CN110900561A

CN110900561A - Pipe supporting manipulator

Info

Publication number: CN110900561A
Application number: CN201911287429.2A
Authority: CN
Inventors: 胡靖�; 杨汉键; 何祥华
Original assignee: Huaihua University
Current assignee: Huaihua University
Priority date: 2019-12-14
Filing date: 2019-12-14
Publication date: 2020-03-24

Abstract

The invention discloses a pipe supporting manipulator, which comprises: the crawler is used for driving the pipe supporting manipulator to move; the support assembly is fixedly arranged on the top of the crawler and used for providing a supporting force; the folding arm system comprises a rotary table arranged on the supporting assembly, a folding arm arranged and fixed on the rotary table and a control unit, wherein the control unit controls the folding arm to extend, retract and bend, and controls the rotary table to drive the folding arm to rotate; and the clamping jaw assembly comprises a clamping jaw, a clamping jaw assembly and a clamping jaw, wherein the clamping jaw is installed at the head end of the folding arm and forms a hinged supporting arm, is fixed on the clamping jaw at the top end of the supporting arm and is installed on the supporting wheel at the bottom end of the supporting arm, and the clamping jaw and the supporting arm are perpendicular to each other. Compared with the prior art, the pipe supporting manipulator is convenient to operate and high in operation efficiency.

Description

Pipe supporting manipulator

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a pipe supporting manipulator applied to a land oil drilling platform.

Background

Oil is the major energy source currently driving industrial production, and oil production includes offshore oil drilling platforms and onshore oil drilling platforms.

At present, the installation of a drill pipe on an onshore oil drilling platform generally comprises the steps that one end of the drill pipe is hoisted by a racking platform mechanical arm at a high position, and the other end of the drill pipe is held by 2 workers and then is aligned to a specified position. The manual operation efficiency is low, and most drilling platforms are in severe environment and are not suitable for manual outdoor operation.

Therefore, there is a need to provide a new pipe supporting manipulator to solve the above technical problems.

Disclosure of Invention

The invention aims to overcome the technical problems and provide a pipe supporting manipulator which is convenient to operate and high in operation efficiency.

In order to achieve the above object, the present invention provides a pipe supporting robot comprising:

the crawler is used for driving the pipe supporting manipulator to move; the support assembly is fixedly arranged on the top of the crawler and used for providing a supporting force; the folding arm system comprises a rotary table arranged on the supporting assembly, a folding arm arranged and fixed on the rotary table and a control unit, wherein the control unit controls the folding arm to extend, retract and bend, and controls the rotary table to drive the folding arm to rotate; and the clamping jaw assembly comprises a clamping jaw, a clamping jaw assembly and a clamping jaw, wherein the clamping jaw is installed at the head end of the folding arm and forms a hinged supporting arm, is fixed on the clamping jaw at the top end of the supporting arm and is installed on the supporting wheel at the bottom end of the supporting arm, and the clamping jaw and the supporting arm are perpendicular to each other.

Preferably, the jaws are hydraulic jaws.

Preferably, the support assembly comprises at least two parallel spaced apart support beams fixedly mounted to the top of the crawler and telescoping arms fixed to opposite ends of the support beams.

Preferably, the working radius of the folding arm is 3.5 m.

Preferably, when the folding arm retracts, the outer side of the folding arm is 850mm away from the turntable.

Compared with the prior art, the pipe supporting manipulator provided by the invention can flexibly realize the moving action by using the crawler as a moving part, and the crawler has strong adaptability in severe environment; the pipe fitting is clamped to the specified installation position through the extension, retraction, bending and rotation of the folding arm system, so that the operation efficiency is high and the operation is simple; the clamping jaw passes through the support arm and articulates in the head end of rolling over the arm to at support arm bottom installation supporting wheel, very big degree has improved the support intensity of rolling over the arm, can realize snatching 2 tons of heavy steel pipe fittings.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

fig. 1 is a schematic perspective view of a pipe holding manipulator of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present invention provides a pipe supporting manipulator 100, which includes a crawler 1, a support assembly 2, a folding arm system 3, and a clamping jaw assembly 4.

The tracked vehicle 1 is used for driving the pipe supporting manipulator 100 to move. Because the environment of the oil drilling platform is poor, the platform has a large amount of silt and greasy dirt, and the reliability and the stability of the crawler 1 can be effectively improved by using the crawler 1 as the integral moving structure of the pipe supporting manipulator 100.

The support assembly 2 is fixedly mounted on the top of the crawler 1 and used for providing a supporting force.

In this embodiment, the support assembly 2 includes at least two parallel support beams 21 fixedly mounted to the top of the crawler 1 and at spaced intervals, and telescoping arms 22 fixed to opposite ends of the support beams 21. The telescopic arm 22 can be telescopic, when the tracked vehicle 1 drives the pipe supporting manipulator 100 to move, the telescopic arm 22 retracts, and when the tracked vehicle 1 stops and the pipe supporting manipulator 100 works, the telescopic arm 22 extends out and abuts against a supporting surface to improve the supporting performance.

The arm folding system 3 includes a turntable 31 mounted on the support beam 21 of the support assembly 2, an arm folding 32 mounted on the turntable 31, and a control unit (not shown).

The control unit controls the folding arm 32 to extend, retract and bend, and controls the turntable 31 to drive the folding arm 32 to rotate. Thereby the realization is got and is transported the clamp of pipe fitting. In the present embodiment, the working radius of the folding arm 32 is 3.5 m. When the folding arm 32 is retracted, the outer side thereof is at a distance of 850mm from the turntable 31. The arm folding system 3 finishes about 10S of one action, and has high working efficiency and convenient operation.

The clamping jaw assembly 4 comprises a supporting arm 41 which is arranged at the head end of the folding arm 32 and forms a hinge joint, a clamping jaw 42 which is fixed at the top end of the supporting arm 41 and is used for clamping the pipe 5, and a supporting wheel 43 which is arranged at the bottom end of the supporting arm 41. The clamping jaw 42 and the supporting arm 41 are arranged perpendicular to each other.

In the present embodiment, the clamping jaw 42 is a hydraulic clamping jaw. The supporting wheel 43 greatly improves the supporting strength of the folding arm 32, and can grab 2 tons of heavy steel pipe fittings.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A pipe supporting manipulator, comprising:

the crawler is used for driving the pipe supporting manipulator to move;

the support assembly is fixedly arranged on the top of the crawler and used for providing a supporting force;

the folding arm system comprises a rotary table arranged on the supporting assembly, a folding arm arranged and fixed on the rotary table and a control unit, wherein the control unit controls the folding arm to extend, retract and bend, and controls the rotary table to drive the folding arm to rotate; and the number of the first and second groups,

clamping jaw subassembly, clamping jaw subassembly including install in the head end of roll over the arm forms articulated support arm, is fixed in the clamping jaw on support arm top and install in the supporting wheel of support arm bottom, the clamping jaw with support arm mutually perpendicular sets up.

2. The pipe jacking manipulator according to claim 1, wherein the gripping jaws are hydraulic gripping jaws.

3. A pipe jacking manipulator according to claim 1, wherein the support assembly includes at least two parallel spaced apart support beams fixedly mounted to the top of the crawler and telescopic arms fixed to opposite ends of the support beams.

4. A pipe holding manipulator according to claim 1, wherein the working radius of the folding arm is 3.5 m.

5. A pipe holding manipulator according to claim 1, wherein the folding arm, when retracted, has an outer side at a distance of 850mm from the turntable.