CN201385311Y

CN201385311Y - Pipe grabbing manipulator

Info

Publication number: CN201385311Y
Application number: CN200920144637U
Authority: CN
Inventors: 刘世滨; 许爱兵; 冷光明; 张耀明
Original assignee: TSC OFFSHORE CHINA Ltd
Current assignee: Time marine engineering and Petroleum Equipment Research Institute (Qingdao) Co., Ltd.
Priority date: 2009-02-25
Filing date: 2009-02-25
Publication date: 2010-01-20
Anticipated expiration: 2019-02-25

Abstract

The utility model relates to racking pipe equipment for well drilling construction operation, particularly to a pipe grabbing manipulator. The pipe grabbing manipulator comprises a bracket, a lifting trolley, a lifting trolley driving device, and a manipulator device, wherein, the driving device drives the lifting trolley to move up and down along a guide rail, the manipulator device comprises at least a manipulator arm, a pipe grabbing arm, a telescopic cylinder, a telescopic arm and a rotating cylinder, the piston rod end of the telescopic cylinder is fixed with the pipe grabbing arm, a connecting seat is fixedly arranged at the upper part of the telescopic arm, the left end of the connecting seat is hinged with the lifting trolley, the cylinder body of the rotating cylinder is fixed on the lifting trolley, the piston rod end of the rotating cylinder is hinged with the upper part of the connecting seat on the telescopic arm, and the expansion and the contraction of the piston rod of the rotating cylinder drives the telescopic arm to rotate along the hinge joint of the lifting trolley and changes the vertical state of the telescopic arm into horizontal state. In the utility model, a drill rod in horizontal state can be changed into vertical state only by the pipe grabbing manipulator, and the connecting auxiliary operation of the drill rod can also be fulfilled. Therefore, the utility model has the advantages of greatly improved availability, space conservation, and simplified equipment operation.

Description

Grab pipe machine tool hand

Technical field

The utility model relates to a kind of comb equipment of wellbore construction operation, particularly relates to a kind of grab pipe machine tool hand that is used for comb.

Background technology

In the wellbore construction operation process, drilling rod butt joint is important comb operation wherein, and each comb quantity is three, needs twice of butt joint.At present, the general butt joint of adopting the rat hole device to finish drilling rod, but, existing product needs the vertical manipulator of usage level and erects the manipulator cooperation and finish, after first drilling rod and second drilling rod connect, the vertical manipulator of level will leave drilling rod, drilling rod is mentioned and be placed on by the setting manipulator then and deposit a little temporarily, the 3rd drilling rod put into erect manipulator behind the rat hole and mention the back again and be connected etc. the vertical manipulator of level with two drilling rods, production efficiency is low, the control trouble, two complete equipments must be used, complex operation.

The utility model content

Technical problem to be solved in the utility model is that manipulator efficient is low in the butt joint of solution drilling rod, control trouble, the problem of complex operation.

In order to solve the problems of the technologies described above, the technical scheme that the utility model adopted provides a kind of grab pipe machine tool hand, comprises support, lift cart, lift cart drive unit and robot device, and described support is provided with vertical guide rail; Described lift cart is slidingly arranged on the described guide rail; Described lift cart drive unit drives lift cart and moves up and down along guide rail; Described robot device comprises at least one mechanical arm, grab pipe arm, telescoping cylinder, telescopic arm and rotating cylinder, and described mechanical arm is used for the clamping drilling rod, be separately fixed at grab on the pipe arm and grasp opening downward; The tailpiece of the piston rod of described telescoping cylinder is fixed with the upper surface of grabbing the pipe arm, be fixed with on the upper left-hand face of described telescopic arm one with the Connection Block of this lateral vertical, the left end of this connecting plate and the lower hinge of lift cart, the cylinder body of telescoping cylinder is fixed on the telescopic arm, and the flexible drive of telescopic arm piston rod is grabbed the pipe arm and moved up and down; The cylinder body of described rotating cylinder is fixed on the lift cart, the upper articulation of the Connection Block on tailpiece of the piston rod and the telescopic arm, and the flexible drive telescopic arm of rotating cylinder piston rod becomes level around the pin joint rotation of its lift cart and by vertical state.

In the such scheme, described mechanical arm is two, is separately fixed at the two ends, the left and right sides of grabbing the pipe arm.

The utility model is at first picked up the level drilling rod by grab pipe machine tool hand arm, and lift cart rises, rotating cylinder stretches out, and drilling rod is become vertically by level, and lift cart descends then, drilling rod is put into rat hole, continue repetitive operation, three drilling rods are linked to be one.Because the utility model if by equipment of grab pipe machine tool hand just can finish drilling rod from level to vertical state, and finish the connection back work of drilling rod, therefore, utilization rate of equipment and installations improves greatly, saving space, simplifying operation of equipment.

Description of drawings

Fig. 1 is the structural representation of the utility model grab pipe machine tool hand;

Fig. 2 is that grab pipe machine tool hand A among Fig. 1 is to view.

The specific embodiment

Below in conjunction with accompanying drawing the utility model is made detailed explanation.

As shown in Figure 1 and Figure 2, the utility model comprises support 20, lift cart 1, lift cart drive unit and robot device, and described support 20 is provided with vertical guide rail 8; Lift cart 1 is slidingly arranged on the described guide rail 8.The lift cart drive unit comprises winch 9, pulley 7 and steel wire rope, and winch is fixed on the bottom of support 20, and it is fixing with winch 7 and lift cart 1 respectively that steel wire rope is walked around pulley 7, and winch 9 drives lift cart 1 and moves up and down along guide rail 8.

Described robot device comprises two mechanical arms 6, grabs pipe arm 5, telescoping cylinder 4, telescopic arm 3 and rotating cylinder 2, and it is downward that described mechanical arm 6 is separately fixed at the two ends, the left and right sides and the grasp opening of grabbing pipe arm 5, is used for clamping drilling rod 40; The tailpiece of the piston rod of described telescoping cylinder 4 is fixed with the upper surface of grabbing pipe arm 5, be fixed with on the upper left-hand face of described telescopic arm 3 one with the Connection Block of this lateral vertical, the lower hinge of the left end of this Connection Block and lift cart 1, the cylinder body of telescoping cylinder 4 is fixed on the telescopic arm 3, and the flexible drive of telescopic arm 3 piston rods is grabbed pipe arm 5 and moved up and down; The cylinder body of described rotating cylinder 2 is fixed on the lift cart 1, the upper articulation of the Connection Block on tailpiece of the piston rod and the telescopic arm 5, and the flexible drive telescopic arm 3 of rotating cylinder 2 piston rods becomes level around the pin joint rotation of its lift cart 1 and by vertical state.

Be that example illustrates use of the present utility model with the double rat hole below:

A. the mechanical arm 6 of grab pipe machine tool hand is picked up the level drilling rod of being carried by cat road machine 30 40;

B. lift cart 1 rises, rise to certain altitude after, rotating cylinder 2 stretches out, and drilling rod 40 is become vertically by level;

C. lift cart 1 descends, and drilling rod 40 is put into first rat hole;

D. grab pipe machine tool hand returns to pick up second drilling rod, becomes vertical back and descends, and puts into second rat hole;

E. grab pipe machine tool hand is grabbed the 3rd drilling rod, becomes vertical back and descends, and docks with second drilling rod, picks up after connecting;

F. telescoping cylinder 2 stretches out, and drilling rod is put into first rat hole, and three drilling rods are linked to be one.

The utility model is not limited to above-mentioned preferred forms, and anyone should learn the structural change of making under enlightenment of the present utility model, every with the utlity model has identical or close technical scheme, all fall within the protection domain of the present utility model.

Claims

1, grab pipe machine tool hand comprises:

Support which is provided with vertical guide rail;

Lift cart is slidingly arranged on the described guide rail;

The lift cart drive unit drives lift cart and moves up and down along guide rail;

It is characterized in that also comprising:

At least one mechanical arm is used for the clamping drilling rod;

Grab the pipe arm, described mechanical arm be separately fixed at grab the pipe arm on and grasp opening downward;

Telescoping cylinder, its tailpiece of the piston rod is fixed with the upper surface of grabbing the pipe arm;

Telescopic arm, be fixed with on its upper left-hand face one with the Connection Block of this lateral vertical, the left end of this Connection Block and the lower hinge of lift cart, the cylinder body of described telescoping cylinder is fixed on the telescopic arm, the flexible drive of telescopic arm piston rod is grabbed and is managed the arm telescopic moving;

Rotating cylinder, its cylinder body is fixed on the lift cart, the upper articulation of the Connection Block on tailpiece of the piston rod and the telescopic arm, the flexible drive telescopic arm of rotating cylinder piston rod becomes level around the pin joint rotation of its lift cart and by vertical state.

2, grab pipe machine tool hand as claimed in claim 1 is characterized in that described mechanical arm is two, is separately fixed at the two ends, the left and right sides of grabbing the pipe arm.