CN202348161U - Manipulator for assembling and disassembling drill stem of myriameter well drill - Google Patents

Manipulator for assembling and disassembling drill stem of myriameter well drill Download PDF

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Publication number
CN202348161U
CN202348161U CN2011204817136U CN201120481713U CN202348161U CN 202348161 U CN202348161 U CN 202348161U CN 2011204817136 U CN2011204817136 U CN 2011204817136U CN 201120481713 U CN201120481713 U CN 201120481713U CN 202348161 U CN202348161 U CN 202348161U
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CN
China
Prior art keywords
connecting rods
hinged
end
hydraulic cylinders
outside
Prior art date
Application number
CN2011204817136U
Other languages
Chinese (zh)
Inventor
王继新
宋嗣新
孙友宏
王清岩
高科
Original Assignee
吉林大学
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Application filed by 吉林大学 filed Critical 吉林大学
Priority to CN2011204817136U priority Critical patent/CN202348161U/en
Application granted granted Critical
Publication of CN202348161U publication Critical patent/CN202348161U/en

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Abstract

The utility model discloses a manipulator for assembling and disassembling a drill stem of a myriameter well drill. The manipulator consists of a base, four sections of connecting rods which are hinged with each other, a suspension girder, two mechanical hand grips, a pipe carrier mechanism and three groups of hydraulic cylinders, wherein the three groups of hydraulic cylinders are hinged between the base and the connecting rods and between the connecting rods; the suspension girder is fixed between the two connecting rods on the fourth section; the two mechanical hand grips are arranged at the bottom of the suspension girder and are arranged in tandem; the pipe carrier mechanism is arranged on the outer side of the front end of the suspension girder and consists of a fixed suspension arm, a hydraulic cylinder, a stand arm, a rotating arm and a riding wheel; after the hydraulic cylinder of the pipe carrier mechanism retracts, the riding wheel is driven to overturn outwards to the outer side by the hydraulic cylinder; and after the hydraulic cylinder extends, the riding wheel is driven to overturn inwards to be below the suspension girder by the hydraulic cylinder, so that the riding wheel can be supported on the bottom surface of the drill stem. By the manipulator, the drill stem can be conveyed to a well platform in a mode that the drill stem is perpendicular to the ground and also can be conveyed to the well platform in an inclined mode, and the manipulator also can be operated reversely to disassemble the drill stem.

Description

Myriametre trepan drilling rod assembling and disassembling manipulator

Technical field

The utility model relates to a kind of oil-well drilling equipment, particularly a kind of myriametre trepan drilling rod assembling and disassembling manipulator.

Background technology

The patent No. is that the utility model patent of ZL200820123890.5 discloses " a kind of power cat road " and the patent No. a kind of for the ZL200920033104.7 utility model patent discloses " wire rope draws high churn power cat road "; The mode basically identical that transports drilling rod of the technical scheme of above-mentioned two patents; All have following shortcoming: 1, complex structure, cost is high; 2, can only tilt to serve raised platform around a well to drilling rod; 3, bulky, transportation and commentaries on classics station are inconvenient; The very flexible of 4 structures, debug difficulties.

Summary of the invention

The purpose of the utility model is in order to solve the problem that above-mentioned big degree of depth trepan exists, and a kind of myriametre trepan drilling rod assembling and disassembling manipulator is provided.

The utility model is made up of base, two first connecting rods, two second connecting rods, two third connecting rods, overarm, two mechanical handgrips, conduit saddle mechanism, two first hydraulic cylinders, two second hydraulic cylinders and two the 3rd hydraulic cylinders; The lower end of two first connecting rods is hinged on the left and right sides of base; The lower end of two second connecting rods is hinged on inboard, two first connecting rod upper ends with axostylus axostyle, and the lower end of two third connecting rods is hinged on inboard, two second connecting rods upper ends with axostylus axostyle, the forward fixing overarm in the inboard, upper end of two third connecting rods; The bottom of overarm is provided with two mechanical handgrips; Arrange before and after two mechanical handgrips are that the front end outside of two third connecting rods is fixed with hinge, an end of two first hydraulic cylinders is hinged on the left and right sides of base respectively; The other end of two first hydraulic cylinders is hinged on the middle part, the outside of two first connecting rods respectively; One end of two second hydraulic cylinders is hinged on the epimere outside of two first connecting rods respectively, and the other end of two second hydraulic cylinders is hinged on the middle part, the outside of two second connecting rods respectively, and an end of two the 3rd hydraulic cylinders is hinged on the middle part, the outside of two second connecting rods respectively; The other end of two the 3rd hydraulic cylinders is hinged on respectively on the hinge in the front end outside of two third connecting rods; Conduit saddle mechanism is arranged on the overarm front end outside, and conduit saddle mechanism is made up of cantilever mounted, hydraulic cylinder, upright arm, cursor and support roller, and the cantilever mounted crosswise fixed is in the overarm front end outside; Upright arm vertically is fixed on outside the overarm front end and to extending below; The upper end of cursor is hinged on the lower end of upright arm, and two ends of hydraulic cylinder are hinged on the outer end of cantilever mounted and the lower end of cursor respectively, and support roller is positioned at the below of overarm; Support roller is articulated in the rotating shaft, and an end of rotating shaft is fixed on the lower end of cursor.

The beneficial effect of the utility model:

1, have only simple four joint connecting rods to form, simple in structure, cost is low.

2, the similar people's of this structure arm, motion are flexibly.

3, can not only deliver to drilling rod on the raised platform around a well with the mode of vertical ground, and can serve raised platform around a well to drilling rod at a slant, so practicality is wide.

4, because simple in structure, transportation and commentaries on classics station are convenient.

5, because four joint connecting rods are controlled separately by different oil cylinders respectively, therefore motion accurately, can realize the conveying and the dismounting of any position of drilling rod flexibly.

Description of drawings

Fig. 1 is the schematic perspective view of the utility model embodiment.

Fig. 2 is the three-dimensional enlarged diagram of the conduit saddle mechanism of the utility model embodiment.

Fig. 3 is another visual angle schematic perspective view of the utility model embodiment.

Fig. 4 is the three-dimensional enlarged diagram in another visual angle of conduit saddle mechanism of the utility model embodiment.

Fig. 5 is the schematic side view of the utility model embodiment.

Fig. 6 looks sketch map for the right side of Fig. 5.

The specific embodiment

See also Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and shown in Figure 6; The utility model is made up of the mechanical handgrip of 5, two of base 1, two first connecting rods 2, two second connecting rods 3, two third connecting rods 4, overarms 6, conduit saddle mechanism 7, two first hydraulic cylinders 8, two second hydraulic cylinders 9 and two the 3rd hydraulic cylinders 10; The lower end of two first connecting rods 2 is hinged on the left and right sides of base 1, and the lower end of two second connecting rods 3 is hinged on inboard, two first connecting rod 2 upper ends with axostylus axostyle 31, and the lower end of two third connecting rods 4 is hinged on inboard, two second connecting rod 3 upper ends with axostylus axostyle 41; The forward fixing overarm 5 in the inboard, upper end of two third connecting rods 4; The bottom of overarm 5 is provided with 6, two mechanical handgrips 6 of two mechanical handgrips and is the front and back layout, and the front end outside of two third connecting rods 4 is fixed with hinge 42; One end of two first hydraulic cylinders 8 is hinged on the left and right sides of base 1 respectively; The other end of two first hydraulic cylinders 8 is hinged on the middle part, the outside of two first connecting rods 2 respectively, and an end of two second hydraulic cylinders 9 is hinged on the epimere outside of two first connecting rods 2 respectively, and the other end of two second hydraulic cylinders 9 is hinged on the middle part, the outside of two second connecting rods 3 respectively; One end of two the 3rd hydraulic cylinders 10 is hinged on the middle part, the outside of two second connecting rods 3 respectively; The other end of two the 3rd hydraulic cylinders 10 is hinged on respectively on the hinge 42 in the front end outside of two third connecting rods 4, and conduit saddle mechanism 7 is arranged on the overarm 5 front ends outside, cooperates Fig. 2 and shown in Figure 4; Conduit saddle mechanism 7 is made up of cantilever mounted 71, hydraulic cylinder 72, upright arm 73, cursor 74 and support roller 75; Cantilever mounted 71 crosswise fixed are in the overarm 5 front ends outside, and upright arm 73 vertically is fixed on the overarm 5 front ends outside and to extending below, the upper end of cursor 74 is hinged on the lower end of upright arm 73; Two ends of hydraulic cylinder 72 are hinged on the outer end of cantilever mounted 71 and the lower end of cursor 74 respectively; Support roller 75 is positioned at the below of overarm 5, and support roller 75 is articulated in the rotating shaft 76, and an end of rotating shaft 76 is fixed on the lower end of cursor 74.After hydraulic cylinder 72 shrinks, driving support roller 75 and outwards overturn, is that support roller 75 is positioned at the outside; After hydraulic cylinder 72 stretches, drive support roller 75 and inwardly overturn, make support roller 75 be positioned at overarm 5 belows, can hold in the palm in drilling rod 11 bottom surfaces.

The course of work of the utility model is:

1, lifting drilling rod: control 8 work of first hydraulic cylinder, first connecting rod 2 is risen or landing; Control 9 work of second hydraulic cylinder, second connecting rod 3 is risen, and then drive the device rise of second connecting rod 3, or second connecting rod 3 and first connecting rod 2 are amounted to together, and then drive the device landing of second connecting rod 3 together with front end together with front end; Control first hydraulic cylinder 8 and 9 work of second hydraulic cylinder simultaneously, can make whole rise of the utility model or landing, overarm 5 and top mechanical handgrip 6 thereof are dropped on the ground with conduit saddle mechanism 7; Control the 3rd hydraulic cylinder 10 again, make overarm 5 and top mechanical handgrip 6 thereof parallel, by two mechanical handgrips 6 extracting drilling rods 11 with drilling rod 11; After grabbing drilling rod 11, control first hydraulic cylinder 8 and second hydraulic cylinder 9 simultaneously, drilling rod 11 is given rise on the offshore boring island 12; In the time of lifting, the hydraulic cylinder 72 of conduit saddle mechanism 7 is worked, and the support roller 75 that is positioned at the outside is at ordinary times placed the below of drilling rod 11; Lift drilling rod 11, control the 3rd hydraulic cylinder 10 simultaneously, drilling rod 11 is tilted on the offshore boring island 12; After drilling rod 11 puts in place, unclamp two mechanical handgrips 6, drilling rod 11 is connected on the drilling rod under the lifting of support roller 75.

2, dismounting drilling rod: get final product with lifting drilling rod 11 process reverse operatings.

Claims (1)

1. a myriametre trepan drilling rod assembling and disassembling manipulator includes base (1), two first connecting rods (2), two second connecting rods (3), two first hydraulic cylinders (8), two second hydraulic cylinders (9), it is characterized in that:
Also include two third connecting rods (4), overarm (5), two mechanical handgrips (6), conduit saddle mechanism (7) and two the 3rd hydraulic cylinders (10);
The lower end of described two first connecting rods (2) is hinged on the left and right sides of base (1);
The lower end of described two second connecting rods (3) is hinged on inboard, two first connecting rods (2) upper end with axostylus axostyle (31);
The lower end of described two third connecting rods (4) is hinged on inboard, two second connecting rods (3) upper end with axostylus axostyle (41); The inboard, upper end of two third connecting rods (4) is fixing overarm (5) forward; The bottom of overarm (5) is provided with two mechanical handgrips (6), arranges before and after two mechanical handgrips (6) are;
The front end outside of described two third connecting rods (4) is fixed with hinge (42);
One end of described two first hydraulic cylinders (8) is hinged on the left and right sides of base (1) respectively, and the other end of two first hydraulic cylinders (8) is hinged on the middle part, the outside of two first connecting rods (2) respectively;
One end of described two second hydraulic cylinders (9) is hinged on the epimere outside of two first connecting rods (2) respectively, and the other end of two second hydraulic cylinders (9) is hinged on the middle part, the outside of two second connecting rods (3) respectively;
One end of described two the 3rd hydraulic cylinders (10) is hinged on the middle part, the outside of two second connecting rods (3) respectively, and the other end of two the 3rd hydraulic cylinders (10) is hinged on respectively on the hinge (42) in the front end outside of two third connecting rods (4);
Described conduit saddle mechanism (7) is arranged on overarm (5) the front end outside; Conduit saddle mechanism (7) is made up of cantilever mounted (71), hydraulic cylinder (72), upright arm (73), cursor (74) and support roller (75); Cantilever mounted (71) crosswise fixed is in overarm (5) front end outside, and upright arm (73) vertically is fixed on overarm (5) the front end outside and to extending below, the upper end of cursor (74) is hinged on the lower end of upright arm (73); Two ends of hydraulic cylinder (72) are hinged on the outer end of cantilever mounted (71) and the lower end of cursor (74) respectively; Support roller (75) is positioned at the below of overarm (5), and support roller (75) is articulated in the rotating shaft (76), and an end of rotating shaft (76) is fixed on the lower end of cursor (74).
CN2011204817136U 2011-11-29 2011-11-29 Manipulator for assembling and disassembling drill stem of myriameter well drill CN202348161U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011204817136U CN202348161U (en) 2011-11-29 2011-11-29 Manipulator for assembling and disassembling drill stem of myriameter well drill

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011204817136U CN202348161U (en) 2011-11-29 2011-11-29 Manipulator for assembling and disassembling drill stem of myriameter well drill

Publications (1)

Publication Number Publication Date
CN202348161U true CN202348161U (en) 2012-07-25

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102434117A (en) * 2011-11-28 2012-05-02 吉林大学 Drill rod assembling and disassembling mechanical arm of myriameter well drill
CN103806851A (en) * 2014-03-17 2014-05-21 东营市松佳工贸有限公司 Operation robot for drilling platform
CN103835671A (en) * 2014-03-31 2014-06-04 石家庄市亿通京工机械制造有限公司 Drilling machine with automatic drill stem disassembling device
CN106493676A (en) * 2016-12-31 2017-03-15 湖南海捷精密工业有限公司 A kind of device for dismantling machine tool element
CN107246246A (en) * 2017-07-26 2017-10-13 中海石油(中国)有限公司 A kind of drilling rod automatic moving shipping unit
CN107378943A (en) * 2017-06-20 2017-11-24 天津市众创锐迪科技有限公司 A kind of intelligence handling robot handling method
CN107905746A (en) * 2017-12-21 2018-04-13 济南芯乐智能设备有限公司 A kind of oil drilling and repairing well removes and puts the well formula robot device of tubing string
CN108406823A (en) * 2018-03-09 2018-08-17 哈尔滨博实自动化股份有限公司 A kind of mechanical paw for Fesi Furnace automatic tapping operation
CN109915048A (en) * 2019-04-02 2019-06-21 长沙探矿机械厂 The handling method and drilling machine of automatic loading and unloading boring rod set, drilling rod

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102434117A (en) * 2011-11-28 2012-05-02 吉林大学 Drill rod assembling and disassembling mechanical arm of myriameter well drill
CN103806851A (en) * 2014-03-17 2014-05-21 东营市松佳工贸有限公司 Operation robot for drilling platform
CN103835671A (en) * 2014-03-31 2014-06-04 石家庄市亿通京工机械制造有限公司 Drilling machine with automatic drill stem disassembling device
CN106493676A (en) * 2016-12-31 2017-03-15 湖南海捷精密工业有限公司 A kind of device for dismantling machine tool element
CN107378943A (en) * 2017-06-20 2017-11-24 天津市众创锐迪科技有限公司 A kind of intelligence handling robot handling method
CN107246246A (en) * 2017-07-26 2017-10-13 中海石油(中国)有限公司 A kind of drilling rod automatic moving shipping unit
CN107246246B (en) * 2017-07-26 2019-04-23 中海石油(中国)有限公司 A kind of drilling rod automatic moving shipping unit
CN107905746A (en) * 2017-12-21 2018-04-13 济南芯乐智能设备有限公司 A kind of oil drilling and repairing well removes and puts the well formula robot device of tubing string
CN107905746B (en) * 2017-12-21 2018-12-11 济南芯乐智能设备有限公司 A kind of petroleum drilling and repairing well removes and puts the well formula robot device of tubing string
CN108406823A (en) * 2018-03-09 2018-08-17 哈尔滨博实自动化股份有限公司 A kind of mechanical paw for Fesi Furnace automatic tapping operation
CN109915048A (en) * 2019-04-02 2019-06-21 长沙探矿机械厂 The handling method and drilling machine of automatic loading and unloading boring rod set, drilling rod

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C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20120725

Effective date of abandoning: 20130710

RGAV Abandon patent right to avoid regrant