CN114833865A - Drill floor surface manipulator - Google Patents
Drill floor surface manipulator Download PDFInfo
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- CN114833865A CN114833865A CN202210561173.5A CN202210561173A CN114833865A CN 114833865 A CN114833865 A CN 114833865A CN 202210561173 A CN202210561173 A CN 202210561173A CN 114833865 A CN114833865 A CN 114833865A
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- 230000007246 mechanism Effects 0.000 claims description 109
- 230000001681 protective effect Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000001050 lubricating effect Effects 0.000 claims description 4
- 238000005461 lubrication Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000005553 drilling Methods 0.000 abstract description 28
- 238000012423 maintenance Methods 0.000 abstract description 9
- 230000004048 modification Effects 0.000 abstract description 5
- 238000012986 modification Methods 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 2
- 239000003208 petroleum Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000009466 transformation Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 230000007306 turnover Effects 0.000 description 1
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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
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Abstract
The invention belongs to the technical field of petroleum drilling equipment, and relates to a drill floor manipulator, which comprises a main body structure, a driving base, a mechanical arm and a pipe holding clamp, wherein the driving base is fixedly arranged on a drill floor through a bottom fixing lug and plays a role in supporting and fixing the whole system; the mechanical arm is fixed with a rotating device on the driving base through a rotary base at the bottom; the tail end of the mechanical arm is hinged with the pipe holding pliers; by introducing the parallelogram structure and the lever structure, the structure of the mechanical arm part is optimized on the premise of ensuring the strength, the floor area of the whole mechanical arm is greatly reduced, and the occupation of the space of a drilling floor is favorably saved; the manipulator has the advantages of compact structure, no occupation of walkways and stand box spaces among the stand boxes, integrated use without great modification of the drill floor, convenient assembly and disassembly, low modification cost, simplified structure, low maintenance difficulty and low maintenance cost, and convenient use and maintenance.
Description
The technical field is as follows:
the invention belongs to the technical field of petroleum drilling equipment, and relates to a drill floor manipulator which is compact in structure, small in occupied space and large in moving range, and not only can be installed and integrated on an existing drilling platform, but also can be installed and integrated on a newly-built full-automatic drilling machine.
Background art:
at present, most of the produced drilling platforms in China generally have the characteristic of low automation degree, and because the application problem of drilling automation equipment is not considered during the construction of the drilling platforms, most of the installed equipment is semi-automatic equipment, and the drilling platforms generally need manual participation to normally operate. The transfer of the platform stands is mainly completed by pushing and supporting of workers, the problems of high working strength, high working risk coefficient, low working efficiency and the like of the workers generally exist, and the drilling efficiency of the drilling platform is limited to be improved to a certain extent.
Along with the development of drilling and repairing automation equipment, at present, many research reports about a drill floor mechanical arm exist, for example, chinese patent application CN201811061899.2 discloses a drilling rig drill floor pipe arranging robot, which comprises a clamping jaw mechanism, a linkage arm, a swing mechanism, a trolley traveling mechanism and an avoiding mechanism, wherein the trolley traveling mechanism is provided with a traveling trolley, the swing mechanism is installed on the traveling trolley, the linkage arm is installed on the swing mechanism, the free end of the linkage arm is provided with the clamping jaw mechanism, one side of the trolley traveling mechanism is provided with the avoiding mechanism, and the traveling trolley moves to the avoiding mechanism during avoiding; the chinese patent application CN202011528399.2 discloses a drill floor manipulator, which comprises a base, a track and a manipulator body in sliding fit with the track, wherein the base is provided with a working area and an avoiding area, the track has a first section and a second section, the first section is located in the working area, the second section is located in the avoiding area, and the manipulator body can slide into the first section or the second section; an avoidance area and a working area are arranged on the base, and when the manipulator body is required to avoid other equipment, the manipulator body can be moved to the avoidance area; chinese patent application CN202010803809.3 discloses a drilling floor tubular column processing apparatus, comprising a clamping mechanism for clamping a tubular column, and a traveling mechanism, which is arranged to be mounted on a drilling floor and translate on the drilling floor; the lifting mechanism is arranged on the travelling mechanism, is connected with the clamping mechanism and is configured to adjust the height of the clamping mechanism; after the clamping mechanism clamps the tubular column, the lifting mechanism can drive the clamping mechanism to move upwards or downwards and bear the weight of the tubular column.
The drill floor surface manipulator commonly seen in the market at present generally has the following problems:
(1) the occupied space is large, the walkways among the stand boxes and part of the stand box space are often occupied for arrangement, the occupied space is large, the stand storage space is reduced, avoidance is needed when the transfer of the pipe column is carried out every time, and the production efficiency is influenced;
(2) the transformation cost is high, the drilling platform surface needs to be returned to a factory for great transformation and then can be integrated, the transformation cost is high, and the transformation period is long.
(3) The structure is complicated, the addition of the lifting structure, the overturning structure or the moving mechanism increases the structural complexity, and the maintenance difficulty and the maintenance cost are high.
The presence of these problems severely reduces the aggressiveness of platform management and user-integrated drill floor robots. The existing drilling platform surface manipulator which is compact in structure, low in modification cost, convenient to maintain and low in cost needs to be researched and developed.
The invention content is as follows:
the invention aims to solve the problems of high working intensity, high danger coefficient and high labor intensity of workers of the existing drilling platform and the problems of large occupied space, high transformation cost, low production efficiency, complex structure and the like of the existing drilling platform surface manipulator.
In order to achieve the purpose, the invention provides a drill floor manipulator, which comprises a main body structure, a driving base, a mechanical arm and a pipe holding clamp, wherein the driving base is fixedly arranged on a drill floor through a bottom fixing lug and plays a role in supporting and fixing the whole system; the mechanical arm is fixed with a rotating device on the driving base through a rotary base at the bottom; the tail end of the mechanical arm is hinged with the pipe holding pliers; the mechanical arm comprises a rotary base, a support base, a first support arm, a second support arm, a first balance arm, a second balance arm, a stretching arm, a third balance arm, a rotating shaft and a driving mechanism; the bottom of the rotary base is hinged with a rotary device of the driving base through mounting holes on flanges of the rotary base and the rotary device, and the rotary device can rotate along with the rotation of the rotary device; the supporting base is fixedly connected to the top end of the rotary base, and the supporting base is of a hollow structure; the support base is connected with the third balance arm through the first support arm and the first balance arm; the third supporting arm is connected with the pipe holding tongs through a second supporting arm and a second balance arm; the lower end of the stretching arm is hinged with the supporting base through a rotating shaft, and the upper end of the stretching arm is hinged with the connecting part of the second supporting arm through a rotating shaft; one end of the driving mechanism is hinged to the supporting base through a rotating shaft, and the other end of the driving mechanism is hinged to the first supporting arm through a rotating shaft.
The number of the first supporting arms is 2, the first supporting arms are respectively positioned at two sides of the supporting base, the lower ends of the 2 first supporting arms are respectively hinged with the supporting base through a rotating shaft, and the upper ends of the 2 first supporting arms are respectively hinged with the third balance arm and the second supporting arm through the rotating shaft; the number of the first balance arms is 2, the first balance arms are respectively positioned at two sides in the support base, the lower ends of the 2 first balance arms are respectively hinged with the support base through a rotating shaft, and the upper ends of the 2 first balance arms are respectively hinged with the third balance arm through a rotating shaft; 2 second supporting arms are provided, one end of each second supporting arm is hinged with the first supporting arm and the third balance arm through a rotating shaft, and the other end of each second supporting arm is hinged with the pipe holding clamp through a rotating shaft; the second supporting arm and the first supporting arm are hinged with the third balance arm through the same rotating shaft; the number of the second balance arms is 1, and two ends of the second balance arms are respectively hinged with the third balance arm and the pipe holding forceps through rotating shafts; the third balance arm is of a triangular structure, and two sides of a lower end angle are simultaneously connected with the first support arm and the second support arm through the same rotating shaft; the right side angle of the upper end is hinged with the 2 first balance arms, and the left side angle of the upper end is hinged with the second balance arm; the driving mechanism directly drives the upper end of the first supporting arm to rotate circumferentially along a hinge point with the supporting base through self expansion and contraction, the upper end of the stretching arm rotates circumferentially along the hinge point with the supporting base while the first supporting arm rotates circumferentially, and the upper end of the stretching arm is hinged with the second supporting arm, so that the second supporting arm rotates circumferentially along the hinge point with the first supporting arm under the action of the first supporting arm and the stretching arm, and the tail end of the second supporting arm is expanded and contracted; and a displacement sensor is also arranged in the driving mechanism and used for detecting the position of the driving mechanism in real time, so that the reliability and the accuracy of the action of the whole machine in operation are ensured.
Self-lubricating pipe systems are further arranged in the inner spaces of the first supporting arm and the second supporting arm of the mechanical arm and are connected with lubricating points on the hinge points through the self-lubricating pipe systems, and automatic lubrication of equipment is achieved.
The structure of the driving base comprises a frame, an access door, a decorative cover plate, a rotary device, a driving mechanism mounting seat, a protective cover and a rotary driving mechanism, wherein the frame is of a tetragonal frame structure, and the bottom of the tetragonal frame structure is provided with a fixing lug for fixing the driving base on a drilling platform surface; the access door is distributed on the peripheral side surface of the frame, and the access door is hinged with the decorative cover plate and can rotate along a hinged point; the decorative cover plate covers the surface of the frame and is used for covering the exposed part of the frame and is hinged with the access door; the rotating device is fixedly arranged at the front part of the top end of the frame, the top end of the rotating device is contacted with the bottom of the rotating base of the mechanical arm and hinged together, and a circle of gear teeth are arranged on the outer ring of the bottom of the rotating device and are directly meshed with a rotating gear of the rotating driving mechanism; the driving mechanism mounting seat is fixedly mounted at the rear part of the top end of the frame and used for mounting and fixing a rotary motor of the rotary driving mechanism; the protective cover is fixedly arranged above the frame and comprises a support frame, a second access door, a third access door and a cover plate, wherein the support frame is fixedly connected with the frame; the second access door and the third access door are hinged with the support frame and can rotate along the hinged point; the rotary driving mechanism comprises a rotary motor, a rotary gear and a rotary sensor, wherein the rotary motor is directly and fixedly arranged on a corresponding mounting position of the driving mechanism mounting seat; the rotary gear is hinged on an output shaft of the rotary motor, is meshed with gear teeth on the rotary device and is used for transmitting the power of the rotary motor; the rotary sensor is connected with an output shaft of the rotary motor and used for detecting the rotation speed of the mechanical arm in real time.
Safety sensors are arranged in the access door, the second access door and the third access door of the protective cover and used for detecting whether the access door is opened or not in the operation process of the equipment, and once any access door is detected to be opened, the equipment stops acting and can perform sound-light alarm until danger is relieved.
And a rotary sensor is arranged in the rotary device and used for detecting whether the mechanical arm moves in place or not.
The pipe-holding tongs comprise a tong frame, a tong head, a pipe-holding tong driving mechanism, a tong head connecting piece and a movable connecting piece, wherein the upper part of the tong frame is provided with a connecting hole hinged with the mechanical arm, the lateral rear part of the tong frame is hinged with the tong head through a fixed shaft, and the rear part of the bottom of the tong frame is hinged with the tail end of the pipe-holding tong driving mechanism through a fixed shaft; the binding clip is used in pairs, the tail end of the binding clip is hinged at the rear side of the binding clip through a fixed shaft, and the middle part of the binding clip is hinged with the binding clip connecting piece through the fixed shaft; the tong head connecting pieces are of concave structures, the concave closed ends of the tong head connecting pieces are hinged with the tong heads, the open ends of the two tong head connecting pieces are arranged oppositely, and the open ends of the two tong head connecting pieces are hinged with the movable connecting piece through a fixed shaft; one end of the movable connecting piece is hinged with the two tong head connecting pieces, and the other end of the movable connecting piece is hinged with the front end of the pipe holding tong driving mechanism through a fixed shaft; the movable connecting piece is used for transmitting the power of the pipe tongs driving mechanism.
The inner side of the binding clip is of a groove structure, and the binding clip connecting piece is positioned in the groove on the inner side of the binding clip, so that the pipe holding clamp is compact in overall structure.
And a displacement sensor is arranged in the pipe holding clamp driving mechanism and used for detecting the real-time position of the driving mechanism and then determining whether the clamping is in place.
Compared with the prior art, the invention has the following beneficial effects:
(1) the drill floor manipulator has the advantages that the occupied space is small, the structure of the arm part of the manipulator is optimized on the premise of ensuring the strength by introducing the parallelogram structure and the lever structure, the occupied area of the whole manipulator is greatly reduced, and the occupation of the space of the drill floor is saved;
(2) the drill floor manipulator is convenient to assemble and disassemble, can be directly fixed on the drill floor, can be assembled and disassembled without greatly modifying the drill floor, is convenient to assemble and disassemble, and is beneficial to saving the transition time of a drilling platform;
(3) the drill floor mechanical arm is simple in structure, free of complex auxiliary actuating mechanisms such as a lifting mechanism, a turnover mechanism and a translation mechanism and low in overall cost; the optimized structure ensures that the maintenance cost of the whole machine is low, and is beneficial to reducing the equipment use cost of the management and use sides of the drilling platform;
(4) the drill floor mechanical hand has a large moving range and good adaptability, the maximum working radius of the drill floor mechanical hand is 3.5 meters, and the moving range is large; the conveying requirements of drill collars within 91/2 inches and stands within 51/2 inches can be met;
(5) the automation degree is high, the equipment can automatically run in the whole process by using a control system platform preset by the system and various sensors, and manual intervention is not needed in the normal running process.
The drill floor manipulator can be installed and integrated on an existing drilling platform and can also be installed and integrated on a newly-built full-automatic drilling machine.
In conclusion, the manipulator for the drilling platform surface has a compact structure, does not occupy a walkway between the stand boxes and the space of the stand boxes, can be integrated for use without great modification of the drilling platform surface, is convenient to assemble and disassemble, has low modification cost, has the characteristics of low maintenance difficulty and low maintenance cost due to the simplified structure, and is convenient to use and maintain.
Description of the drawings:
fig. 1 is a schematic diagram of the overall structure of a drill floor manipulator according to the present invention.
Fig. 2 is a schematic structural diagram of a driving base according to the present invention.
Fig. 3 is a schematic structural diagram of a robot arm according to the present invention.
Fig. 4 is a schematic structural principle diagram of the pipe holding forceps related to the invention.
Fig. 5 is a schematic view of the working state of the pipe holding tongs related to the invention, wherein A is the opening of the pipe holding tongs, and B is the pipe holding of the pipe holding tongs.
The specific implementation mode is as follows:
the present invention will be described in further detail below with reference to specific embodiments and with reference to the accompanying drawings.
Example 1:
the embodiment relates to a manipulator on a drill floor surface, which comprises a main body structure of the manipulator, wherein the main body structure comprises a driving base 1, a mechanical arm 2 and a pipe holding clamp 3, the driving base 1 is fixedly arranged on a drill floor surface through a bottom fixing lug, and the driving base plays a role in supporting and fixing the whole system; the mechanical arm 2 is fixed with a rotating device 14 which is arranged at the front position above the driving base 1 through a rotary base at the bottom. The tail end of the mechanical arm 2 is hinged with the pipe holding forceps 3.
The structure of the driving base 1 comprises a frame 11, an access door 12, a decorative cover plate 13, a rotating device 14, a driving mechanism mounting seat 15, a protective cover 16 and a rotating driving mechanism 17, wherein the frame 11 is of a tetragonal frame structure, and the bottom of the frame is provided with a fixing lug for fixing the driving base 1 on a drilling platform surface; the access door 12 is distributed on the peripheral side surface of the frame 11, and the access door 12 is hinged with the decorative cover plate 13 and can rotate along a hinged point; the decorative cover plate 13 covers the surface of the frame 11 and is used for covering the exposed part of the frame 11 and the hinged installation access door 12; the slewing device 14 is fixedly installed at the front position of the top end of the frame 11, the top end of the slewing device 14 is in contact with and hinged with the bottom of the slewing base 22 of the mechanical arm 2, and a circle of gear teeth are arranged on the outer ring of the bottom of the slewing device 14 and are directly meshed with a rotary gear 172 of the slewing driving mechanism 17 to provide power for system rotation; a driving mechanism mounting seat 15 is mounted and fixed at the rear position of the top end of the frame 11 and is used for mounting and fixing a rotary motor 171 of a rotary driving mechanism 17; the protective cover 16 is fixedly arranged above the frame 11 and comprises a support frame 161, a second access door 162, a third access door 163 and a cover plate 164, wherein the support frame 161 is fixedly connected with the frame 11; the second access door 162 and the third access door 163 are hinged with the support frame 161 and can rotate along the hinged point; the rotary driving mechanism 17 is matched with the rotary device 14 to provide power for the rotation of the mechanical arm 2, the rotary driving mechanism 17 mainly comprises a rotary motor 171, a rotary gear 172 and a rotary sensor, wherein the rotary motor 171 is directly and fixedly arranged on a corresponding mounting position of the driving mechanism mounting seat 15; a rotary gear 172 is hinged to an output shaft of the swing motor 171, and engaged with gear teeth of the swing device 14, for transmitting power of the swing motor 171; the swing sensor is connected to an output shaft of the swing motor 171 for detecting the rotation speed of the robot arm in real time.
The protective cover 16 is mainly used for covering and protecting the slewing device 14, the slewing driving mechanism 17 and the slewing base 21 of the mechanical arm 2, so that accidental injury in the operation process of the equipment is avoided.
The access door 12 and the protective cover 16 mainly play a role in preventing accidents in the production process and facilitating the maintenance and overhaul of equipment. Safety sensors are arranged in the access door 12 and the second access door 162 and the third access door 163 of the protective cover 16, and are used for detecting whether the access doors are opened or not in the operation process of the equipment, and once any access door is detected to be opened, the equipment stops acting and gives out sound and light alarm until danger is relieved.
A rotation sensor is arranged in the rotation device 14 and used for detecting whether the mechanical arm 2 moves in place or not.
The access door 12, the trim cover 13 and the protective hood 16 together constitute the mechanical protection system of the present invention.
The robot arm 2 includes a swing base 21, a support base 22, a first support arm 23, a second support arm 24, a first balance arm 25, a second balance arm 26, a stretching arm 27, a third balance arm 28, a rotation shaft 29, and a driving mechanism 210. The bottom of the rotary base 21 is hinged with the rotary device 14 of the driving base 1 through mounting holes on flanges of the rotary base and the rotary device 14, and can rotate along with the rotation of the rotary device 14; the supporting base 22 is fixedly connected to the top end of the rotating base 21, and the structure of the supporting base 22 is a hollow structure; the support base 22 is connected with the third balance arm 28 through the first support arm 23 and the first balance arm 25; the number of the first supporting arms 23 is 2, the first supporting arms are respectively located at two sides of the supporting base 22, the lower ends of the 2 first supporting arms 23 are respectively hinged with the supporting base 22 through a rotating shaft 29, and the upper ends of the 2 first supporting arms 23 are respectively hinged with the third balance arm 28 and the second supporting arm 24 through the rotating shaft 29; the number of the first balance arms 25 is 2, and the first balance arms are respectively located at two sides inside the support base 22, the lower ends of the 2 first balance arms 25 are respectively hinged with the support base 22 through a rotating shaft 29, and the upper ends of the 2 first balance arms 25 are respectively hinged with the third balance arm 28 through the rotating shaft 29; 2 second supporting arms 24 are provided, one end of each second supporting arm 24 is hinged with the first supporting arm 23 and the third balancing arm 28 through a rotating shaft 29, and the other end of each second supporting arm 24 is hinged with the pipe erecting clamp 3 through the rotating shaft 29; the second supporting arm 24 and the first supporting arm 23 are hinged with the third balance arm 28 through the same rotating shaft; the number of the second balance arms 26 is 1, and two ends of the second balance arms are respectively hinged with the third balance arm 28 and the pipe holding clamp 3 through rotating shafts; the lower end of the stretching arm 27 is hinged with the supporting base 22 through a rotating shaft 29, and the upper end of the stretching arm 27 is hinged with the connecting part of the second supporting arm 24 through the rotating shaft 29; the third balance arm 28 is in a triangular structure, and two sides of the lower end angle are simultaneously connected with the first support arm 23 and the second support arm 24 through the same rotating shaft 29; the right side corner of the upper end is hinged with 2 first balance arms 25, and the left side corner of the upper end is hinged with a second balance arm 26; one end of the driving mechanism 210 is hinged with the supporting base 22 through a rotating shaft 29, and the other end is hinged with the first supporting arm 23 through the rotating shaft 29; actuating mechanism 210 is through the flexible of self, the circumference rotation is done along the pin joint with supporting base 22 to the upper end of direct drive first support arm 23, first support arm 23 is when the circumference rotation is done, circumference rotation is done along the pin joint with supporting base 22 to tensile arm 27 upper end, because of tensile arm 27 upper end is articulated with second support arm 24, under the effect of first support arm 23 and tensile arm 27, second support arm 24 is along doing the circumference rotation with the pin joint of first support arm 23, realize the terminal flexible of second support arm 24, actuating mechanism 210 can use hydraulic cylinder, electric putter (electronic jar), or other mechanical structure that can realize linear motion. The driving mechanism 210 is also internally provided with a displacement sensor for detecting the position of the driving mechanism 210 in real time, so that the reliability and the accuracy of the action of the whole machine in operation are ensured.
Self-lubricating pipe systems are further arranged in the inner spaces of the structures of the first supporting arm 23 and the second supporting arm 24 of the mechanical arm 2, and are connected with lubricating points on each hinge point through the self-lubricating pipe systems, so that automatic lubrication of equipment can be realized. The self-lubricating system is a lubricating pipeline with input and output interfaces and various adapters.
The first supporting arm 23 and the second supporting arm 24 are mainly used for driving the pipe holding clamp 3 connected with the second supporting arm 24 and the second balance arm 26 to move back and forth; the hinge point of the first balance arm 25 and the third balance arm 28, the hinge point of the first support arm 23 and the third balance arm 28, the hinge point of the first balance arm 25 and the support base 22, and the hinge point of the first support arm 23 and the support base 22 form a parallelogram structure, the hinge point of the second balance arm 26 and the third balance arm 28, the hinge point of the second balance arm 26 and the pipe tongs 3, the hinge point of the second support arm 24 and the third balance arm 28, and the hinge point of the second support arm 24 and the pipe tongs 3 form a parallelogram structure, the level of the pipe tongs at any position is guaranteed under the premise of guaranteeing the overall strength of the mechanism, and the pipe tongs have the characteristics of simple structure and high reliability.
The pipe-holding tongs 3 comprise a tong frame 31, a tong head 32, a pipe-holding tong driving mechanism 33, a fixed shaft 34, a tong head connecting piece 35 and a movable connecting piece 36, wherein the upper part of the tong frame 31 is provided with connecting holes hinged with the second supporting arm 24 and the second balance arm 26 of the mechanical arm 2, the lateral rear part of the tong frame 31 is hinged with the tong head 32 through the fixed shaft 34, and the bottom rear part of the tong frame 31 is hinged with the tail end of the pipe-holding tong driving mechanism 33 through the fixed shaft 34; the binding clip 32 is used in pairs, the tail end of the binding clip is hinged at the side rear part of the binding clip frame 31 through a fixed shaft 34, and the middle part of the binding clip is hinged with a binding clip connecting piece 35 through the fixed shaft 34; the forceps head connecting pieces 35 are of concave structures, the concave closed ends of the forceps head connecting pieces 35 are hinged with the forceps heads 32, the open ends of the two forceps head connecting pieces 35 are arranged oppositely, and the open ends of the two forceps head connecting pieces 35 are hinged with the movable connecting piece 36 through the fixed shaft 34; one end of the movable connecting piece 36 is hinged with the two tong head connecting pieces 35, and the other end is hinged with the front end of the pipe holding tong driving mechanism 33 through the fixed shaft 34; the mobile coupling 36 is used to transmit power to the tong drive mechanism 33.
The top of the clamp frame 31 is reserved with an installation interface for installing a sensor, and various sensors such as a visual sensor and a proximity sensor can be integrated for realizing real-time acquisition of the gripping state of the stand.
The inner side of the binding clip 32 is of a groove structure, and the binding clip connecting piece 35 is positioned in the groove of the inner side of the binding clip 32, so that the pipe holding clamp 3 is compact in overall structure.
And a displacement sensor is arranged in the pipe holding clamp driving mechanism 33 and used for detecting the real-time position of the driving mechanism and then determining whether the clamping is in place.
The working principle of the pipe holding pliers is as follows: the driving mechanism 33 of the pipe holding tongs drives the movable connecting piece 36 to move back and forth through the telescopic motion of the piston rod of the driving mechanism, then the driving tong head connecting piece 35 is driven to make a circular rotation by taking the hinged point of the tong head connecting piece 35 and the movable connecting piece 36 as the circle center, one end of the tong head 32 is connected with the tong head connecting piece 35, the other end of the tong head 32 is connected to the tong holder 31, under the driving of the tong head connecting piece 35, the tong head 32 can make a circular rotation by taking the hinged point of the tong head connecting piece and the tong holder 31 as the circle center, then the opening and closing of the tong head are completed, and the clamping of a stand is completed.
The rotary driving part of the drill floor manipulator according to the embodiment may use a rotary driving structure such as a three-phase asynchronous motor, a reduction motor, a servo motor, or the like, in addition to the hydraulic motor; the opening and closing of the pipe holding pliers can be realized by linear reciprocating mechanisms such as an electric push rod, an air cylinder and the like besides a hydraulic oil cylinder; the stretching of the mechanical arm can be realized by adopting a linear reciprocating mechanism or a rotary driving mechanism such as an electric push rod, a cylinder, a rotating motor, a hydraulic walking motor and the like besides a hydraulic oil cylinder.
The operating principle of the drill floor surface manipulator related to this embodiment is:
(1) automatically discharging the stumps from the rat hole into the stump box
a. Grabbing the stand:
the specification of a stand or a drill collar to be transmitted needs to be confirmed in advance before operation;
self-checking the pipe holding tongs 3, determining that the driving mechanism of the pipe holding tongs 3 is in a retracting state, and keeping the tong head 32 in a maximum opening state;
the tail end of the rotary driving mechanism 17 rotates to drive the mechanical arm 2 to integrally rotate, so that the grabbing center of the pipe holding clamp 3 is opposite to the center of the rat hole;
the piston rod of the mechanical arm driving mechanism 210 extends out to drive the first supporting arm 23 and the second supporting arm 24 to do forward circumferential rotation along respective hinge points, and then drive the pipe holding forceps 3 to move forward until the grabbing center of the forceps head 32 of the pipe holding forceps 3 is superposed with the center of the stump in the rat hole; then a pipe-holding tong driving mechanism 33 of the pipe-holding tong 3 extends out to drive the tong head 32 to close until the stand does not fall out of the holding tong in the moving process;
b. arranging the stand into a stand box:
a sensor in the driving mechanism 33 detects that the pipe holding clamp 3 is clamped completely, the rotary driving mechanism 17 rotates to drive the mechanical arm 2 to rotate until the center of the stand and the center of the position to be placed form a horizontal line, and then the stand is stopped, and at the moment, the stand leaves from the rat hole; when the pipe supporting pliers rotate, the piston rod of the mechanical arm driving mechanism 210 moves to drive the first supporting arm 23 and the second supporting arm 24 to move, and the pipe supporting pliers 3 is driven to move forwards and backwards along the shortest moving path in a translation mode until the center of the stand is coincident with the center of the placing position;
c. the mechanical arm is retracted:
after the stump is discharged into the stump box, the pipe-holding forceps driving mechanism 33 acts, the piston rod retracts, and the forceps head 32 is driven to be completely opened; the piston rod of the mechanical arm driving mechanism 210 is retracted to drive the first supporting arm 23 and the second supporting arm 24 to move backwards, then the pipe supporting tongs 3 are retracted, after the driving mechanism 210 is completely retracted, the rotary motor of the rotary driving mechanism 17 acts to drive the rotary gear 172 to rotate, then the mechanical arm 2 is driven to rotate, and the equipment is stopped to a preset stop position.
(2) Automatically supporting the stand from the stand box to the wellhead:
before operation, the specifications of the stand or the drill collar to be transferred need to be confirmed.
a. Grabbing vertical root
The pipe holding tongs are self-checked, the pipe holding tongs driving mechanism 33 is ensured to be in a retracting state, and the tong head is kept in a maximum opening state;
the rotary driving mechanism 17 rotates a rotary motor 171 to drive a rotary gear 172 to rotate, and then drives the mechanical arm 2 to rotate until the grabbing center of the pipe holding tongs 3 and the center of a stand to be grabbed are in a straight line; the piston rod of the driving mechanism 210 of the mechanical arm 2 extends out to drive the first supporting arm 23 and the second supporting arm 24 of the mechanical arm to rotate forwards along the hinge point in a circumferential manner, and drive the pipe holding clamp 3 to extend forwards until the position of the stand is reached, namely the pipe holding clamp 3 stops when the grabbing center coincides with the center of the stand to be grabbed; at the moment, the piston rod of the pipe holding clamp driving mechanism 33 is pushed out until the clamp head sensor detects that the stand is clamped;
b. sending the stand into a wellhead:
the piston rod of the mechanical arm driving mechanism 210 retracts to drive the first supporting arm 23 and the second supporting arm 24 to rotate backwards along the respective hinge points, and the pipe-supporting tongs 3 support the stand to move backwards; when the stand center reaches the arc which takes the rotation center of the drill floor manipulator as the center of a circle and the distance from the center of the circle to the wellhead as the radius, the rotary motor 171 of the rotary driving mechanism 17 is started to drive the rotary gear 172 to rotate, and then the mechanical arm 2 is driven to rotate until the stand center is just opposite to the wellhead center.
c. The mechanical arm is retracted:
after the stand is in place, the piston rod of the pipe-supporting tongs driving mechanism 33 is retracted to drive the tong head 32 to be opened to the maximum position; the mechanical arm 2 drives the mechanism 210 to act, the piston rod retracts, the first supporting arm 23 and the second supporting arm 24 are driven to rotate backwards in a circumferential mode along a hinged point, and then the pipe holding forceps 3 are driven to move backwards until a set stop position is reached; and (5) transferring the stand from the stand box to the wellhead to finish the action process.
Claims (9)
1. A drill floor manipulator is characterized in that a main body structure comprises a driving base, a mechanical arm and a pipe holding clamp, wherein the driving base is fixedly arranged on a drill floor through a bottom fixing lug and plays a role in supporting and fixing the whole system; the mechanical arm is fixed with a rotating device on the driving base through a rotary base at the bottom; the tail end of the mechanical arm is hinged with the pipe holding pliers; the mechanical arm comprises a rotary base, a support base, a first support arm, a second support arm, a first balance arm, a second balance arm, a stretching arm, a third balance arm, a rotating shaft and a driving mechanism; the bottom of the rotary base is hinged with a rotary device of the driving base through mounting holes on flanges of the rotary base and the rotary device, and the rotary device can rotate along with the rotation of the rotary device; the supporting base is fixedly connected to the top end of the rotary base, and the supporting base is of a hollow structure; the support base is connected with the third balance arm through the first support arm and the first balance arm; the third supporting arm is connected with the pipe holding tongs through a second supporting arm and a second balance arm; the lower end of the stretching arm is hinged with the supporting base through a rotating shaft, and the upper end of the stretching arm is hinged with the connecting part of the second supporting arm through a rotating shaft; one end of the driving mechanism is hinged to the supporting base through a rotating shaft, and the other end of the driving mechanism is hinged to the first supporting arm through a rotating shaft.
2. The drill floor manipulator according to claim 1, wherein the structure of the drive base comprises a frame, an access door, a decorative cover plate, a rotary device, a drive mechanism mounting seat, a protective cover and a rotary drive mechanism, the frame is a square frame structure, and the bottom of the frame is provided with a fixing lug for fixing the drive base on the drill floor; the access door is distributed on the peripheral side surface of the frame, and the access door is hinged with the decorative cover plate and can rotate along a hinged point; the decorative cover plate covers the surface of the frame and is used for covering the exposed part of the frame and is hinged with the access door; the rotating device is fixedly arranged at the front part of the top end of the frame, the top end of the rotating device is contacted with the bottom of the rotating base of the mechanical arm and hinged together, and a circle of gear teeth are arranged on the outer ring of the bottom of the rotating device and are directly meshed with a rotating gear of the rotating driving mechanism; the driving mechanism mounting seat is fixedly mounted at the rear part of the top end of the frame and used for mounting and fixing a rotary motor of the rotary driving mechanism; the protective cover is fixedly arranged above the frame and comprises a supporting frame, a second access door, a third access door and a cover plate, wherein the supporting frame is fixedly connected with the frame; the second access door and the third access door are hinged with the support frame and can rotate along the hinged point; the rotary driving mechanism comprises a rotary motor, a rotary gear and a rotary sensor, wherein the rotary motor is directly and fixedly arranged on a corresponding mounting position of the driving mechanism mounting seat; the rotary gear is hinged on an output shaft of the rotary motor, is meshed with gear teeth on the rotary device and is used for transmitting the power of the rotary motor; the rotary sensor is connected with an output shaft of the rotary motor and used for detecting the rotation speed of the mechanical arm in real time.
3. The drill floor manipulator according to claim 1, wherein the pipe holding tongs comprise a tong frame, a tong head, a pipe holding tong driving mechanism, a tong head connecting piece and a movable connecting piece, a connecting hole hinged with the mechanical arm is formed in the upper portion of the tong frame, the lateral rear portion of the tong frame is hinged with the tong head through a fixed shaft, and the bottom rear portion of the tong frame is hinged with the tail end of the pipe holding tong driving mechanism through the fixed shaft; the binding clip is used in pairs, the tail end of the binding clip is hinged at the rear side of the binding clip through a fixed shaft, and the middle part of the binding clip is hinged with the binding clip connecting piece through the fixed shaft; the tong head connecting pieces are of concave structures, the concave closed ends of the tong head connecting pieces are hinged with the tong heads, the open ends of the two tong head connecting pieces are arranged oppositely, and the open ends of the two tong head connecting pieces are hinged with the movable connecting piece through a fixed shaft; one end of the movable connecting piece is hinged with the two tong head connecting pieces, and the other end of the movable connecting piece is hinged with the front end of the pipe holding tong driving mechanism through a fixed shaft; the movable connecting piece is used for transmitting the power of the pipe tongs driving mechanism.
4. The drill floor manipulator according to claim 3, wherein the inner side of the binding clip is a groove structure, and the binding clip connecting piece is located in the groove of the inner side of the binding clip, so that the overall structure of the pipe holding clamp is compact.
5. The drill floor manipulator according to claim 3, wherein the pipe tongs drive mechanism is provided with a displacement sensor inside for detecting the real-time position of the drive mechanism and then determining whether the gripping is in place.
6. The drill floor manipulator according to claim 1, wherein 2 first support arms are respectively located at two sides of the support base, the lower ends of the 2 first support arms are respectively hinged with the support base through a rotating shaft, and the upper ends of the 2 first support arms are respectively hinged with the third balance arm and the second support arm through rotating shafts; the number of the first balance arms is 2, the first balance arms are respectively positioned at two sides in the support base, the lower ends of the 2 first balance arms are respectively hinged with the support base through a rotating shaft, and the upper ends of the 2 first balance arms are respectively hinged with the third balance arm through a rotating shaft; 2 second supporting arms are provided, one end of each second supporting arm is hinged with the first supporting arm and the third balance arm through a rotating shaft, and the other end of each second supporting arm is hinged with the pipe holding clamp through a rotating shaft; the second supporting arm and the first supporting arm are hinged with the third balance arm through the same rotating shaft; the number of the second balance arms is 1, and two ends of the second balance arms are respectively hinged with the third balance arm and the pipe holding forceps through rotating shafts; the third balance arm is of a triangular structure, and two sides of a lower end angle are simultaneously connected with the first support arm and the second support arm through the same rotating shaft; the right side angle of the upper end is hinged with the 2 first balance arms, and the left side angle of the upper end is hinged with the second balance arm; the driving mechanism directly drives the upper end of the first supporting arm to rotate circumferentially along a hinge point with the supporting base through self expansion and contraction, the upper end of the stretching arm rotates circumferentially along the hinge point with the supporting base while the first supporting arm rotates circumferentially, and the upper end of the stretching arm is hinged with the second supporting arm, so that the second supporting arm rotates circumferentially along the hinge point with the first supporting arm under the action of the first supporting arm and the stretching arm, and the tail end of the second supporting arm is expanded and contracted; and a displacement sensor is also arranged in the driving mechanism and used for detecting the position of the driving mechanism in real time, so that the reliability and the accuracy of the action of the whole machine in operation are ensured.
7. The drill floor manipulator according to claim 2, wherein safety sensors are arranged in the access doors and in the second and third access doors of the protective cover, and are used for detecting whether the access doors are opened or not during operation of the equipment, and once any access door is detected to be opened, the equipment stops operating and gives an audible and visual alarm until danger is relieved.
8. The drill floor manipulator according to claim 2, wherein a rotary sensor is provided in the rotary device for detecting whether the manipulator is moved in place.
9. The drill floor manipulator according to claim 1, characterized in that self-lubricating pipe systems are further arranged in the inner spaces of the first and second support arm structures of the manipulator, and are connected with lubricating points on the respective hinge points through the self-lubricating pipe systems, so that automatic lubrication of the equipment is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210561173.5A CN114833865A (en) | 2022-05-23 | 2022-05-23 | Drill floor surface manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210561173.5A CN114833865A (en) | 2022-05-23 | 2022-05-23 | Drill floor surface manipulator |
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| CN114833865A true CN114833865A (en) | 2022-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210561173.5A Pending CN114833865A (en) | 2022-05-23 | 2022-05-23 | Drill floor surface manipulator |
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| CN116872169A (en) * | 2023-09-05 | 2023-10-13 | 山东宇腾智能科技有限公司 | Automatic pipe column discharging manipulator device |
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Country or region after: China Address after: 266000 15th floor, 22nd century building, 39 Longcheng Road, Shibei District, Qingdao City, Shandong Province Applicant after: Yingtelifu (Qingdao) Marine Equipment Technology Co.,Ltd. Address before: 266000 15th floor, 22nd century building, 39 Longcheng Road, Shibei District, Qingdao City, Shandong Province Applicant before: QINGDAO TAIZHONG ENERGY TECHNOLOGY Co.,Ltd. Country or region before: China |