CN110485948A - A kind of big arm assembly - Google Patents
A kind of big arm assembly Download PDFInfo
- Publication number
- CN110485948A CN110485948A CN201910841683.6A CN201910841683A CN110485948A CN 110485948 A CN110485948 A CN 110485948A CN 201910841683 A CN201910841683 A CN 201910841683A CN 110485948 A CN110485948 A CN 110485948A
- Authority
- CN
- China
- Prior art keywords
- big arm
- arm support
- hydraulic cylinder
- mobile platform
- big
- 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
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 claims abstract description 3
- 241000269793 Cryothenia peninsulae Species 0.000 abstract description 5
- 238000004904 shortening Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
-
- 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)
Abstract
The invention discloses a kind of big arm assembly, including big arm support, mobile platform and hydraulic cylinder, the big arm support is space frame structure, and the space frame structure is by two parallelogram and connecting rod disposed in parallel by being articulated and connected；The large arm frame bottom is mounted on the base by hinge seat；Pedestal close to big arm support is equipped with hydraulic cylinder, and described hydraulic cylinder one end is fixed on the base, and the other end is connect with big arm support, and big arm support realizes 0~90 ° of swing by the effect of hydraulic cylinder；The mobile platform is mounted on large arm cradle top and holding level when with its swing.Manipulator of the invention can realize left and right in large arm upper end platform, be moved forward and backward, after equipment conveying to well site and after place apparatus, only need pithead position within the scope of manipulator left and right stroke, greatly reduce the difficulty of well head alignment, time before shortening workover treatment, efficiency significantly improve.
Description
Technical field
The present invention relates to a kind of big arm assembly and manipulators, belong to petroleum well workover machinery technical field.
Background technique
During automating oil well well workover, the pick-and-place of tube rod is completed by big arm assembly and robot device.It is existing
Have a large arm robot device of technology, manipulator be in left and right directions it is fixed, so being needed after equipment conveying to well site
Manipulator is aligned with well head, this is a time-consuming and laborious job, is badly in need of solving at present.
Summary of the invention
The technical problem to be solved by the present invention is in view of the defects existing in the prior art, provide a kind of big arm assembly.
In order to solve this technical problem, the present invention provides a kind of big arm assemblies, including big arm support, mobile platform and liquid
Cylinder pressure, the big arm support are space frame structure, and the space frame structure is by two parallelogram disposed in parallel and company
Bar is by being articulated and connected；The large arm frame bottom is mounted on the base by hinge seat；Close to the pedestal of big arm support
It is equipped with hydraulic cylinder, described hydraulic cylinder one end is fixed on the base, and the other end is connect with big arm support, and big arm support passes through hydraulic
The effect of cylinder and realize 0~90 ° of swing；The mobile platform is mounted on large arm cradle top and keeps water when with its swing
It is flat.
The mobile platform includes rectangular frame structure, and the bottom of the frame structure passes through the top of hinged shaft and big arm support
Portion is hinged；Mobile platform top two sides are equipped with sliding rail, are equipped with flexible slide bar perpendicular to sliding rail, flexible slide bar can be vertical along sliding rail
To movement.
Flexible slide bar on the mobile platform is connect with pipe-grabbing mechanical arm, and pipe-grabbing mechanical arm can be with mobile platform along sliding rail
Longitudinal movement, while can be with flexible slide bar transverse shifting.
The utility model has the advantages that compared with prior art, the present invention maximum feature is that manipulator can be in large arm upper end platform reality
It now controls, be moved forward and backward, after equipment conveying to well site and after place apparatus, it is only necessary to which pithead position is in manipulator left and right stroke model
In enclosing, the difficulty of well head alignment is greatly reduced, the time before shortening workover treatment, efficiency significantly improves.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of mobile platform of the present invention；
Fig. 3 is raising status diagram of the invention.
In figure: 1 big arm support, 2 mobile platforms, 3 lifting hydraulic cylinders, 4 hinge seats, 5 sliding rails, 6 flexible slide bars, 7 grab pipe machines
Tool hand.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Fig. 1 show structural schematic diagram of the invention.
The present invention provides a kind of big arm assembly, including big arm support 1, mobile platform 2 and hydraulic cylinder 3, the large arm branch
Frame 1 is space frame structure, which passes through articulated connection by two parallelogram and connecting rod disposed in parallel
It forms.
1 bottom of big arm support is mounted on the base by hinge seat 4；It is equipped with close to the pedestal of big arm support hydraulic
Cylinder 3, described 3 one end of hydraulic cylinder are fixed on the base, and the other end is connect with big arm support 1, and big arm support 1 passes through hydraulic cylinder 3
It acts on and realizes 0~90 ° of swing.
Fig. 2 show the structural schematic diagram of mobile platform of the present invention.
The mobile platform 2 is mounted on big 1 top of arm support and holding level when with its swing.
The mobile platform 2 includes rectangular frame structure, and the bottom of the frame structure passes through hinged shaft and big arm support 1
Top is hinged；The 2 top two sides of mobile platform are equipped with sliding rail 5, are equipped with flexible slide bar 6 perpendicular to sliding rail 5, flexible slide bar 6 can
It is vertically moved along sliding rail 5.
Flexible slide bar 6 on the mobile platform 2 is connect with pipe-grabbing mechanical arm 7, and pipe-grabbing mechanical arm 7 can be with mobile platform 2
It is vertically moved along sliding rail 5, while can be with 6 transverse shifting of flexible slide bar.
Fig. 3 show raising status diagram of the invention.
The course of work of the invention:
Play oil pipe: large arm rises, and manipulator is moved to pithead position and stretches out, and manipulator grabs oil pipe, and manipulator is retracted
And laterally move to roller-way position (if well head and roller-way aligned in position, manipulator is not necessarily to transverse shifting), manipulator rotate to
Horizontal large arm simultaneously falls, and manipulator release puts oil pipe to roller-way.Repeat above step.
Lower oil pipe: large arm falls, and manipulator grabs the oil pipe on roller-way, and large arm rises manipulator simultaneously and rotates to vertical,
Manipulator laterally moves to pithead position and stretches out (if well head and roller-way aligned in position, manipulator is not necessarily to transverse shifting), under
Square correcting clamp clamps oil pipe, and upper pinch roll clamps oil pipe, and manipulator unclamps, and elevator catches tubing coupling, upper pinch roll
It unclamps, manipulator is moved to roller-way position and retracts.Repeat above step.
Compared with prior art, the present invention maximum feature is that manipulator can realize that left and right is moved in large arm upper end platform
It is dynamic, after equipment conveying to well site and after place apparatus, it is only necessary to which pithead position is within the scope of manipulator left and right stroke, significantly
The difficulty of well head alignment is reduced, the time before shortening workover treatment, efficiency significantly improves.
The embodiment above of the present invention, is merely illustrative, be not it is only, it is all within the scope of the present invention or it is equivalent this
Change in the range of invention is surrounded by the present invention.
Claims (3)
1. a kind of big arm assembly, it is characterised in that: including big arm support (1), mobile platform (2) and hydraulic cylinder (3), the large arm
Bracket (1) is space frame structure, which is passed through hinged by two parallelogram and connecting rod disposed in parallel
It is formed by connecting；Big arm support (1) bottom is mounted on the base by hinge seat (4)；It is set on the pedestal of big arm support
Have hydraulic cylinder (3), described hydraulic cylinder (3) one end is fixed on the base, and the other end is connect with big arm support (1), big arm support (1)
0~90 ° of swing is realized by the effect of hydraulic cylinder (3)；The mobile platform (2) be mounted at the top of big arm support (1) and
Keep horizontal when with its swing.
2. big arm assembly according to claim 1, it is characterised in that: the mobile platform (2) includes rectangular frame knot
The bottom of structure, the frame structure is hinged by the top of hinged shaft and big arm support (1)；Mobile platform (2) the top two sides are set
There are sliding rail (5), is equipped with flexible slide bar (6) perpendicular to sliding rail (5), flexible slide bar (6) can be vertically moved along sliding rail (5).
3. big arm assembly according to claim 1 or 2, it is characterised in that: the flexible slide bar on the mobile platform (2)
(6) it is connect with pipe-grabbing mechanical arm (7), pipe-grabbing mechanical arm (7) can be vertically moved with mobile platform (2) along sliding rail (5), while can be with
Flexible slide bar (6) transverse shifting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910841683.6A CN110485948A (en) | 2019-09-06 | 2019-09-06 | A kind of big arm assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910841683.6A CN110485948A (en) | 2019-09-06 | 2019-09-06 | A kind of big arm assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110485948A true CN110485948A (en) | 2019-11-22 |
Family
ID=68556977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910841683.6A Pending CN110485948A (en) | 2019-09-06 | 2019-09-06 | A kind of big arm assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110485948A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204457501U (en) * | 2015-02-28 | 2015-07-08 | 克拉玛依市建业有限责任公司 | A kind of oil pipe conveying device of improvement |
| CN108301794A (en) * | 2018-03-27 | 2018-07-20 | 济南芯乐智能设备有限公司 | A kind of petroleum well workover Work robot |
| CN109339717A (en) * | 2018-12-06 | 2019-02-15 | 济南芯乐智能设备有限公司 | A kind of petroleum well servicing rig |
| CN109505540A (en) * | 2019-01-25 | 2019-03-22 | 济南芯乐智能设备有限公司 | A kind of offshore platform automation workover rig upper tube manipulator |
| CN210659992U (en) * | 2019-09-06 | 2020-06-02 | 北京鼎文融和科技有限公司 | Big arm device |
-
2019
- 2019-09-06 CN CN201910841683.6A patent/CN110485948A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204457501U (en) * | 2015-02-28 | 2015-07-08 | 克拉玛依市建业有限责任公司 | A kind of oil pipe conveying device of improvement |
| CN108301794A (en) * | 2018-03-27 | 2018-07-20 | 济南芯乐智能设备有限公司 | A kind of petroleum well workover Work robot |
| CN109339717A (en) * | 2018-12-06 | 2019-02-15 | 济南芯乐智能设备有限公司 | A kind of petroleum well servicing rig |
| CN109505540A (en) * | 2019-01-25 | 2019-03-22 | 济南芯乐智能设备有限公司 | A kind of offshore platform automation workover rig upper tube manipulator |
| CN210659992U (en) * | 2019-09-06 | 2020-06-02 | 北京鼎文融和科技有限公司 | Big arm device |
Non-Patent Citations (1)
| Title |
|---|
| 高荣慧: "工业机械手设计", 31 December 2014, 合肥工业大学出版社, pages: 6 - 8 * |
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