CN108547584A - A kind of rig floor manipulator - Google Patents
A kind of rig floor manipulator Download PDFInfo
- Publication number
- CN108547584A CN108547584A CN201810481181.2A CN201810481181A CN108547584A CN 108547584 A CN108547584 A CN 108547584A CN 201810481181 A CN201810481181 A CN 201810481181A CN 108547584 A CN108547584 A CN 108547584A
- Authority
- CN
- China
- Prior art keywords
- moving arm
- oil cylinder
- gripper clamp
- drilling rod
- tubing string
- 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.)
- Pending
Links
- 238000005553 drilling Methods 0.000 claims abstract description 86
- 230000003139 buffering effect Effects 0.000 claims abstract description 7
- 238000004064 recycling Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 12
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 3
- 230000003137 locomotive effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 11
- 239000003921 oil Substances 0.000 description 53
- 238000010586 diagram Methods 0.000 description 7
- 239000010720 hydraulic oil Substances 0.000 description 5
- 241000282326 Felis catus Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 238000011022 operating instruction Methods 0.000 description 2
- 238000011176 pooling Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
- Earth Drilling (AREA)
Abstract
The present invention discloses a kind of rig floor manipulator, moves horizontally guide rail and is fixedly connected with drilling floor surface, and pivoting support is mounted on and moves horizontally on guide rail, and the guide rail that vertically moves being vertically arranged is connected with pivoting support；Mobile sliding block, which is installed on, to be vertically moved in guide rail, and the fixing end and movable end of the first oil cylinder are fixedly connected with vertically moving guide rail and move sliding block respectively；Interior moving arm bottom is hinged with mobile sliding block, and the fixing end and movable end of the second oil cylinder are hinged with the middle and lower part of mobile sliding block and interior moving arm respectively；Hinged with the top on moving arm top at the top of interior moving arm, the fixing end of third oil cylinder is hinged on interior moving arm top, and the movable end of third oil cylinder is hinged on the middle part on moving arm top.The present invention can realize that the movement of drilling floor surface tubing string, tubing string enter buffering when rig floor reaches well head, tubing string (drilling rod) enters the automations of the dynamic equal groundworks of mouse, solve the problems, such as that current drilling floor surface tubing string movement is spread the work by manpower and more devices.
Description
Technical field
It, more particularly to can in a kind of oil-gas mining operation process the invention belongs to oil gas engineering drilling equipment technical field
Realize a kind of rig floor manipulator of the displacement of drilling floor surface tubing string and drilling rod decentralization (entering rat hole).
Background technology
Nowadays, right with the continuous improvement of safety requirements and the increase of personnel cost in oil-gas mining drilling equipment field
The demand of drilling floor surface tubing string multifunction manipulator is more and more, and full-automatic, high efficiency, remote control, substitutes manually low power consuming
Drilling floor surface tubing string multifunction manipulator is inevitable development trend.
However, existing drilling floor surface tubing string movement operation mainly uses Manual-pushing, drilling rod to enter rat hole operation and mainly adopt
Lifted by crane with air hoist, that there are the amounts of labour used is big for traditional work mode, and personnel labor intensity is high, and personnel safety risk is high, drilling rod into
Enter the disadvantages such as rat hole efficiency is low.
Invention content
The purpose of the present invention is to provide a kind of rig floor manipulators, to solve the above technical problems.The present invention can realize
The movement of drilling floor surface tubing string, tubing string enter buffering when rig floor reaches well head, particularly tubing string (drilling rod) to enter mouse dynamic equal mainly
The automation of work, to solve the present situation that current drilling floor surface tubing string movement is spread the work by manpower and more devices.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of rig floor manipulator, including move horizontally guide rail, pivoting support, mobile sliding block, vertically move guide rail, interior movement
Arm and outer moving arm；
It moves horizontally guide rail to be fixedly connected with drilling floor surface, pivoting support is mounted on and moves horizontally on guide rail, is vertically arranged
Guide rail is vertically moved with pivoting support to be connected；
Mobile sliding block, which is installed on, to be vertically moved in guide rail, and the fixing end and movable end of the first oil cylinder are led with vertically moving respectively
Rail is fixedly connected with mobile sliding block, and mobile sliding block can vertically move guide rail in the drive lower edge of the first oil cylinder and move up and down；
Interior moving arm bottom is hinged with mobile sliding block, the fixing end and movable end of the second oil cylinder respectively with mobile sliding block and interior
The middle and lower part of moving arm is hinged, interior moving arm can be realized relative to the angle for vertically moving guide rail by the driving of the second oil cylinder
Folding；
Outer moving arm includes moving arm top and moving arm lower part, and moving arm top passes through internal slide bar with moving arm lower part
It is coupled, can realizes the flexible of outer moving arm；
Hinged with the top on moving arm top at the top of interior moving arm, the fixing end of third oil cylinder is hinged on interior moving arm
Portion, the movable end of third oil cylinder are hinged on the middle part on moving arm top；By third oil cylinder can realize outer moving arm relative to
The angle of interior moving arm opens and closes；
Moving arm is connected with gripper clamp at the top of top；The lower part of moving arm lower part is connected with lower gripper clamp.
Further, moving arm top and moving arm lower part are equipped with arc track face.
Further, tubing string enters the operation of rat hole：Connected by mechanism revolution, moving arm folding, outer moving arm lower end
The lower gripper clamp connect reaches the preceding setting position in ramp, waits drilling rod to be received；Drilling rod upper end enters the outer moving arm of rig floor manipulator and (moves
Swing arm top and moving arm lower part) arc track face, drilling rod moves up along the track, when track upper end is crossed in the upper end of drilling rod,
The upper gripper clamp obvolvent of moving arm top upper end, when continuing to send drilling rod, the first oil cylinder is started simultaneously to move and be done, and is linked in mobile sliding block
On interior moving arm synchronize and move up, while moving arm top keeps whole parallel with drilling rod with moving arm lower part by controlling, and send
After drilling rod reaches setting position, moving arm lower part lower end gripper clamp steps up drilling rod, and the first oil cylinder, which continues to drive, is linked in mobile cunning
Interior moving arm on block continues uplink and reaches high point, and drilling rod lower end is detached from drilling floor surface, and inside and outside moving arm recycling, rotation, drilling rod arrive
Up to direction initialization, inside and outside moving arm stretchs out (terminal reach in setting posture), and drilling rod reaches above rat hole, according to setting speed, by
The lower end gripper clamp intensifying force of speed sensorless control moving arm lower part carrys out regulating friction force, and drilling rod is by its own gravity according to setting
Constant speed degree starts to transfer, and when drilling rod upper end is close to moving arm top upper end gripper clamp, upper end gripper clamp unclamps, under drilling rod continues
It moves, when drilling rod upper-end contact is to lower end gripper clamp, the 4th oil cylinder drives moving arm lower part downward, drives the lower folder being connected thereto
It holds pincers to continue to move down, when end in contact mouse moves bottom under drilling rod, drilling rod enters mouse and starts building to complete, and lower end gripper clamp unclamps.
Further, upper gripper clamp includes left nipper, right nipper and control mechanism.
Further, lower gripper clamp includes left nipper, right nipper, the 5th oil cylinder, brake pad and sensor, and the 5th oil cylinder connects
Connect left nipper, right nipper；5th oil cylinder is controlled by sensor, by sensor feedback, can be adjusted the 5th oil cylinder and be realized lower folder
Hold the folding, support and clamping of pincers；Brake pad is installed on the inside of left nipper and right nipper.
Further, further include the link mechanism for keeping moving horizontally for controlling lower gripper clamp.
Further, mode of operation of the tubing string in drilling floor surface locomotive function：Adjust in the second hydraulic oil cylinder driving moving arm stretch out,
It adjusts the outer moving arm of third hydraulic oil cylinder driving to stretch out, drives lower gripper clamp horizontal direction Forward；When tubing string enters the pincers of lower gripper clamp
After mouthful, sensor feedback signal, the left nipper and right nipper for adjusting lower gripper clamp is shunk, and helps tubing string；Adjust the drive of the second oil cylinder
Moving arm recycling, the outer moving arm recycling of adjusting third hydraulic oil cylinder driving, driving pivoting support drive moving arm to rotate in dynamic, and arrival is set
Orientation adjusts moving arm stretching in the second hydraulic oil cylinder driving, the outer moving arm stretching of adjusting third hydraulic oil cylinder driving is sent to tubing string arrival
Designated position, trip crane system land tubing string, adjust lower gripper clamp and unclamp, complete tubing string and moved in drilling floor surface.
Further, tubing string enters the operation that rig floor reaches well head pooling feature：Elevator slings the tubing string upper end on ramp
It moves up, when ramp is left in tubing string lower end, lower gripper clamp is moved at the top of rig floor ramp, is clamped under rig floor manipulator
Pincers hold up tubing string lower end, and the left nipper and right nipper for adjusting lower gripper clamp are shunk, and help tubing string；Adjust the second oil cylinder and third oil
Cylinder drives interior moving arm, the recycling of outer moving arm, driving pivoting support that moving arm rotation, arrival setting orientation is driven to adjust second
Oil cylinder, third oil cylinder drive interior moving arm, the recycling moving arm Forward of outer moving arm, send lower end to the underface of suspension centre, drive
Dynamic lower gripper clamp unclamps, and completes buffering work.
Compared with the existing technology, the invention has the advantages that：
1) inside and outside moving arm realizes the level of lower part gripper clamp in different operating modes with different geometry motion relationships
Mobile and required track movement；
2) intensifying force of gripper clamp can be adjusted as requested, control the size of frictional force.
3) apparatus of the present invention have increasingly automated function, while also having manual operation pattern.
4) the multiple autonomous working links of former rig floor are based on completing all over the body by apparatus of the present invention, and are created drilling rod and entered rat hole work(
Can, it is easy for installation.
5) apparatus of the present invention reduce operating personnel while reducing labor intensity, control security risk.
6) apparatus of the present invention are the generation of follow-up drilling floor surface column, provide tool.
The present invention passes through the revolution, lifting, folding of electrichydraulic control moving arm, flexible, the folder of lower gripper clamp of outer moving arm
Holding force is adjusted so that and tubing string presss from both sides (or helping) holder and drives tubing string that there is different spaces to move, and is sent to tubing string and reaches designated position,
It solves traditional work mainly to move in drilling floor surface by Manual-pushing tubing string, air hoist (or using hook) lifts drilling rod and puts
Enter the work such as rat hole, which realizes full-automatic, high efficiency, low energy consumption, remote control, substitutes artificial function, effectively drops
Low recruitment quantity, labor intensity, personnel safety risk etc..
Description of the drawings
Fig. 1 is a kind of rig floor manipulator collapsed state schematic diagram of the present invention；
Fig. 2 is a kind of rig floor robot work status diagram of the present invention；
When Fig. 3 is a kind of rig floor robot work of the invention, tubing string enters the buffering operating diagram that rig floor reaches well head；
Fig. 4 is that drilling rod is sent into the dynamic operating diagram of mouse；
Fig. 5 is upper clamp pincers schematic diagram；
Fig. 6 is lower part gripper clamp schematic diagram；
Fig. 7 is outer moving arm schematic diagram.
In figure shown in serial number：1, guide rail is moved horizontally；2, pivoting support；3, electric cabinet；4, mobile sliding block；5, it vertically moves
Guide rail；6, the first oil cylinder；7, hydraulic control box；8, the second oil cylinder；9, interior moving arm；10, third oil cylinder；11 moving arm tops；12,
Four oil cylinders；13, moving arm lower part；14, the 5th oil cylinder；15, left nipper；16, right nipper；17, upper clamp clamps；18, connecting rod machine
Structure；100, outer moving arm；170, lower gripper clamp；200, drilling rod；300, tubing string；400, rat hole.
Specific implementation mode
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Shown in please referring to Fig.1 to Fig.4, the present invention provides a kind of rig floor manipulator, including moves horizontally guide rail 1, revolution branch
It holds 2, mobile sliding block 4, vertically move guide rail 5, interior moving arm 9, outer moving arm 100 and link mechanism 18.
It moves horizontally guide rail 1 to be fixedly connected with drilling floor surface, pivoting support 2 is mounted on and moves horizontally on guide rail 1, is vertically arranged
The guide rail 5 that vertically moves be connected with pivoting support 2, establish whole column for multifunction manipulator；Vertically move 5 energy of guide rail
It is enough to be rotated relative to pivoting support 2.
Mobile sliding block 4, which is installed on, to be vertically moved in guide rail 5, and the fixing end and movable end of the first oil cylinder 6 are moved with vertical respectively
Dynamic guide rail 5 is fixedly connected with mobile sliding block 4, and mobile sliding block 4 can be vertically moved in the drive lower edge of the first oil cylinder 6 on guide rail 5
Lower movement；
9 bottom of interior moving arm is hinged with mobile sliding block 4, and guide rail 5 is moved up and down and vertically move by mobile sliding block 4
Rotation can drive interior moving arm 9 to move up and down, rotate relative to moving horizontally guide rail 1, the fixing end of the second oil cylinder 8 and activity
End is hinged with the lower middle part of mobile sliding block 4 and interior moving arm 9 respectively, and interior moving arm 9 can be realized by the driving of the second oil cylinder 8
It is opened and closed relative to the angle for vertically moving guide rail 5；
Outer moving arm 100 includes moving arm top 11 and moving arm lower part 13, moving arm top 11 and moving arm lower part 13
Upper face forms arc track face, and moving arm top 11 is coupled with moving arm lower part 13 by internal slide bar, can realize outer
Moving arm 100 stretches.
9 top of interior moving arm and 11 top of moving arm top are hinged, and the fixing end of third oil cylinder 10 is hinged on interior moving arm 9
Top, the movable end of third oil cylinder 10 are hinged on the middle part on moving arm top 11；Outer movement can be realized by third oil cylinder 10
Arm 100 is opened and closed relative to the angle of interior moving arm 9；
11 top of moving arm top is connected with gripper clamp 17, and upper gripper clamp includes left nipper, right nipper and control mechanism；
The lower part of moving arm lower part 13 is connected with lower gripper clamp 170, and lower gripper clamp includes left nipper 15, right nipper 16,
Five oil cylinders 14, brake pad and sensor, the 5th oil cylinder 14 connect left nipper 15, right nipper 16；5th oil cylinder 14 is by sensor control
System, by sensor feedback, the folding, support and clamping of lower gripper clamp can be realized by adjusting the 5th oil cylinder 14；15 He of left nipper
The inside of right nipper 16 is equipped with brake pad.
Link mechanism 18 is parallelogram mechanism, is moved horizontally for controlling lower gripper clamp holding.
Concrete operations explanation：
1, mode of operation of the tubing string 300 in drilling floor surface locomotive function：Adjusting the second oil cylinder 8 drives interior moving arm 9 to stretch out, adjust
Section third oil cylinder 10 drives outer moving arm 100 to stretch out, and drives lower gripper clamp 170 to move forward, under the action of link mechanism 18, ensures
Lower 170 horizontal motion of gripper clamp；After tubing string enters the jaw of lower gripper clamp 170, sensor feedback signal adjusts lower folder
The 5th oil cylinder 14 for holding pincers 170 drives left nipper 15 and right nipper 16 to shrink, and helps tubing string.It adjusts the second oil cylinder 8 and drives interior shifting
The recycling of swing arm 9, adjusting third oil cylinder 10 drive outer moving arm 100 to recycle, and driving pivoting support 2 drives moving arm rotation, under making
Gripper clamp reaches setting orientation, adjusts the second oil cylinder 8 and the stretching of interior moving arm 9, adjusting third oil cylinder 10 is driven to drive outer moving arm
100 stretchings are sent to tubing string and reach designated position, and trip crane system lands tubing string, adjusts the 5th oil cylinder 14, gripper clamp 170 under driving
It unclamps, repeats next cycle.
2, tubing string enters the operating instruction that rig floor reaches well head pooling feature：It is upward that elevator slings the tubing string upper end on ramp
It is mobile, when ramp is left in tubing string lower end, lower gripper clamp 170 is moved at the top of rig floor ramp, is clamped under rig floor manipulator
Pincers 170 hold up tubing string lower end, adjust the 5th oil cylinder 14 and left nipper 15 and right nipper 16 is driven to shrink, help tubing string；Adjust second
Oil cylinder 8, third oil cylinder 10 drive interior moving arm 9, outer moving arm 100 to recycle, and driving pivoting support 2 drives moving arm rotation, tune
Save the second oil cylinder 8, third oil cylinder 10, drive in moving arm 9, outer moving arm 100 recycle moving arm Forward, send lower end to hanging
The underface of point adjusts the 5th oil cylinder 14, drives lower gripper clamp to unclamp, completes buffering work, repeat next cycle.
3, tubing string enters the operating instruction of rat hole 400：It is coupled by mechanism revolution, moving arm folding, 13 lower end of moving arm
Lower gripper clamp 170 reach the preceding setting position in ramp, wait drilling rod 200 to be received.Automation cat road trolley send drilling rod upper end to enter
The arc track face on moving arm top 11 and moving arm lower part 13 outside rig floor manipulator, drilling rod are moved up along the track, work as drilling rod
Upper end cross track upper end, 17 obvolvent of upper gripper clamp of 11 upper end of moving arm top (prevents drilling rod from falling off, clamping gap is pre-
Set), when in cat road, trolley continues to send drilling rod, the first oil cylinder 6 drives the interior moving arm 9 being linked on mobile sliding block 4 to synchronize and moves up
(drilling rod top, which cannot contact, vertically moves guide rail 5, prevents drilling rod from interfering with rig floor operation rotary drill rod), while moving arm top
11 keep whole parallel with drilling rod with moving arm lower part 13 by controlling, and after in cat road, trolley send drilling rod to reach setting position, move
13 lower end gripper clamp 170 of swing arm lower part steps up drilling rod (cannot slide), and the drive of the first oil cylinder 6 is linked in interior on mobile sliding block 4
Moving arm 9 continues uplink and reaches high point, and drilling rod lower end is detached from drilling floor surface, and inside and outside moving arm recycling, rotation, drilling rod reach setting side
To inside and outside moving arm is stretched out, and drilling rod reaches above rat hole (plumbness is presented when reaching in moving arm lower part 13), according to setting speed
Degree, by (Fig. 6) intensifying force of lower end gripper clamp 170 of speed sensorless control moving arm lower part 13 come regulating friction force, drilling rod is logical
Its own gravity is crossed to start to transfer according to setting speed, when drilling rod upper end is close to 11 upper end gripper clamp 17 of moving arm top, upper end
Gripper clamp 17 unclamps, and drilling rod continues to move down, and when drilling rod upper-end contact is to lower end gripper clamp 170 (Fig. 6), the 4th oil cylinder 12, which drives, to be moved
Swing arm lower part 13 is downward, drives the lower gripper clamp 170 being coupled on it to continue to move down (drilling rod and then moves down), end in contact under drilling rod
When mouse moves bottom, drilling rod enters mouse and starts building to complete.Lower end gripper clamp 170 (Fig. 6) unclamps, and mechanism recycling repeats next follow
Ring.
Claims (8)
1. a kind of rig floor manipulator, which is characterized in that including move horizontally guide rail (1), pivoting support (2), mobile sliding block (4),
Vertically move guide rail (5), interior moving arm (9) and outer moving arm (100)；
It moves horizontally guide rail (1) to be fixedly connected with drilling floor surface, pivoting support (2) is mounted on and moves horizontally on guide rail (1), sets vertically
Guide rail (5) the same to pivoting support (2) that vertically moves set is connected；
Mobile sliding block (4), which is installed on, to be vertically moved in guide rail (5), the fixing end and movable end of the first oil cylinder (6) respectively with it is vertical
Moving guide rail (5) is fixedly connected with mobile sliding block (4), and mobile sliding block (4) can vertically move in the drive lower edge of the first oil cylinder (6)
Dynamic guide rail (5) moves up and down；
Interior moving arm (9) bottom is hinged with mobile sliding block (4), and the fixing end and movable end of the second oil cylinder (8) are slided with mobile respectively
The middle and lower part of block (4) and interior moving arm (9) is hinged, by the driving of the second oil cylinder (8) can realize interior moving arm (9) relative to
Vertically move the angle folding of guide rail (5)；
Outer moving arm (100) includes moving arm top (11) and moving arm lower part (13), and moving arm top (11) are the same as under moving arm
Portion (13) is coupled by internal slide bar, can realize the flexible of outer moving arm (100)；
Hinged with the top on moving arm top (11) at the top of interior moving arm (9), the fixing end of third oil cylinder (10) is hinged on interior shifting
The movable end on swing arm (9) top, third oil cylinder (10) is hinged on the middle part of moving arm top (11)；Pass through third oil cylinder (10) energy
It is enough to realize that outer moving arm (100) opens and closes relative to the angle of interior moving arm (9)；
Gripper clamp (17) is connected at the top of moving arm top (11)；The lower part of moving arm lower part (13) is connected with lower gripper clamp
(170)。
2. a kind of rig floor manipulator according to claim 1, which is characterized in that moving arm top (11) and moving arm lower part
(13) it is equipped with arc track face.
3. a kind of rig floor manipulator according to claim 2, which is characterized in that tubing string enters the operation of rat hole：Pass through machine
Structure revolution, moving arm folding, outer moving arm reach the preceding setting position in ramp, wait drilling rod to be received；Upper end enters rig floor manipulator
The arc track face on outer moving arm top (11) and moving arm lower part (13), drilling rod is moved up along the track, when the upper end of drilling rod
Cross track upper end, upper gripper clamp (17) obvolvent of moving arm top (11) upper end, when continuing to send drilling rod, the first oil cylinder (6 band)
The dynamic interior moving arm (9) being linked on mobile sliding block (4), which synchronizes, to be moved up, while moving arm top (11) and moving arm lower part (13)
Keep whole parallel with drilling rod by controlling, after sending drilling rod to reach setting position, moving arm lower part (13) lower end gripper clamp (170)
Step up drilling rod, the first oil cylinder (6) drives the interior moving arm (9) being linked on mobile sliding block (4) to continue uplink and reaches high point, drilling rod
Lower end is detached from drilling floor surface, and inside and outside moving arm recycling, rotation, drilling rod reach direction initialization, and inside and outside moving arm is stretched out, and drilling rod reaches mouse
Above hole, plumbness is presented when reaching in moving arm lower part (13)；According to setting speed, by under speed sensorless control moving arm
The lower end gripper clamp intensifying force in portion (13) carrys out regulating friction force, and drilling rod starts to transfer by its own gravity according to setting speed, when
When drilling rod upper end is close to moving arm top (11) upper end gripper clamp (17), upper end gripper clamp (17) unclamps, and drilling rod continues to move down, and bores
When bar upper-end contact is to lower end gripper clamp (170), the 4th oil cylinder (12) drives moving arm lower part (13) downwards, and drive is connected to it
On lower gripper clamp (170) continue to move down, under drilling rod end in contact mouse move bottom when, drilling rod enters mouse and starts building to complete, lower end press from both sides
Pincers are held to unclamp.
4. a kind of rig floor manipulator according to claim 1, which is characterized in that upper gripper clamp includes left nipper, right nipper
And control mechanism.
5. a kind of rig floor manipulator according to claim 1, which is characterized in that lower gripper clamp includes left nipper (15), the right side
Nipper (16), the 5th oil cylinder (14), brake pad and sensor, the 5th oil cylinder (14) connect left nipper (15), right nipper (16)；The
Five oil cylinders (14) are controlled by sensor, by sensor feedback, can adjust the 5th oil cylinder (14) realize lower gripper clamp folding,
It helps and is clamped；Brake pad is installed on the inside of left nipper (15) and right nipper (16).
6. a kind of rig floor manipulator according to claim 1, which is characterized in that further include being kept for controlling lower gripper clamp
The link mechanism (18) moved horizontally.
7. a kind of rig floor manipulator according to claim 1, which is characterized in that operation of the tubing string in drilling floor surface locomotive function
Mode：Adjusting moving arm (9) stretching, adjusting third oil cylinder (10) in the second oil cylinder (8) driving drives outer moving arm (100) to stretch
Go out, drives lower gripper clamp horizontal direction Forward；After tubing string enters the jaw of lower gripper clamp, sensor feedback signal, under adjusting
The left nipper of gripper clamp and right nipper are shunk, folder/support tubing string；It adjusts moving arm (9) recycling in the second oil cylinder (8) driving, adjust
Saving third oil cylinder (10) drives outer moving arm (100) recycling, driving pivoting support (2) to drive moving arm rotation, adjusts the second oil
The interior moving arm (9) of cylinder (8) driving stretches out, the outer moving arm (100) of adjusting third oil cylinder (10) driving is stretched out to be sent to tubing string and reach and be referred to
Positioning is set, and trip crane system lands tubing string, is adjusted lower gripper clamp and is unclamped, completes tubing string and moved in drilling floor surface.
8. a kind of rig floor manipulator according to claim 1, which is characterized in that tubing string enters rig floor and reaches well head buffering work(
The operation of energy：Elevator is sling the tubing string upper end on ramp and is moved up, and when ramp is left in tubing string lower end, lower gripper clamp is moved
At at the top of to rig floor ramp, gripper clamp holds up tubing string lower end under rig floor manipulator, adjusts the left nipper of lower gripper clamp and right nipper
It shrinks, folder/support tubing string；The second oil cylinder (8) and third oil cylinder (10) are adjusted, interior moving arm (9), outer moving arm (100) are driven
Recycling drives pivoting support (2) to drive moving arm rotation, adjusts the second oil cylinder (8), third oil cylinder (10), drives interior moving arm
(9), outer moving arm (100) recycling moving arm Forward send lower end to the underface of suspension centre, lower gripper clamp is driven to unclamp, complete
At buffering work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810481181.2A CN108547584A (en) | 2018-05-18 | 2018-05-18 | A kind of rig floor manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810481181.2A CN108547584A (en) | 2018-05-18 | 2018-05-18 | A kind of rig floor manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108547584A true CN108547584A (en) | 2018-09-18 |
Family
ID=63495244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810481181.2A Pending CN108547584A (en) | 2018-05-18 | 2018-05-18 | A kind of rig floor manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108547584A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977930A (en) * | 2019-12-18 | 2020-04-10 | 山东瑞奥智能设备股份有限公司 | Sedimentation type drill floor surface manipulator for drilling and repairing well |
| CN111376235A (en) * | 2020-03-31 | 2020-07-07 | 哈尔滨工业大学 | Heavy-load four-degree-of-freedom four-parallel four-connecting-rod type actuating mechanism |
| CN112096317A (en) * | 2020-08-11 | 2020-12-18 | 四川宏华石油设备有限公司 | Drilling platform surface pipe column processing equipment |
Citations (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3280991A (en) * | 1964-04-28 | 1966-10-25 | Programmed & Remote Syst Corp | Position control manipulator |
| DD216283A1 (en) * | 1983-05-03 | 1984-12-05 | Zentr Reparatur U Ausruestungs | HEIGHT ADJUSTABLE AND SWIVELING HOLDING AND HOLDING DEVICE FOR AIR HORIZONTAL GRINDING |
| US4603395A (en) * | 1981-12-15 | 1986-07-29 | Paul Forkardt Gmbh & Co. Kg | Method of determining clamping force |
| WO1998014686A1 (en) * | 1996-10-02 | 1998-04-09 | Baker Hughes Incorporated | Tubing injection system for oilfield operations |
| EP0968792A2 (en) * | 1998-06-30 | 2000-01-05 | William A. Warheit | Locking plier tool |
| CN200943452Y (en) * | 2006-08-30 | 2007-09-05 | 西安凯诺石油科技有限公司 | Pipe column centralizer |
| US20090076657A1 (en) * | 2007-09-13 | 2009-03-19 | Toshimitsu Tsuboi | Control device, control method, computer program, and recording medium |
| CN102515049A (en) * | 2011-12-22 | 2012-06-27 | 北京市三一重机有限公司 | Rotary drilling machine, control method for descending of main winch of rotary drilling machine and main winch descending control system of rotary drilling machine |
| CN102720446A (en) * | 2012-06-12 | 2012-10-10 | 宝鸡石油机械有限责任公司 | Automatic derrick monkey of drilling machine |
| CN103061692A (en) * | 2013-02-19 | 2013-04-24 | 崔诗光 | Automatic running and pulling system of oilfield workover string |
| CA2883713A1 (en) * | 2012-10-22 | 2014-05-01 | Quicksilver Drilling Technologies, Llc | Automated pipe tripping apparatus and methods |
| CN103806851A (en) * | 2014-03-17 | 2014-05-21 | 东营市松佳工贸有限公司 | Operation robot for drilling platform |
| WO2014179730A1 (en) * | 2013-05-03 | 2014-11-06 | Canrig Drilling Technology Ltd. | Mousehole assembly for manipulating tubulars for subterranean operations |
| CN104563918A (en) * | 2013-10-27 | 2015-04-29 | 中国石油化工集团公司 | Drill pipe stand storage and fetching device and storage and fetching method |
| CN104912484A (en) * | 2015-04-21 | 2015-09-16 | 王发秀 | Fully automatic anchor rod drill carriage for coal mine |
| US20160076319A1 (en) * | 2013-05-03 | 2016-03-17 | Canrig Drilling Technology Ltd. | System for Manipulating Tubulars for Subterranean Operations |
| CN205100904U (en) * | 2015-10-29 | 2016-03-23 | 山东嘉岩石油科技开发有限公司 | Controllable type hydraulic drive workover rig of speed |
| CN105464605A (en) * | 2016-01-05 | 2016-04-06 | 济南光先数控机械有限公司 | Oil pipe transfer device |
| CN205225101U (en) * | 2015-11-12 | 2016-05-11 | 中国石油大学(华东) | Automatic tripping operation petroleum string device of workover rig |
| CN105625961A (en) * | 2016-01-05 | 2016-06-01 | 西南石油大学 | Three-joint unit clamping device and clamping method thereof |
| US20160160586A1 (en) * | 2014-12-08 | 2016-06-09 | National Oilwell Varco, L.P. | Floor mounted racking arm for handling drill pipe |
| CN205588326U (en) * | 2016-04-05 | 2016-09-21 | 天津贺普瑞特科技发展有限公司 | Clamping device of anti falling robot |
| CN206554824U (en) * | 2017-01-11 | 2017-10-13 | 河南铁福来装备制造股份有限公司 | A kind of comprehensive grabbing device of coal mine drill stem |
| CN206608120U (en) * | 2017-03-17 | 2017-11-03 | 宝鸡石油机械有限责任公司 | Land rig connects the tubing string processing system of thribble offline |
| CN208220681U (en) * | 2018-05-18 | 2018-12-11 | 杜江 | A kind of rig floor manipulator |
| US20190003269A1 (en) * | 2015-06-12 | 2019-01-03 | West Drilling Products As | Pipe handling arm, and a drilling floor system and a method for performing fully automatic work operations on a drilling floor |
-
2018
- 2018-05-18 CN CN201810481181.2A patent/CN108547584A/en active Pending
Patent Citations (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3280991A (en) * | 1964-04-28 | 1966-10-25 | Programmed & Remote Syst Corp | Position control manipulator |
| US4603395A (en) * | 1981-12-15 | 1986-07-29 | Paul Forkardt Gmbh & Co. Kg | Method of determining clamping force |
| DD216283A1 (en) * | 1983-05-03 | 1984-12-05 | Zentr Reparatur U Ausruestungs | HEIGHT ADJUSTABLE AND SWIVELING HOLDING AND HOLDING DEVICE FOR AIR HORIZONTAL GRINDING |
| WO1998014686A1 (en) * | 1996-10-02 | 1998-04-09 | Baker Hughes Incorporated | Tubing injection system for oilfield operations |
| EP0968792A2 (en) * | 1998-06-30 | 2000-01-05 | William A. Warheit | Locking plier tool |
| CN200943452Y (en) * | 2006-08-30 | 2007-09-05 | 西安凯诺石油科技有限公司 | Pipe column centralizer |
| US20090076657A1 (en) * | 2007-09-13 | 2009-03-19 | Toshimitsu Tsuboi | Control device, control method, computer program, and recording medium |
| CN102515049A (en) * | 2011-12-22 | 2012-06-27 | 北京市三一重机有限公司 | Rotary drilling machine, control method for descending of main winch of rotary drilling machine and main winch descending control system of rotary drilling machine |
| CN102720446A (en) * | 2012-06-12 | 2012-10-10 | 宝鸡石油机械有限责任公司 | Automatic derrick monkey of drilling machine |
| CA2883713A1 (en) * | 2012-10-22 | 2014-05-01 | Quicksilver Drilling Technologies, Llc | Automated pipe tripping apparatus and methods |
| CN103061692A (en) * | 2013-02-19 | 2013-04-24 | 崔诗光 | Automatic running and pulling system of oilfield workover string |
| WO2014179730A1 (en) * | 2013-05-03 | 2014-11-06 | Canrig Drilling Technology Ltd. | Mousehole assembly for manipulating tubulars for subterranean operations |
| US20160076319A1 (en) * | 2013-05-03 | 2016-03-17 | Canrig Drilling Technology Ltd. | System for Manipulating Tubulars for Subterranean Operations |
| CN104563918A (en) * | 2013-10-27 | 2015-04-29 | 中国石油化工集团公司 | Drill pipe stand storage and fetching device and storage and fetching method |
| CN103806851A (en) * | 2014-03-17 | 2014-05-21 | 东营市松佳工贸有限公司 | Operation robot for drilling platform |
| US20160160586A1 (en) * | 2014-12-08 | 2016-06-09 | National Oilwell Varco, L.P. | Floor mounted racking arm for handling drill pipe |
| CN104912484A (en) * | 2015-04-21 | 2015-09-16 | 王发秀 | Fully automatic anchor rod drill carriage for coal mine |
| US20190003269A1 (en) * | 2015-06-12 | 2019-01-03 | West Drilling Products As | Pipe handling arm, and a drilling floor system and a method for performing fully automatic work operations on a drilling floor |
| CN205100904U (en) * | 2015-10-29 | 2016-03-23 | 山东嘉岩石油科技开发有限公司 | Controllable type hydraulic drive workover rig of speed |
| CN205225101U (en) * | 2015-11-12 | 2016-05-11 | 中国石油大学(华东) | Automatic tripping operation petroleum string device of workover rig |
| CN105625961A (en) * | 2016-01-05 | 2016-06-01 | 西南石油大学 | Three-joint unit clamping device and clamping method thereof |
| CN105464605A (en) * | 2016-01-05 | 2016-04-06 | 济南光先数控机械有限公司 | Oil pipe transfer device |
| CN205588326U (en) * | 2016-04-05 | 2016-09-21 | 天津贺普瑞特科技发展有限公司 | Clamping device of anti falling robot |
| CN206554824U (en) * | 2017-01-11 | 2017-10-13 | 河南铁福来装备制造股份有限公司 | A kind of comprehensive grabbing device of coal mine drill stem |
| CN206608120U (en) * | 2017-03-17 | 2017-11-03 | 宝鸡石油机械有限责任公司 | Land rig connects the tubing string processing system of thribble offline |
| CN208220681U (en) * | 2018-05-18 | 2018-12-11 | 杜江 | A kind of rig floor manipulator |
Non-Patent Citations (2)
| Title |
|---|
| 侯学军;高德利;: "陆地钻机钻杆自动排放系统设计", 石油钻采工艺, no. 03, pages 12 - 15 * |
| 李伦;闫文辉;邢广亮;杨海刚;叶强;祝贺;: "具有悬持和推扶功能的自动井架工钳头装置研制", 机械工程师, no. 05, pages 14 - 15 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977930A (en) * | 2019-12-18 | 2020-04-10 | 山东瑞奥智能设备股份有限公司 | Sedimentation type drill floor surface manipulator for drilling and repairing well |
| CN111376235A (en) * | 2020-03-31 | 2020-07-07 | 哈尔滨工业大学 | Heavy-load four-degree-of-freedom four-parallel four-connecting-rod type actuating mechanism |
| CN112096317A (en) * | 2020-08-11 | 2020-12-18 | 四川宏华石油设备有限公司 | Drilling platform surface pipe column processing equipment |
| WO2022033399A1 (en) * | 2020-08-11 | 2022-02-17 | 四川宏华石油设备有限公司 | Drill floor pipe string processing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202507275U (en) | Automatic transportation device | |
| CN206445815U (en) | A kind of multi-function robot | |
| CN208220681U (en) | A kind of rig floor manipulator | |
| CN108547584A (en) | A kind of rig floor manipulator | |
| CN111911099B (en) | Oil field well repairing operation process for realizing automation of sucker rod | |
| CN102717382A (en) | Synchronous clawing mechanism with multiple manipulators | |
| CN105082107B (en) | Heavy-load carrying manipulator for forging | |
| CN111648727B (en) | Automatic well repairing equipment and automatic well repairing method thereof | |
| CN108942909A (en) | A kind of crawl transportation manipulator structure | |
| CN203611337U (en) | Mechanical arm device | |
| CN114877696A (en) | Industrial silicon discharging equipment | |
| CN107869315B (en) | Automatic change workover rig | |
| CN210714524U (en) | Tool for connecting and replacing drill rod | |
| CN113137191B (en) | Automatic pipe processing system, conveying method and drilling machine | |
| CN208179584U (en) | Reclaimer robot pawl | |
| CN112096315B (en) | Multifunctional manipulator | |
| CN106945033B (en) | A kind of robot localization clamping jaw | |
| CN115949353B (en) | Workover system and method with vertical guide lateral lifting follow-up manipulator | |
| CN103496033A (en) | Mechanical arm device | |
| CN207027508U (en) | A kind of reclaimer robot device | |
| CN109382841A (en) | A kind of both hands jaw arrangement | |
| CN211174000U (en) | Pipe grabbing manipulator | |
| CN109404022B (en) | Automatic anchor drilling device for anchor rod machine | |
| CN112952671A (en) | Disconnected operation combination type robot that draws | |
| CN216240490U (en) | Novel oil minor repair work platform device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180918 |