CN110145260A - A kind of multi-functional take suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator - Google Patents
A kind of multi-functional take suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator Download PDFInfo
- Publication number
- CN110145260A CN110145260A CN201910525638.XA CN201910525638A CN110145260A CN 110145260 A CN110145260 A CN 110145260A CN 201910525638 A CN201910525638 A CN 201910525638A CN 110145260 A CN110145260 A CN 110145260A
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- manipulator
- oil cylinder
- piston
- drilling machine
- manages
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- 238000005553 drilling Methods 0.000 title claims abstract description 80
- 239000002828 fuel tank Substances 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 8
- 230000008676 import Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 239000003921 oil Substances 0.000 description 61
- 238000010586 diagram Methods 0.000 description 8
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000004064 recycling Methods 0.000 description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011707 mineral Substances 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
- E21B19/10—Slips; Spiders ; Catching devices
-
- 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
- E21B19/002—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling
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)
- Earth Drilling (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multi-functional take suitable for seabed drilling machine different tube diameters to manage and protect pipe manipulator, including manipulator oil cylinder, support frame, gripper connecting rod, pawl pin and mechanical paw；Manipulator oil cylinder is fixed on the support frame, the piston rod of manipulator oil cylinder is hinged with two mechanical paws respectively by two gripper connecting rods, two mechanical paws are hinged by pawl pin, the flexible folding for being able to drive two mechanical paws of hydraulic system driving manipulator oil cylinder on the support frame is fixedly mounted in pawl pin；Manipulator oil cylinder includes cylinder tube, spring and piston, and the two sides of piston set disc spring group I and disc spring group II respectively；The spring is arranged in the rodless cavity of cylinder tube, and the both ends of spring are connect with cylinder tube inner wall and piston respectively.The crawl function of the drilling rod to different tube diameters, drilling tool and core barrel had both may be implemented in the present invention, can also realize drilling rod, drilling tool unload and core barrel decentralization and removal process in pillar function, adaptability is good.
Description
Technical field
The invention belongs to seabed drilling rig technique fields, more particularly, to a kind of more function suitable for seabed drilling machine different tube diameters
It can take and manage and protect pipe manipulator.
Background technique
Seabed drilling machine is the important dress for carrying out Deep Sea Minerals exploration, seabed engineering geological mapping and scientific research of seas
It is standby.Demand is sampled to meet the exploration on more abyssal floor stratum, needs to carry drilling pipe library on the drilling machine of seabed, is placed in drilling pipe library more
Root drilling pipe (including drilling rod, drilling tool and core barrel, but the outer diameter of drilling rod, drilling tool and core barrel is different).In drilling rod, drilling tool and core
During pipe crawl, manipulator must hold drilling rod, drilling tool and core barrel, and unload and core barrel decentralization in drilling rod, drilling tool
In removal process, in order to can move up and down drilling rod, drilling tool and core barrel and rotate, traditional manipulator be can be only put at
Complete open configuration is influenced since manipulator opens completely by ocean bottom currents movement and seabed drilling machine itself vibration, so that
Upper and lower two drilling rods, drilling tool are deteriorated to neutrality, unload if carrying out drilling rod, drilling tool in this case, easily generation drilling rod, bore
Have the abrasion for screw thread of unloading, drilling rod, drilling tool failure is caused to be scrapped.Meanwhile it being shaken by ocean bottom currents movement and seabed drilling machine itself
Dynamic influence, core barrel is in swing state at this time, this manipulation difficulty for allowing for for core barrel being put into aperture increases severely, and substantially drops
The success rate and working efficiency of low core barrel decentralization and recycling.Thus, it would be highly desirable to invent it is a kind of can both grab different tube diameters drilling rod,
Drilling tool and core barrel, at the same can also drilling rod, drilling tool unload process, core barrel decentralization and removal process in, it is micro- hold drilling rod, bore
(that is, the grip force very little of manipulator, manipulator only shields to drilling rod, drilling tool and core barrel at this time, bores for tool and core barrel
Bar, drilling tool and core barrel freely can be moved up and down and be rotated in manipulator) it is simple and compact for structure, manipulate convenient more function
It can take and manage and protect pipe manipulator.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of simple and compact for structure, manipulations conveniently, system easy to process
It makes, multi-functional take suitable for seabed drilling machine different tube diameters at low cost manages and protects pipe manipulator, it is suitable for the brill of different tube diameters
Bar, the crawl of drilling tool and core barrel and pillar, adaptability are good.
The technical solution adopted by the present invention is that: it is a kind of suitable for seabed drilling machine different tube diameters it is multi-functional take manage and protect pipe machinery
Hand, including manipulator oil cylinder, support frame, gripper connecting rod, pawl pin and mechanical paw；The manipulator oil cylinder is fixed on described
On support frame, the piston rod of the manipulator oil cylinder is connect with oil cylinder ear, and one end of two gripper connecting rods passes through pitman shaft and oil
Cylinder ear is hinged, and the other end of two gripper connecting rods is hinged with two mechanical paws respectively by pitman shaft, and two mechanical paws pass through
Pawl pin is hinged, and pawl pin is fixedly mounted on the support frame, and the flexible of hydraulic system driving manipulator oil cylinder is able to drive two machinery
The folding of gripper；
The manipulator oil cylinder includes cylinder tube, spring and piston, and the piston is placed in cylinder tube, the two sides point of piston
Disc spring I and disc spring II are not set；Piston is connect with piston rod；The spring is arranged in the rodless cavity of cylinder tube, in spring
The centerline parallel of heart line and piston rod, the both ends of spring are connect with cylinder tube inner wall and piston respectively.
Above-mentioned manages and protects pipe manipulator suitable for multi-functional take of seabed drilling machine different tube diameters, the piston and oil cylinder
Wear ring II and hole Glais ring are equipped between tube inner chamber diameter side wall, cylinder tube end is equipped with end cap, between cylinder tube and end cap
It is sealed by sealing ring II, wear ring I, axis Glais ring, sealing ring I and dustband is respectively equipped between end cap and piston rod.
Above-mentioned manages and protects pipe manipulator suitable for multi-functional take of seabed drilling machine different tube diameters, and the support frame includes
Bottom plate, manipulator oil cylinder fixed plate and top plate；Bottom plate and top plate are arranged in parallel, on the pawl pin fixation hole I on bottom plate and top plate
Pawl pin fixation hole II is coaxial, and manipulator oil cylinder fixed plate is arranged between bottom plate and top plate, and manipulator oil cylinder fixed plate is equipped with U
Shape slot, U-lag opening direction are opened up there are four threaded hole, manipulator oil cylinder passes through in manipulator oil cylinder fixed plate towards top plate
Screw is fixedly mounted in manipulator oil cylinder fixed plate.
Above-mentioned manages and protects pipe manipulator suitable for multi-functional take of seabed drilling machine different tube diameters, on the inside of two grippers
Face is equipped with slips, and slips is fixed by screws on the mechanical paw.
Above-mentioned manages and protects pipe manipulator suitable for multi-functional take of seabed drilling machine different tube diameters, the manipulator oil cylinder
It is connected with hydraulic system, hydraulic system includes fuel tank, check valve, motor, hydraulic pump, J-type slide valve function solenoid directional control valve and tune
Fast valve, the hydraulic pump are connected to motor, and the import of hydraulic pump is connect with fuel tank, and outlet passes through pipeline and J-type slide valve function
The oil inlet of solenoid directional control valve is connected, and exports the pipeline connecting with the oil inlet of J-type slide valve function solenoid directional control valve and is equipped with list
To valve；Two oil outlets of J-type slide valve function solenoid directional control valve are connected to the rod chamber of manipulator oil cylinder and rodless cavity respectively,
Speed governing valve is respectively equipped in two connecting pipes；The oil return opening of J-type slide valve function solenoid directional control valve is linked back fuel tank.
Above-mentioned manages and protects pipe manipulator suitable for multi-functional take of seabed drilling machine different tube diameters, the check valve and J
The pipeline of the oil inlet connection of type slide valve function solenoid directional control valve is equipped with overflow valve, and the oil outlet of overflow valve is linked back fuel tank.
Compared with prior art, the beneficial effects of the present invention are:
The drilling rod to different tube diameters, drilling tool had both may be implemented using the in-oil cylinder spring of manipulator and disc spring composite structure in the present invention
And the crawl function of core barrel, but also may be implemented to unload in drilling rod, drilling tool and core barrel decentralization and removal process in
Pillar function, adaptability are good；The present invention also has simple and compact for structure, manipulation conveniently, easy to manufacture, at low cost etc. excellent
Point.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram after the top plate of present invention removal support frame.
Fig. 3 is the structural schematic diagram of support frame of the invention.
Fig. 4 is the structural schematic diagram of manipulator oil cylinder fixed plate of the invention.
Fig. 5 is the cross-sectional view of manipulator oil cylinder of the invention.
Fig. 6 is the schematic diagram of hydraulic system of the invention.
Fig. 7 is the structural schematic diagram that manipulator of the invention opens completely.
Fig. 8 be manipulator of the invention hold with a firm grip drilling rod, drilling tool when structural schematic diagram.
Fig. 9 be manipulator of the invention hold with a firm grip core barrel when structural schematic diagram.
In figure: 1- manipulator oil cylinder, 1011- cylinder tube, 1012- spring, 1013- disc spring group I, 1014- piston, 1015-
Disc spring group II, 1016- wear ring I, 1017- axis Glais ring, 1018- sealing ring I, 1019- dustband, 10110- piston rod,
10111- end cap, 10112- sealing ring II, 10113- rod chamber, 10114- wear ring II, the hole 10115- Glais ring, 10116-
Rodless cavity, 10117- hard tube, 10118- oil connection I, 10119- oil connection II, 102- manipulator cylinder flange, 103- lock
Tight nut, 104- oil cylinder ear, 2- support frame, 201- bottom plate, 2011- pawl pin fixation hole I, 202- manipulator oil cylinder fixed plate,
2021- threaded hole, 2022-U shape slot, 203- top plate, 2031- pawl pin fixation hole II, 3- bolt, 4- gripper connecting rod, 5- pitman shaft,
6- pawl pin, 7- mechanical paw, 8- slips, 9- screw, 10- fuel tank, 11- filter, 12- motor, 13- hydraulic pump, 14- are unidirectional
Valve, 15- overflow valve, 16-J type slide valve function solenoid directional control valve, 17- speed governing valve.
Specific embodiment
The present invention will be further described below with reference to the drawings.
As shown in Figure 1, 2, the present invention includes manipulator oil cylinder 1, support frame 2, gripper connecting rod 4, pawl pin 6 and mechanical paw 7；
The manipulator oil cylinder 1 is fixed on the support frame 2 by bolt 3, as shown in figure 5, the manipulator oil cylinder packet
Cylinder tube 1011, spring 1012 and piston 1014 are included, the piston 1014 is placed in cylinder tube 1011, piston 1014 and oil cylinder
Wear ring II 10114 and hole Glais ring 10115 are equipped between tube inner chamber diameter side wall.The two sides of piston 1014 set disc spring group respectively
I 1013 and disc spring II 1015；Piston 1014 is connect with piston rod 10110.Cylinder tube 1011 is arranged in the spring 1012
In rodless cavity 10116, the centerline parallel of the center line of spring 1012 and piston rod 10110, the both ends of spring 1012 respectively with
1011 inner wall of cylinder tube and piston 1014 connect.1011 end of cylinder tube is equipped with end cap 10111, cylinder tube 1011 and end cap
Between 10111 by sealing ring II 10112 seal, be respectively equipped between end cap 10111 and piston rod 10110 wear ring I 1016,
Axis Glais ring 1017, sealing ring I 1018 and dustband 1019.
As shown in figure 3, the support frame 2 includes bottom plate 201, manipulator oil cylinder fixed plate 202 and top plate 203；Bottom plate
201 and top plate 203 be arranged in parallel, the pawl pin fixation hole II 2031 on the pawl pin fixation hole I 2011 on bottom plate 201 and top plate 203
Coaxially.Manipulator oil cylinder fixed plate 202 is arranged between bottom plate 201 and top plate 203, and manipulator oil cylinder fixed plate 202 is equipped with U
Shape slot, U-lag are open towards top plate.As shown in figure 4, opening up in the manipulator oil cylinder fixed plate 202, there are four threaded holes
2021, the cylinder tube 1011 of the manipulator oil cylinder 1 is fixedly mounted in manipulator oil cylinder fixed plate 202 by bolt 3.
The piston rod 10110 of the manipulator oil cylinder 1 is connect with oil cylinder ear 104, and one end of two gripper connecting rods 4 passes through company
Bar axis and oil cylinder ear 104 are hinged, and the other end of two gripper connecting rods 4 is hinged with two mechanical paws 7 respectively by pitman shaft, and two
Mechanical paw 7 is hinged by pawl pin 6, and pawl pin fixation hole I 2011 and pawl pin fixation hole II on the support frame is fixedly mounted in pawl pin 6
In 2031, the flexible folding for being able to drive two mechanical paws 7 of hydraulic system driving manipulator oil cylinder 1.
The manipulator oil cylinder 1 is connected with hydraulic system, as shown in fig. 6, hydraulic system include fuel tank 10, check valve 14,
Motor 12, hydraulic pump 13, J-type slide valve function solenoid directional control valve 16 and speed governing valve 17, the hydraulic pump 13 are connect with motor 12,
Motor 12 can drive hydraulic pump 13 to rotate.The import of hydraulic pump 13 is connect with fuel tank 10, and connecting pipe is equipped with filter.Liquid
The outlet of press pump 13 is connected by pipeline with the oil inlet of J-type slide valve function solenoid directional control valve 16, the outlet and J-type of hydraulic pump 13
The pipeline of the oil inlet connection of slide valve function solenoid directional control valve 16 is equipped with check valve 14；Check valve 14 and J-type slide valve function electricity
The pipeline of the oil inlet connection of magnetic reversal valve 16 is equipped with overflow valve 15, and the oil outlet of overflow valve 15 is linked back fuel tank 10.J-type slide valve
Two oil outlets of function solenoid directional control valve 16 are connected to the rod chamber 10113 of manipulator oil cylinder 1 and rodless cavity 10116 respectively,
Speed governing valve 17 is respectively equipped in two connecting pipes；The oil return opening of J-type slide valve function solenoid directional control valve 16 is linked back fuel tank 10, and be linked back oil
The pipeline of case 10 is equipped with filter 11.
The course of work of the invention is as follows:
(1) it controls J-type slide valve function solenoid directional control valve 16 for hydraulic oil by hydraulic system and is in right position, hydraulic oil will at this time
Enter the rod chamber 10113 of manipulator oil cylinder 1 by oil connection II, piston 1014 will move to the left and compressed spring 1012
With disc spring group I 1013, two mechanical paws 7 is made to open maximum；
(2) manipulator enters drilling pipe library and corresponds to drilling rod, drilling tool or core barrel storage position and be directed at drilling rod, the drilling tool for needing to grab
Or core barrel；
(3) control J-type slide valve function solenoid directional control valve 16 commutation to left position, hydraulic oil enters manipulator oil by oil connection I
The piston 1014 of the rodless cavity 10116 of cylinder 1, manipulator oil cylinder 1 will move to the right, and two mechanical paws 7 are held with a firm grip drilling rod, drilling tool
Or core barrel；The crawl of drilling rod, drilling tool or core barrel can be realized (since core pipe outside diameter is smaller and tube wall is relatively thin, piston
1014 will compress disc spring group II 1015 when moving to the right, and the elastic restoring force of disc spring group II 1015 will offset two mechanical paws
7 act on the part grip force on core barrel)；
(4) it before drilling rod, drilling tool are unloaded or before core barrel decentralization and recycling, first controls J-type slide valve function solenoid directional control valve 16 and changes
To middle position, the rod chamber 10113 and rodless cavity 10116 of manipulator oil cylinder 1 pass through J-type slide valve function solenoid directional control valve 16 respectively
It being connected to fuel tank 10, the piston 1014 of manipulator oil cylinder 1 will move to the left, and manipulator oil cylinder 1 is in unloaded state at this time, and two
A mechanical paw 7, which will act on the grip force on drilling rod, drilling tool or core barrel, to be reduced, and there is only be supplied to two by spring 1012
The grip force of 7 very little of mechanical paw, at this moment two mechanical paws 7 only shield to drilling rod, drilling tool and core barrel, drilling rod,
Drilling tool and core barrel freely can be moved up and down and be rotated in two mechanical paws 7.
Claims (6)
1. a kind of multi-functional take suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator, it is characterized in that: including manipulator oil
Cylinder, support frame, gripper connecting rod, pawl pin and mechanical paw；The manipulator oil cylinder is fixed on the support frame, described
The piston rod of manipulator oil cylinder is connect with oil cylinder ear, and one end of two gripper connecting rods is hinged by pitman shaft and oil cylinder ear, two grippers
The other end of connecting rod is hinged with two mechanical paws respectively by pitman shaft, and two mechanical paws are hinged by pawl pin, and pawl pin is solid
Dingan County fills the flexible folding for being able to drive two mechanical paws of hydraulic system driving manipulator oil cylinder on the support frame；
The manipulator oil cylinder includes cylinder tube, spring and piston, and the piston is placed in cylinder tube, the two sides point of piston
Disc spring group I and disc spring group II are not set；Piston is connect with piston rod；The spring is arranged in the rodless cavity of cylinder tube, spring
Center line and piston rod centerline parallel, the both ends of spring are connect with cylinder tube inner wall and piston respectively.
2. multi-functional take according to claim 1 suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator, feature
It is: is equipped with wear ring II and hole Glais ring between the piston and oil cylinder tube inner chamber diameter side wall, cylinder tube end is equipped with end
Lid is sealed by sealing ring II between cylinder tube and end cap, wear ring I, axis lattice Lay is respectively equipped between end cap and piston rod
Circle, sealing ring I and dustband.
3. multi-functional take according to claim 1 suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator, feature
Be: the support frame includes bottom plate, manipulator oil cylinder fixed plate and top plate；Bottom plate and top plate are arranged in parallel, the pawl on bottom plate
It sells fixation hole I and the pawl pin fixation hole II on top plate is coaxial, manipulator oil cylinder fixed plate is arranged between bottom plate and top plate, mechanical
Hand oil cylinder fixed plate is equipped with U-lag, and U-lag opening direction opens up that there are four spiral shells towards top plate in manipulator oil cylinder fixed plate
Pit, manipulator oil cylinder are fixedly mounted in manipulator oil cylinder fixed plate by screw.
4. multi-functional take according to claim 1 suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator, feature
Be: the two gripper medial surfaces are equipped with slips, and slips is fixed by screws on the mechanical paw.
5. multi-functional take according to claim 1 suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator, feature
Be: the manipulator oil cylinder is connected with hydraulic system, and hydraulic system includes fuel tank, check valve, motor, hydraulic pump, J-type slide valve machine
Energy solenoid directional control valve and speed governing valve, the hydraulic pump are connected to motor, and the import of hydraulic pump is connect with fuel tank, and outlet passes through pipe
Road is connected with the oil inlet of J-type slide valve function solenoid directional control valve, and outlet is connect with the oil inlet of J-type slide valve function solenoid directional control valve
Pipeline be equipped with check valve；Two oil outlets of J-type slide valve function solenoid directional control valve rod chamber with manipulator oil cylinder respectively
It is connected to rodless cavity, is respectively equipped with speed governing valve in two connecting pipes；The oil return opening of J-type slide valve function solenoid directional control valve is linked back oil
Case.
6. multi-functional take according to claim 5 suitable for seabed drilling machine different tube diameters manages and protects pipe manipulator, feature
Be: the pipeline that the check valve is connect with the oil inlet of J-type slide valve function solenoid directional control valve is equipped with overflow valve, overflow valve
Oil outlet is linked back fuel tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910525638.XA CN110145260B (en) | 2019-06-18 | 2019-06-18 | Multifunctional pipe taking and protecting manipulator applicable to submarine drilling machine with different pipe diameters |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910525638.XA CN110145260B (en) | 2019-06-18 | 2019-06-18 | Multifunctional pipe taking and protecting manipulator applicable to submarine drilling machine with different pipe diameters |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110145260A true CN110145260A (en) | 2019-08-20 |
| CN110145260B CN110145260B (en) | 2023-12-12 |
Family
ID=67591729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910525638.XA Active CN110145260B (en) | 2019-06-18 | 2019-06-18 | Multifunctional pipe taking and protecting manipulator applicable to submarine drilling machine with different pipe diameters |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110145260B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110860533A (en) * | 2019-11-08 | 2020-03-06 | 江苏科技大学 | Pipe diameter self-adaptive clamping jaw and pipe diameter self-adaptive underwater fixed-point operation device |
| CN112276987A (en) * | 2020-10-16 | 2021-01-29 | 胜利油田康贝石油工程装备有限公司 | Pipe grabbing mechanical arm for workover treatment and use method |
| CN111717725B (en) * | 2020-07-22 | 2024-07-19 | 中海油深圳海洋工程技术服务有限公司 | Sea pipe recovery tool |
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| CN2621213Y (en) * | 2002-11-15 | 2004-06-23 | 徐州工程机械集团有限公司徐州工程机械研究所 | Drill rod floating clamping mechanism |
| CN101555774A (en) * | 2009-05-26 | 2009-10-14 | 长沙矿山研究院 | Seabed deep hole coring drilling machine |
| JP2011041984A (en) * | 2009-08-19 | 2011-03-03 | Kosmek Ltd | Link clamp |
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| CN108527426A (en) * | 2018-04-11 | 2018-09-14 | 余云丰 | A kind of Double-linkage manipulator |
| CN108582064A (en) * | 2018-06-14 | 2018-09-28 | 常州信息职业技术学院 | A kind of automatic liquid press mechanical pressing arm |
| CN210152573U (en) * | 2019-06-18 | 2020-03-17 | 湖南科技大学 | Multifunctional pipe taking and protecting manipulator suitable for different pipe diameters of submarine drilling rig |
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- 2019-06-18 CN CN201910525638.XA patent/CN110145260B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2621213Y (en) * | 2002-11-15 | 2004-06-23 | 徐州工程机械集团有限公司徐州工程机械研究所 | Drill rod floating clamping mechanism |
| CN101555774A (en) * | 2009-05-26 | 2009-10-14 | 长沙矿山研究院 | Seabed deep hole coring drilling machine |
| JP2011041984A (en) * | 2009-08-19 | 2011-03-03 | Kosmek Ltd | Link clamp |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110860533A (en) * | 2019-11-08 | 2020-03-06 | 江苏科技大学 | Pipe diameter self-adaptive clamping jaw and pipe diameter self-adaptive underwater fixed-point operation device |
| CN111717725B (en) * | 2020-07-22 | 2024-07-19 | 中海油深圳海洋工程技术服务有限公司 | Sea pipe recovery tool |
| CN112276987A (en) * | 2020-10-16 | 2021-01-29 | 胜利油田康贝石油工程装备有限公司 | Pipe grabbing mechanical arm for workover treatment and use method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110145260B (en) | 2023-12-12 |
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