CN203022659U - Working robot of drilling platform - Google Patents

Abstract

The utility model discloses a working robot of a drilling platform. A front connecting plate and a rear connecting plate are fixed on a turn table; the tail end of a front support arm is connected with the middle part of the front connecting plate in a hinged manner; the tail end of a rear support arm is connected with the middle part of the rear connecting plate in the hinged manner; the tail end of a swing control rod is connected with the top part of the front connecting plate in the hinged manner; the tail end of a rear horizontal servo connecting rod is connected with the top part of the rear connecting plate in the hinged manner; the tail end of a front arm of the robot, a servo connecting plate, a swing control plate, the front end of the front support arm, and the front end of the rear support arm are connected with the connecting shaft in the hinged manner; the right end of the swing control plate is connected with the front end of the swing control rod in the hinged manner; the right end of the servo connecting plate is connected with the front end of a rear horizontal servo connecting rod in the hinged manner; the left end of the servo connecting plate is connected with the tail end of the front horizontal servo connecting rod in the hinged manner; the front end of the front horizontal servo connecting rod is connected with a manipulator in the hinged manner; the front end of the front arm of the robot is connected with the manipulator in the hinged manner; the front end of a hydraulic cylinder is connected with the front end of the front arm of the robot in the hinged manner; and the tail end of the hydraulic cylinder is connected with the front support arm and the rear support arm in the hinged manner.

Description

The offshore boring island Work robot

Technical field

The utility model belongs to the instrument of the on-the-spot use of oil drilling, is a kind of offshore boring island Work robot.

Background technology

In oilfield drilling, remove drilling rod work, after exactly drilling rod being put forward in the well, the drilling rod segmentation is moved to and arrange frame, when being lowered to drilling rod, drilling rod is moved to well head from arranging frame.Present way is: after rig proposes drilling rod in the well by elevator, dismantle (generally take the length of three drilling rods as one section) from drill pipe coupling position segmentation, by manually the first push-and-pull in drilling rod bottom dismantled being located to the arrangement position place of arranging frame, this job practices wants two to three people to operate usually, due to the impact of the factors such as inertia, the drill pipe wobbling amplitude is larger, the operator wants SC, otherwise drill pipe wobbling can bump, therefore, there is potential safety hazard with the man-driven drilling rod.Because the offshore boring island face often has mud, easily skid again, the operator exists the possibility of potential safety hazard larger very because of difficulty, and the way mechanization degree of this workman's push-and-pull drilling rod displacement is low, and labor strength is large, inefficiency.And the operator is in the bottom of hanging device, and working environment is abnormally dangerous.In the last few years, the plant equipment such as some similar manipulators or mechanical arm also occurred in this field, but be subjected to the restriction of domestic offshore boring island and manufacturing industry level, all well do not used.Although and other industry has ripe mechanical arm, their supporting capacity is low, can not satisfy the requirement of oil drilling industry.

Summary of the invention

The purpose of this utility model is a kind of offshore boring island Work robot of design, adopts mechanization to pass drilling rod, eliminates safe hidden trouble, and increases work efficiency, and reduces labor intensity.

the purpose of this utility model is achieved in that and comprises the manipulator junction plate, front horizontal servo connecting rod, the robot forearm, hydraulic cylinder, servo junction plate, connecting axle, pendulum control junction plate, pendulum control connecting rod, rear horizontal servo connecting rod, the front support arm, the rear support arm, front junction plate, rear junction plate, turntable, pedestal, front junction plate is fixed on the front side of turntable, rear junction plate is fixed on the rear side of turntable, the middle part hinge connection of the tail end of front support arm and front junction plate, the middle part hinge connection of the tail end of rear support arm and rear junction plate, the tail end of pendulum control connecting rod and the top hinge connection of front junction plate, the top hinge connection of the tail end of rear horizontal servo connecting rod and rear junction plate, the tail end of robot forearm is connected with pendulum control junction plate, servo junction plate, pendulum control junction plate, the front end of front support arm, the front end of rear support arm and connecting axle hinge connection, the front support arm, rear support arm and connecting axle and front junction plate, rear junction plate hinge connection is in symmetry status, the right-hand member of pendulum control junction plate and the front end hinge connection of pendulum control connecting rod, the front end hinge connection of the right-hand member of servo junction plate and rear horizontal servo connecting rod, the tail end hinge connection of the left end of servo junction plate and front horizontal servo connecting rod, the middle part hinge connection of the front end of front horizontal servo connecting rod and manipulator junction plate, the tail end hinge connection of the front end of robot forearm and manipulator junction plate, manipulator is arranged on the manipulator junction plate, the front end hinge connection of the front end of hydraulic cylinder and robot forearm, the tail end of hydraulic cylinder and front support arm, the hinge connection of rear support arm.

The beneficial effects of the utility model are: the utility model is arranged on offshore boring island, by manipulator crawl drilling rod, it is passed to the location, arrangement position place of arranging frame, or take out from the arrangement position of arranging frame and pass to well head, the large intensity operation of being undertaken by former two to three people becomes mechanized operation, and automaticity is high, high efficiency, eliminate potential safety hazard, alleviated labor strength, had significant economic benefit and social benefit.

Description of drawings

Accompanying drawing 1 is assembling drawing of the present utility model.

Accompanying drawing 2 is top views of accompanying drawing 1.

Accompanying drawing 3 is structure charts of the manipulator on manipulator junction plate on accompanying drawing 1.

The specific embodiment

Below in conjunction with accompanying drawing, embodiment of the present utility model is described.

as seen from the figure, embodiment of the present utility model comprises manipulator junction plate 1, front horizontal servo connecting rod 2, robot forearm 3, hydraulic cylinder 4, servo junction plate 5, connecting axle 6, pendulum control junction plate 7, pendulum control connecting rod 8, rear horizontal servo connecting rod 9, front support arm 10-1, rear support arm 10-2, front junction plate 11, rear junction plate 12, turntable 13, pedestal 14, front junction plate 11 is fixed on the front side of turntable 13, rear junction plate 12 is fixed on the rear side of turntable 13, the tail end of front support arm 10-1 and the middle part hinge connection of front junction plate 11, the tail end of rear support arm 10-2 and the middle part hinge connection of rear junction plate 12, the tail end of pendulum control connecting rod 8 and the top hinge connection of front junction plate 11, the top hinge connection of the tail end of rear horizontal servo connecting rod 9 and rear junction plate 12, the tail end of robot forearm 3 is connected with pendulum control junction plate 7, servo junction plate 5, pendulum control junction plate 7, the front end of front support arm 10-1, the front end 10-2 of rear support arm and connecting axle 6 hinge connections, front support arm 10-1, rear support arm 10-2 and connecting axle 6 and front junction plate 11, rear junction plate 12 hinge connections are in symmetry status, the right-hand member of pendulum control junction plate 7 and the front end hinge connection of pendulum control connecting rod 8, the front end hinge connection of the right-hand member of servo junction plate 5 and rear horizontal servo connecting rod 9, the tail end hinge connection of the left end of servo junction plate 5 and front horizontal servo connecting rod 2, the middle part hinge connection of the front end of front horizontal servo connecting rod 2 and manipulator junction plate 1, the tail end hinge connection of the front end of robot forearm 3 and manipulator junction plate 1, manipulator is arranged on manipulator junction plate 1, the front end hinge connection of the front end of hydraulic cylinder 4 and robot forearm 3, the tail end of hydraulic cylinder 4 and front support arm 10-1, rear support arm 10-2 hinge connection, the tail end link of hydraulic cylinder 4 is in front support arm 10-1, between rear support arm 10-2, in order to robot forearm 3 withdrawal degree are increased.

manipulator in the utility model on the manipulator junction plate comprises rear finger 0-1, front finger 0-2, rear stylus pin 0-3, rear finger contiguous block 0-4, support 0-5, action source 0-6, front stylus pin 0-7, front finger contiguous block 0-8, piston tie-beam 0-9, piston tie-beam 0-9 is connected with the piston of action source 0-6, the rear side hinge connection of the end of rear finger contiguous block 0-4 and piston tie-beam 0-9, the outside hinge connection of the other end and rear finger 0-1 tail end, the front side hinge connection of the end of front finger contiguous block 0-8 and piston tie-beam 0-9, the outside hinge connection of the other end and front finger 0-2 tail end, the tail end of support 0-5 is fixed on action source 0-6, the front end rear side of support 0-5 is by the inboard hinge connection of the tail end of rear stylus pin 0-3 and rear finger 0-1, the front end front side of support 0-5 is by the inboard hinge connection of the tail end of front stylus pin 0-7 and front finger 0-2, rear finger 0-1, the inboard of front finger 0-2 is circular arc, can encase the drilling rod of being grabbed after closing up.

Pedestal 14 of the present utility model is arranged on offshore boring island and maintains static, and turntable 13 can 360 ° of rotations on pedestal 14, and to satisfy the requirement of passing drilling rod, the power of rotation is provided by fluid pressure drive device.Hydraulic cylinder 4, action source 0-6 are connected with hydraulic power supply respectively, provide high voltage power liquid by hydraulic power supply to it, assign instruction by remote controller, the piston of action source 0-6 stretches out or regains, refer to that 0-1, front finger 0-2 open or embrace, and realize the pick-and-place drilling rod after making manipulator.The piston of hydraulic cylinder 4 stretches out or regains, and realizes drilling rod is furthered or pushes away far, and the rotation of turntable 13 realizes drilling rod is passed, and makes drilling rod arrive assigned address.

Claims (2)

1. an offshore boring island Work robot, is characterized in that: comprise manipulator junction plate (1), front horizontal servo connecting rod (2), robot forearm (3), hydraulic cylinder (4), servo junction plate (5), connecting axle (6), pendulum control junction plate (7), pendulum control connecting rod (8), rear horizontal servo connecting rod (9), front support arm (10-1), rear support arm (10-2), front junction plate (11), rear junction plate (12), turntable (13), pedestal (14), front junction plate (11) is fixed on the front side of turntable (13), rear junction plate (12) is fixed on the rear side of turntable (13), the middle part hinge connection of the tail end of front support arm (10-1) and front junction plate (11), the middle part hinge connection of the tail end of rear support arm (10-2) and rear junction plate (12), the tail end of pendulum control connecting rod (8) and the top hinge connection of front junction plate (11), the top hinge connection of the tail end of rear horizontal servo connecting rod (9) and rear junction plate (12), the tail end of robot forearm (3) is connected with pendulum control junction plate (7), servo junction plate (5), pendulum control junction plate (7), the front end of front support arm (10-1), the front end of rear support arm (10-2) and connecting axle (6) hinge connection, front support arm (10-1), rear support arm (10-2) and connecting axle (6) and front junction plate (11), rear junction plate (12) hinge connection is in symmetry status, the right-hand member of pendulum control junction plate (7) and the front end hinge connection of putting control connecting rod (8), the front end hinge connection of the right-hand member of servo junction plate (5) and rear horizontal servo connecting rod (9), the tail end hinge connection of the left end of servo junction plate (5) and front horizontal servo connecting rod (2), the middle part hinge connection of the front end of front horizontal servo connecting rod (2) and manipulator junction plate (1), the tail end hinge connection of the front end of robot forearm (3) and manipulator junction plate (1), manipulator is arranged on manipulator junction plate (1), the front end hinge connection of the front end of hydraulic cylinder (4) and robot forearm (3), the tail end of hydraulic cylinder (4) and front support arm (10-1), rear support arm (10-2) hinge connection.

2. offshore boring island Work robot according to claim 1, it is characterized in that: manipulator comprises rear finger (0-1), front finger (0-2), rear stylus pin (0-3), rear finger contiguous block (0-4), support (0-5), action source (0-6), front stylus pin (0-7), front finger contiguous block (0-8), piston tie-beam (0-9), piston tie-beam (0-9) is connected with the piston in action source (0-6), the rear side hinge connection of one end of rear finger contiguous block (0-4) and piston tie-beam (0-9), the outside hinge connection of the other end and rear finger (0-1) tail end, the front side hinge connection of one end of front finger contiguous block (0-8) and piston tie-beam (0-9), the outside hinge connection of the other end and front finger (0-2) tail end, the tail end of support (0-5) is fixed on action source (0-6), the front end rear side of support (0-5) is by the inboard hinge connection of rear stylus pin (0-3) with the tail end of rear finger (0-1), the front end front side of support (0-5) is by the inboard hinge connection of front stylus pin (0-7) with the tail end of front finger (0-2), rear finger (0-1), the inboard of front finger (0-2) is circular arc.

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