CN112983315A - Quick assembling and disassembling method for well repairing operation faucet and suspension pushing manipulator - Google Patents
Quick assembling and disassembling method for well repairing operation faucet and suspension pushing manipulator Download PDFInfo
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- CN112983315A CN112983315A CN202110543765.XA CN202110543765A CN112983315A CN 112983315 A CN112983315 A CN 112983315A CN 202110543765 A CN202110543765 A CN 202110543765A CN 112983315 A CN112983315 A CN 112983315A
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- faucet
- kelly bar
- bar assembly
- assembly
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- 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
- E21B19/16—Connecting or disconnecting pipe couplings or joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mining & Mineral Resources (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides a quick dismounting method for a workover treatment faucet and a hanging pushing manipulator, and relates to the technical field of workover treatment, wherein the quick dismounting method for the workover treatment faucet comprises the following steps: a dismounting step: the hanging pushing manipulator grabs the faucet kelly bar assembly and lowers a traveling block hook so that the faucet kelly bar assembly is pressed against the hanging pushing manipulator, a valve of an elevator is opened, and the hanging pushing manipulator drives the faucet kelly bar assembly to reach a pre-storage position; hanging: and the hanging pushing manipulator drives the water faucet kelly bar assembly to reach a working position, and the water faucet kelly bar assembly is connected with the elevator. The quick disassembly and assembly method for the well repair operation faucet provided by the invention furthest simplifies the hanging and disassembling steps of the faucet kelly bar, saves the steps of manually pulling the hook hanging ring, disassembling the faucet and pushing the faucet kelly bar assembly, and has the advantages of full-automatic flow, high disassembly and assembly efficiency and safe operation.
Description
Technical Field
The invention relates to the technical field of workover treatment, in particular to a quick disassembly and assembly method for a workover treatment faucet and a hanging pushing manipulator.
Background
In the overhaul process, a water tap kelly bar is often used for connecting a drilling tool to carry out rotary operations such as grinding, milling and drilling underground, at the moment, 2-3 operators are needed to disassemble an elevator firstly, then a lifting ring and a traveling block hook are dragged to hang a water tap, the water tap needs to be removed after a single square drill bar of the water tap is screwed in, then the elevator is hung, the operation process is frequently switched, the flow is complex, multiple persons are needed to cooperate for operation, time and labor are wasted, and the existing automatic equipment does not realize the full coverage of the operation automation flow.
Disclosure of Invention
The invention aims to provide a quick dismounting method for a water faucet in workover treatment and a hanging pushing manipulator, which simplify the hanging and dismounting steps of a square drill stem of the water faucet, have a full-automatic flow, high dismounting efficiency and safe operation.
In order to achieve the purpose, the invention provides the following technical scheme:
in a first aspect, the invention provides a quick dismounting method for a workover treatment faucet, which comprises the following steps:
a dismounting step: the hanging pushing manipulator grabs the faucet kelly bar assembly and lowers a traveling block hook so that the faucet kelly bar assembly is pressed against the hanging pushing manipulator, a valve of an elevator is opened, and the hanging pushing manipulator drives the faucet kelly bar assembly to reach a pre-storage position;
hanging: and the hanging pushing manipulator drives the water faucet kelly bar assembly to reach a working position, and the water faucet kelly bar assembly is connected with the elevator.
Further, before the manipulator is held up to hanging snatchs tap kelly bar assembly, still include:
and lifting the traveling block hook to enable the water faucet kelly bar assembly to be suspended to a height to be grabbed.
Further, hang the push handle tool hand drive tap kelly assembly reachs and prestores the position, specifically includes:
the hanging pushing manipulator drives the faucet kelly bar assembly to retract and rotate to a pre-stored position.
Further, before the hang and push up the manipulator and drive tap kelly bar assembly and reach the work position, still include:
and lifting the traveling block hook to enable the elevator to rise to a waiting position, and opening a valve of the elevator.
Further, the connecting the faucet kelly bar assembly with the elevator specifically includes:
and sending the part of the water faucet in the water faucet kelly bar assembly, which is used for being connected with the elevator, into the elevator, and closing a valve of the elevator.
Further, after the connecting the faucet kelly assembly to the elevator, the method further comprises:
and the hanging pushing manipulator loosens the faucet kelly bar assembly and retracts.
The invention also provides a suspension pushing manipulator which comprises a slewing mechanism, a bearing arm, a telescopic mechanism and a clamping mechanism for clamping the faucet kelly bar assembly;
the slewing mechanism is used for being installed on the racking platform assembly;
one end of the bearing arm is rotatably connected with the clamping mechanism, and the other end of the bearing arm is connected with the slewing mechanism so as to swing relative to the racking platform assembly under the driving of the slewing mechanism;
the telescopic mechanism is arranged between the bearing arm and the clamping mechanism so as to drive the clamping mechanism to swing relative to the bearing arm.
Further, the clamping mechanism comprises a housing, a drive assembly and a clamping jaw;
the bearing arm, the telescopic mechanism and the clamping jaw are all rotationally connected with the shell;
the driving assembly is installed in the shell and is in transmission connection with the clamping jaw so as to drive the clamping jaw to swing relative to the shell.
Further, the driving assembly comprises a pushing cylinder, a driving tooth and a driven tooth meshed with the driving tooth;
the fixed end of the push cylinder is connected with the shell, and the movable end of the push cylinder is connected with the driving tooth;
the driven tooth is connected with the clamping jaw.
Further, the slewing mechanism comprises a driving piece, a worm and a turbine which is used for being rotatably installed on the racking platform assembly;
the driving piece is used for being installed on the racking platform assembly;
the worm is connected with the driving piece;
the worm wheel is meshed with the worm, and the bearing arm is connected with the worm wheel.
The quick disassembly and assembly method for the well repair operation faucet and the hanging pushing manipulator provided by the invention have the following beneficial effects that:
compared with the prior art, the quick dismounting method for the well repair operation faucet provided by the first aspect of the invention completes dismounting of the faucet kelly bar assembly by matching with the suspension pushing manipulator, furthest simplifies hanging and dismounting steps of the faucet kelly bar, and omits the steps of manually pulling the hook hoisting ring, dismounting the faucet and pushing the faucet kelly bar assembly, so that the method is a full-automatic process, high in dismounting efficiency and safe in operation.
When the suspension pushing and supporting manipulator provided by the second aspect of the invention is used, the swing mechanism drives the bearing arm to swing relative to the racking platform assembly, the telescopic mechanism performs telescopic motion to realize that the clamping mechanism swings relative to the bearing arm, and the clamping mechanism is used for clamping a faucet kelly bar assembly to achieve the purpose of supporting and transferring.
Compared with the prior art, the hanging and pushing manipulator provided by the second aspect of the invention can assist in inserting the water tap kelly bar assembly, the dismounting efficiency is improved, the water tap kelly bar assembly does not need to be stored in the rat hole pipe of the drill floor in an inclined mode after being dismounted, and the water tap kelly bar assembly is hoisted on the hanging and pushing manipulator, so that the water tap kelly bar assembly is convenient to mount.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a top view of a suspended push-and-pull machine according to the present invention in an operating state;
FIG. 2 is a schematic diagram of a three-dimensional structure of a suspension type supporting machine according to the present invention in an operating state;
FIG. 3 is a schematic three-dimensional structure of a suspension and pushing machine according to the present invention;
fig. 4 is a schematic view of an internal structure of a clamping mechanism according to the present invention.
Icon: 1-a slewing mechanism; 11-a worm; 12-a turbine; 2-a load-bearing arm; 3-a telescoping mechanism; 4-a clamping mechanism; 41-a housing; 411-a push arm; 412-a fixed arm; 42-a drive assembly; 421-pushing a cylinder; 422-driving teeth; 423-driven teeth; 43-a jaw; 5-a faucet kelly assembly; 6-a racking platform assembly.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or 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 being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
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; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
An embodiment of the first aspect of the present invention provides a quick dismounting method for a service work faucet, including:
a dismounting step: the hanging pushing manipulator grabs the faucet kelly bar assembly 5, and a traveling block hook is lowered so that the faucet kelly bar assembly 5 is pressed against the hanging pushing manipulator, a valve of the elevator is opened, and the hanging pushing manipulator drives the faucet kelly bar assembly 5 to reach a pre-storage position;
hanging: and the hanging pushing manipulator drives the water tap kelly bar assembly 5 to reach a working position, and the water tap kelly bar assembly 5 is connected with the elevator.
The quick disassembly and assembly method for the well repair operation faucet can simplify the hanging and dismounting steps of the kelly of the faucet to the greatest extent, and is high in disassembly and assembly efficiency and safe to operate.
In some embodiments, to ensure that the faucet kelly bar assembly 5 can be pressed against the hang push robot, the hang push robot further comprises, before grasping the faucet kelly bar assembly 5: and lifting the hook of the traveling block to suspend the water tap kelly bar assembly 5 to a height to be grabbed.
The position to be grabbed of the faucet kelly bar assembly 5 can be basically in the same horizontal plane with the hanging pushing manipulator by lifting a certain height, the hanging pushing manipulator does not need to move up and down, and the structure of the hanging pushing manipulator is simplified.
In the process that the hanging pushing manipulator grabs the faucet kelly bar assembly 5, the hanging pushing manipulator gradually approaches the faucet kelly bar assembly 5 through self expansion and contraction and a rotation mechanism, and grabs the faucet kelly bar assembly 5 through self clamping jaws.
In some embodiments, the suspension and pushing robot drives the faucet kelly bar assembly 5 to a pre-stored position, which specifically includes: the hanging pushing manipulator drives the water tap kelly bar assembly 5 to retract and rotate to a pre-stored position.
In the process, the water tap kelly bar assembly 5 completely presses the weight of the water tap kelly bar assembly against the clamping jaws of the suspension pushing manipulator through the bosses on the water tap kelly bar assembly 5, and the suspension pushing manipulator clamping jaws clamp the water tap kelly bar assembly 5 and drive the water tap kelly bar assembly 5 to reach a pre-storage position through self telescopic and rotary mechanisms.
In some embodiments, before the hang-push robot drives the faucet kelly bar assembly 5 to the working position, the hang-push robot further comprises: and lifting the hook of the traveling block to enable the elevator to rise to a position to be connected, opening a valve of the elevator and waiting for the connection of the water faucet kelly bar assembly 5.
On the basis of the above embodiment, the connection of the faucet kelly bar assembly 5 and the elevator specifically comprises: and (3) sending the part of the water tap in the water tap kelly bar assembly 5, which is used for being connected with the elevator, into the elevator, closing a valve of the elevator, and clamping the water tap kelly bar assembly 5 by the elevator at the moment to realize the hanging connection of the water tap kelly bar assembly 5.
In some embodiments, after connecting the faucet kelly assembly 5 to the elevator, the method further comprises: the hang-push robot releases the faucet kelly assembly 5 and retracts so as not to interfere with the normal operation of the faucet kelly assembly 5.
The following is a detailed description of a preferred method for quick assembly and disassembly of a workover faucet:
a dismounting step:
1. lifting the traveling block hook upwards to enable the water tap kelly bar assembly 5 to be suspended to the height to be grabbed, rotating the hanging pushing manipulator and extending out of the grabbing water tap kelly bar assembly 5, and lowering the traveling block hook so as to enable the weight of the water tap kelly bar assembly 5 to be completely pressed against the hanging pushing manipulator;
2. and opening a valve of the elevator, retracting the suspended pushing manipulator and the grabbed faucet kelly bar assembly 5, and rotating to a pre-storage position for storing the faucet kelly bar assembly 5.
Hanging:
1. lifting the hook of the travelling block to lift the elevator to a position to be connected, opening a valve of the elevator, suspending a pushing manipulator to drive the water tap kelly bar assembly 5 to rotate to a working position, and sending a position, connected with the elevator, of the water tap kelly bar assembly 5 into the elevator;
2. and closing the valve of the elevator, and suspending the pushing manipulator to loosen the water tap kelly bar assembly 5 and returning.
The embodiment of the second aspect of the present invention provides a suspension and push manipulator, as shown in fig. 1 to 4, the suspension and push manipulator according to the embodiment of the second aspect of the present invention comprises a slewing mechanism 1, a bearing arm 2, a telescopic mechanism 3 and a clamping mechanism 4 for clamping a faucet kelly bar assembly 5;
the swing mechanism 1 is used for being arranged on a racking platform assembly 6;
one end of the bearing arm 2 is rotatably connected with the clamping mechanism 4, and the other end of the bearing arm 2 is connected with the slewing mechanism 1 so as to swing relative to the racking platform assembly 6 under the driving of the slewing mechanism 1;
the telescopic mechanism 3 is installed between the bearing arm 2 and the clamping mechanism 4 to drive the clamping mechanism 4 to swing relative to the bearing arm 2.
Specifically, when the water faucet kelly bar assembly 5 is clamped, the swing mechanism 1 drives the bearing arm 2 to swing relative to the racking platform assembly 6, the telescopic mechanism 3 drives the clamping mechanism 4 to swing relative to the bearing arm 2, so that the clamping mechanism 4 is close to the water faucet kelly bar assembly 5, and the clamping mechanism 4 clamps the water faucet kelly bar assembly 5. On the contrary, when the water tap kelly bar assembly 5 is loosened, the clamping mechanism 4 releases the water tap kelly bar assembly 5, and the clamping mechanism 4 is far away from the water tap kelly bar assembly 5 under the driving of the slewing mechanism 1 and the telescopic mechanism 3.
Specifically, as shown in fig. 3, the rotation axis of the bearing arm 2 is parallel to the rotation axis of the clamping mechanism 4, and the rotation axes are perpendicular to the working plane of the racking board assembly 6.
The structure of the gripping mechanism 4 will be specifically described below:
in some embodiments, as shown in fig. 4, the clamping mechanism 4 includes a housing 41, a drive assembly 42, and a clamping jaw 43; the bearing arm 2, the telescopic mechanism 3 and the clamping jaw 43 are rotatably connected with the shell 41; the driving assembly 42 is installed in the housing 41, and the driving assembly 42 is in transmission connection with the clamping jaw 43 to drive the clamping jaw 43 to swing relative to the housing 41.
The telescopic mechanism 3 drives the shell 41 to rotate relative to the bearing arm 2 in the telescopic process, so that the clamping jaw 43 is close to or far away from the water tap kelly bar assembly 5; the driving component 42 drives the clamping jaw 43 to swing relative to the shell 41, so that clamping and releasing of the water faucet kelly bar assembly 5 are achieved.
As shown in fig. 3 and 4, the housing 41 includes a pushing arm 411 and a fixing arm 412, one end of the pushing arm 411 is hinged to the bearing arm 2, the fixing arm 412 is fixedly installed on the pushing arm 411, and the driving component 42 is installed in the fixing arm 412.
In at least one embodiment, as shown in fig. 3, both the push arm 411 and the stationary arm 412 are square steel. The square steel structure is firm, plays firm effect of supporting.
It should be noted that all the structures capable of driving the clamping jaws 43 to swing relative to the housing 41 may be the driving assemblies 42 mentioned in the above embodiments. For example: the driving assembly 42 may be a rotary motion mechanism such as a motor, or a combination of a linear motion mechanism such as a pneumatic cylinder, a hydraulic cylinder, a linear motor and a transmission mechanism, and the transmission mechanism is used for converting the linear motion of the linear motion mechanism into rotary motion.
In some embodiments, as shown in fig. 4, the drive assembly 42 includes a thrust cylinder 421, driving teeth 422, and driven teeth 423 that mesh with the driving teeth 422; the fixed end of the push cylinder 421 is connected with the shell 41, and the moving end of the push cylinder 421 is connected with the driving tooth 422; the driven tooth 423 is connected to the jaw 43.
When the clamping jaws need to be opened, facing the direction of fig. 4, the moving end of the pushing cylinder 421 drives the driving tooth 422 to move rightwards, and under the driving of the driving tooth 422, the driven tooth 423 located above rotates anticlockwise to drive the clamping jaw 43 above to rotate anticlockwise, and similarly, the clamping jaw 43 located below rotates clockwise to realize the opening action of the clamping jaw 43. Similarly, when the clamping jaws need to be closed, the moving end of the pushing cylinder 421 drives the driving tooth 422 to move leftward.
The pushing cylinder 421 may be a hydraulic cylinder or a pneumatic cylinder.
The driving gear 422 is a rack facing the direction of fig. 4, and has engaging teeth on both upper and lower sides, the engaging teeth on the upper side are engaged with the driven teeth 423 on the upper side, and the engaging teeth on the lower side are engaged with the driven teeth 423 on the lower side.
In addition, driven tooth 423 and clamping jaw 43 are connected with shell 41 through the pivot rotation, and driven tooth 423 all is connected with the pivot key with clamping jaw 43, and when driven tooth 423 rotated, the pivot drove clamping jaw 43 and rotated in step.
The following specifically describes the structure of the turning mechanism 1:
in some embodiments, as shown in fig. 3, the slewing mechanism 1 comprises a driving member (not shown), a worm 11, and a turbine 12 for rotating the two-stage assembly 6; the driving piece is used for being arranged on the racking platform assembly 6; the worm 11 is connected with a driving piece; the worm wheel 12 is meshed with the worm 11, and the bearing arm 2 is connected with the worm wheel 12.
Specifically, when the platform is used, the driving part drives the worm 11 to rotate, and the worm wheel 12 rotates relative to the racking platform assembly 6 under the driving of the worm 11, so that the bearing arm 2 is driven to swing. The worm and gear structure transmission is stable, and can reduce the rotational speed, guarantees bearing arm 2 steady swing.
Of course, the turning mechanism 1 may be replaced by a motor or the like.
In particular, the load-bearing arm 2 is connected to the turbine 12 by means of a connecting frame.
The following specifically describes the structure of the telescopic mechanism 3:
in some embodiments, the telescoping mechanism 3 may be a hydraulic cylinder or a pneumatic cylinder.
In at least one embodiment, the telescoping mechanism 3 is a hydraulic cylinder. The bearing arm type hydraulic cylinder specifically comprises a cylinder body and a piston rod, wherein one end of the cylinder body is hinged to the bearing arm 2, the other end of the cylinder body is connected with the piston rod in a sliding mode, and one end, deviating from the cylinder body, of the piston rod is hinged to the shell 41.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A quick disassembly and assembly method for a well workover faucet is characterized by comprising the following steps:
a dismounting step: the hanging pushing manipulator grabs the faucet kelly bar assembly (5), and a traveling block hook is lowered so that the faucet kelly bar assembly (5) is pressed against the hanging pushing manipulator, a valve of an elevator is opened, and the hanging pushing manipulator drives the faucet kelly bar assembly (5) to reach a pre-storage position;
hanging: the hanging pushing manipulator drives the water faucet kelly bar assembly (5) to reach a working position, and the water faucet kelly bar assembly (5) is connected with the elevator.
2. The method for quickly disassembling and assembling a service faucet according to claim 1, wherein before the hanging pushing manipulator grabs the faucet kelly bar assembly (5), the method further comprises the following steps:
and lifting the traveling block hook to enable the water tap kelly bar assembly (5) to be suspended to a height to be grabbed.
3. The method for quickly disassembling and assembling a service work faucet according to claim 1, wherein the hanging and pushing manipulator drives the faucet kelly bar assembly (5) to a pre-stored position, specifically comprising:
the hanging and pushing manipulator drives the water faucet kelly bar assembly (5) to retract and rotate to a pre-stored position.
4. The method for quickly disassembling and assembling the service work faucet according to claim 1, wherein before the suspension pushing manipulator drives the faucet kelly bar assembly (5) to reach a working position, the method further comprises the following steps:
and lifting the traveling block hook to enable the elevator to rise to a waiting position, and opening a valve of the elevator.
5. The method for quickly disassembling and assembling a service swivel according to claim 4, wherein the step of connecting the swivel kelly bar assembly (5) with the elevator specifically comprises:
and sending the part of the water tap in the water tap kelly bar assembly (5) which is used for being connected with the elevator into the elevator, and closing a valve of the elevator.
6. The method of claim 1, wherein after connecting the faucet kelly joint assembly (5) to the elevator, further comprising:
the hanging and pushing manipulator loosens the faucet kelly bar assembly (5) and retracts.
7. A suspension pushing manipulator is characterized by comprising a slewing mechanism (1), a bearing arm (2), a telescopic mechanism (3) and a clamping mechanism (4) for clamping a faucet kelly bar assembly (5);
the swing mechanism (1) is used for being installed on the racking platform assembly (6);
one end of the bearing arm (2) is rotatably connected with the clamping mechanism (4), and the other end of the bearing arm (2) is connected with the slewing mechanism (1) so as to swing relative to the racking platform assembly (6) under the driving of the slewing mechanism (1);
the telescopic mechanism (3) is arranged between the bearing arm (2) and the clamping mechanism (4) to drive the clamping mechanism (4) to swing relative to the bearing arm (2).
8. The pendant manipulator according to claim 7, wherein the gripping mechanism (4) comprises a housing (41), a drive assembly (42) and a jaw (43);
the bearing arm (2), the telescopic mechanism (3) and the clamping jaw (43) are rotatably connected with the shell (41);
the driving assembly (42) is installed in the shell (41), and the driving assembly (42) is in transmission connection with the clamping jaw (43) so as to drive the clamping jaw (43) to swing relative to the shell (41).
9. The pendant manipulator according to claim 8, wherein the drive assembly (42) comprises a thrust cylinder (421), a driving tooth (422), and a driven tooth (423) engaged with the driving tooth (422);
the fixed end of the push cylinder (421) is connected with the shell (41), and the moving end of the push cylinder (421) is connected with the driving tooth (422);
the driven tooth (423) is connected with the clamping jaw (43).
10. The hanging push manipulator according to claim 7, characterized in that said slewing mechanism (1) comprises a drive, a worm (11) and a worm wheel (12) for rotating mounted on said racking assembly (6);
the driving piece is used for being arranged on the racking platform assembly (6);
the worm (11) is connected with the driving piece;
the worm wheel (12) is meshed with the worm (11), and the bearing arm (2) is connected with the worm wheel (12).
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| CN202110543765.XA CN112983315B (en) | 2021-05-19 | 2021-05-19 | Quick assembling and disassembling method for well repairing operation faucet and suspension pushing manipulator |
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| CN2758463Y (en) * | 2004-09-24 | 2006-02-15 | 河南中原总机厂石油设备有限公司 | Overhaul operating machine for petroleum well |
| CN201310299Y (en) * | 2008-11-25 | 2009-09-16 | 大港油田集团中成装备制造公司 | Guide rail guiding device of power faucet |
| CN204457502U (en) * | 2015-01-05 | 2015-07-08 | 湖南三一石油科技有限公司 | A kind of tubing string clamping device and automatic tube-arranging device |
| CN104563914A (en) * | 2015-02-06 | 2015-04-29 | 吉林大学 | Hook-type elevator |
| CN204941380U (en) * | 2015-07-11 | 2016-01-06 | 周雪 | A kind of pipe elevator system for oil exploration based on Internet of Things |
| CN205206756U (en) * | 2015-08-07 | 2016-05-04 | 中联煤层气国家工程研究中心有限责任公司 | Machine is repaiied to brill |
| CN205036319U (en) * | 2015-08-20 | 2016-02-17 | 山东科瑞机械制造有限公司 | Be applied to tap gallows on oil -well rig |
| CN106481290A (en) * | 2015-09-02 | 2017-03-08 | 高德科科技(北京)有限公司 | A kind of oil well repairing operation automation equipment |
| CN107355189A (en) * | 2016-05-10 | 2017-11-17 | 沈阳新松机器人自动化股份有限公司 | Quadruple board platform pipe arranging robot |
| CN208236363U (en) * | 2018-05-14 | 2018-12-14 | 江苏诚创智能装备有限公司 | A kind of iron driller |
| CN112031681A (en) * | 2020-09-29 | 2020-12-04 | 威尔根(天津)能源技术有限公司 | Hydraulic workover rig |
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