CN111188584A

CN111188584A - Righting manipulator

Info

Publication number: CN111188584A
Application number: CN201911376222.2A
Authority: CN
Inventors: 邢大伟; 王定亚; 李勇; 王耀华; 刘延明; 殷克平
Original assignee: Baoji Oilfield Machinery Co Ltd
Current assignee: China National Petroleum Corp; Baoji Oilfield Machinery Co Ltd; CNPC National Oil and Gas Drilling Equipment Engineering Technology Research Center Co Ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-05-22

Abstract

The invention discloses a righting manipulator which comprises an installation frame, wherein a swing mechanism is arranged on the side surface of the installation frame and is connected with one end of a mechanical arm unit, a tong head is arranged at the other end of the mechanical arm unit, a swing driving unit is arranged on the swing mechanism, the lower part of the mechanical arm unit is connected with one end of a telescopic cylinder, and the other end of the telescopic cylinder is connected with the lower side of a rotary shaft; the device has the advantages that the clamp head, the main arm, the auxiliary arm and the swing mechanism form a parallelogram mechanism, the structure is simple, the performance is reliable, the manufacturing cost is low, the application range is wide, and the like, the problem that the lower end of the vertical pipe column is manually moved and transported between a well head and a vertical pipe column table during workover operation is solved, and the problem that the pipe column is manually moved and transported between a power catwalk and the well head is solved; the automatic discharge device has the advantages that the automatic discharge purpose of the pipe column is realized, the labor intensity is reduced, the working efficiency and the safety are improved, and the purpose of reducing personnel is finally achieved.

Description

Righting manipulator

Technical Field

The invention belongs to the technical field of petroleum mechanical equipment, and particularly relates to a centralizing manipulator.

Background

At present, mutual moving operation of the lower end of a pipe column stand between a well head and a stand platform is realized in a manual pushing and supporting mode during workover operation, and the manual moving and transporting method has the defects of large number of operating personnel, high labor intensity, low operation efficiency, low safety factor and the like; at present, a buffer manipulator in a pushing type tubular column processing system of a drilling machine can only process tubular columns in a power catwalk and a wellhead direction, but cannot process tubular columns in a stand and the wellhead direction.

Disclosure of Invention

The automatic discharging device of tubular column during workover is used for realizing the mutual moving operation of the lower end of the tubular column stand between a wellhead and a stand platform or between the wellhead and a catwalk.

According to the technical scheme, the righting manipulator comprises an installation frame, wherein a swing mechanism is installed on the side face of the installation frame and is connected with one end of a mechanical arm unit, a tong head is installed at the other end of the mechanical arm unit, a swing driving unit is installed on the swing mechanism, the lower portion of the mechanical arm unit is connected with one end of a telescopic cylinder, and the other end of the telescopic cylinder is connected with the swing mechanism.

The present invention is also characterized in that,

the rotary mechanism comprises a vertically placed rotary shaft, the upper end of the rotary shaft is installed in an upper bearing seat through a bearing, the lower end of the rotary shaft is installed in a lower bearing seat through a bearing, the upper bearing seat and the lower bearing seat are fixedly connected to the mounting frame, and the side wall of the rotary shaft is hinged to one end of the mechanical arm unit.

The rotary driving unit comprises a rotary motor, and an output shaft of the rotary motor is connected with the rotary shaft.

The rotary motor includes any one of a hydraulic motor, an electric motor, and a pneumatic motor.

The rotary driving unit comprises a rotary cylinder which is horizontally arranged, one end of the rotary cylinder is hinged with the mounting frame, the other end of the rotary cylinder is hinged with the rotary shaft, and an included angle is formed between the rotary cylinder and the mounting frame.

The rotary cylinder comprises any one of a hydraulic cylinder, an electric cylinder and a cylinder.

The mechanical arm unit comprises a main arm, an auxiliary arm parallel to the main arm is arranged below the main arm, one end of the main arm and one end of the auxiliary arm are connected with the swing mechanism, and the other ends of the main arm and the auxiliary arm are connected with the clamp heads.

The mounting bracket is connected with the ear plate through a pin shaft I.

The telescopic cylinder comprises any one of a hydraulic cylinder, an electric cylinder and a cylinder.

The centralizing manipulator has at least the following beneficial effects:

firstly, the tong head, the swing mechanism, the main arm and the auxiliary arm adopt a parallelogram structure, so that the tong head is always kept in a horizontal state when the telescopic cylinder is stretched, and automatic discharge of a pipe column in the directions of a power catwalk and a wellhead is realized;

secondly, the main arm and the auxiliary arm rotate in the horizontal plane through the rotation of the swing mechanism; the rotation of the main arm and the auxiliary arm in a vertical plane is realized through the extension and retraction of the telescopic cylinder; the synchronous action of the swing mechanism and the telescopic cylinder realizes the compound movement of the tong head;

thirdly, the device realizes the mutual moving operation of the lower end of the stand of the pipe column between the well head and the stand platform or between the well head and the catwalk, so that the pipe column can be automatically discharged when moving between the well head and the stand platform in the well repairing process, and the problem that a buffer manipulator in a pushing and supporting type pipe column processing system of the drilling machine can only process the pipe columns in the directions of the power catwalk and the well head but can not process the pipe columns in the directions of the stand platform and the well head is solved; the problem of when buffering manipulator transportation need dismantle alone the transportation, extravagant cost of transportation and installation time is solved.

Drawings

Figure 1 is a front view of a centralizing manipulator of the invention;

fig. 2 is a partial enlarged view at a of fig. 1;

figure 3 is a top view of a centralizing manipulator of the invention;

fig. 4 is a partial enlarged view at B of fig. 3;

FIG. 5 is a schematic structural diagram of a swing mechanism of a centering manipulator according to the present invention;

fig. 6 is a schematic structural view of a fitting of a centering manipulator according to the present invention.

In the figure, 1, an ear plate, 2, a pin shaft I, 3, a pin shaft II, 4, a rotary mechanism, 4-1, an upper bearing seat, 4-2, a rotary shaft, 4-3, a lower bearing seat, 5, a bolt, 6, a binding clip, 6-1, a frame body, 6-2, a bolt, 6-3, a rotary shaft, 6-4, a crank throw, 6-5, a nut, 6-6, a hydraulic cylinder, 7, a pin shaft III, 8, a main arm, 9, an auxiliary arm, 10, a telescopic cylinder, 11, a rotary cylinder, 12, a rotary motor and 13, an installation frame.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

The technical scheme of the invention is that the centralizing manipulator comprises an installation frame 13, wherein a rotary mechanism is installed on the side surface of the installation frame 13, the rotary mechanism is hinged with one end of a mechanical arm unit, a tong head 6 is installed at the other end of the mechanical arm unit, a rotary driving unit is installed on the rotary mechanism, the lower part of the mechanical arm unit is connected with one end of a telescopic cylinder 10, and the other end of the telescopic cylinder 10 is connected with a rotary mechanism 4 (specifically, a rotary shaft 4-2 connected with the rotary mechanism 4) through a pin shaft II 3; the telescopic cylinder 10 may be a hydraulic cylinder, an electric cylinder or an air cylinder.

As shown in fig. 5, the revolving mechanism 4 includes a revolving shaft 4-2 vertically placed, the upper end of the revolving shaft 4-2 is mounted in the upper bearing seat 4-1 through a bearing, the lower end of the revolving shaft 4-2 is mounted in the lower bearing seat 4-3 through a bearing, the upper bearing seat 4-1 and the lower bearing seat 4-3 are both fixedly connected to the mounting frame 13, and the side wall of the revolving shaft 4-2 is hinged to one end of the mechanical arm unit (the main arm 8 and the sub arm 9) to ensure the revolving motion.

As shown in fig. 1-4, the rotary driving unit can select the rotary motor 12 as a drive, the output shaft of the rotary motor 12 is connected to the rotary shaft 4-2, and the rotary motor 12 drives the rotary shaft 4-2 to rotate; the swing motor 12 may be a hydraulic motor, an electric motor, or a pneumatic motor. The rotary driving unit can also select a rotary cylinder 11 as a drive, the rotary cylinder 11 is horizontally arranged, one end of the rotary cylinder 11 is hinged with one end of a mounting frame 13, the other end of the rotary cylinder 11 is hinged with a rotary shaft 4-2, and an included angle is formed between the rotary cylinder 11 and the mounting frame 13; the rotary cylinder 11 can be a hydraulic cylinder, an electric cylinder or an air cylinder, and the rotary cylinder 11 is horizontally arranged and can drive the rotary shaft 4-2 to rotate so as to drive the mechanical arm unit (the main arm 8 and the auxiliary arm 9) to rotate in a horizontal plane.

As shown in fig. 1-4, the mechanical arm unit comprises a main arm 8, an auxiliary arm 9 parallel to the main arm is arranged below the main arm 8, the same end of the main arm 8 and the auxiliary arm 9 is hinged to the side wall of the revolving mechanism 4 (i.e. the side wall of the revolving shaft 4-2), and the other end of the main arm 8 and the auxiliary arm 9 is connected with a tong head 6 through a pin shaft iii 7; as shown in fig. 6, the binding clip 6 comprises a pair of door bolts 6-2 at the front ends of two cantilever arms of a frame body 6-1, each door bolt 6-2 is fixedly sleeved with a rotating shaft 6-3, the rear end of each rotating shaft 6-3 is hinged with the end of a piston rod of the supporting hydraulic cylinder 3 through a crank 6-4, and a nut 6-5 is installed at the rear end edge of each rotating shaft 6-3 to play a role in fixing and protecting; under the synchronous extension and contraction action of the two hydraulic cylinders 6-6, the motion is transmitted through the crank throws 6-4 and the rotating shafts 6-3, and the two door bolts 6-2 rotate together with the respective rotating shafts 6-3 to realize the closing or opening of the tong head 6.

As shown in fig. 1-4, the mounting bracket 13 is connected to the ear plate 1 via a pin i 2.

The telescopic cylinder 10 includes any one of a hydraulic cylinder, an electric cylinder, and an air cylinder.

The clamp head 6, the main arm 8, the auxiliary arm 9 and the swing mechanism 4 form a parallelogram mechanism; the tong head 6 realizes the opening and closing of the valve through the expansion and contraction of a hydraulic cylinder arranged inside, so that the pipe column can enter and exit the tong head.

The tong head 6 rotates for a certain angle around the center of the rotating mechanism 4 by the extension of the rotating cylinder 11 or the rotation of the rotating motor 12, so that the tong head 6 rotates to the direction of a wellhead and a stand platform.

The tong head 6 can move in the directions of a wellhead and a power catwalk by the extension of the telescopic cylinder 10, so that the automatic discharge of the pipe column in the directions of the power catwalk and the wellhead is realized;

the lower end of the stand pipe can be supported to reach the designated position of the stand pipe table through the combined action of the rotary cylinder 11 or the rotary motor 12 and the telescopic cylinder 10, so that the automatic discharge of the stand pipe between a wellhead and the stand pipe table is realized; the centralizing manipulator can rotate around the pin shaft I2, can rotate to the side face of the derrick during transportation, and can be transported together with the derrick, so that the transportation cost and the installation time are saved.

The invention relates to a centralizing manipulator, which realizes the rotary motion of a mechanical arm unit in a horizontal plane by a rotary mechanism and a rotary driving unit, realizes the rotary motion in a vertical plane by a telescopic cylinder and the mechanical arm unit, and realizes the rotation and the up-and-down motion of a tong head by combining the two rotary motions so as to realize the discharge operation of a supported pipe column; the specific working process is as follows:

when the main arm 8 and the auxiliary arm 9 extend or retract or the rotation motor 12 rotates, the main arm 8 and the auxiliary arm 9 drive the tong head 6 to rotate, namely, the rotation motion in the horizontal plane is realized;

when the telescopic cylinder 10 is telescopic, the main arm 8 drives the tong head 6 to rotate, namely the rotation in the vertical plane is realized;

when the rotary cylinder 11 and the telescopic cylinder 10 work simultaneously, the binding clip 6 is driven by the main arm 8 to realize composite motion, and the discharge operation of the pipe column between the well mouth and the vertical root table is realized.

Claims

1. The utility model provides a right manipulator, its characterized in that includes mounting bracket (13), mounting bracket (13) side-mounting rotation mechanism (4) the one end of arm unit is connected to rotation mechanism, binding clip (6) are installed to the other end of arm unit, install the rotation drive unit on rotation mechanism (4), the one end of the sub-unit connection telescoping cylinder (10) of arm unit, the other end of telescoping cylinder (10) is connected rotation mechanism (4).

2. A straightening manipulator according to claim 1, wherein the slewing mechanism (4) comprises a slewing shaft (4-2) which is vertically arranged, the upper end of the slewing shaft (4-2) is mounted in an upper bearing block (4-1) through a bearing, the lower end of the slewing shaft (4-2) is mounted in a lower bearing block (4-3) through a bearing, the upper bearing block (4-1) and the lower bearing block (4-3) are both fixedly connected to a mounting frame (13), and the side wall of the slewing shaft (4-2) is hinged to one end of the manipulator unit.

3. A strengthening manipulator according to claim 2, wherein the swing drive unit comprises a swing motor (12), the output shaft of the swing motor (12) being connected to the swing shaft (4-2).

4. A strengthening manipulator according to claim 3, wherein the swing motor (12) comprises any one of a hydraulic motor, an electric motor, a pneumatic motor.

5. A strengthening manipulator according to claim 2, wherein the rotary drive unit comprises horizontally arranged rotary cylinders (11), one end of the rotary cylinders (11) is hinged to the mounting frame (13), the other end of the rotary cylinders (11) is hinged to the rotary shaft (4-2), and an included angle is formed between the rotary cylinders (11) and the mounting frame (13).

6. A strengthening manipulator according to claim 5, wherein the rotary cylinder (11) comprises any one of a hydraulic cylinder, an electric cylinder, and an air cylinder.

7. A straightening manipulator according to claim 1, wherein the manipulator unit comprises a main arm (8), a secondary arm (9) parallel to the main arm is arranged below the main arm (8), the same end of the main arm (8) and the secondary arm (9) is connected with the swing mechanism (4), and the other end of the main arm (8) and the secondary arm (9) is connected with the tong head (6).

8. A straightening manipulator according to claim 1, characterized in that the side of the mounting frame (13) is connected to the ear plate (1) by a pin I (2).

9. A centralizing manipulator according to claim 1, characterised in that the telescopic cylinder 10) comprises any one of a hydraulic cylinder, an electric cylinder and an air cylinder.