CN110748306B - Foldable pipe swinging robot for drilling platform surface - Google Patents
Foldable pipe swinging robot for drilling platform surface Download PDFInfo
- Publication number
- CN110748306B CN110748306B CN201911085896.7A CN201911085896A CN110748306B CN 110748306 B CN110748306 B CN 110748306B CN 201911085896 A CN201911085896 A CN 201911085896A CN 110748306 B CN110748306 B CN 110748306B
- Authority
- CN
- China
- Prior art keywords
- arm
- base
- seat
- rotary
- connecting frame
- 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.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/146—Carousel systems, i.e. rotating rack systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to the technical field of petroleum equipment, and discloses a foldable pipe swinging robot for a drilling platform surface, which comprises a horizontal moving mechanism, a swing mechanism and a folding mechanism, wherein the horizontal moving mechanism is arranged on the swing mechanism; the horizontal moving mechanism comprises a base, and the slewing mechanism comprises a slewing disc; the rotating mechanism is fixed on the base, and the folding mechanism is fixed on the rotating disc; the folding mechanism comprises a spiral swinging cylinder, a turnover connecting frame and a mechanical arm, wherein the bottom of the spiral swinging cylinder is arranged on the rotary disc, and the top of the spiral swinging cylinder is provided with the turnover connecting frame; the upper end surface of the turnover connecting frame is fixedly provided with an arm seat; the arm seat is provided with an arm; a magnetostrictive oil cylinder is arranged between the arm seat and the mechanical arm. The folding mechanism has the advantages that the folding mechanism realizes 90-degree turnover of the drill table surface swing pipe robot, so that a drill channel is completely avoided, fed and thrown, and the space is saved.
Description
Technical Field
The technology belongs to the technical field of petroleum equipment, and relates to a foldable pipe swinging robot for a drilling platform surface.
Background
The automatic drilling and repairing well is the development direction of petroleum equipment, and the current oil field has higher understanding and requirements on the speed improvement and efficiency improvement of drilling and repairing well operation, labor cost reduction, labor force reduction, the automation level of a drilling machine and the like.
In the process of petroleum drilling, a power catwalk firstly conveys a single pipe from a field area to a drilling platform surface, an iron roughneck is erected on the drilling platform surface by matching with a hydraulic elevator and connected with an upright column, a pipe swinging robot carries out pipe swinging operation to move the upright column from the pipe area to a well mouth or move the upright column from the well mouth to the pipe area, and the iron roughneck is buckled up to place the pipe column into a well. Conventional pendulum pipe robot finishes the installation and stands on the drilling platform face after, only can accomplish dodging to the catwalk machine through the mode of dismantling, and it is longer to consume time, occupies a large amount of human costs, and the operating efficiency is low.
Disclosure of Invention
The invention aims to solve the problems and provides the foldable pipe swinging robot with the drill floor, which can accurately control the rotation angle of the mechanical arm and realize the turnover of the mechanical arm, so that a catwalk machine conveying channel is completely avoided, the operation efficiency is improved, and the labor intensity is reduced. The technical scheme is as follows:
a foldable swing pipe robot for a drilling platform comprises a horizontal moving mechanism, a swing mechanism and a folding mechanism; the horizontal moving mechanism comprises a base, and the slewing mechanism comprises a slewing disc; the rotating mechanism is fixed on the base, and the folding mechanism is fixed on the rotating disc; the folding mechanism comprises a spiral swinging cylinder, a turnover connecting frame and a mechanical arm, wherein the bottom of the spiral swinging cylinder is arranged on the rotary disc, and the top of the spiral swinging cylinder is provided with the turnover connecting frame; the upper end surface of the turnover connecting frame is fixedly provided with an arm seat; the arm seat is provided with an arm; a magnetostrictive oil cylinder is arranged between the arm seat and the mechanical arm.
The turning connecting frame comprises vertical plates fixedly connected with two side edges of the spiral swinging cylinder and a fixing plate vertically and fixedly connected with the upper ends of the vertical plates, and a triangular supporting plate is arranged between the vertical plates and the fixing plate; the fixed plate is provided with a hand arm seat.
The horizontal moving mechanism also comprises a guide rail and a walking motor, and the action motor drives the base to horizontally move along the guide rail; the rotary mechanism further comprises a rotary driving motor and a rotary speed reducer, the rotary speed reducer is located between the base and the rotary disc, the rotary driving motor drives the rotary disc to rotate, and the rotary speed reducer is in transmission connection with the rotary driving motor.
The bottom of the base is provided with a sliding block, and the sliding block is provided with a sliding chute corresponding to the guide rail; the guide rail is installed on the bottom plate, and proximity switches are arranged at two ends of the guide rail.
The mechanical arm comprises a front arm and a rear arm, and a connecting seat is arranged between the front arm and the rear arm; the front arm and the rear arm are hinged with the connecting seat, the bottom of the rear arm is hinged with the arm seat, the top of the rear arm is provided with a rear arm pull rod, and the rear arm pull rod is hinged with the connecting seat and the rear arm; the front arm is provided with a clamping jaw, and a front arm pull rod is hinged with the connecting seat and the clamping jaw.
One side of the bottom plate is provided with a drag chain, and the other end of the drag chain is connected with the base.
The length of the front arm is not more than 1/2 of the length of the rear arm.
The base is provided with an encoder, the base and the bottom plate are provided with a gear rack transmission assembly, the walking motor drives the gear and the gear rack to be meshed for walking, and the encoder is meshed with the gear through a shaft.
The invention has the following advantages: the turnover mechanism realizes the turnover of the drill floor swing pipe robot through the spiral swing oil cylinder, so that a power catwalk is completely avoided, the front arm and the rear arm can be kept in a parallel state, and the occupied space of equipment is saved; the extension and retraction movement of the mechanical arm is finished by controlling the extension and retraction of the magnetostrictive hydraulic cylinder, so that the horizontal linear movement of the clamping jaw is realized; the horizontal accurate movement of the drilling platform surface pipe swinging robot can be realized through a linear moving mechanism integrated with the base, and the placement of stand columns at all positions in a pipe area is realized; the slewing mechanism can accurately control the slewing angle of the pipe swinging robot through the slewing reducer.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic view of the mechanical arm folded 90 degrees;
FIG. 3 is a schematic view of a swing mechanism;
FIG. 4 is a schematic view of a flip-top connection;
fig. 5 is a schematic view of the present invention folded on the drill floor.
Wherein, 1-clamping jaw; 2-forearm pull rod; 3-forearm; 4-a connecting rod; 5-a connecting seat; 6-rear arm pull rod; 7-rear arm; 8-magnetostrictive oil cylinder; 9-arm seat; 10-overturning the connecting frame; 101-a vertical plate; 1011-circular structure; 1012-square structure; 1013-bolt fixing groove; 102-a fixed plate; 103-a triangular support frame; 11-a spiral oscillating cylinder; 12-a rotating disc; 1201-a support plate; 13-a rotary reducer; 131-an encoder; 14-a base; 15-a guide rail; 16-a slide block; 17-a base plate; 18-a proximity switch; 19-a drag chain; 20-a rack; 21-a walking motor; 22-a rotary drive motor; 23-an encoder; 24-power catwalk.
Detailed Description
The invention will be further illustrated with reference to the accompanying figures 1 to 5 and examples:
the embodiments of the invention will be described in detail hereinafter, examples of which are illustrated in the accompanying drawings, and the embodiments described hereinafter with reference to the drawings are illustrative only and are not to be construed as limiting the invention.
A foldable swing pipe robot for a drilling platform comprises a horizontal moving mechanism, a swing mechanism and a folding mechanism; wherein
The horizontal moving mechanism comprises a base 14, a guide rail 15 and a walking motor 21, wherein the walking motor 21 drives the base 14 to horizontally move along the guide rail 15; the bottom of the base 14 is provided with a slot, and the walking motor 21 is positioned in the slot of the base. The base 14 is provided with an encoder 23, the base 14 and the bottom plate 17 are provided with a gear rack transmission assembly, the walking motor 21 drives the gear to be meshed with the gear rack 20 for walking, and the encoder 23 is meshed with the gear through a shaft. A sliding block 16 is arranged at the bottom of the base 14, and a sliding groove corresponding to the guide rail is arranged on the sliding block 16; the guide rail 15 is arranged on the bottom plate 17, and proximity switches 18 are arranged at two ends of the guide rail 15; one side of the bottom plate 17 is provided with a drag chain 19, the other end of the drag chain 19 is connected with the base 14, and both the drag chain 19 and the proximity switch 18 are used for controlling the horizontal movement stroke of the base 14, as shown in fig. 1-2.
As shown in fig. 3, the revolving mechanism includes a revolving driving motor 22, a revolving speed reducer 13, and a revolving disc 12, the bottom of the revolving disc 12 is mounted on the upper end surface of the base 14, the top is provided with a folding mechanism, and the revolving driving motor 22 drives the revolving disc 12 to rotate; a rotary speed reducer 13 is arranged between the base 14 and the rotary disc 12, the rotary speed reducer 13 is in transmission connection with a rotary driving motor 22, and an encoder 23 is installed on the rotary speed reducer 13 and can accurately adjust the rotary angle.
The folding mechanism comprises a spiral oscillating cylinder 11, an overturning connecting frame 10 and a mechanical arm, wherein a clamping jaw 1 is arranged on the mechanical arm, the bottom of the spiral oscillating cylinder 11 is installed on a rotary disc 12, and the top of the spiral oscillating cylinder is provided with the overturning connecting frame 10; the upper end surface of the turnover connecting frame 10 is fixedly provided with an arm seat 9; the arm seat 9 is provided with an arm, and the arm seat and the arm are hinged; a magnetostrictive oil cylinder 8 is arranged between the arm seat 9 and the mechanical arm, and the horizontal movement of the clamping jaw 1 is realized through the stretching; the spiral swinging cylinder 11 can drive the overturning connecting frame 10 and the mechanical arm to rotate by 90 degrees, so that the mechanical arm is folded; a supporting plate 1201 is fixedly installed on the upper end face of the rotary disc 12, the mechanical arm works vertically, and the supporting plate 1201 is fixedly connected with the overturning connecting frame 10 through bolts to overcome the shaking of the mechanical arm; during folding, the connecting bolts between the supporting plate 1201 and the turnover connecting frame 10 are removed, so that folding is realized; the length of the front arm 3 is not more than 1/2 of the length of the rear arm 7, so that the weight of the mechanical arm is reduced as much as possible;
the mechanical arm comprises a front arm 3 and a rear arm 7, a connecting seat 5 is arranged between the front arm 3 and the rear arm 7, the front arm 3 and the rear arm 7 are hinged with the connecting seat 5, the bottom of the rear arm 7 is hinged with an arm seat 9, a rear arm pull rod 6 is arranged at the top of the rear arm 7, and the rear arm pull rod 6 is hinged with the connecting seat 5 and the rear arm 7; the front arm pull rod 2 is hinged with the connecting seat 5 and the clamping jaw 1.
As shown in fig. 4, the turnover connecting frame 10 includes a vertical plate 101 fixedly connected to two sides of the spiral swing cylinder 11, a fixing plate 102 vertically and fixedly connected to an upper end of the vertical plate 101, and a triangular support plate 103 is disposed between the vertical plate 101 and the fixing plate 102; the fixed plate 102 is provided with a hand arm seat 9; the vertical plate 101 comprises a round structure 1011 and a square structure 1012, a bolt fixing groove 1013 is arranged at the joint of the round structure and the square structure, and the vertical plate 101 is fixedly connected with the support plate 1201 through the bolt fixing groove 1013; the circular structure 1011 and the square structure 1012 are an integrated structure, wherein the circular structure 1011 is connected with both sides of the spiral swinging cylinder 11 by bolts.
The working principle is as follows: when the mobile robot moves horizontally, the action motor 21 drives the base 14 to move horizontally along the guide rail 15, the encoder 23 is arranged on the base 14, the encoder 23 is meshed with a gear through a shaft, a gear and rack transmission assembly is arranged on the base 14 and the bottom plate 17, the gear and the rack 20 are driven by the walking motor 21 to be meshed with and walk, the drag chain 19 and the proximity switch 18 are used for controlling the horizontal movement stroke of the base 14, and the encoder 23 controls the moving speed and distance of the base;
when the mechanical arm works vertically, the supporting plate 1201 is fixedly connected with the overturning connecting frame 10 through bolts, so that the shaking of the mechanical arm is overcome; during folding, the connecting bolts between the supporting plate 1201 and the overturning connecting frame 10 are removed to realize folding, and at the moment, the front arm 3 and the rear arm 7 are kept in a folding parallel folding state, so that the space application range of the mechanical arm is reduced, as shown in fig. 2; the rotary speed reducer 13 is provided with an encoder 23, so that the rotary angle can be accurately adjusted; a magnetostrictive oil cylinder 8 is arranged between the arm seat 9 and the mechanical arm, and the horizontal movement of the clamping jaw 1 is realized through the stretching of the magnetostrictive oil cylinder.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "front", "back", "upper", "lower", "left", "right", "top", "bottom", and the like indicate orientations or positional relationships based on positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. The present invention has been described above by way of example, but the present invention is not limited to the above-described specific embodiments, and any modification or variation made based on the present invention is within the scope of the present invention as claimed.
Claims (7)
1. The utility model provides a collapsible pendulum pipe robot of rig floor face which characterized in that: comprises a horizontal moving mechanism, a swing mechanism and a folding mechanism; the horizontal moving mechanism comprises a base, and the slewing mechanism comprises a slewing disc; the rotary mechanism is fixed on the base, and the folding mechanism is fixed on the rotary disc; the folding mechanism comprises a spiral swinging cylinder, a turnover connecting frame and a mechanical arm, wherein the bottom of the spiral swinging cylinder is arranged on the rotary disc, and the top of the spiral swinging cylinder is provided with the turnover connecting frame; the upper end surface of the turnover connecting frame is fixedly provided with an arm seat; the arm seat is provided with an arm; a magnetostrictive oil cylinder is arranged between the arm seat and the mechanical arm;
the turnover connecting frame comprises a vertical plate fixedly connected with two side edges of the spiral swinging cylinder and a fixed plate vertically and fixedly connected with the upper end of the vertical plate, and a triangular supporting plate is arranged between the vertical plate and the fixed plate; the fixed plate is provided with a hand arm seat;
a supporting plate is fixedly arranged on the upper end surface of the rotary disc, the mechanical arm works vertically, and the supporting plate is fixedly connected with the overturning connecting frame through a bolt so as to overcome the shaking of the mechanical arm; when the folding device is folded, the connecting bolts between the supporting plate and the turnover connecting frame are removed, so that the folding is realized.
2. The foldable swinging pipe robot for the drill floor as claimed in claim 1, wherein: the horizontal moving mechanism also comprises a guide rail and a walking motor, and the walking motor drives the base to horizontally move along the guide rail; the rotary mechanism further comprises a rotary driving motor and a rotary speed reducer, the rotary speed reducer is located between the base and the rotary disc, the rotary driving motor drives the rotary disc to rotate, and the rotary speed reducer is in transmission connection with the rotary driving motor.
3. The foldable swing pipe robot for a drill floor as claimed in claim 1, wherein: the bottom of the base is provided with a sliding block, and the sliding block is provided with a sliding chute corresponding to the guide rail; the guide rail is installed on the bottom plate, and proximity switches are arranged at two ends of the guide rail.
4. The foldable swinging pipe robot for the drill floor as claimed in claim 1, wherein: the mechanical arm comprises a front arm and a rear arm, and a connecting seat is arranged between the front arm and the rear arm; the front arm and the rear arm are hinged with the connecting seat, the bottom of the rear arm is hinged with the arm seat, the top of the rear arm is provided with a rear arm pull rod, and the rear arm pull rod is hinged with the connecting seat and the rear arm; be equipped with the clamping jaw on the forearm, the forearm pull rod is articulated with connecting seat, clamping jaw.
5. The foldable swinging pipe robot for the drill floor as claimed in claim 1, wherein: one side of the bottom plate is provided with a drag chain, and the other end of the drag chain is connected with the base.
6. The foldable swinging pipe robot for the drill floor as claimed in claim 1, wherein: the length of the front arm is not more than 1/2 of the length of the rear arm.
7. The foldable swinging pipe robot for the drill floor as claimed in claim 3, wherein: the base is provided with an encoder, a gear and rack transmission assembly is arranged on the base and the bottom plate, the walking motor drives the gear and the rack to be meshed for walking, and the encoder is meshed with the gear through a shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911085896.7A CN110748306B (en) | 2019-11-08 | 2019-11-08 | Foldable pipe swinging robot for drilling platform surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911085896.7A CN110748306B (en) | 2019-11-08 | 2019-11-08 | Foldable pipe swinging robot for drilling platform surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110748306A CN110748306A (en) | 2020-02-04 |
| CN110748306B true CN110748306B (en) | 2023-03-24 |
Family
ID=69282603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911085896.7A Active CN110748306B (en) | 2019-11-08 | 2019-11-08 | Foldable pipe swinging robot for drilling platform surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110748306B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111911097A (en) * | 2020-07-31 | 2020-11-10 | 中国海洋大学 | Automatic operation system and operation method for oilfield major workover operation |
| CN112814592B (en) * | 2021-03-17 | 2023-03-14 | 河北炜煜智能装备有限公司 | Intelligent mechanical arm for well repairing platform and intelligent well repairing vehicle |
| CN113276091A (en) * | 2021-04-26 | 2021-08-20 | 南京航空航天大学 | Foldable outer limb robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201963221U (en) * | 2010-12-31 | 2011-09-07 | 中国石油天然气集团公司 | Automatic hanging and clamping device |
| CN102536193B (en) * | 2010-12-31 | 2015-09-09 | 中国石油天然气集团公司 | A kind of heavy-load pipe arranging robot |
| CN105822239B (en) * | 2016-05-31 | 2019-06-21 | 青岛杰瑞工控技术有限公司 | A kind of quadruple board platform intelligence pipe system |
| CN206233883U (en) * | 2016-11-25 | 2017-06-09 | 东营瑞奥工贸有限责任公司 | Oil drilling machine quadruple board platform pipe arranging robot telescopic arm |
| CN206233877U (en) * | 2016-11-25 | 2017-06-09 | 东营瑞奥工贸有限责任公司 | Oil drilling machine quadruple board platform pipe arranging robot |
| CN108098740A (en) * | 2017-12-27 | 2018-06-01 | 东北大学 | A kind of loading and unloading link robot manipulator with end turn over function |
| CN110259395B (en) * | 2019-06-28 | 2021-07-13 | 宝鸡石油机械有限责任公司 | Convertible rig floor manipulator |
-
2019
- 2019-11-08 CN CN201911085896.7A patent/CN110748306B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110748306A (en) | 2020-02-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110748306B (en) | Foldable pipe swinging robot for drilling platform surface | |
| CN106567529B (en) | Wall surface slurry scraping and plastering robot | |
| CN107859493B (en) | Multifunctional drill table pushing and guiding manipulator | |
| CN203843818U (en) | Auxiliary seat repairing device | |
| CN106906986B (en) | Multifunctional construction workbench and robot | |
| CN203269476U (en) | Material handling machine | |
| CN1766260A (en) | Hand-held electric multifunctional building overlay decorating apparatus | |
| CN110905231B (en) | Fixing device of building element construction equipment | |
| CN201649656U (en) | Concrete distributing device | |
| CN201560067U (en) | Scale beam type lifting device | |
| CN108679371A (en) | A kind of heavy duty equipment clamping device | |
| CN111101856A (en) | Anchor rod drill carriage | |
| CN1924254A (en) | Conveniently moving automatic plastering machine | |
| CN208084349U (en) | Crusing robot | |
| CN201412066Y (en) | Door frame type drilling machine | |
| CN114852932A (en) | Combined lifting device for civil residential construction | |
| CN2825823Y (en) | Easy-to-move automatic wall plastering machine | |
| CN220678318U (en) | Multifunctional spraying robot | |
| CN217150259U (en) | Assembly for old building foundation pit support | |
| CN215854894U (en) | Intelligent movement lifting device | |
| CN211287514U (en) | Drilling machine with rotary supporting structure | |
| CN219081620U (en) | Drill boom with double drill frames | |
| CN215369690U (en) | Single-rail hydraulic anchor rod drill carriage with module drill arm assembly | |
| CN215204968U (en) | Oil well drilling rod handling device | |
| CN218620222U (en) | Rotatable drill boom lifting mechanism |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |