CN109113597A - Borer drill rod automatically grabs and discharge robot - Google Patents

Borer drill rod automatically grabs and discharge robot Download PDF

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Publication number
CN109113597A
CN109113597A CN201811267952.4A CN201811267952A CN109113597A CN 109113597 A CN109113597 A CN 109113597A CN 201811267952 A CN201811267952 A CN 201811267952A CN 109113597 A CN109113597 A CN 109113597A
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CN
China
Prior art keywords
main body
cylinder
bolt
sleeve
fixed
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Pending
Application number
CN201811267952.4A
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Chinese (zh)
Inventor
张仕海
王惠
孙志伦
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Tianjin University of Technology
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Tianjin University of Technology
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Application filed by Tianjin University of Technology filed Critical Tianjin University of Technology
Priority to CN201811267952.4A priority Critical patent/CN109113597A/en
Publication of CN109113597A publication Critical patent/CN109113597A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole

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  • 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)

Abstract

It is automatically grabbed the invention discloses a kind of borer drill rod and discharges robot, including grab bar manipulator, main body telescoping mechanism, delivery device and swing mechanism.Two groups are grabbed clamping of the bar manipulator realization to drilling rod, and delivery device realizes the push to clamped drilling rod, and main body telescoping mechanism realizes vertically lifting and transferring to clamped drilling rod, and swing mechanism is realized the transhipment of drilling rod and put.It is artificial the present invention is directed to replace, operation is automatically grabbed, moved and discharged for borer drill rod, saves artificial, raising drilling operation efficiency and safety.

Description

Borer drill rod automatically grabs and discharge robot
Technical field
It is automatically grabbed the present invention relates to a kind of borer drill rod and discharges robot, belong to mechanical design field.
Background technique
Drilling machine is at the scene in operation process, and when lower brill needs that brill will be transferred to one by one in the drilling rod in discharge frame Well head, and docked with well mouth drill;It needs to thread off on the drilling rod of well head when trip-out, and one by one by the drilling rod after tripping It is transferred to discharge frame by well head neatly to discharge, this process needs the manually coordinating operation on drilling machine quadruple board platform.In quadruple board platform people During the industry that works, the crawl of drilling rod and emissions operation have the characteristics that repeated high, risk height and large labor intensity.This hair A kind of bright borer drill rod being related to, which is automatically grabbed, can be fixedly installed in drilling machine quadruple board platform with discharge robot, artificial to replace, and use In the crawl of drilling rod, movement and discharge operation.Save artificial, raising drilling operation benefit and safety.
Summary of the invention
It is artificial the present invention is directed to replace, operation is automatically grabbed, moves and discharged for borer drill rod.To realize above-mentioned mesh Mark, the invention adopts the following technical scheme:
Borer drill rod automatically grabs overall by grabbing bar manipulator (A), delivery device (B), main body telescoping mechanism with discharge robot (C), swing mechanism (D) is constituted.Delivery device (B) is parallelogram sturcutre, is to grab bar manipulator (A) and main body telescoping mechanism (C) connection unit.Two groups are grabbed the upper and lower ends that bar manipulator (A) is separately fixed at delivery device (B) column (4).Pusher Two connecting rods (6) of structure (B) are hinged with the outer sleeve (12) of main body telescoping mechanism (C) respectively.Main body telescoping mechanism (C) passes through back Shaft (23) is connected with swing mechanism (D).
Described grabs bar manipulator (A) by gripper (1), pawl seat (2), pawl cylinder (3), column (4), support base (18), triangle Gusset (19), gripper connecting plate (20), gripper driving plate (33), drum block (21), pawl cylinder seat (22) are constituted.Gripper (1) and pawl Between seat (2) hingedly by each two gripper connecting plates (20) up and down, left and right gripper (1) passes through gripper connecting plate (20) and drum Block (21) hingedly, fixed by the piston rod extension end of big nut and pawl cylinder (3) by drum block (21).The one of gripper driving plate (33) Hingedly with drum block (21), the other end and the middle part of gripper connecting plate (20) are hinged at end.Pawl cylinder (3) stretching motion realizes gripper (1) it opens and promptly acts.Pawl seat (2) is fixed by dormant bolt and support base (18).Pawl cylinder seat (22) passes through bolt, nut It is fixedly connected with support base (18).Triangle gusset (19) is fixedly connected by welding with support base (18).Support base (18) passes through Bolt is fixedly connected with column (4).
The delivery device (B) is by column (4), connecting rod base (5), connecting rod (6), outer sleeve (12), pin shaft (13), lifting Cylinder (15), lifting cylinder seat (16), lift cylinders piston pole socket (17) are constituted.Column (4), outer sleeve (12) and two connecting rod (6) structures At a parallelogram mechanism.Two groups of connecting rod bases (5) are bolted on the side of column (4), another two groups of connecting rods respectively Seat (5) is bolted on the sides of outer sleeve (12) respectively, the both ends of two connecting rods (6) respectively with column (4) and housing Connecting rod base (5) on cylinder (12) is hinged.The bottom of lift cylinders (15) and lifting cylinder seat (16) lead to pin shaft (13) hingedly, go up and down cylinder seat (16) lower end that bolt is fixed on outer sleeve (12) is crossed.The extension end of lift cylinders (15) passes through pin shaft (13) and lifting cylinder piston rod Hingedly, lift cylinders piston pole socket (17) is welded on the downside of connecting rod (6) to seat (17).Pass through the flexible promotion connecting rod of lift cylinders (15) (6) it swings, and then realizes and grab bar manipulator (A) stretching and recovery movement.
The main body telescoping mechanism (C) is by connecting plate (9), inner sleeve cover board (10), main body cylinder seat (11), outer sleeve (12), main body cylinder (24), interior main body sleeve (31) are constituted.Interior main body sleeve (31) is three face structures, upper end welded flange, interior master The flange of body sleeve (31) is fixed by bolt and connecting plate (9).Inner sleeve cover board (10) passes through two rows of dormant bolts and main body Sleeve (31) is fixed.The flange of main body cylinder (24) bottom is fixed by bolt and connecting plate (9).The extension end of main body cylinder (24) is logical It is hinged to cross master cylinder pivot pin (14) and main body cylinder seat (11).Main body cylinder seat (11) passes through bolt, the bottom plate of nut and outer sleeve (12) It is fixedly connected.Interior main body sleeve (31) and its inner sleeve cover board (10) integral assembling are in outer sleeve (12).Pass through main body cylinder (24) stretching motion realizes the stretching motion of outer sleeve (12) with respect to interior main body sleeve (31).
The swing mechanism (D) by truss plate (7), box shell (8), rotating shaft (23), rotary cylinder (25), rack gear (26), Axle sleeve (27), gear (28), block (35), angular contact ball bearing (29), deep groove ball bearing (34), revolution cylinder seat (22), key (30) rack gear pin shaft (32) is constituted.The lower end of rotating shaft (23) is connected through a screw thread a flange, and the flange of rotating shaft (23) passes through Bolt is fixed with plane on connecting plate (9).Rotating shaft (23) middle and lower part position two angular contact ball bearings (29) of suit, two corner connections Ball bearing (29) are touched loaded in the bearing block of block (35).Rotating shaft (23) upper bit is set with a deep groove ball bearing (34), deep Ditch ball bearing (34) is loaded in the bearing block of box shell (8).Box shell (8) is bolted with block (35), and block (35) passes through Bolt, nut are fixedly connected with truss plate (7).The middle part of rotating shaft (23) is connect by key (30) with gear (28).Axle sleeve (27) loaded between deep groove ball bearing (34) and gear (28).Gear (28) is engaged with rack gear (26), the end of rack gear (26) with The extension end tenon formula of rotary cylinder (25) connects, and is fixed by rack gear pin shaft (32) and big nut.The rotary cylinder of rotary cylinder (25) Seat (22) is fixed by bolt and block (35).The stretching motion of rotary cylinder is converted by gear (28) and rack gear (26) mechanism For the rotary motion of rotating shaft (23).Swing mechanism (D) is fixed on drilling machine quadruple board platform frame by truss plate (7).
Compared with prior art, the invention has the following advantages that
(1) two manipulator simultaneously clamps on drilling rod, can effectively ensure that after drill-rod clamping will not beat, while drilling rod can also be made It clamps more reliable.
(2) after can effectively guaranteeing that drilling rod is clamped by parallelogram mechanism, always in vertical in transport process Straight state, while can also clamped drilling rod be pushed and be withdrawn.
(3) can the drilling rod of clamping vertically be lifted or be put down by telescopic main body telescoping mechanism, it is ensured that drilling rod it is flexible Transhipment.
It (4) can be by the drilling rod of clamping in 0-145 by swing mechanismORevolution in range, it is ensured that can be by drilling rod accurately It is put into specified rack slot.
Detailed description of the invention
Fig. 1 borer drill rod automatically grabs and discharge robot general assembly main view
Fig. 2 grabs bar manipulator main view
Fig. 3 grabs bar manipulator top view
Fig. 4 master map telescoping mechanism main view
Fig. 5 swing mechanism cross-sectional view
Fig. 6 swing mechanism cabinet cross-sectional view
Fig. 7 rack gear main view
Fig. 8 rack gear cross-sectional view
Fig. 9 rack gear top view
Figure 10 outer sleeve main view
Figure 11 outer sleeve top view
Figure 12 outer sleeve left view.
In figure: A, grab bar manipulator, B, delivery device, C, main body telescoping mechanism, D, swing mechanism, 1, gripper, 2, pawl seat, 3, pawl cylinder, 4, column, 5, connecting rod base, 6, connecting rod, 7, truss plate, 8, box shell, 9, connecting plate, 10, inner sleeve cover board, 11, main body Cylinder seat, 12, outer sleeve, 13, pin shaft, 14, master cylinder pivot pin, 15, lift cylinders, 16, lifting cylinder seat, 17, lift cylinders piston pole socket, 18, support base, 19, triangle gusset, 20, gripper connecting plate, 21, drum block, 22, pawl cylinder seat, 23, rotating shaft, 24, main body cylinder, 25, rotary cylinder, 26, rack gear, 27, axle sleeve, 28, gear, 29, angular contact ball bearing, 30, key, 31, interior main body sleeve, 32, rack gear Pin shaft, 33, gripper driving plate, 34, deep groove ball bearing, 35, block.
Specific embodiment
It is artificial the present invention is directed to replace, operation is automatically grabbed, moves and discharged for borer drill rod.To realize above-mentioned mesh Mark, the invention adopts the following technical scheme:
Borer drill rod automatically grabs overall by grabbing bar manipulator (A), delivery device (B), main body telescoping mechanism with discharge robot (C), swing mechanism (D) is constituted.Delivery device (B) is parallelogram sturcutre, is to grab bar manipulator (A) and main body telescoping mechanism (C) connection unit.Two groups are grabbed the upper and lower ends that bar manipulator (A) is separately fixed at delivery device (B) column (4).Pusher Two connecting rods (6) of structure (B) are hinged with the outer sleeve (12) of main body telescoping mechanism (C) respectively.Main body telescoping mechanism (C) passes through back Shaft (23) is connected with swing mechanism (D).
Described grabs bar manipulator (A) by gripper (1), pawl seat (2), pawl cylinder (3), column (4), support base (18), triangle Gusset (19), gripper connecting plate (20), gripper driving plate (33), drum block (21), pawl cylinder seat (22) are constituted.Gripper (1) and pawl Between seat (2) hingedly by each two gripper connecting plates (20) up and down, left and right gripper (1) passes through gripper connecting plate (20) and drum Block (21) hingedly, fixed by the piston rod extension end of big nut and pawl cylinder (3) by drum block (21).The one of gripper driving plate (33) Hingedly with drum block (21), the other end and the middle part of gripper connecting plate (20) are hinged at end.Pawl cylinder (3) stretching motion realizes gripper (1) it opens and promptly acts.Pawl seat (2) is fixed by dormant bolt and support base (18).Pawl cylinder seat (22) passes through bolt, nut It is fixedly connected with support base (18).Triangle gusset (19) is fixedly connected by welding with support base (18).Support base (18) passes through Bolt is fixedly connected with column (4).
The delivery device (B) is by column (4), connecting rod base (5), connecting rod (6), outer sleeve (12), pin shaft (13), lifting Cylinder (15), lifting cylinder seat (16), lift cylinders piston pole socket (17) are constituted.Column (4), outer sleeve (12) and two connecting rod (6) structures At a parallelogram mechanism.Two groups of connecting rod bases (5) are bolted on the side of column (4), another two groups of connecting rods respectively Seat (5) is bolted on the sides of outer sleeve (12) respectively, the both ends of two connecting rods (6) respectively with column (4) and housing Connecting rod base (5) on cylinder (12) is hinged.The bottom of lift cylinders (15) and lifting cylinder seat (16) lead to pin shaft (13) hingedly, go up and down cylinder seat (16) lower end that bolt is fixed on outer sleeve (12) is crossed.The extension end of lift cylinders (15) passes through pin shaft (13) and lifting cylinder piston rod Hingedly, lift cylinders piston pole socket (17) is welded on the downside of connecting rod (6) to seat (17).Pass through the flexible promotion connecting rod of lift cylinders (15) (6) it swings, and then realizes and grab bar manipulator (A) stretching and recovery movement.
The main body telescoping mechanism (C) is by connecting plate (9), inner sleeve cover board (10), main body cylinder seat (11), outer sleeve (12), main body cylinder (24), interior main body sleeve (31) are constituted.Interior main body sleeve (31) is three face structures, upper end welded flange, interior master The flange of body sleeve (31) is fixed by bolt and connecting plate (9).Inner sleeve cover board (10) passes through two rows of dormant bolts and main body Sleeve (31) is fixed.The flange of main body cylinder (24) bottom is fixed by bolt and connecting plate (9).The extension end of main body cylinder (24) is logical It is hinged to cross master cylinder pivot pin (14) and main body cylinder seat (11).Main body cylinder seat (11) passes through bolt, the bottom plate of nut and outer sleeve (12) It is fixedly connected.Interior main body sleeve (31) and its inner sleeve cover board (10) integral assembling are in outer sleeve (12).Pass through main body cylinder (24) stretching motion realizes the stretching motion of outer sleeve (12) with respect to interior main body sleeve (31).
The swing mechanism (D) by truss plate (7), box shell (8), rotating shaft (23), rotary cylinder (25), rack gear (26), Axle sleeve (27), gear (28), block (35), angular contact ball bearing (29), deep groove ball bearing (34), revolution cylinder seat (22), key (30), rack gear pin shaft (32) is constituted.The lower end of rotating shaft (23) is connected through a screw thread a flange, and the flange of rotating shaft (23) passes through Bolt is fixed with plane on connecting plate (9).Rotating shaft (23) middle and lower part position two angular contact ball bearings (29) of suit, two corner connections Ball bearing (29) are touched loaded in the bearing block of block (35).Rotating shaft (23) upper bit is set with a deep groove ball bearing (34), deep Ditch ball bearing (34) is loaded in the bearing block of box shell (8).Box shell (8) is bolted with block (35), and block (35) passes through Bolt, nut are fixedly connected with truss plate (7).The middle part of rotating shaft (23) is connect by key (30) with gear (28).Axle sleeve (27) loaded between deep groove ball bearing (34) and gear (28).Gear (28) is engaged with rack gear (26), the end of rack gear (26) with The extension end tenon formula of rotary cylinder (25) connects, and is fixed by rack gear pin shaft (32) and big nut.The rotary cylinder of rotary cylinder (25) Seat (22) is fixed by bolt and block (35).The stretching motion of rotary cylinder is converted by gear (28) and rack gear (26) mechanism For the rotary motion of rotating shaft (23).Swing mechanism (D) is fixed on drilling machine quadruple board platform frame by truss plate (7).
By taking drilling rod is transported to rack slot discharge operation from pithead position as an example, above-mentioned borer drill rod is automatically grabbed and discharge machine The course of work of people is as follows:
Firstly, delivery device drive is grabbed bar manipulator and withdrawn completely, grabs bar manipulator and open completely, main body telescoping mechanism is stretched completely Out, swing mechanism turns to 0OPosition (drilling rod lifts position).
Secondly, grabbing bar manipulator after drilling rod is lifted to position and clamping drilling rod.Ground Operation makes drilling rod thread off.Main body is flexible Mechanism is shunk completely, and drilling rod is lifted certain altitude.Swing mechanism turns to 180ODrilling rod is pushed to finger by position, delivery device Fixed rack slot inlet.
Finally, swing mechanism continues to turn round certain angle, drilling rod is put into appropriate location in specified rack slot.Main body is flexible Mechanism is fully extended, and the lower end of drilling rod is put on ground.It grabs bar manipulator to open completely, completes a comb operation.
The above is an example of the present invention, for being engaged in for those skilled in the art, as long as it is filled The Design of Mechanical Structure thought set and principle are described consistent with the present invention, are regarded as protection scope of the present invention.

Claims (5)

1. borer drill rod automatically grabs and discharge robot, it is characterised in that: stretched including grabbing bar manipulator, delivery device, main body Contracting mechanism, swing mechanism;The delivery device is parallelogram sturcutre, is the company for grabbing bar manipulator Yu main body telescoping mechanism Order member, realizes the push to clamped drilling rod;The bar manipulator of grabbing has two groups, grabs bar manipulator for two groups and is separately fixed at The upper and lower ends of delivery device column realize the clamping to drilling rod;Two connecting rods of delivery device respectively with main body telescoping mechanism Outer sleeve it is hinged, the main body telescoping mechanism realizes vertically lifting and transferring to clamped drilling rod;Main body telescoping mechanism It is connected by rotating shaft with swing mechanism, the revolving structure is realized the transhipment of drilling rod and put.
2. borer drill rod according to claim 1 automatically grab with discharge robot, it is described grab bar manipulator by gripper, Pawl seat, pawl cylinder, column, support base, triangle gusset, gripper connecting plate, gripper driving plate, drum block, pawl cylinder seat are constituted;Gripper with Hinged by each two gripper connecting plates up and down between pawl seat, left and right gripper is hinged by gripper connecting plate and drum block, drum Block is fixed by the piston rod extension end of big nut and pawl cylinder;One end of gripper driving plate and drum block are hinged, the other end and hand The middle part of pawl connecting plate is hinged;Pawl cylinder stretching motion realizes that gripper is opened and promptly acted;Pawl seat passes through dormant bolt and support Seat is fixed;Pawl cylinder seat is fixedly connected by bolt, nut with support base;Triangle gusset is fixedly connected by welding with support base; Support base is fixedly connected by bolt with column.
3. borer drill rod according to claim 1 automatically grabs and discharges robot, the delivery device is by column, company Pole socket, connecting rod, outer sleeve, pin shaft, lift cylinders, lifting cylinder seat, lift cylinders piston pole socket are constituted;Column, outer sleeve and two companies Bar constitutes a parallelogram mechanism;Two groups of connecting rod bases are bolted on the side of column, another two groups of connecting rod bases respectively It is bolted on the side of outer sleeve respectively, the both ends of two connecting rods are cut with scissors with the connecting rod base on column and outer sleeve respectively It connects;The bottom of lift cylinders and the logical pin shaft of lifting cylinder seat are hinged, and lifting cylinder seat crosses the lower end that bolt is fixed on outer sleeve;Lift cylinders Extension end is hinged by pin shaft and lift cylinders piston pole socket, and lift cylinders piston pole socket is welded on the downside of connecting rod;Pass through lift cylinders Flexible promotion connecting rod swing, and then realize grab bar manipulator stretch out and recovery movement.
4. borer drill rod according to claim 1 automatically grabs and discharges robot, the main body telescoping mechanism is by even Fishplate bar, inner sleeve cover board, main body cylinder seat, outer sleeve, main body cylinder, interior main body sleeve are constituted;Interior main body sleeve is three face structures, on Welded flange is held, the flange of interior main body sleeve is fixed by bolt and connecting plate;Inner sleeve cover board pass through two rows of dormant bolts with Main body sleeve is fixed;The flange of main body cylinder bottom is fixed by bolt and connecting plate;The extension end of main body cylinder passes through master cylinder pivot pin It is hinged with main body cylinder seat;Main body cylinder seat is fixedly connected by bolt, nut with the bottom plate of outer sleeve;Interior main body sleeve and its inner sleeve Cover plate integral assembling is in outer sleeve;Flexible fortune of the outer sleeve with respect to interior main body sleeve is realized by the stretching motion of main body cylinder It is dynamic.
5. borer drill rod according to claim 1 automatically grab with discharge robot, the swing mechanism by truss plate, Box shell, rotating shaft, rotary cylinder, rack gear, axle sleeve, gear, block, angular contact ball bearing, deep groove ball bearing, revolution cylinder seat, key, tooth Pin shaft is constituted;The lower end of rotating shaft is connected through a screw thread a flange, and the flange of rotating shaft passes through plane on bolt and connecting plate It is fixed;Rotating shaft middle and lower part position two angular contact ball bearings of suit, two angular contact ball bearings are loaded in the bearing block of block;It returns Shaft upper bit is set with a deep groove ball bearing, and deep groove ball bearing is loaded in the bearing block of box shell;Box shell and block pass through bolt Fixed, block is fixedly connected by bolt, nut with truss plate;The middle part of rotating shaft is connect by key with gear;Axle sleeve is loaded on Between deep groove ball bearing and gear;Wheel and rack engagement, the end of rack gear and the extension end tenon formula of rotary cylinder connect, and pass through Rack gear pin shaft and big nut are fixed;The revolution cylinder seat of rotary cylinder is fixed by bolt and block;It will by wheel and rack mechanism The stretching motion of rotary cylinder is converted into the rotary motion of rotating shaft;Swing mechanism is fixed on drilling machine quadruple board platform frame by truss plate On.
CN201811267952.4A 2018-10-29 2018-10-29 Borer drill rod automatically grabs and discharge robot Pending CN109113597A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811267952.4A CN109113597A (en) 2018-10-29 2018-10-29 Borer drill rod automatically grabs and discharge robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811267952.4A CN109113597A (en) 2018-10-29 2018-10-29 Borer drill rod automatically grabs and discharge robot

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Publication Number Publication Date
CN109113597A true CN109113597A (en) 2019-01-01

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111188584A (en) * 2019-12-24 2020-05-22 宝鸡石油机械有限责任公司 Righting manipulator
CN112571398A (en) * 2021-01-13 2021-03-30 俞东伸 A traffic police intelligent robot for traffic guidance
WO2022198772A1 (en) * 2021-03-26 2022-09-29 中煤科工集团重庆研究院有限公司 Double-connecting-rod drill rod picking manipulator

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CN206029896U (en) * 2016-12-15 2017-03-22 赵书畅 Robot
CN107100562A (en) * 2017-06-13 2017-08-29 天津职业技术师范大学 Rig automatic tube-arranging mechanism
CN207327020U (en) * 2017-10-27 2018-05-08 安徽工程大学 A kind of four paws catching robot
CN209212180U (en) * 2018-10-29 2019-08-06 天津职业技术师范大学 Borer drill rod automatically grabs and discharge robot

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Publication number Priority date Publication date Assignee Title
CN102490174A (en) * 2011-11-22 2012-06-13 中国人民解放军总装备部军械技术研究所 Mechanical arm with frame-type extension arm
US20140209382A1 (en) * 2013-01-25 2014-07-31 Layne Christensen Company Automated rod manipulator
EP2851504A1 (en) * 2013-09-18 2015-03-25 Klemm Bohrtechnik GmbH Drill pipe gripper
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111188584A (en) * 2019-12-24 2020-05-22 宝鸡石油机械有限责任公司 Righting manipulator
CN112571398A (en) * 2021-01-13 2021-03-30 俞东伸 A traffic police intelligent robot for traffic guidance
WO2022198772A1 (en) * 2021-03-26 2022-09-29 中煤科工集团重庆研究院有限公司 Double-connecting-rod drill rod picking manipulator

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Application publication date: 20190101