CN112192603A - Minor repair platform oil pipe pushing and supporting manipulator device and using method - Google Patents
Minor repair platform oil pipe pushing and supporting manipulator device and using method Download PDFInfo
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- CN112192603A CN112192603A CN202011061642.4A CN202011061642A CN112192603A CN 112192603 A CN112192603 A CN 112192603A CN 202011061642 A CN202011061642 A CN 202011061642A CN 112192603 A CN112192603 A CN 112192603A
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- mechanical arm
- gripper
- oil cylinder
- hinged
- seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses a small workover platform oil pipe pushing and supporting manipulator device and a use method thereof, relates to the technical field of special equipment for a wellhead device of an oil field workover platform, and discloses a special manipulator device for a workover platform. The device is installed on a wellhead platform device through a fixing plate, a mechanical arm is driven to do telescopic motion in the horizontal direction through a hydraulic oil cylinder, a mechanical arm is arranged at the tail end of the mechanical arm, finger pincers and a telescopic oil cylinder are arranged in the mechanical arm, and grabbing and loosening actions are performed under the driving of the telescopic oil cylinder. The invention has compact structure, large operation radius, high automation degree, convenient operation, safety and reliability, is suitable for automatic upgrading and reconstruction of newly-made and in-service small workover rigs, realizes unmanned operation of small workover heads, and has wide popularization prospect.
Description
Technical Field
The invention relates to an auxiliary mechanical device for well head operation of oil field workover, in particular to a small workover platform oil pipe pushing manipulator device and a using method thereof.
Background
At present, the domestic minor workover operation is a risk project with huge investment, and the quality of workover equipment directly influences the workover speed, the health and the safety of operation workers and the economic benefit of operation. At present, the well mouth operation is mainly manually operated when the oil pipe is pulled out and pulled down in the domestic well workover minor repair operation. When the drill is started, the driller uses the workover rig to lift the oil pipe out of the pipe column from the wellhead, 2 wellhead workers use wellhead tools to complete oil pipe shackle, and the oil pipe is pushed to the catwalk tray or pulled to the ground by hands; when drilling down, 2 well head workers pull the pipe column to the well head position from the row of irritating racks or catwalk tray, aim at connecting thread, accomplish to detain through the well head instrument and connect the back and accomplish and bore down. The grabbing, releasing, positioning, moving, discharging and other work of the pipe column in the pipe column pulling and running operation are completed, the labor intensity of well head workers is high, and in addition, due to the fact that oil stains are large in workover work, safety risks and health risks exist in the worker operation. In some oil fields, in the field of small repair operation, the application of a mechanical arm instead of manual operation is tried, but the mechanical arm for small repair operation in the market still has the problems of large occupied area, difficult installation and transportation, low efficiency and the like, and the mechanical arm in the prior art is often electrically driven, does not meet the explosion-proof requirement when used for wellhead operation and has certain danger.
The invention aims to provide a small maintenance platform oil pipe pushing and supporting manipulator device which is convenient to install and transport, can be integrally transported with a wellhead operation platform and does not need to be dismantled. The oil cylinder in the manipulator gripper is controlled to extend out and retract, and the manipulator drives the manipulator gripper to move horizontally and position a wellhead to replace manual operation. When moving the fortune, it is fixed with manipulator host computer arm and tongs arm through the lockpin device, open the bolt at supporting seat upper end rear portion, accomplish the folding of manipulator, pass through the support to the manipulator when moving the fortune and fix, realize with operation platform's integration transportation. The device can realize the unmanned operation of well head with devices such as well head operation platform, power catwalk, well head automation instrument cooperation.
Disclosure of Invention
The invention aims to solve the technical problem of providing a small repair platform oil pipe pushing and supporting manipulator device and a using method thereof, solves the problems that the existing wellhead operation manipulator is large in occupied space, needs to be disassembled during transportation, is inconvenient to disassemble and assemble back and forth and lower in efficiency, and has the characteristics of small occupied space, no need of disassembly, capability of being folded and transportation integrated with an operation platform.
In order to realize the design, the technical scheme adopted by the invention is that the minor repair platform oil pipe pushing manipulator device comprises an operation platform, wherein the upper surface of the operation platform is connected with an installation plate, the upper surface of the installation plate is connected with a supporting seat, and the bottom of the supporting seat is in rotating fit with a sleeve through a slewing bearing; the outer surface of the sleeve is sleeved with a first gear, and the first gear is matched with a hydraulic motor on the operation platform; the lower part of the sleeve is connected with a fixed plate which is connected with the mounting plate through a bolt; the upper part of the side surface of the supporting seat is connected with wing plates extending towards two sides, and holes are formed in the two sides of the wing plates; the upper surface of the supporting seat is provided with a connecting seat, and the upper surface of the connecting seat is an inclined plane; the lower surface of the connecting seat is in inserted fit with the wing plate through a pin shaft and is fixed on the supporting seat; a pin hole is formed in one end of the side surface of the connecting seat and is hinged with one end of the main mechanical arm; the other end of the main mechanical arm is hinged with a balance crank arm; the balance crank arm is hinged with one end of the gripper mechanical arm, and the other end of the gripper mechanical arm is hinged with the gripper; the main mechanical arm is connected with the gripper mechanical arm through an oil cylinder; the supporting seat side surface is still connected with the control pipeline, and control pipeline one end is connected to the control box, and the other end is connected with hydro-cylinder, tongs and hydraulic motor.
Preferably, the pin comprises a fixing pin and a latch.
Furthermore, one end of the lower surface of the connecting seat is hinged with the through hole on one side of the wing plate through a fixing pin, and the other end of the connecting seat is in plug-in fit with the through hole on the other side of the wing plate through a plug pin.
Preferably, a plurality of pinholes have been seted up to the connecting seat side surface, and it has main mechanical arm pull rod and balanced pull rod behind the tongs to articulate respectively in the pinhole of difference.
Further, the rear balance pull rod of the gripper is positioned between the main mechanical arm and the pull rod of the main mechanical arm.
Preferably, the surface of the balance crank arm is provided with a plurality of hinge holes, the balance crank arm comprises a first hinge hole and a second hinge hole at two ends, and a vertex hinge hole is formed between the first hinge hole and the second hinge hole.
Further, the first hinge hole, the second hinge hole and the vertex hinge hole are not in the same line.
Preferably, one end of the main mechanical arm and one end of the gripper mechanical arm are hinged with the balance crank arm through the top point hinge hole.
Preferably, the other end of the balance pull rod behind the gripper is hinged with a first hinge hole of the balance crank arm; the other end of the main mechanical arm pull rod is hinged with a connecting rod, and the other end of the connecting rod is hinged with the top point hinge hole.
Preferably, a convex ear seat is arranged on the side surface of the hand grip, and the ear seat is hinged with one end of the front balance pull rod of the hand grip; the other end of the balance pull rod in front of the gripper is hinged with a second hinge hole of the balance crank arm.
Preferably, the upper part of the main mechanical arm is connected with an upper end fixing seat, and the tail end of a cylinder barrel of the oil cylinder is hinged with the upper end fixing seat; the lower part of the gripper mechanical arm is connected with a lower end fixing seat, and the front end of a piston rod of the oil cylinder is hinged with the lower end fixing seat.
Preferably, the middle part of the main mechanical arm is connected with a mounting seat, and the lock pin is connected with the main mechanical arm through the mounting seat.
Preferably, the output end of the hydraulic motor is connected with a second gear which is meshed with the first gear, and a digital encoder is arranged on a rotating shaft of the hydraulic motor; the upper surface of the hand grip is connected with a camera, the camera is connected with a pointing lamp, and the pointing lamp and a lens of the camera are in the same direction and are parallel to the axial direction of the hand grip; the lower surface of the gripper is connected with a laser distance sensor and a positioning laser lamp, and the upper surface of the operation platform is connected with a positioning boss matched with the laser distance sensor and the positioning laser lamp; a displacement sensor is arranged in the oil cylinder; digital encoder, camera, laser distance sensor and displacement sensor all with control box electric connection.
Further, a displacement sensor in the oil cylinder is a built-in displacement sensor of the oil cylinder with the GEFRAN brand model of IK 4-A-B-300-E-1; the laser distance sensor is a Di-soric laser distance sensor with the model number of LAT 51.
Preferably, the use method of the minor repair platform oil pipe pushing manipulator device comprises the following steps:
s1, the device body is installed on the operation platform through the bolt connection of the installation plate and the fixing plate, and debugging and positioning are carried out before formal work: starting a laser distance sensor and a positioning laser lamp, and then adjusting the telescopic amount of an oil cylinder and the rotation amount of a hydraulic motor through a control pipeline to enable a clamp of the gripper to be positioned right above the center position of a well head; then adjusting the position of the positioning boss to enable the visible light emitted by the positioning laser lamp to be positioned in the center of the positioning boss, recording the distance data fed back by the laser distance sensor and transmitting the distance data to the control box; recording displacement data of a displacement sensor arranged in the oil cylinder and a rotation angle fed back by a digital encoder on a rotating shaft of the hydraulic motor at the moment as initial values, and feeding back and recording the initial value data to the control box; the upper surface of the positioning boss is sprayed with annular scale marks to indicate the central position and the offset angle;
s2, when the device works, an operator starts a camera and a pointing lamp at a control terminal, controls a hydraulic motor to rotate through a control pipeline, and checks the visual field of the camera on a display of the control terminal in real time; the digital encoder records the rotation angle at the moment in real time;
s3, when the angle is determined, an operator controls the oil cylinder to extend out through the control pipeline, so that an included angle is formed between the main mechanical arm and the gripper mechanical arm; the connecting seat, the main mechanical arm, the gripper rear balance pull rod and the balance crank arm form a parallelogram connecting rod structure; the gripper, the gripper mechanical arm, the front gripper balance pull rod and the balance connecting lever also form a parallelogram connecting rod structure; when the oil cylinder extends out, the main mechanical arm can rotate around the hinged part of the connecting seat, so that the gripper can extend out along the horizontal direction; whether the position is accurate or not is judged through the visual field of the camera, and angle fine adjustment can be performed through a hydraulic motor; after the position is reached, the tubular column is grabbed by the grabbing hand; then, automatic reset positioning operation is carried out through the control box;
s4, when the automatic reset positioning operation is carried out, the control box firstly automatically returns the stroke of the oil cylinder to the initial position according to the difference value between the displacement of the displacement sensor arranged in the oil cylinder and the initial displacement at the moment, and then automatically controls the hydraulic motor to return to the initial position through the difference value between the rotation angle value and the initial angle value at the moment of the digital encoder; then, positioning judgment is carried out, the distance data of the laser distance sensor at the moment is compared with the distance data initially recorded in S1, and if the error is not more than 0.5mm, the corrected gripper can be judged to be positioned right above the center position of the wellhead; after the automatic positioning is finished, an operator on the operation platform can perform secondary confirmation by observing the light spot position of the positioning laser lamp on the upper surface of the positioning boss, and if the light spot position is not deviated, the operator finishes buckling the pipe column by matching with a workover rig oil lifting system; releasing the tubular column by the gripper after the upper buckling is finished, and finishing the tubular supporting operation; if the position of the light spot deviates, an operator in the control room is informed to carry out manual fine adjustment; when no working personnel is on the operating platform, a camera device can be additionally arranged on one side of the laser distance sensor, and the camera device faces to the right lower side and can be used for the operating personnel in the control room to observe and position the light spot position of the laser lamp;
s5, after the pipe is held, the device enters a standby state: the oil cylinder continues to retract, and the gripper mechanical arm is retracted to a position which is overlapped with the main mechanical arm; at the moment, the main mechanical arm and the gripper mechanical arm are in a vertical state and are contracted at one side of the operation platform, and the space of the operation platform is reserved for other tools and personnel to operate;
s6, during transportation, the device body can be folded for transportation: the oil cylinder is retracted, so that the gripper mechanical arm and the main mechanical arm are vertically superposed, and the latch pin is inserted to connect and fix the gripper mechanical arm and the main mechanical arm, so that the gripper mechanical arm cannot be scattered during folding transportation; then get the bolt, the connecting seat can be rotatory around the fixed pin this moment to make the arm of connecting seat top wholly fall around the supporting seat rotation, the arm is whole after falling, adopts the support to fix the arm of falling on the operation platform, with the integrative transportation of device body and operation platform.
The invention has the beneficial effects that:
compared with manual operation, the small maintenance platform oil pipe pushing and supporting manipulator device is low in working strength, high in automation degree and obvious in improvement of working efficiency; the damage of mechanical parts or oil stains to the personnel safety of wellhead workers during operation is avoided.
Compared with the existing minor repair platform oil pipe pushing manipulator, the device has the advantages that the single oil cylinder drives the main manipulator arm and the gripper manipulator to rotate relatively, so that the gripper can be controlled to extend forwards or retract, the size of the device is greatly reduced, the stroke is increased, the device body is arranged on one side of the operation platform when the device is installed and used, and the gripper can extend to the edge of the other side of the platform; when the standby state, can shrink the arm in platform one side, vacate the space on the work platform and supply other personnel and mechanical work, need not to demolish the manipulator and come vacation space.
3, the small maintenance platform oil pipe pushing manipulator device is small in size and light in weight, and does not need to be dismantled after being installed on a wellhead operation platform; when transportation is needed, the manipulator can be folded and laid down, so that the transportation height is effectively reduced, the transportation gravity center is reduced, and the manipulator device and the operation platform can be integrally transported; the problem of prior art need dismantle the manipulator device when needs transport or vacate the operation platform space to the dismouting that relapses that brings is solved, and current manipulator device weight is great, and the dismouting is very inconvenient.
4, the oil pipe pushing and supporting manipulator device of the minor repair platform is controlled by hydraulic control, is safe and reliable, is convenient to operate, meets the explosion-proof requirement of drilling operation, and cannot cause safety problems due to electric component faults.
And 5, the small workover platform oil pipe pushing and supporting manipulator device has a simple structure and a small size, the cost is far lower than that of the existing wellhead manipulator equipment on the market, the automatic upgrading and reconstruction of the existing newly-made and in-service small workover rig are facilitated, the unmanned operation of the small workover wellhead is realized, and the small workover platform oil pipe pushing and supporting manipulator device has a wide popularization prospect.
6, the device is provided with a convenient automatic reset positioning system through the characteristic that the device can extend and retract in parallel, a displacement sensor is arranged in an oil cylinder for recording the stroke, a digital encoder is arranged on a hydraulic motor for recording the rotation amount, and a positioning boss is arranged on an operation platform right below the return position; after grabbing, the controller can realize automatic re-setting through the difference between the real-time data of displacement volume and rotation volume and the initial numerical value, and laser distance sensor can produce the change of distance data through the difference in height that the boss brought with the operation platform to whether return right according to the determination of distance change value, reduced manual operation and brought the error, reduced operation personnel's working strength.
7, the device adopts a camera and a pointing lamp to visually monitor the process that the gripper approaches the tubular column and reaches the gripping position in real time, and the pointing lamp provides an auxiliary positioning effect in the whole process, so that the positioning process is visual and simple, an operator can quickly and accurately move the gripper to the tubular column position and perform position fine adjustment in time in the moving process; the positioning laser lamp beside the laser distance sensor can provide a second guarantee for well head positioning after resetting, so that the problem that the positioning is inaccurate due to errors generated by mechanical movement and accidents such as failure of electronic equipment is avoided, the positioning accuracy is improved, and the safety and the stability of subsequent processes are ensured.
Drawings
Fig. 1 is a schematic front view of the present invention.
FIG. 2 is a schematic side view of the present invention.
Fig. 3 is a schematic structural diagram of the present invention in an operating state.
FIG. 4 is a schematic structural diagram of the present invention in a standby state.
Fig. 5 is a schematic structural view in a transport state of the present invention.
The reference numbers in the figures are: the device comprises a working platform 1, a mounting plate 11, a support base 2, a wing plate 21, a fixing plate 22, a sleeve 23, a first gear 24, a hydraulic motor 25, a second gear 26, a connecting base 3, a fixing pin 31, a bolt 32, a main mechanical arm 4, a main mechanical arm pull rod 41, a rear gripper balance pull rod 42, an upper end fixing base 43, a connecting rod 44, a balance crank arm 5, a first hinge hole 51, a second hinge hole 52, a top hinge hole 53, a gripper mechanical arm 6, a gripper 61, a camera 611, a laser distance sensor 612, a positioning laser lamp 613, a positioning boss 614, an ear base 62, a front gripper balance pull rod 63, a lower end fixing base 64, an oil cylinder 7, a control pipeline 8 and a lock pin 9.
Detailed Description
Specific embodiments of the invention are provided below with reference to the accompanying drawings.
As shown in fig. 1 to 5, the minor repair platform oil pipe pushing manipulator device comprises an operation platform 1, wherein the upper surface of the operation platform 1 is connected with an installation plate 11, the upper surface of the installation plate 11 is connected with a support seat 2, and the bottom of the support seat 2 is in rotating fit with a sleeve 23 through a slewing bearing; a first gear 24 is sleeved on the outer surface of the sleeve 23, and the first gear 24 is matched with a hydraulic motor 25 on the operation platform 1; the lower part of the sleeve 23 is connected with a fixing plate 22, and the fixing plate 22 is connected with the mounting plate 11 through a bolt; the upper part of the side surface of the supporting seat 2 is connected with wing plates 21 extending towards two sides, and holes are formed on two sides of the wing plates 21; the upper surface of the supporting seat 2 is provided with a connecting seat 3, and the upper surface of the connecting seat 3 is an inclined plane; the lower surface of the connecting seat 3 is in inserted fit with the wing plate 21 through a pin shaft and is fixed on the supporting seat 2; a pin hole is formed in one end of the side surface of the connecting seat 3 and hinged to one end of the main mechanical arm 4; the other end of the main mechanical arm 4 is hinged with a balance crank arm 5; the balance crank arm 5 is hinged with one end of the mechanical arm 6 of the hand grip 61, and the other end of the mechanical arm 6 of the hand grip 61 is hinged with the hand grip 61; the main mechanical arm 4 is connected with the mechanical arm 6 of the gripper 61 through the oil cylinder 7; the side surface of the supporting seat 2 is also connected with a control pipeline 8, one end of the control pipeline 8 is connected to the control box, and the other end of the control pipeline 8 is connected with the oil cylinder 7, the hand grip 61 and the hydraulic motor 25.
Preferably, the pin comprises a securing pin 31 and a plug 32.
Furthermore, one end of the lower surface of the connecting base 3 is hinged with the through hole on one side of the wing plate 21 through a fixing pin 31, and the other end is in inserted fit with the through hole on the other side of the wing plate 21 through a bolt 32.
Preferably, a plurality of pin holes are formed in the side surface of the connecting seat 3, and a pull rod of the main mechanical arm 4 and the rear balance pull rod 42 of the gripper 61 are respectively hinged in different pin holes.
Further, the rear balance link 42 of the hand grip 61 is located between the main arm 4 and the link of the main arm 4.
Preferably, the surface of the balance connecting lever 5 is provided with a plurality of hinge holes, including a first hinge hole 51 and a second hinge hole 52 at two ends, and a vertex hinge hole 53 is formed between the first hinge hole 51 and the second hinge hole 52.
Further, the first hinge hole 51, the second hinge hole 52 and the vertex hinge hole 53 are not in the same line.
Preferably, one end of the main robot arm 4, and one end of the robot arm 6 of the hand grip 61 are hinged to the balance crank arm 5 through the vertex hinge hole 53.
Preferably, the other end of the balance pull rod 42 behind the hand grip 61 is hinged with the first hinge hole 51 of the balance crank arm 5; the other end of the pull rod of the main mechanical arm 4 is hinged with a connecting rod 44, and the other end of the connecting rod 44 is hinged with a vertex hinge hole 53.
Preferably, a convex ear seat 62 is arranged on the side surface of the hand grip 61, and the ear seat 62 is hinged with one end of the front balance pull rod of the hand grip 61; the other end of the front balance pull rod of the hand grip 61 is hinged with the second hinge hole 52 of the balance crank arm 5.
Preferably, the upper part of the main mechanical arm 4 is connected with an upper end fixing seat 43, and the tail end of the cylinder barrel of the oil cylinder 7 is hinged with the upper end fixing seat 43; the lower part of the mechanical arm 6 of the gripper 61 is connected with a lower end fixing seat 64, and the front end of a piston rod of the oil cylinder 7 is hinged with the lower end fixing seat 64.
Preferably, the middle of the main mechanical arm 4 is connected with a mounting seat, and the lock pin 9 is connected with the main mechanical arm 4 through the mounting seat.
Preferably, the output end of the hydraulic motor 25 is connected with a second gear 26 which is engaged with the first gear 24, and a digital encoder is arranged on the rotating shaft of the hydraulic motor 25; the upper surface of the hand grip 61 is connected with a camera 611, the camera 611 is connected with a direction lamp, and the direction lamp and the lens of the camera 611 have the same direction and are parallel to the axial direction of the hand grip 61; the lower surface of the hand grip 61 is connected with a laser distance sensor 612 and a positioning laser lamp 613, and the upper surface of the working platform 1 is connected with a positioning boss 614 which is matched with the laser distance sensor 612 and the positioning laser lamp 613; a displacement sensor is arranged in the oil cylinder 7; the digital encoder, the camera 611, the laser distance sensor 612 and the displacement sensor are all electrically connected with the control box.
Further, a displacement sensor in the oil cylinder 7 is a built-in displacement sensor of the oil cylinder 7 with the model number of the GEFRAN being IK 4-A-B-300-E-1; the laser distance sensor 612 is a Di-soric laser distance sensor 612 with a model number of LAT 51.
Preferably, the use method of the minor repair platform oil pipe pushing manipulator device comprises the following steps:
s1, the device body is mounted on the work platform 1 by the bolt connection of the mounting plate 11 and the fixing plate 22, and debugging and positioning are performed before the actual work: starting a laser distance sensor 612 and a positioning laser lamp 613, and then adjusting the telescopic amount of the oil cylinder 7 and the rotation amount of the hydraulic motor 25 through a control pipeline 8 to enable the clamp of the gripper 61 to be positioned right above the center position of the wellhead; then, the position of the positioning boss 614 is adjusted, so that the visible light emitted by the positioning laser lamp 613 is positioned at the center of the positioning boss 614, and the distance data fed back by the laser distance sensor 612 is recorded and transmitted to the control box; recording displacement data of a displacement sensor arranged in the oil cylinder 7 and a rotation angle fed back by a digital encoder on a rotating shaft of the hydraulic motor 25 at the moment as initial values, and feeding back and recording the initial value data to the control box; the upper surface of the positioning boss 614 is sprayed with annular scale marks to indicate the central position and the offset angle;
s2, when the device works, an operator starts the camera 611 and the pointing lamp at the control terminal, controls the hydraulic motor 25 to rotate through the control pipeline 8, checks the view field of the camera 611 on the display of the control terminal in real time, and switches the control pipeline 8 to the oil cylinder 7 through the valve when the tubular column to be grabbed appears at the center of the view field and the light spot emitted by the pointing lamp appears on the surface of the tubular column; the digital encoder records the rotation angle at the moment in real time;
s3, after the angle is determined, an operator controls the oil cylinder 7 to extend out through the control pipeline 8, so that an included angle is formed between the main mechanical arm 4 and the mechanical arm 6 of the gripper 61; the connecting seat 3, the main mechanical arm 4, the rear balance pull rod 42 of the gripper 61 and the balance crank arm 5 form a parallelogram connecting rod 44 structure; the gripper 61, the mechanical arm 6 of the gripper 61, the front balance pull rod of the gripper 61 and the balance crank arm 5 also form a parallelogram connecting rod 44 structure; when the oil cylinder 7 extends out, the main mechanical arm 4 rotates around the hinged part of the connecting seat 3, so that the hand grip 61 can extend out along the horizontal direction; whether the position is accurate is judged through the visual field of the camera 611, and the angle can be finely adjusted through the hydraulic motor 25; after the position is determined, the tubular column is grabbed by the grabbing hand 61; then, automatic reset positioning operation is carried out through the control box;
s4, when automatic reset positioning operation is carried out, the control box firstly automatically returns the stroke of the oil cylinder 7 to the initial position according to the difference value between the displacement of the displacement sensor arranged in the oil cylinder 7 and the initial displacement at the moment, and then automatically controls the hydraulic motor 25 to return to the initial position through the difference value between the rotation angle value and the initial angle value of the digital encoder at the moment; then, positioning judgment is carried out, the distance data of the laser distance sensor 612 at the moment is compared with the distance data initially recorded in S1, and if the error is not greater than 0.5mm, the corrected gripper 61 can be judged to be positioned right above the center position of the wellhead; after the automatic positioning is finished, an operator on the operation platform 1 can perform secondary confirmation by observing the light spot position of the positioning laser lamp 613 on the upper surface of the positioning boss 614, and if the light spot position does not deviate, the operator finishes the screwing-in of the pipe column by matching with a workover rig oil hoist system; after the pipe string is buckled, the pipe string is released by the gripper 61, and pipe supporting operation is completed; if the position of the light spot deviates, an operator in the control room is informed to carry out manual fine adjustment; when no working personnel is on the operating platform, a camera device can be additionally arranged on one side of the laser distance sensor 612, and the camera device faces to the right lower side and can be used for the operating personnel in the control room to observe and position the light spot position of the laser lamp 613;
s5, after the pipe is held, the device enters a standby state: the oil cylinder 7 continues to retract, and the mechanical arm 6 of the gripper 61 is retracted to a position which is overlapped with the main mechanical arm 4; at the moment, the main mechanical arm 4 and the mechanical arm 6 of the gripper 61 are in a vertical state and are contracted at one side of the working platform 1, so that the space of the working platform 1 is reserved for other tools and personnel to work;
s6, during transportation, the device body can be folded for transportation: the oil cylinder 7 is retracted, the mechanical arm 6 of the hand 61 is vertically overlapped with the main mechanical arm 4, and the lock pin 9 is inserted to connect and fix the mechanical arm 6 of the hand 61 and the main mechanical arm 4, so that the hand 61 cannot be scattered during folding transportation; then get off bolt 32, connecting seat 3 can rotate around fixed pin 31 this moment to make the arm of connecting seat 3 top wholly put around the rotation of supporting seat 2, the arm is whole after putting, adopts the support to fix the arm of putting on operation platform 1, with the integrative transportation of device body and operation platform 1.
Example 1:
as shown in fig. 3, at this time, the device is in a working state, the control box controls the oil cylinder 7 to extend out through the control pipeline 8, so that the main mechanical arm 4 and the mechanical arm 6 of the gripper 61 form an included angle; the connecting seat 3, the main mechanical arm 4, the rear balance pull rod 42 of the gripper 61 and the balance crank arm 5 form a parallelogram connecting rod 44 structure; the gripper 61, the mechanical arm 6 of the gripper 61, the front balance pull rod of the gripper 61 and the balance crank arm 5 also form a parallelogram connecting rod 44 structure; when the oil cylinder 7 extends out, the main mechanical arm 4 rotates around the hinged part of the connecting seat 3, so that the hand grip 61 can extend out along the horizontal direction; after reaching the designated position, the gripper 61 grips the tubular column, the oil cylinder 7 is controlled to retract after gripping the tubular column, the tubular column is moved to the center position of the wellhead, and then the tubular column is buckled by matching with a workover rig oil hoist system; after the pipe string is buckled, the pipe string is released by the hand grip 61, and the pipe supporting operation is completed.
Example 2:
as shown in fig. 4, at this time, the apparatus body is in a standby state, the oil cylinder 7 retracts, and the robot arm 6 of the gripper 61 retracts to a position overlapping with the main robot arm 4; at the moment, the main mechanical arm 4 and the mechanical arm 6 of the gripper 61 are in a vertical state and are contracted at one side of the working platform 1, so that the space of the working platform 1 is reserved for other tools and personnel to work.
Example 3:
as shown in fig. 5, the device is in a transportation state, and the manipulator at the upper part of the device is laid down and folded; the oil cylinder 7 is retracted, the mechanical arm 6 of the hand 61 is vertically overlapped with the main mechanical arm 4, and the lock pin 9 is inserted to connect and fix the mechanical arm 6 of the hand 61 and the main mechanical arm 4, so that the hand 61 cannot be scattered during folding transportation; then get off bolt 32, connecting seat 3 can rotate around fixed pin 31 this moment to make the arm of connecting seat 3 top wholly put around the rotation of supporting seat 2, the arm is whole after putting, adopts the support to fix the arm of putting on operation platform 1, with the integrative transportation of device body and operation platform 1.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (10)
1. The utility model provides a mechanical hand device is held up in small overhaul platform oil pipe push, includes operation platform (1), and operation platform (1) upper surface is connected with mounting panel (11), its characterized in that: the upper surface of the mounting plate (11) is connected with a supporting seat (2), and the bottom of the supporting seat (2) is in running fit with the sleeve (23) through a slewing bearing; a first gear (24) is sleeved on the outer surface of the sleeve (23), and the first gear (24) is matched with a hydraulic motor (25) on the operation platform; the lower part of the sleeve (23) is connected with a fixing plate (22), and the fixing plate (22) is connected with the mounting plate (11) through a bolt; the upper part of the side surface of the supporting seat (2) is connected with wing plates (21) extending towards two sides, and holes are formed in the two sides of the wing plates (21); the upper surface of the supporting seat (2) is provided with a connecting seat (3), and the upper surface of the connecting seat (3) is an inclined plane; the lower surface of the connecting seat (3) is in inserted fit with the wing plate (21) through a pin shaft and is fixed on the supporting seat (2); a pin hole is formed in one end of the side surface of the connecting seat (3), and the pin hole is hinged with one end of the main mechanical arm (4); the other end of the main mechanical arm (4) is hinged with a balance crank arm (5); the balance crank arm (5) is hinged with one end of the gripper mechanical arm (6), and the other end of the gripper mechanical arm (6) is hinged with the gripper (61); the main mechanical arm (4) is connected with the gripper mechanical arm (6) through an oil cylinder (7); the side surface of the supporting seat (2) is also connected with a control pipeline (8), one end of the control pipeline (8) is connected to the control box, and the other end of the control pipeline is connected with the oil cylinder (7), the gripper (61) and the hydraulic motor (25).
2. The small maintenance platform oil pipe pushing manipulator device according to claim 1, characterized in that: the pin shaft comprises a fixing pin (31) and a bolt (32); one end of the lower surface of the connecting seat (3) is hinged with the through hole on one side of the wing plate (21) through a fixing pin (31), and the other end of the connecting seat is in inserted fit with the through hole on the other side of the wing plate (21) through a bolt (32).
3. The small maintenance platform oil pipe pushing manipulator device according to claim 1, characterized in that: a plurality of pin holes are formed in the side surface of the connecting seat (3), and a main mechanical arm pull rod (41) and a gripper rear balance pull rod (42) are respectively hinged in different pin holes; the balance pull rod (42) behind the hand grip is positioned between the main mechanical arm (4) and the main mechanical arm pull rod (41).
4. The small maintenance platform oil pipe pushing manipulator device according to claim 1, characterized in that: the surface of the balance crank arm (5) is provided with a plurality of hinge holes, the hinge holes comprise a first hinge hole (51) and a second hinge hole (52) at two ends, and a vertex hinge hole (53) is formed between the first hinge hole (51) and the second hinge hole (52); the first hinge hole (51), the second hinge hole (52) and the vertex hinge hole (53) are not in the same line.
5. The small maintenance platform oil pipe pushing manipulator device according to claim 1, characterized in that: one end of the main mechanical arm (4) and one end of the gripper mechanical arm (6) are hinged with the balance crank arm (5) through a vertex hinge hole (53); the other end of the balance pull rod (42) behind the hand grab is hinged with a first hinge hole (51) of the balance crank arm (5); the other end of the main mechanical arm pull rod (41) is hinged with a connecting rod (44), and the other end of the connecting rod (44) is hinged with a vertex hinge hole (53).
6. The small maintenance platform oil pipe pushing manipulator device according to claim 1, characterized in that: a convex ear seat (62) is arranged on the side surface of the hand grip (61), and the ear seat (62) is hinged with one end of a front balance pull rod (63) of the hand grip; the other end of the front balance pull rod (63) of the gripper is hinged with a second hinge hole (52) of the balance crank arm (5).
7. The small maintenance platform oil pipe pushing manipulator device according to claim 1, characterized in that: the upper part of the main mechanical arm (4) is connected with an upper end fixing seat (43), and the tail end of a cylinder barrel of the oil cylinder (7) is hinged with the upper end fixing seat (43); the lower part of the gripper mechanical arm (6) is connected with a lower end fixing seat (64), and the front end of a piston rod of the oil cylinder (7) is hinged with the lower end fixing seat (64).
8. The small maintenance platform oil pipe pushing manipulator device according to claim 1, characterized in that: the middle of the main mechanical arm (4) is connected with a mounting seat, and the lock pin (9) is connected with the main mechanical arm (4) through the mounting seat.
9. The small maintenance platform oil pipe pushing manipulator device according to claim 1, characterized in that: the output end of the hydraulic motor (25) is connected with a second gear (26) which is meshed with the first gear (24), and a digital encoder is arranged on the rotating shaft of the hydraulic motor (25); the upper surface of the gripper (61) is connected with a camera (611), the camera (611) is connected with a direction lamp, and the direction lamp and the lens of the camera (611) have the same direction and are parallel to the axial direction of the gripper (61); the lower surface of the gripper (61) is connected with a laser distance sensor (612) and a positioning laser lamp (613), and the upper surface of the operation platform (1) is connected with a positioning boss (614) which is matched with the laser distance sensor (612) and the positioning laser lamp (613); a displacement sensor is arranged in the oil cylinder (7); the digital encoder, the camera (611), the laser distance sensor (612) and the displacement sensor are electrically connected with the control box.
10. The use method of the small repair platform oil pipe pushing manipulator device as claimed in claims 1-9, wherein the method comprises the following steps: it comprises the following steps:
s1, the device body is installed on the operation platform (1) through the bolt connection of the installation plate (11) and the fixed plate (22), and debugging and positioning are carried out before formal work: starting a laser distance sensor (612) and a positioning laser lamp (613), and then adjusting the telescopic quantity of an oil cylinder (7) and the rotation quantity of a hydraulic motor (25) through a control pipeline (8) to enable a clamp of a gripper (61) to be positioned right above the center position of a well head; then adjusting the position of the positioning boss (614), enabling the visible light emitted by the positioning laser lamp (613) to be positioned at the center of the positioning boss (614), recording distance data fed back by the laser distance sensor (612), and transmitting the distance data to the control box; recording displacement data of a displacement sensor arranged in the oil cylinder (7) and a rotation angle fed back by a digital encoder on a rotating shaft of the hydraulic motor (25) as initial values at the moment, and feeding back and recording the initial value data to the control box; the upper surface of the positioning boss (614) is sprayed with annular scale marks to indicate the central position and the offset angle;
s2, when the device works, an operator starts a camera (611) and a pointing lamp at a control terminal, controls a hydraulic motor (25) to rotate through a control pipeline (8), and checks the view field of the camera (611) on a display of the control terminal in real time, and when a tubular column to be grabbed appears at the center of the view field and a light spot emitted by the pointing lamp appears on the surface of the tubular column, the control pipeline is switched to an oil cylinder (7) through a valve; the digital encoder records the rotation angle at the moment in real time;
s3, after the angle is determined, an operator controls the oil cylinder (7) to extend out through the control pipeline (8), so that an included angle is formed between the main mechanical arm (4) and the gripper mechanical arm (6); the connecting seat (3), the main mechanical arm (4), the grip rear balance pull rod (42) and the balance crank arm (5) form a parallelogram connecting rod structure; the gripper (61), the gripper mechanical arm (6), the gripper front balance pull rod (63) and the balance crank arm (5) also form a parallelogram connecting rod structure; when the oil cylinder (7) extends out, the main mechanical arm (4) can rotate around the hinged part of the connecting seat (3), so that the gripper (61) can extend out along the horizontal direction; whether the position is accurate is judged through the visual field of the camera (611), and the angle can be finely adjusted through the hydraulic motor (25); after the position is reached, the pipe column is grabbed by a grabbing hand (61); then, automatic reset positioning operation is carried out through the control box;
s4, when the automatic reset positioning operation is carried out, the control box firstly automatically restores the stroke of the oil cylinder (7) to the initial position according to the difference value between the displacement of the displacement sensor arranged in the oil cylinder (7) and the initial displacement at the moment, and then automatically controls the hydraulic motor (25) to restore to the initial position through the difference value between the rotation angle value and the initial angle value of the digital encoder at the moment; then, positioning judgment is carried out, the distance data of the laser distance sensor (612) at the moment is compared with the distance data initially recorded in S1, and if the error is not more than 0.5mm, the corrected gripper can be judged to be positioned right above the center position of the wellhead; after the automatic positioning is finished, an operator on the operation platform can perform secondary confirmation by observing the light spot position of the positioning laser lamp (613) on the upper surface of the positioning boss (614), and if the light spot position does not deviate, the operator finishes the buckling of the pipe column by matching with a workover rig oil hoist system; after the pipe is buckled, the pipe column is released by the gripper (61) to complete the pipe supporting operation; if the position of the light spot deviates, an operator in the control room is informed to carry out manual fine adjustment; when no working personnel is on the operating platform, a camera device can be additionally arranged on one side of the laser distance sensor (612), and the camera device faces to the right lower side and can be used for the operator in the control room to observe and position the light spot position of the laser lamp (613);
s5, after the pipe is held, the device enters a standby state: the oil cylinder (7) continues to retract, and the gripper mechanical arm (6) is recovered to a position which is overlapped with the main mechanical arm (4); at the moment, the main mechanical arm (4) and the gripper mechanical arm (6) are in a vertical state and are contracted at one side of the operation platform (1), and the space of the operation platform (1) is reserved for other tools and personnel to operate;
s6, during transportation, the device body can be folded for transportation: the oil cylinder (7) is retracted, the gripper mechanical arm (6) is vertically overlapped with the main mechanical arm (4), and the lock pin (9) is inserted to connect and fix the gripper mechanical arm (6) and the main mechanical arm (4) so as to ensure that the gripper mechanical arm cannot be scattered during folding transportation; then get off bolt (32), connecting seat (3) can be rotatory around fixed pin (31) this moment to make the arm of connecting seat (3) top wholly fall around supporting seat (2) rotation, the arm is whole after falling, adopts the support to fix the arm of falling on operation platform (1), with the integrative transportation of device body and operation platform (1).
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