CN201963225U - Walking rotation device - Google Patents
Walking rotation device Download PDFInfo
- Publication number
- CN201963225U CN201963225U CN2010206959527U CN201020695952U CN201963225U CN 201963225 U CN201963225 U CN 201963225U CN 2010206959527 U CN2010206959527 U CN 2010206959527U CN 201020695952 U CN201020695952 U CN 201020695952U CN 201963225 U CN201963225 U CN 201963225U
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- China
- Prior art keywords
- lower block
- upper pulley
- reductor
- support mechanism
- sensor
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- Expired - Lifetime
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Abstract
The utility model discloses a walking rotation device, which belongs to the field of discharge equipment of a drill rod of a petroleum drilling machine. Through the walking rotation device, discharge pipe equipment can move in two freedom degrees of the horizontal freedom degree and the rotating freedom degree, i.e. the discharge pipe equipment can automatically forwards and backwards walk along parallel guide rails and can automatically leftwards and rightwards rotate around a self axis, the moving range of a robot is wide, the process is stable, and the safety is high.
Description
Technical field
The utility model relates to oil-well rig pipe racking apparatus field, particularly a kind of walking whirligig that is used for the heavily loaded robot of land rig and marine drilling platform.
Background technology
Traditional oil drilling mode of operation needs the staff directly to contact with drilling rod.When drilling rod is transplanted on the rig floor from stacking, need manually,, utilize instrument such as lockset to pull on rig floor along the cat road by the wire rope that the puffer on the rig floor is transferred with the drilling rod on the cat road.During mobile drill-pipe stand, need derrick workman on the two-layer platform to stretch out one's hand the well head center and receive thribble on the tourist bus or remove, also need constantly mobile thribble between fingerboard and well head center simultaneously, this is one of work the most dangerous on the rig.
Above-mentioned manually-operated process, operating personnel work, and repeatability is very high, intensity is very big, production efficiency is low and be easy to generate fatigue and then cause security incident.Therefore, the operation of automation drilling rod replaces manually-operated becomes the new development trend of taking off driller's work.In the operating process of automation drilling rod, finish the processing operation that makes a trip with pipe by automatic equipment.
In realizing process of the present utility model, the inventor finds that there is following problem at least in prior art: automatic equipment need move around in positions such as fingerboard and well heads in drilling rod operation element process, thus need to walk automatically, rotation and pinpoint running gear.
The utility model content
The utility model provides a kind of walking whirligig of comb equipment in order to solve the deficiencies in the prior art, makes comb equipment and rotate in two degree of freedom and to move in level.
The technical scheme that its technical problem that solves the utility model adopts is:
A kind of walking whirligig, comprise the lower running whirligig, described lower running whirligig comprises lower block, described lower block is provided with the lower block Slewing Support Mechanism, described lower block Slewing Support Mechanism is provided with first reductor and universal hinging, described first reductor upper end is provided with the revolution hydraulic motor, described lower block Slewing Support Mechanism is connected with comb equipment column lower end by described universal hinging, also be provided with first sensor on the described lower block Slewing Support Mechanism, the afterbody of described lower block also is provided with second reductor, described second reductor upper end is provided with lower block linear drives hydraulic motor, the described second reductor lower end is provided with the lower block pinion and rack, be provided with lower block guiding wheels around the described lower block, described lower block bottom is provided with second sensor, and described second sensor is connected with described lower block pinion and rack.
Described walking whirligig, also comprise top walking whirligig, described top walking whirligig comprises upper pulley, described upper pulley is provided with reductor and upper pulley Slewing Support Mechanism, described upper pulley Slewing Support Mechanism is connected with described comb equipment column body upper end by axle, key, described reductor upper end is provided with upper pulley linear drives hydraulic motor, described reductor lower end is provided with the upper pulley gear ﹠ rack structure, be provided with upper pulley guiding wheels around the described upper pulley, described upper pulley front portion is provided with sensor.
Described second sensor and described sensor are protected against explosion absolute value code sensor.
Described upper pulley is provided with shell.
Described upper pulley Slewing Support Mechanism is coaxial with described lower block Slewing Support Mechanism.
The beneficial effect of the technical scheme that the utility model embodiment provides is: make comb equipment and rotate in two degree of freedom and to move in level, can make comb equipment can be before and after the parallel type guide rail from walking and can be around self axis left and right sides spinning, comb equipment moving range is big, process is steady, safe.
Description of drawings
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, to do one to the accompanying drawing that uses among the embodiment below introduces simply, apparently, below listed accompanying drawing only be embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the top walking rotary device structure schematic diagram that the utility model embodiment provides;
Fig. 2 is the lower running rotary device structure schematic diagram that the utility model embodiment provides;
Fig. 3 is the position view of walking whirligig in comb equipment that the utility model embodiment provides.
In the accompanying drawing, the component list of each label representative is as follows:
1, hydraulic motor is used in revolution, 2, first reductor, 3, the lower block Slewing Support Mechanism, 4, lower block linear drives hydraulic motor, 5, second reductor, 6, the lower block pinion and rack, 7, second sensor, 8, lower block guiding wheels, 9, lower block, 10, first sensor;
11, universal hinging, 12, upper pulley, 13, upper pulley linear drives hydraulic motor, 14, reductor, 15, upper pulley pinion and rack, 16, upper pulley guiding wheels, 17, sensor, 18, upper pulley Slewing Support Mechanism, 19, column, 20, upper rail;
21, lower guideway, 22, top walking whirligig, 24, the lower running whirligig, 25, shell.
The specific embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, the utility model embodiment is described in further detail below in conjunction with accompanying drawing.
Embodiment 1
With reference to Fig. 1, present embodiment provides a kind of walking whirligig of comb equipment, described walking whirligig is the lower running whirligig, and described lower running whirligig comprises lower block 9, revolution hydraulic motor 1, first reductor 2, lower block Slewing Support Mechanism 3, lower block linear drives hydraulic motor 4, second reductor 5, lower block pinion and rack 6, lower block guiding wheels 8, first sensor 10, second sensor 7 and universal hinging 11.Lower block 9 is provided with lower block Slewing Support Mechanism 3, and lower block Slewing Support Mechanism 3 is provided with first reductor 2 and universal hinging 11.First reductor, 2 upper ends are provided with revolution hydraulic motor 1, the lower end of rotary fluid motor 1 is equipped with gear, cooperate with the gear of lower block Slewing Support Mechanism 3 inside, rotatablely moving of walking whirligig realizes 3 motions of first reductor, 2 drive lower block Slewing Support Mechanism by revolution with hydraulic motor 1.With reference to Fig. 3, lower block Slewing Support Mechanism 3 is connected with comb equipment column 19 lower ends by universal hinging 11, also be provided with first sensor 10 on the lower block Slewing Support Mechanism 3, first sensor 10 is an incremental code dish-type sensor, be used for feeding back the position of lower block Slewing Support Mechanism 3, so that control its anglec of rotation.The afterbody of lower block 9 also is provided with second reductor 5, second reductor, 5 upper ends are provided with lower block linear drives hydraulic motor 13, second reductor, 5 lower ends are provided with lower block pinion and rack 6, the gear of lower block pinion and rack 6 is installed in second reductor, 5 lower ends, and tooth bar is installed in the groove on the rail groove sidewall of lower guideway 21.The horizontal movement of lower block 9 makes second reductor 5 drive 6 motions of lower block pinion and rack by the lower block linear drives with hydraulic motor 4 and realizes.Be provided with lower block guiding wheels 8 around the lower block 9, lower block guiding wheels 8 have eight directive wheels in this enforcement, wherein four directive wheels are vertically set on the both sides of lower block 9 front ends and the both sides of rear end, orbital motion along lower railway 21, other four directive wheels are horizontally set on the bottom of lower block 9, rail groove along lower railway 21 moves, with reference to Fig. 3, lower block guiding wheels 8 cooperate lower railway 21 that guide effect is provided, the number of directive wheel is not limited to the utility model in the present embodiment, and the number of directive wheel can be provided with as required.Lower block 9 bottoms are provided with second sensor 7, second sensor 7 is explosion-proof incremental encoder, the code-disc lower end of second sensor 7 connects the gear of lower block pinion and rack 6 by shaft coupling, gear cooperates with the tooth bar of lower block moving gear rackwork 6, and second sensor 7 feeds back the position of lower block 9 by gear.
The walking whirligig that present embodiment provides makes reductor 10 drive lower block Slewing Support Mechanism 3 by revolution with hydraulic motor 1 and rotatablely moves, realized the rotation of comb equipment column.Lower block Slewing Support Mechanism 3 is provided with first sensor 10, can in time feed back the position of Slewing Support Mechanism 3, thereby realizes the accurate control to comb equipment.The walking whirligig makes second reductor 5 drive 6 motions of lower block pinion and racks by the lower block linear drives with motor 4 and realizes, and combines with the parallel type guide rail guide effect is provided by the lower block wheels 8 that lead.Thereby, the comb equipment of the walking whirligig that the use present embodiment provides, can and rotate in two degree of freedom and move in level, can make comb equipment can be before and after the parallel type guide rail from walking and can be around self axis left and right sides spinning, comb equipment moving range is big, process is steady, safe.
Embodiment 2
With reference to Fig. 2 and Fig. 3, in order to make moving that comb equipment column 19 can be more firm, guarantee the safety of operation process, originally being implemented on the basis of embodiment 1 has increased top walking whirligig, is specially:
Described top walking whirligig comprises upper pulley 12, upper pulley Slewing Support Mechanism 18, sensor 17, upper pulley guiding mechanism 16, upper pulley pinion and rack 15, reductor 14 and upper pulley linear drives hydraulic motor 13.Upper pulley 12 is provided with reductor 14 and upper pulley Slewing Support Mechanism 18, and upper pulley Slewing Support Mechanism 18 is connected with comb equipment column body upper end by axle, key.Reductor 14 upper ends are equipped with upper pulley linear drives hydraulic motor 13, reductor 14 lower ends are provided with upper pulley gear ﹠ rack structure 15, the gear of upper pulley gear ﹠ rack structure 15 is located at reductor 14 lower ends, and rack structure is located in the groove on 20 the rail groove sidewall of getting on the right track.The horizontal movement of upper pulley 12 makes reductor 14 drive 15 motions of upper pulley moving gear rackwork by the upper pulley linear drives with hydraulic motor 13 and realizes.Be provided with upper pulley guiding wheels 16 around the upper pulley 12, upper pulley guiding wheels 16 have eight directive wheels in the present embodiment, wherein four are vertically set on upper pulley 12 side walls, along getting on the right track 20 orbital motion, on other four 4 sides that are separately positioned on upper pulley 12 are stupefied, move along the recessed road in 20 the rail groove of getting on the right track, with reference to Fig. 3, upper pulley guiding wheels are upper pulley 12 guiding by cooperating with upper rail 20, and the number of directive wheel can be provided with as required.Upper pulley 12 front portions are provided with sensor 17, the code-disc lower end of sensor 17 connects the gear of upper pulley moving gear rackwork 15 by shaft coupling, sensor 17 is explosion-proof incremental encoder, by the gear that cooperates with upper pulley pinion and rack 15, the position of feeding back upper pulley 12.
In the present embodiment, in order to protect the upper pulley linear drives structures such as hydraulic motor 13 and reductor 14 that are installed on the upper pulley, upper pulley is provided with shell 25.
Upper pulley Slewing Support Mechanism 18 connects with the upper end of comb equipment column 19 by the key that can slide up and down in the present embodiment, lower block Slewing Support Mechanism 3 is connected with the lower end of comb equipment column 19 by universal hinging 11, and upper pulley Slewing Support Mechanism 18 is coaxial with lower block Slewing Support Mechanism 3.
Upper pulley Slewing Support Mechanism 18 and the lower block Slewing Support Mechanism 3 coaxial comb equipment columns 19 that make make comb equipment column be difficult for deflection only with along self axis rotation, and walking process is more steady, and the operation process safety is higher.
The above only is preferred embodiment of the present utility model, and is in order to restriction the utility model, not all within spirit of the present utility model and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (5)
1. walking whirligig, it is characterized in that, comprise the lower running whirligig, described lower running whirligig comprises lower block, described lower block is provided with the lower block Slewing Support Mechanism, described lower block Slewing Support Mechanism is provided with first reductor and universal hinging, described first reductor upper end is provided with the revolution hydraulic motor, described lower block Slewing Support Mechanism is connected with the robot column lower end by described universal hinging, also be provided with first sensor on the described lower block Slewing Support Mechanism, the afterbody of described lower block also is provided with second reductor, described second reductor upper end is provided with lower block linear drives hydraulic motor, the described second reductor lower end is provided with the lower block pinion and rack, be provided with lower block guiding wheels around the described lower block, described lower block bottom is provided with second sensor, and described second sensor is connected with described lower block pinion and rack.
2. walking whirligig according to claim 1, it is characterized in that, also comprise top walking whirligig, described top walking whirligig comprises upper pulley, described upper pulley is provided with reductor and upper pulley Slewing Support Mechanism, described upper pulley Slewing Support Mechanism is by axle, key is connected with described robot column body upper end, described reductor upper end is provided with upper pulley linear drives hydraulic motor, described reductor lower end is provided with the upper pulley gear ﹠ rack structure, be provided with upper pulley guiding wheels around the described upper pulley, described upper pulley front portion is provided with sensor.
3. walking whirligig according to claim 2 is characterized in that, described upper pulley Slewing Support Mechanism is coaxial with described lower block Slewing Support Mechanism.
4. walking whirligig according to claim 2 is characterized in that, described first sensor, described second sensor and described sensor are protected against explosion absolute value code sensor.
5. walking whirligig according to claim 2 is characterized in that described upper pulley is provided with shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206959527U CN201963225U (en) | 2010-12-31 | 2010-12-31 | Walking rotation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206959527U CN201963225U (en) | 2010-12-31 | 2010-12-31 | Walking rotation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201963225U true CN201963225U (en) | 2011-09-07 |
Family
ID=44525760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206959527U Expired - Lifetime CN201963225U (en) | 2010-12-31 | 2010-12-31 | Walking rotation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201963225U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103437724A (en) * | 2013-08-28 | 2013-12-11 | 宝鸡石油机械有限责任公司 | Pipe column supporting device for drilling platform |
-
2010
- 2010-12-31 CN CN2010206959527U patent/CN201963225U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103437724A (en) * | 2013-08-28 | 2013-12-11 | 宝鸡石油机械有限责任公司 | Pipe column supporting device for drilling platform |
| CN103437724B (en) * | 2013-08-28 | 2015-10-28 | 宝鸡石油机械有限责任公司 | A kind of offshore boring island tubing string supporting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20110907 |