constant；
Driving mechanism；The driving mechanism can drive the first active clamping jaw and the second active clamping jaw, so that described
First active clamping jaw, the first driven clamping jaw, the second active clamping jaw and the second driven clamping jaw and the circumference for boring completion tubular column are tangent, institute
The central axis for stating brill completion tubular column is overlapped with the center of the inscribed circle.
As preferred embodiment, the second driven clamping jaw and the first driven clamping jaw are relative to the described first master
Dynamic clamping jaw, the second active clamping jaw are close to the mounting seat.
As preferred embodiment, first clamping device further includes head rod；The head rod one
End is rotatably coupled the first active clamping jaw, and the other end is rotatably coupled the described first driven clamping jaw；
Second clamping device further includes the second connecting rod；Described second connecting rod one end is rotatably coupled described
Two active clamping jaws, the other end are rotatably coupled the described second driven clamping jaw；
The head rod, second connecting rod are vertical with first fixing axle, the second fixing axle, and are parallel to
The plane that first fixing axle and the second fixing axle are co-located at.
As preferred embodiment, the first active clamping jaw include the first active retained part, the first part of the force,
First active coupling part, the first active connector sleeve；The first active connector sleeve is rotationally sheathed on described first and fixes
On axis；
One end of the first active retained part is fixedly connected with the first active connector sleeve, and the other end is free end；
One end of first part of the force is fixedly connected with the first active connector sleeve, and other end connection described first connects
Extension bar；
One end of the first active coupling part is fixedly connected with the first active connector sleeve, and the other end is used to drive institute
State the first driven clamping jaw.
As preferred embodiment, first part of the force and the first active coupling part are a straight-bar；
The first active retained part includes the first straight bar part and the second straight bar part；One end connection of first straight bar part
The first active connector sleeve, the one end of second straight bar part far from first straight bar part are free end；Described
Angle between one straight bar part and second straight bar part is obtuse angle.
As preferred embodiment, the second active clamping jaw include the second active retained part, the second part of the force,
Second active coupling part, the second active connector sleeve；The second active connector sleeve is rotationally sheathed on described second and fixes
On axis；
One end of the second active retained part is fixedly connected with the second active connector sleeve, and the other end is free end；
One end of second part of the force is fixedly connected with the second active connector sleeve, and other end connection described second connects
Extension bar；
One end of the second active coupling part is fixedly connected with the second active connector sleeve, and the other end is used to drive institute
State the second driven clamping jaw.
As preferred embodiment, second part of the force and the second active coupling part are a straight-bar；
The second active retained part includes third straight bar part and the 4th straight bar part；One end of the third straight bar part is fixed
The second active connector sleeve is connected, the described one end of 4th straight bar part far from the third straight bar part is free end；Institute
The angle stated between third straight bar part and the 4th straight bar part is obtuse angle.
As preferred embodiment, the first driven clamping jaw includes the first driven retained part, the first driven connection
Partly, the first driven connector sleeve；The first driven connector sleeve is rotationally sheathed in second fixing axle；
The other end of one end of the first driven coupling part rotationally head rod, described first is driven
The other end of coupling part is fixedly connected with the described first driven connector sleeve；
One end of the first driven retained part is fixedly connected with the described first driven connector sleeve, the other end for free end and
Close to first fixing axle.
As preferred embodiment, the first driven coupling part is a straight-bar；The first driven retained part
Including the 5th straight bar part and the 6th straight bar part；One end of 5th straight bar part is fixedly connected with the described first driven connection
Set, the described one end of 6th straight bar part far from the 5th straight bar part are free end；5th straight bar part and described
Angle between 6th straight bar part is obtuse angle.
As preferred embodiment, the second driven clamping jaw includes the second driven retained part, the second driven connection
Partly, the second driven connector sleeve；The second driven connector sleeve is rotationally sheathed in first fixing axle；
The other end of one end of the second driven coupling part rotationally second connecting rod, described second is driven
The other end of coupling part is fixedly connected with the described second driven connector sleeve；
One end of the second driven retained part is fixedly connected with the described second driven connector sleeve, the other end for free end and
Close to second fixing axle.
As preferred embodiment, the second driven coupling part is a straight-bar；The second driven retained part
Including the 7th straight bar part and the 8th straight bar part；One end of 7th straight bar part is fixedly connected with the described second driven connection
Set, the described one end of 8th straight bar part far from the 7th straight bar part are free end；7th straight bar part and described
Angle between 8th straight bar part is obtuse angle.
As preferred embodiment, the driving mechanism includes the first driving fluid cylinder and the second driving fluid cylinder；Described
One driving fluid cylinder and the second driving fluid cylinder are individually fixed in the both sides of the mounting seat, the telescopic end of the first driving fluid cylinder
Connect one end of first part of the force；The telescopic end of the second driving fluid cylinder connects the one of second part of the force
End.
As preferred embodiment, first clamping device and second clamping device mirror symmetry each other.
As preferred embodiment, the side of the mounting seat back to first fixing axle and the second fixing axle is set
There is rail plate；The rail plate is installed on the mounting seat side and the length side of length direction and the mounting seat
To parallel；The rail plate moves for the drilling machine tubular column mechanical hand along the length direction of the rail plate.
The beneficial effects of the invention are as follows：
(1) during the brill completion tubular column of clamping different tube diameters, the center of each tubing string is on same center line, tubing string positioning control
Precisely quick positioning can be realized when processed according to the position at center；
(2) mechanical gripper caliber range is big, can complete existing all clamping operations for boring completion tubular column；
(3) mechanical gripper can also realize move operation of the clamping tubing string along centerline direction, more convenient tubing string movement
Automated job.
With reference to following explanation and attached drawing, only certain exemplary embodiments of this invention is disclosed in detail, specifies the original of the present invention
Reason can be in a manner of adopted.It should be understood that embodiments of the present invention are not so limited in range.In appended power
In the range of the spirit and terms of profit requirement, embodiments of the present invention include many changes, modifications and are equal.
The feature for describing and/or showing for a kind of embodiment can be in a manner of same or similar one or more
Used in a other embodiment, with the feature in other embodiment it is combined or substitute other embodiment in feature.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when being used herein, but simultaneously
It is not excluded for the presence or additional of one or more other features, one integral piece, step or component.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those skilled in the art, without having to pay creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of automated drilling rig tubular column mechanical hand structure diagram that one embodiment of the present invention provides；
Fig. 2 is the first clamping device structure diagram of Fig. 1；
Fig. 3 is the second clamping device structure diagram of Fig. 1；
Fig. 4 is Fig. 1 clamping drilling machine tubular column structure schematic diagrames.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the technical solution in the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example is only part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained under the premise of creative work is not made, should all belong to guarantor of the present invention
The range of shield.
It should be noted that when element is referred to as " being set to " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
For illustrative purposes only, it is unique embodiment to be not offered as " right side " and similar statement.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood meaning of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein "and/or" includes one or more
The arbitrary and all combination of relevant Listed Items.
It please refers to Fig.1, Fig. 4, a kind of automated drilling rig tubular column mechanical hand knot provided for one embodiment of the present invention
Structure schematic diagram.In this embodiment, which includes：Mounting seat 1, the first fixing axle 3a,
Second fixing axle 3b, the first clamping device, the second clamping device and driving mechanism 4.
The first fixing axle 3a and the second fixing axle 3b are parallel to each other.The first fixing axle 3a and the second fixing axle 3b
Position fix and positioned at the mounting seat 1 side.Specifically, the first fixing axle 3a and the second fixing axle 3b are
Straight-bar, the length direction of mounting seat 1 are parallel with the length direction of the first fixing axle 3a and the second fixing axle 3b.It is described
The both ends of mounting seat 1 along its length can be equipped with fixed plate, and the two of the first fixing axle 3a and the second fixing axle 3b
End is fixedly installed in respectively in the fixed plate.
(the lines thickened portion in Fig. 1, line weight are only to show to act on to first clamping device, are not represented real
Border thickness) it is installed on the first fixing axle 3a and the second fixing axle 3b.First clamping device includes first and actively presss from both sides
Pawl 5, the first driven clamping jaw 6；The first active clamping jaw 5 can surround the first fixing axle 3a and rotate；The first active clamping jaw 5 exists
The described first driven clamping jaw 6 is driven to be rotated around the second fixing axle 3b when being rotated around the first fixing axle 3a.
Second clamping device (the non-thickened portion of lines in Fig. 1) is installed on the first fixing axle 3a of institute and second and fixes
On axis 3b.Second clamping device includes the second active clamping jaw 8, the second driven clamping jaw；The second active clamping jaw 8 can surround
The second fixing axle 3b rotations；The second active clamping jaw 8 drives described when being rotated around the second fixing axle 3b
Two driven clamping jaws are rotated around the first fixing axle 3a；The first active clamping jaw 5, the first driven clamping jaw 6, second actively press from both sides
8 and second driven clamping jaw of pawl has same inscribed circle；The first active clamping jaw 5, the first driven clamping jaw 6, the second active clamping jaw 8
It is constant with the center of the second driven clamping jaw inscribed circle when moving.
The driving mechanism 4 can drive the first active clamping jaw 5 and the second active clamping jaw 8, so that first master
Dynamic clamping jaw 5, the first driven clamping jaw 6, the second active clamping jaw 8 and the second driven clamping jaw and the circumference for boring completion tubular column 20 are tangent, institute
The central axis for stating brill completion tubular column 20 is overlapped with the center of the inscribed circle.Wherein, which can be fixed on described
In mounting seat 1.
In the present embodiment, along the length direction (axial direction) of the first fixing axle 3a and the second fixing axle 3b, the first clamping
Mechanism and the second clamping device, which can arrange, is provided with multiple, axially adjacent single first clamping devices and single second folder
It holds mechanism and forms one group of clip claw assembly, so as to form multigroup folder on the length direction of the first fixing axle 3a and the second fixing axle 3b
Claw assembly.The second driven clamping jaw and the first driven clamping jaw 6 are actively pressed from both sides relative to the first active clamping jaw 5, second
Pawl 8 is close to the mounting seat 1.
The automated drilling rig tubular column mechanical hand of present embodiment by mounting seat 1 be equipped with the first clamping device and
Second clamping device, the first clamping device and the second clamping device under the action of driving mechanism 4 by the first active clamping jaw 5,
Second active clamping jaw 8 drive the first driven clamping jaw 6, the second driven clamping jaw together around the first fixing axle 3a, the second fixing axle 3b to
The center movement of inscribed circle, the first active clamping jaw 5, the second active clamping jaw 8, the first driven clamping jaw 6, the second driven clamping jaw gradually to
Heart movement realizes the concentric clamping for boring completion tubular column 20, ensure that the accuracy of tubing string positioning, thus during tubing string location control
Precisely quick positioning can be realized according to the position at center.
To keep in the first active clamping jaw 5, the first driven clamping jaw 6, the second active clamping jaw 8 and the second driven clamping jaw
The center of the circle of contact is always positioned on same axis (axis is subsequently overlapped with boring the axis of completion tubular column 20), first clamping
Mechanism and second clamping device mirror symmetry each other.
Specifically, as shown in Figure 2 and Figure 3, first clamping device further includes head rod 7a；First connection
Bar 7a one end is rotatably coupled the first active clamping jaw 5, and the other end is rotatably coupled the described first driven clamping jaw 6；Institute
It states the second clamping device and further includes the second connecting rod 7b；Described second connecting rod 7b one end is rotatably coupled described second actively
Clamping jaw 8, the other end are rotatably coupled the described second driven clamping jaw；The head rod 7a, the second connecting rod 7b with
The first fixing axle 3a, the second fixing axle 3b are vertical, and are parallel to the first fixing axle 3a and the second fixing axle 3b is common
The plane being located at.
As shown in Fig. 2, the first active clamping jaw 5 includes the first active retained part, the first part of the force 53, first is led
The 54, first active connector sleeve 55 of rotation connection point；The first active connector sleeve 55 is rotationally sheathed on described first and fixes
On axis 3a；One end of the first active retained part is fixedly connected with the first active connector sleeve 55, and the other end is free end；
One end of first part of the force 53 is fixedly connected with the first active connector sleeve 55, and the other end connects the head rod
7a；One end of the first active coupling part 54 is fixedly connected with the first active connector sleeve 55, and the other end is used to drive institute
State the first driven clamping jaw 6.
First part of the force 53 and the first active coupling part 54 are a straight-bar；Described first actively clamps
Part includes the first straight bar part 52 and the second straight bar part 51；One end connection first master of first straight bar part 52
Dynamic connector sleeve 55, the one end of second straight bar part 51 far from first straight bar part 52 are free end；Described first is straight
Angle between bar part 52 and second straight bar part 51 is obtuse angle.
As shown in figure 3, the second active clamping jaw 8 includes the second active retained part, the second part of the force 83, second is led
The 84, second active connector sleeve 88 of rotation connection point；The second active connector sleeve 88 is rotationally sheathed on described second and fixes
On axis 3b；One end of the second active retained part is fixedly connected with the second active connector sleeve 88, and the other end is free end；
One end of second part of the force 83 is fixedly connected with the second active connector sleeve 88, and the other end connects second connecting rod
7b；One end of the second active coupling part 84 is fixedly connected with the second active connector sleeve 88, and the other end is used to drive institute
State the second driven clamping jaw.
Second part of the force 83 and the second active coupling part 84 are a straight-bar；Described second actively clamps
Part includes 82 and the 4th straight bar part 81 of third straight bar part；One end of the third straight bar part 82 is fixedly connected with described
Two active connector sleeves 88, the described one end of 4th straight bar part 81 far from the third straight bar part 82 are free end；Described
Angle between three straight bar parts 82 and the 4th straight bar part 81 is obtuse angle.
The first driven clamping jaw 6 includes the first driven retained part, the first driven coupling part 63, the first driven connection
Set 64；The first driven connector sleeve 64 is rotationally sheathed on the second fixing axle 3b；Described first from rotation connection
The other end of points 63 one end rotationally head rod 7a, the other end of the first driven coupling part 63 are fixed
Connect the described first driven connector sleeve 64；One end of the first driven retained part is fixedly connected with the described first driven connector sleeve
64, the other end is for free end and close to the first fixing axle 3a.
The first driven coupling part 63 is a straight-bar；The first driven retained part includes the 5th straight bar part 62
With the 6th straight bar part 61；One end of 5th straight bar part 62 is fixedly connected with the described first driven connector sleeve 64, and described
The one end of six straight bar parts 61 far from the 5th straight bar part 62 is free end；5th straight bar part 62 and the described 6th
Angle between straight bar part 61 is obtuse angle.
The second driven clamping jaw includes the second driven retained part, the second driven coupling part 93, the second driven connection
Set 94；The second driven connector sleeve 94 is rotationally sheathed on the first fixing axle 3a；Described second from rotation connection
The other end of points 93 one end rotationally the second connecting rod 7b, the other end of the second driven coupling part 93 are fixed
Connect the described second driven connector sleeve 94；One end of the second driven retained part is fixedly connected with the described second driven connector sleeve
94, the other end is for free end and close to the second fixing axle 3b.
The second driven coupling part 93 is a straight-bar；The second driven retained part includes the 7th straight bar part 92
With the 8th straight bar part 91；One end of 7th straight bar part 92 is fixedly connected with the described second driven connector sleeve 94, and described
The one end of eight straight bar parts 91 far from the 7th straight bar part 92 is free end；7th straight bar part 92 and the described 8th
Angle between straight bar part 91 is obtuse angle.
The driving mechanism 4 includes the first driving fluid cylinder and the second driving fluid cylinder；The first driving fluid cylinder and second drives
Hydrodynamic cylinder is individually fixed in the both sides of the mounting seat 1, telescopic end (rotationally) the connection institute of the first driving fluid cylinder
State one end of the first part of the force 53；The telescopic end (rotationally) of the second driving fluid cylinder connects second part of the force
83 one end.
First driving fluid cylinder and the second driving fluid cylinder divide in elongation through the first part of the force 53, the second part of the force 83
The first active retained part, the second active retained part is not pushed inwardly to rotate (when scope of readers is to Fig. 1 the first active clamping part
Point substantially to upper right, the second active retained part is upper to the left to be moved), through the first active coupling part 54, head rod 7a, the
One driven coupling part 63, the first driven connector sleeve 64 drive the first driven retained part is lower to the right to move, and connect through the second active
The 84, second connecting rod 7b of socket part point, the second driven coupling part 93, the second driven connector sleeve 94 drive the second driven retained part
It is lower to the right to move.
In the present embodiment, it can be a substrate that mounting seat 1 is whole, and the side of the substrate is along its length equipped with more
(fixed plate can hang down a fixed plate for being fixedly connected with the first fixing axle 3a and the second fixing axle 3b with the side surface of substrate
Directly).The first fixing axle 3a and the second fixing axle 3b are parallel with the length direction of substrate, and are arranged along the width direction of substrate
Cloth, that is, plane and substrate-parallel where the first fixing axle 3a and the second fixing axle 3b.
The mounting seat 1 is equipped with rail plate back to the side of the first fixing axle 3a and the second fixing axle 3b；Institute
State that rail plate is installed on 1 side of mounting seat and length direction is parallel with the length direction of the mounting seat 1；It is described
Rail plate moves for the drilling machine tubular column mechanical hand along the length direction of the rail plate.
When using the automated drilling rig tubular column mechanical hand that present embodiment is provided, it is drilled well as Figure 1 and Figure 4
Tubing string 20 be located at behind the position of the center essentially concentric of the inscribed circle, first driving fluid cylinder gradually extend driving first actively
Clamping jaw 5 moves in a circle around the first fixing axle 3a, meanwhile, the first active clamping jaw 5 is driven by head rod 7a drives first
Clamping jaw 6 does synchronous circular motion around the second fixing axle 3b.
It is similar, the second active of symmetrical side clamping jaw 8, the second driven clamping jaw motion principle be same as above, multigroup clip claw assembly by
Gradually action is finally completed the clamping operation for boring completion tubular column 20.
In clamping process, the center of inscribed circle and bore completion tubular column 20 center it is initial when can have certain bias,
When clamping jaw clamps completely bores completion tubular column 20, each clamping jaw (the first active retained part, the second active retained part, the
One driven retained part, the second driven retained part) outer wall for being drilled well casing column 20 is cut in outside, at this point, the center of inscribed circle
Concentric, the active force equalization on each clamping jaw is realized with the center for boring completion tubular column 20.
In the present embodiment, completion tubular column 20 is bored along its centerline direction after adjusting clamping by sliding support guide rail
Action, the transverse direction or lengthwise position for realizing tubing string adjust operation.When brill completion tubular column 20 on rig floor unload button operation,
First driving fluid cylinder of the mechanical gripper and the second driving fluid cylinder can reduce its clamp pressure, be readily modified as boring completion tubular column 20
Support operation.
The inverse process that 20 operation of completion tubular column is above-mentioned clamping operation is bored in the mechanical gripper release of present embodiment, specific
Operation is not repeated herein.
The advantageous effect of present embodiment is：
(1) during the brill completion tubular column 20 of clamping different tube diameters, the center of each tubing string is on same center line, tubing string positioning
Precisely quick positioning can be realized during control according to the position at center；
(2) mechanical gripper caliber range is big, can complete existing all clamping operations for boring completion tubular column；
(3) mechanical gripper can also realize move operation of the clamping tubing string along centerline direction, more convenient tubing string movement
Automated job.
Herein cited any digital value all include between lower limiting value to upper limit value with the lower value of an incremented and
The all values of upper value, there are the intervals of at least two units between any lower value and any much higher value.For example, such as
Fruit elaborates that the quantity of component or the value of process variable (such as temperature, pressure, time etc.) are from 1 to 90, preferably from 20
To 80, more preferably from 30 to 70, then purpose is arrived in order to illustrate also clearly listing such as 15 to 85,22 in the specification
68th, 43 to 51,30 to 32 is equivalent.For being less than 1 value, it is 0.0001,0.001,0.01,0.1 suitably to think a unit.
These are only intended to the example clearly expressed, it is believed that the numerical value enumerated between minimum and peak is possible to
Combination is all expressly set forth in the specification in a similar manner.
Unless otherwise indicated, all ranges all include all numbers between endpoint and endpoint.It is used together with range
" about " or " approximation " be suitable for two endpoints of the range.Thus, " about 20 to 30 " are intended to covering " about 20 to about
30 ", including at least the endpoint indicated.
All articles and reference disclosed, including patent application and publication, for various purposes by quoting knot
Together in this.Identified element, ingredient, component or step and reality should be included by describing the term " substantially by ... form " of combination
Other elements, ingredient, component or the step of the basic novel feature of the combination are not influenced in matter.Using term "comprising" or
" comprising " describes the combination of element here, ingredient, component or step it is also contemplated that substantially by these elements, ingredient, component
Or the embodiment that step is formed.Here by using term " can with ", it is intended to it is described any to illustrate that " can with " includes
Attribute is all optional.
Multiple element, ingredient, component or step can be provided by single integrated component, ingredient, component or step.Optionally
Ground, single integrated component, ingredient, component or step can be divided into multiple element, ingredient, component or the step of separation.It is used for
The open "a" or "an" for describing element, ingredient, component or step is not said to exclude other elements, ingredient, component
Or step.
It should be understood that above description is to illustrate rather than to be limited.By reading above-mentioned retouch
It states, many embodiments and many applications except the example provided all will be aobvious and easy for a person skilled in the art
See.Therefore, the range of this introduction should not be determined with reference to foregoing description, but should with reference to appended claims and this
The four corner of equivalent that a little claims are possessed determines.For comprehensive purpose, all articles and with reference to including special
The disclosure of profit application and bulletin is all by reference to being incorporated herein.Theme disclosed herein is omitted in preceding claims
Any aspect is not intended to abandon the body matter, also should not be considered as inventor the theme is not thought of as it is disclosed
A part for subject matter.
Claims (9)
1. a kind of automated drilling rig tubular column mechanical hand, which is characterized in that including：
Mounting seat；
Parallel the first fixing axle and the second fixing axle；The position of first fixing axle and the second fixing axle is fixed and is located at
The side of the mounting seat；
The first clamping device being installed in first fixing axle and the second fixing axle；First clamping device includes first
Active clamping jaw, the first driven clamping jaw；The first active clamping jaw can surround the first fixing axle and rotate；The first active clamping jaw exists
The described first driven clamping jaw is driven to be rotated around second fixing axle when being rotated around first fixing axle；
Be installed on the second clamping device in the first fixing axle and the second fixing axle；Second clamping device includes the second master
Dynamic clamping jaw, the second driven clamping jaw；The second active clamping jaw can surround second fixing axle and rotate；The second active clamping jaw
The described second driven clamping jaw is driven to rotate around first fixing axle when being rotated around second fixing axle；Described first
Active clamping jaw, the first driven clamping jaw, the second active clamping jaw and the second driven clamping jaw have same inscribed circle；Described first actively presss from both sides
The center of pawl, the first driven clamping jaw, the second active clamping jaw and the second driven clamping jaw inscribed circle when moving is constant；
Driving mechanism；The driving mechanism can drive the first active clamping jaw and the second active clamping jaw, so that described first
Active clamping jaw, the first driven clamping jaw, the second active clamping jaw and the second driven clamping jaw and the circumference for boring completion tubular column are tangent, the brill
The central axis of completion tubular column is overlapped with the center of the inscribed circle.
2. automated drilling rig tubular column mechanical hand as described in claim 1, which is characterized in that the second driven clamping jaw and institute
The first driven clamping jaw is stated relative to the first active clamping jaw, the second active clamping jaw close to the mounting seat.
3. automated drilling rig tubular column mechanical hand as claimed in claim 2, which is characterized in that first clamping device also wraps
Include head rod；Described head rod one end is rotatably coupled the first active clamping jaw, and the other end rotationally connects
Connect the described first driven clamping jaw；
Second clamping device further includes the second connecting rod；Described second connecting rod one end is rotatably coupled second master
Dynamic clamping jaw, the other end are rotatably coupled the described second driven clamping jaw；
The head rod, second connecting rod are vertical with first fixing axle, the second fixing axle, and are parallel to described
The plane that first fixing axle and the second fixing axle are co-located at.
4. automated drilling rig tubular column mechanical hand as claimed in claim 3, which is characterized in that the first active clamping jaw includes
First active retained part, the first part of the force, the first active coupling part, the first active connector sleeve；First active connects
Female connector is rotationally sheathed in first fixing axle；
One end of the first active retained part is fixedly connected with the first active connector sleeve, and the other end is free end；
One end of first part of the force is fixedly connected with the first active connector sleeve, other end connection first connection
Bar；
One end of the first active coupling part is fixedly connected with the first active connector sleeve, and the other end is for driving described the
One driven clamping jaw.
5. automated drilling rig tubular column mechanical hand as claimed in claim 4, which is characterized in that first part of the force and institute
It is a straight-bar to state the first active coupling part；The first active retained part includes the first straight bar part and the second straight-bar portion
Point；One end of first straight bar part connects the first active connector sleeve, and second straight bar part is far from described first
One end of straight bar part is free end；Angle between first straight bar part and second straight bar part is obtuse angle.
6. automated drilling rig tubular column mechanical hand as claimed in claim 5, which is characterized in that the second active clamping jaw includes
Second active retained part, the second part of the force, the second active coupling part, the second active connector sleeve；Second active connects
Female connector is rotationally sheathed in second fixing axle；
One end of the second active retained part is fixedly connected with the second active connector sleeve, and the other end is free end；
One end of second part of the force is fixedly connected with the second active connector sleeve, other end connection second connection
Bar；
One end of the second active coupling part is fixedly connected with the second active connector sleeve, and the other end is for driving described the
Two driven clamping jaws.
7. automated drilling rig tubular column mechanical hand as claimed in claim 6, which is characterized in that second part of the force and institute
It is a straight-bar to state the second active coupling part；The second active retained part includes third straight bar part and the 4th straight-bar portion
Point；One end of second straight bar part is fixedly connected with the second active connector sleeve, and second straight bar part is far from described
One end of second straight bar part is free end；Angle between the third straight bar part and the 4th straight bar part is blunt
Angle.
8. automated drilling rig tubular column mechanical hand as claimed in claim 7, which is characterized in that the first driven clamping jaw includes
First driven retained part, the first driven coupling part, the first driven connector sleeve；The first driven connector sleeve rotationally covers
In second fixing axle；
The other end of one end of the first driven coupling part rotationally head rod, the first driven connection
The partial other end is fixedly connected with the described first driven connector sleeve；
One end of the first driven retained part is fixedly connected with the described first driven connector sleeve, and the other end is free end and close
First fixing axle.
9. automated drilling rig tubular column mechanical hand as claimed in claim 8, which is characterized in that the first driven coupling part
For a straight-bar；The first driven retained part includes the 5th straight bar part and the 6th straight bar part；5th straight bar part
One end be fixedly connected with the described first driven connector sleeve, the described one end of 6th straight bar part far from the 5th straight bar part is
Free end；Angle between 5th straight bar part and the 6th straight bar part is obtuse angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111914.5A CN108131106B (en) | 2017-11-13 | 2017-11-13 | Automatic change rig tubular column machinery tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111914.5A CN108131106B (en) | 2017-11-13 | 2017-11-13 | Automatic change rig tubular column machinery tongs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108131106A true CN108131106A (en) | 2018-06-08 |
| CN108131106B CN108131106B (en) | 2023-09-26 |
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ID=62389677
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711111914.5A Active CN108131106B (en) | 2017-11-13 | 2017-11-13 | Automatic change rig tubular column machinery tongs |
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| Country | Link |
|---|---|
| CN (1) | CN108131106B (en) |
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| CN207568519U (en) * | 2017-11-13 | 2018-07-03 | 中国石油天然气集团公司 | A kind of automated drilling rig tubular column mechanical hand |
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| US4621688A (en) * | 1982-02-01 | 1986-11-11 | Bodine Albert G | Clamping jaw device for well servicing machine |
| CN202412285U (en) * | 2012-02-23 | 2012-09-05 | 东北石油大学 | Manipulator device for clamping tubular columns during drilling and rework treatment |
| CN203515388U (en) * | 2013-08-30 | 2014-04-02 | 武汉市元博智能控制技术研究设计院（有限合伙） | Novel automatic tube arranging mechanical arm |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108131106B (en) | 2023-09-26 |
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