CN113445941A - Electric drive drill floor pipe supporting mechanical arm - Google Patents
Electric drive drill floor pipe supporting mechanical arm Download PDFInfo
- Publication number
- CN113445941A CN113445941A CN202110881873.8A CN202110881873A CN113445941A CN 113445941 A CN113445941 A CN 113445941A CN 202110881873 A CN202110881873 A CN 202110881873A CN 113445941 A CN113445941 A CN 113445941A
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- hinged
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- frame body
- shaft
- drill floor
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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
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
Abstract
The invention discloses an electrically-driven drill floor pipe supporting mechanical arm which comprises a translation base, a control cabinet, a swing mechanism, a mechanical arm and a mechanical paw, wherein two ends of a rear supporting arm and a rear supporting rod in the mechanical arm are respectively hinged to a connecting seat and a four-hole connecting plate; the servo telescopic electric cylinder is hinged between the rear supporting arm and the front supporting arm. The mechanical arm is controlled to complete the grabbing, moving and discharging operations of the pipe accurately and stably, the operation efficiency is high, the environment is protected, the structure is compact, and the occupied space is small.
Description
Technical Field
The invention relates to the technical field of drilling and production equipment, in particular to an electrically-driven drill floor pipe supporting mechanical arm.
Background
At present, drilling platform surface pipe tool processing equipment becomes an important ring of an automatic drilling machine, and with the development of automation and intellectualization of the drilling machine, a plurality of drilling platform surface manipulators of different types appear on site at present, but most of the drilling platform surface manipulators are controlled by adopting a hydraulic system, but the hydraulic system has low control precision, long response time and higher energy consumption, and has the defects of oil leakage, environmental pollution, influence on motion stability, low efficiency and easy failure.
Disclosure of Invention
The invention aims to provide an electrically-driven drill floor pipe supporting mechanical arm, which solves the problems of low control precision, high energy consumption and environmental pollution caused by oil leakage of the existing hydraulic control drill floor mechanical arm.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an electrically-driven drill floor pipe supporting mechanical arm comprises a translation base, a control cabinet, a mechanical arm and a mechanical gripper, wherein the control cabinet is installed at the top of the translation base, a swing mechanism is installed between the control cabinet and the bottom of the mechanical arm, and the mechanical arm comprises a connecting seat, a rear supporting arm, a rear supporting rod, a front supporting arm and a front supporting rod; the bottom end of the rear supporting arm is hinged on the connecting seat, and the top end of the rear supporting arm is hinged on a first hinge shaft A1 of the four-hole connecting plate; the bottom end of the rear supporting rod is hinged on the connecting seat, and the top end of the rear supporting rod is hinged on a second hinge shaft A2 of the four-hole connecting plate; the top end of the front support arm is hinged to a third hinge shaft A3 of the four-hole connecting plate, and the bottom end of the front support arm is hinged to the mechanical gripper mounting seat; the top end of the front support rod is hinged on a fourth hinge shaft A4 of the four-hole connecting plate, and the bottom end of the front support rod is hinged on a mounting seat of the mechanical gripper; the rear end of the connecting rod is hinged on a fourth hinge shaft A4 of the four-hole connecting plate, and the front end of the connecting rod is hinged on the upper part of the front supporting arm; the base of the servo telescopic electric cylinder is hinged to the lower portion of the rear supporting arm, and the piston end of the servo telescopic electric cylinder is hinged to the middle portion of the front supporting arm.
Preferably, the four-hole connecting plate has an inverted trapezoidal structure, the first hinge axis a1 and the fourth hinge axis a4 are located at two ends of a lower transverse edge of the four-hole connecting plate, and the second hinge axis a2 and the third hinge axis A3 are located at two ends of an upper transverse edge of the four-hole connecting plate.
Preferably, a gear shaft and a parallel shaft reducer which are connected with each other are installed below the connecting seat of the mechanical arm, and the parallel shaft reducer is connected with the servo rotating motor.
Preferably, the slewing mechanism comprises a fixed seat and a slewing bearing, external teeth of the slewing bearing are meshed with the gear shaft, and the upper part of an inner ring of the slewing bearing is connected with the connecting seat through a bolt.
Preferably, the mechanical gripper comprises an L-shaped right finger and a left finger which are symmetrical in structure, the outer side of the rear end of the right finger is hinged to the right front end of the welding frame body through a right fixed shaft, the inner side of the rear end of the right finger is hinged to the front end of a right connecting rod through a pin shaft, and the tail end of the right connecting rod is hinged to the right side of the trapezoidal nut sliding block; the outer side of the rear end of the left finger is hinged to the left front end of the welding frame body through a left fixing shaft, the inner side of the rear end of the left finger is hinged to the front end of a left connecting rod through a pin shaft, and the tail end of the left connecting rod is hinged to the left side of the trapezoidal nut sliding block; the trapezoidal nut sliding block is arranged on the trapezoidal screw rod to form a trapezoidal nut screw rod pair with a self-locking function; the rear end of the trapezoidal lead screw is connected with a precision speed reducer through a bearing, the input end of the precision speed reducer is connected with a servo driving motor, the precision speed reducer is fixed on a welding frame body through a bolt, and the servo driving motor is connected with an industrial control cabinet; an end cover is arranged at the front end of the trapezoidal screw rod.
Preferably, the upper part of the front end of the welding frame body is provided with a roller assembly, and the roller assembly is positioned above the tail ends of the right finger and the left finger.
Preferably, the middle part of the welding frame body is provided with a detection sensor.
Preferably, the translation base is fixed on the drilling platform surface through an ear plate and a pin shaft, the translation base comprises a cuboid-shaped fixed frame body, two groups of linear guide rails, a servo translation electric cylinder and a sliding seat, the two groups of linear guide rails are arranged on the inner sides of the left side edge and the right side edge of the fixed frame body in parallel, the sliding seat is clamped on the linear guide rails through sliding blocks, and the upper part of the sliding seat is connected with the bottom of the control cabinet; the piston end of the servo translation electric cylinder is connected with the rear side edge of the sliding seat, and the base of the servo translation electric cylinder is fixed on the inner side of the front beam of the fixed frame body.
Preferably, the upper surface of the fixed frame body is provided with a maintenance cover plate and a protection cover plate which are positioned on two sides of the sliding seat.
The front support arm and the rear support arm are used for bearing load, and the strength of the front support arm and the rear support arm is greater than that of the front support rod and the rear support rod.
The working process of the invention is as follows:
when the drilling rig is started, the top drive elevator lifts the pipe out of a wellhead, after shackle removal is completed, the servo translation electric cylinder in the translation base stretches and retracts to push the sliding seat to move, the control cabinet and the mechanical arm translate to a preset position, the swing mechanism drives the mechanical arm to rotate, so that the mechanical claw is aligned with the central line of the wellhead, the piston end of the servo translation electric cylinder extends to drive the front support arm, the front support rod and the mechanical claw to move towards the wellhead, the servo drive motor drives the trapezoidal nut screw pair to rotate in the moving process, so that the mechanical claw is opened, the detection sensor detects the pipe, and the mechanical claw is closed to firmly clamp the pipe; and the piston end of the servo telescopic electric cylinder retracts to drive the mechanical arm to retreat together with the pipe, the swing mechanism drives the mechanical arm to rotate by a certain angle, the mechanical arm extends out again to drive the mechanical paw to a preset position, the mechanical paw is opened to place the pipe to the preset position, and the whole machine is reset, so that the operation of discharging a single pipe is completed. The above process is repeated to realize the discharge operation of the pipe. Similarly, the drilling operation can be completed as well.
The invention can be matched with a top drive and a power catwalk to realize the discharge of the stand roots during the drilling, connect the single stand roots during the drilling, finish the operations of drilling, throwing drill rods and the like.
The invention has the beneficial effects that:
(1) the mechanical arm is accurately and stably controlled to complete the grabbing, moving and discharging operations of the pipe, and the mechanical arm is high in operating efficiency, environment-friendly, compact in structure and small in occupied space;
(2) the rear support arm, the rear support rod, the four-hole connecting plate, the front support arm and the front support rod form two groups of parallel western deformation structures, so that the strength of the mechanical arm is ensured, and the stability in grabbing and moving the pipe is improved;
(3) the trapezoidal nut screw pair composed of the trapezoidal screw and the trapezoidal nut sliding block has a self-locking function, can keep a state before power failure when equipment is powered off, and is high in safety performance;
(4) according to the invention, the roller components are arranged on the upper part of the welding frame body, so that the sliding friction between the pipe tool and the mechanical finger tip is changed into roller friction, the friction force is reduced, and the abrasion of the outer wall of the pipe tool is effectively reduced;
(5) the detection sensor accurately monitors the position of the pipe, can accurately control the actions of the left finger and the right finger, and improves the precision of the equipment;
(6) according to the invention, the servo translation electric cylinder in the translation base drives the sliding seat to move, so that the mechanical arm moves in the horizontal direction, the barrier of a working site is effectively avoided, and the reliability of equipment is improved;
(7) according to the servo translation electric cylinder, the protective cover plate and the maintenance cover plate are arranged on the upper surface of the translation base, so that the servo translation electric cylinder can be prevented from being effectively protected, and fouling is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the present invention of FIG. 1;
FIG. 3 is a state diagram of the use of the present invention in FIG. 2;
FIG. 4 is a schematic view of the gripper of FIG. 1;
FIG. 5 is a top view of the gripper of FIG. 4;
FIG. 6 is a cross-sectional view taken along line A-A of the gripper of FIG. 4;
FIG. 7 is a left side view of the gripper of FIG. 4;
FIG. 8 is a schematic view of the translating stage of FIG. 1;
FIG. 9 is a cross-sectional view taken along line B-B of the translating base of FIG. 8;
FIG. 10 is a state diagram of the use of the present invention;
in the figure: 1. a translational base, 101, a fixed frame body, 102, a linear guide rail, 103, a servo translational electric cylinder, 104, a sliding seat, 105, a maintenance cover plate, 106, a protective cover plate, 2, a control cabinet, 3, a swing mechanism, 301, a fixed seat, 302, a swing support, 4, a mechanical arm, 401, a servo rotating motor, 402, a parallel shaft reducer, 403, a gear shaft, 404, a connecting seat, 405, a rear supporting rod, 406, a rear supporting arm, 407, a servo telescopic electric cylinder, 408, a four-hole connecting plate, 409, a connecting rod, 410, a front supporting arm, 411, a front supporting rod, A1, a first hinge shaft, A2, a second hinge shaft, A3, a third hinge shaft, A4, a fourth hinge shaft, 5, a mechanical claw, 501, a welding frame body, 502, a roller wheel assembly, 503, a servo driving motor, 504, a right hand finger, 505, a right fixed shaft, 506, a detection sensor, 507, a precision reducer, 508, a left hand finger, 509. the device comprises a left fixed shaft, 510, an end cover, 511, a right connecting rod, 512, a left connecting rod, 513, a bearing, 514, a trapezoidal screw rod, 515 and a trapezoidal nut sliding block.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 8, an electrically-driven drill floor pipe supporting mechanical arm comprises a translation base 1, a control cabinet 2, a mechanical arm 4 and a mechanical gripper 5, wherein the control cabinet 2 is installed at the top of the translation base 1, a swing mechanism 3 is installed between the control cabinet 2 and the bottom of the mechanical arm 4, and the mechanical arm 4 comprises a connecting seat 404, a rear supporting arm 406, a rear supporting rod 405, a front supporting arm 410 and a front supporting rod 411; the bottom end of the rear support arm 406 is hinged to the connecting seat 404, and the top end of the rear support arm 406 is hinged to the first hinge shaft A1 of the four-hole connecting plate 408; the bottom end of the rear support rod 405 is hinged on the connecting seat 404, and the top end of the rear support rod 405 is hinged on a second hinge shaft A2 of the four-hole connecting plate 408; the top end of the front support arm 410 is hinged on the third hinge shaft A3 of the four-hole connecting plate 408, and the bottom end of the front support arm 410 is hinged on the mounting seat of the mechanical gripper 5; the top end of the front supporting rod 411 is hinged on a fourth hinging shaft A4 of the four-hole connecting plate 408, and the bottom end of the front supporting rod 411 is hinged on the mounting seat of the mechanical gripper 5; the rear end of the connecting rod 409 is hinged on a fourth hinging shaft A4 of the four-hole connecting plate 408, and the front end of the connecting rod 409 is hinged on the upper part of the front supporting arm 410; the base of the servo telescopic electric cylinder 407 is hinged to the lower part of the rear supporting arm 406, and the piston end of the servo telescopic electric cylinder 407 is hinged to the middle part of the front supporting arm 410.
The four-hole connection plate 408 has an inverted trapezoidal structure, the first hinge axis a1 and the fourth hinge axis a4 are located at both ends of the lower lateral edge of the four-hole connection plate 408, and the second hinge axis a2 and the third hinge axis A3 are located at both ends of the upper lateral edge of the four-hole connection plate 408.
A gear shaft 403 and a parallel shaft reducer 402 which are connected with each other are installed below a connecting seat 404 of the robot arm 4, and the parallel shaft reducer 402 is connected with a servo rotating motor 401.
The swing mechanism 3 comprises a fixed seat 301 and a swing support 302, the outer teeth of the swing support 302 are meshed with a gear shaft 403, and the upper part of the inner ring of the swing support 302 is connected with a connecting seat 404 through a bolt.
The mechanical gripper 5 comprises an L-shaped right finger 504 and a left finger 508 which are symmetrical in structure, the outer side of the rear end of the right finger 504 is hinged to the front right end of the welding frame body 501 through a right fixing shaft 505, the inner side of the rear end of the right finger 504 is hinged to the front end of a right connecting rod 511 through a pin shaft, and the tail end of the right connecting rod 511 is hinged to the right side of the trapezoidal nut sliding block 515; the outer side of the rear end of the left finger 508 is hinged to the left front end of the welding frame body 501 through a left fixing shaft 509, the inner side of the rear end of the left finger 508 is hinged to the front end of a left connecting rod 512 through a pin shaft, and the tail end of the left connecting rod 512 is hinged to the left side of a trapezoidal nut sliding block 515; the trapezoidal nut sliding block 515 is arranged on the trapezoidal lead screw 514 to form a trapezoidal nut lead screw pair with a self-locking function; the rear end of the trapezoidal lead screw 514 is connected with a precision reducer 507 through a bearing 513, the input end of the precision reducer 507 is connected with a servo drive motor 503, the precision reducer 507 is fixed on the welding frame body 501 through bolts, and the servo drive motor 503 is connected with an industrial control cabinet; the front end of the trapezoidal lead screw 514 is provided with an end cover 510.
The upper part of the front end of the welding frame body 501 is provided with a roller assembly 502, and the roller assembly 502 is positioned above the tail ends of a right finger 504 and a left finger 508.
The middle part of the welding frame body 501 is provided with a detection sensor 506.
The translation base 1 is fixed on a drilling platform surface through an ear plate and a pin shaft, the translation base 1 comprises a cuboid fixed frame body 101, two groups of linear guide rails 102, a servo translation electric cylinder 103 and a sliding seat 104, the two groups of linear guide rails 102 are parallelly installed on the inner sides of the left side edge and the right side edge of the fixed frame body 101, the sliding seat 104 is clamped on the linear guide rails 102 through sliding blocks, and the upper part of the sliding seat 104 is connected with the bottom of the control cabinet 2; the piston end of the servo translation electric cylinder 103 is connected with the rear side edge of the sliding seat 104, and the base of the servo translation electric cylinder 103 is fixed on the inner side of the front beam of the fixed frame body 101.
The upper surface of the fixed frame 101 is provided with a maintenance cover plate 105 and a protection cover plate 106 which are positioned at both sides of the sliding base 104.
The working process of the invention is as follows:
when the drilling is started, the top drive elevator lifts the pipe out of a wellhead, after the shackle is completed, the servo translation electric cylinder 103 in the translation base 1 stretches and retracts, the sliding seat 4 is pushed to move, the control cabinet 2 and the mechanical arm 4 translate to a preset position, the swing mechanism 3 drives the mechanical arm 4 to rotate, so that the mechanical claw 5 is aligned with the central line of the wellhead, the piston end of the servo translation electric cylinder 407 extends, the front support arm 410, the front support rod 411 and the mechanical claw 5 are driven to move towards the wellhead direction, the servo drive motor 503 drives the trapezoidal nut screw pair to rotate in the moving process, so that the mechanical claw 5 is opened, the detection sensor 506 detects the pipe, and the mechanical claw 5 is closed to firmly clamp the pipe; the piston end of the servo telescopic electric cylinder 407 retracts to drive the mechanical arm 4 to retreat together with the pipe, the swing mechanism 3 drives the mechanical arm 4 to rotate for a certain angle, the mechanical arm 4 extends out again to drive the mechanical paw 5 to a preset position, the mechanical paw 5 is opened to place the pipe to the preset position, the whole machine resets, and the operation of discharging a single pipe is completed. The above process is repeated to realize the discharge operation of the pipe. Similarly, the drilling operation can be completed as well.
The invention can be matched with a top drive and a power catwalk to realize the discharge of the stand roots during the drilling, connect the single stand roots during the drilling, finish the operations of drilling, throwing drill rods and the like.
The mechanical arm is controlled to complete the grabbing, moving and discharging operations of the pipe accurately and stably, the operation efficiency is high, the environment is protected, the structure is compact, and the occupied space is small.
Claims (9)
1. The utility model provides an electrically-driven drill floor pipe holds up arm, includes translation base (1), switch board (2), arm (4) and mechanical gripper (5), installs at the top of translation base (1) switch board (2), installs rotation mechanism (3), its characterized in that between the bottom of switch board (2) and arm (4): the mechanical arm (4) comprises a connecting seat (404), a rear supporting arm (406), a rear supporting rod (405), a front supporting arm (410) and a front supporting rod (411); the bottom end of the rear supporting arm (406) is hinged on the connecting seat (404), and the top end of the rear supporting arm (406) is hinged on a first hinge shaft A1 of the four-hole connecting plate (408); the bottom end of the rear supporting rod (405) is hinged on the connecting seat (404), and the top end of the rear supporting rod (405) is hinged on a second hinge shaft A2 of the four-hole connecting plate (408); the top end of the front support arm (410) is hinged on a third hinge shaft A3 of the four-hole connecting plate (408), and the bottom end of the front support arm (410) is hinged on a mounting seat of the mechanical gripper (5); the top end of the front support rod (411) is hinged on a fourth hinge shaft A4 of the four-hole connecting plate (408), and the bottom end of the front support rod (411) is hinged on a mounting seat of the mechanical gripper (5); the rear end of the connecting rod (409) is hinged on a fourth hinge shaft A4 of the four-hole connecting plate (408), and the front end of the connecting rod (409) is hinged on the upper part of the front supporting arm (410); the base of the servo telescopic electric cylinder (407) is hinged to the lower portion of the rear supporting arm (406), and the piston end of the servo telescopic electric cylinder (407) is hinged to the middle portion of the front supporting arm (410).
2. The electrically driven drill floor pipe support robot of claim 1, wherein: the four-hole connecting plate (408) is of an inverted trapezoidal structure, the first hinge shaft A1 and the fourth hinge shaft A4 are located at two ends of the lower transverse edge of the four-hole connecting plate (408), and the second hinge shaft A2 and the third hinge shaft A3 are located at two ends of the upper transverse edge of the four-hole connecting plate (408).
3. The electrically driven drill floor pipe support robot of claim 1 or 2, wherein: and a gear shaft (403) and a parallel shaft reducer (402) which are connected with each other are arranged below a connecting seat (404) of the mechanical arm (4), and the parallel shaft reducer (402) is connected with a servo rotating motor (401).
4. The electrically driven drill floor pipe support robot of claim 3, wherein: the slewing mechanism (3) comprises a fixed seat (301) and a slewing bearing (302), external teeth of the slewing bearing (302) are meshed with a gear shaft (403), and the upper part of an inner ring of the slewing bearing (302) is connected with the connecting seat (404) through a bolt.
5. The electrically driven drill floor pipe support robot of claim 4, wherein: the mechanical gripper (5) comprises an L-shaped right finger (504) and a left finger (508) which are symmetrical in structure, the outer side of the rear end of the right finger (504) is hinged to the right front end of the welding frame body (501) through a right fixed shaft (505), the inner side of the rear end of the right finger (504) is hinged to the front end of a right connecting rod (511) through a pin shaft, and the tail end of the right connecting rod (511) is hinged to the right side of the trapezoidal nut sliding block (515); the outer side of the rear end of a left finger (508) is hinged to the left front end of the welding frame body (501) through a left fixing shaft (509), the inner side of the rear end of the left finger (508) is hinged to the front end of a left connecting rod (512) through a pin shaft, and the tail end of the left connecting rod (512) is hinged to the left side of the trapezoidal nut sliding block (515); the trapezoidal nut sliding block (515) is arranged on the trapezoidal lead screw (514) to form a trapezoidal nut lead screw pair with a self-locking function; the rear end of the trapezoidal lead screw (514) is connected with a precision reducer (507) through a bearing (513), the input end of the precision reducer (507) is connected with a servo drive motor (503), the precision reducer (507) is fixed on the welding frame body (501) through a bolt, and the servo drive motor (503) is connected with an industrial control cabinet; an end cover (510) is arranged at the front end of the trapezoidal screw (514).
6. The electrically driven drill floor pipe support robot of claim 5, wherein: the upper portion of the front end of the welding frame body (501) is provided with a roller assembly (502), and the roller assembly (502) is positioned above the tail ends of a right finger (504) and a left finger (508).
7. The electrically driven drill floor pipe support robot of claim 6, wherein: the middle part of the welding frame body (501) is provided with a detection sensor (506).
8. The electrically driven drill floor pipe support robot of claim 7, wherein: the translation base (1) is fixed on a drilling platform surface through an ear plate and a pin shaft, the translation base (1) comprises a cuboid-shaped fixing frame body (101), two groups of linear guide rails (102), a servo translation electric cylinder (103) and a sliding seat (104), the two groups of linear guide rails (102) are arranged on the inner sides of the left side edge and the right side edge of the fixing frame body (101) in parallel, the sliding seat (104) is clamped on the linear guide rails (102) through sliding blocks, and the upper part of the sliding seat (104) is connected with the bottom of the control cabinet (2); the piston end of the servo translation electric cylinder (103) is connected with the rear side edge of the sliding seat (104), and the base of the servo translation electric cylinder (103) is fixed on the inner side of the front beam of the fixed frame body (101).
9. The electrically driven drill floor pipe support robot of claim 8, wherein: the upper surface of the fixed frame body (101) is provided with a maintenance cover plate (105) and a protection cover plate (106) which are positioned on two sides of the sliding seat (104).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110881873.8A CN113445941A (en) | 2021-08-02 | 2021-08-02 | Electric drive drill floor pipe supporting mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110881873.8A CN113445941A (en) | 2021-08-02 | 2021-08-02 | Electric drive drill floor pipe supporting mechanical arm |
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| CN113445941A true CN113445941A (en) | 2021-09-28 |
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| CN202110881873.8A Pending CN113445941A (en) | 2021-08-02 | 2021-08-02 | Electric drive drill floor pipe supporting mechanical arm |
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Cited By (1)
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|---|---|---|---|---|
| CN114352193A (en) * | 2021-11-24 | 2022-04-15 | 中建八局第二建设有限公司 | Intelligent drilling robot |
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| CN204012212U (en) * | 2014-08-20 | 2014-12-10 | 国网山东省电力公司潍坊供电公司 | A kind of combined electrical apparatus ground structure |
| JP2017047485A (en) * | 2015-08-31 | 2017-03-09 | 三菱電機ビルテクノサービス株式会社 | Shaft attaching member removing auxiliary tool |
| CN105332663A (en) * | 2015-10-30 | 2016-02-17 | 南阳师范学院 | Drill pipe and upright auto-discharge manipulator |
| CN205349256U (en) * | 2015-12-24 | 2016-06-29 | 宝鸡鸥鹏石油设备有限责任公司 | Drilling platform well head work robot |
| CN108825150A (en) * | 2018-06-19 | 2018-11-16 | 无锡市盛宝嘉科技有限公司 | Pipe device is helped in a kind of automation |
| CN210196267U (en) * | 2019-04-30 | 2020-03-27 | 上银科技股份有限公司 | Dust-proof combination for linear module |
| CN110424906A (en) * | 2019-07-30 | 2019-11-08 | 宝鸡石油机械有限责任公司 | A kind of drilling floor surface tubing string processing unit |
| CN110454100A (en) * | 2019-09-04 | 2019-11-15 | 智动时代(北京)科技有限公司 | A kind of super single operation industrial robot device of drilling and repairing well and method |
| CN112096317A (en) * | 2020-08-11 | 2020-12-18 | 四川宏华石油设备有限公司 | Drilling platform surface pipe column processing equipment |
| JP6854380B1 (en) * | 2020-11-27 | 2021-04-07 | 株式会社福島製作所 | Grab device |
| CN112627746A (en) * | 2020-11-27 | 2021-04-09 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN214600794U (en) * | 2021-01-09 | 2021-11-05 | 东莞市鹏隆实业有限公司 | Special sliding table for dust-free room |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114352193A (en) * | 2021-11-24 | 2022-04-15 | 中建八局第二建设有限公司 | Intelligent drilling robot |
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