CN204283259U - A kind of pipe-grabbing mechanical arm and automatic-discharging pipe device - Google Patents
A kind of pipe-grabbing mechanical arm and automatic-discharging pipe device Download PDFInfo
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- CN204283259U CN204283259U CN201420662981.1U CN201420662981U CN204283259U CN 204283259 U CN204283259 U CN 204283259U CN 201420662981 U CN201420662981 U CN 201420662981U CN 204283259 U CN204283259 U CN 204283259U
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- chute
- connecting rod
- pipe
- handgrip
- mechanical arm
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Abstract
The utility model discloses a kind of pipe-grabbing mechanical arm and automatic-discharging pipe device.Wherein, this pipe-grabbing mechanical arm comprises pedestal, pedestal one end is connected with driving cylinder, handgrip mouth, the first chute and the second chute is offered at the pedestal other end, first handgrip bar is connected with the first slide, and the second handgrip bar is connected with the second slide, driving cylinder and first connecting rod and second connecting rod hinged, first connecting rod and the first handgrip bar hinged, second connecting rod and the second handgrip bar hinged.The utility model additionally provides a kind of automatic-discharging pipe device.The utility model pipe-grabbing mechanical arm structure is ingenious, is not easy the damage manipulator that collides with, long service life, and each mechanism kinematic is steady.
Description
Technical field
The utility model relates to oil drilling and extracting equipment field, particularly a kind of pipe-grabbing mechanical arm and automatic-discharging pipe device.
Background technology
Pipe-grabbing mechanical arm is the device for capturing tubing string, is the capital equipment in petroleum drilling and mining field.At present, pipe-grabbing mechanical arm many employings connecting rod scissor structure.During clamping tubing string, connecting rod is that when handgrip contacts with tubing string, easily collide with connecting rod, affects the application life of pipe-grabbing mechanical arm mainly by holder.
As shown in Figure 1, manipulator comprises connecting rod 17 and the linkage 18 of hydraulic jack 19 and both sides, and hydraulic jack 19 drives both sides connecting rod 17 open and tighten up by linkage 18, realizes grabbing pipe.Also be provided with connector 16 in the end of connecting rod 17, when capturing goods, goods pushes connector 16 open, clamps.Due to when clamping tubing string, connecting rod 17 is that when connecting rod 17 contacts with tubing string, easily collide with connecting rod 17, causes connecting rod 17 premature breakdown, and particularly each pin joint of each linkage 18, damages mainly by holder, thus affects pipe-grabbing mechanical arm application life.
Utility model content
In view of this, the utility model proposes a kind of pipe-grabbing mechanical arm and automatic-discharging pipe device, with solve manipulator easily collide with damage problem.
On the one hand, the utility model provides a kind of pipe-grabbing mechanical arm, comprise pedestal, pedestal one end is connected with driving cylinder, and the pedestal other end offers handgrip mouth, the first chute and the second chute, and the first slide is connected with the first handgrip bar, second slide is connected with the second handgrip bar, driving cylinder and first connecting rod and second connecting rod hinged, first connecting rod and the first handgrip bar hinged, second connecting rod and the second handgrip bar hinged.
Further, pedestal comprises upper cover plate and lower cover, and upper cover plate is fixedly connected with lower cover, and the first handgrip bar and the second handgrip bar, between upper cover plate and lower cover, upper cover plate and lower cover all offer the first chute and the second chute.
Further, by the first hinge between the first handgrip bar and first connecting rod, the two ends of the first bearing pin lay respectively in the first chute on upper cover plate and lower cover; By the second hinge between second handgrip bar and second connecting rod, the two ends of the second bearing pin lay respectively in the second chute on upper cover plate and lower cover.
Further, also comprise junction plate, first connecting rod and second connecting rod are connected with driving cylinder by junction plate.
Further, the first chute and the second chute are circular arc, are relatively arranged on the pedestal of handgrip mouth both sides.
Further, the first handgrip bar and the second handgrip bar are arc-shaped structure.
Further, handgrip mouth comprises arc-shaped surface, the inclined-plane that arc-shaped surface two ends are extended with plane respectively and outwards widen.
In addition, the utility model additionally provides a kind of automatic-discharging pipe device, comprises above-mentioned pipe-grabbing mechanical arm.
The pipe-grabbing mechanical arm that the utility model provides and automatic-discharging pipe device, offer handgrip mouth, the first chute and the second chute at the pedestal other end, the first handgrip bar is connected with the first chute and the second slide respectively with the second handgrip bar.When capturing tubing string, tubing string is positioned at handgrip mouth, then drives the first handgrip bar and the second handgrip bar to coordinate clamping tubing string by driving cylinder, prevents tubing string from getting loose.After grabbing pipe, under tubing string is subject to the effect of external force, the active force that can produce the first handgrip bar and the second handgrip bar, this active force passes to the first chute and the second chute by the first handgrip bar and the second handgrip bar, finally pass to pedestal, because this active force bears primarily of the first chute and the second chute, make better stressed, not easily slippage tubing string.When regaining, the first handgrip bar and the second handgrip bar are retracted in pedestal, serve the effect of protection, and not easily collide with damage manipulator.Pipe-grabbing mechanical arm compact overall structure of the present utility model, occupies little space, and is not easy the damage manipulator that collides with, long service life.
Accompanying drawing explanation
The accompanying drawing forming a part of the present utility model is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the robot manipulator structure schematic diagram of prior art;
Fig. 2 is the utility model embodiment pipe-grabbing mechanical arm structural representation,
Fig. 3 is the structural representation after Fig. 2 takes upper cover plate apart.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the utility model and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the utility model in detail in conjunction with the embodiments.
The hinged syndeton that can mutually rotate referred to by pinned connection described in the utility model.
As shown in Figures 2 and 3, the preferred a kind of pipe-grabbing mechanical arm of the utility model, is connected with driving cylinder 1 in pedestal 2 one end, and driving cylinder 1 can be hydraulic jack or cylinder.Circular arc handgrip mouth 12 is offered at pedestal 2 other end.In order to clamp tubing string smoothly, reduce collision, prevent from getting loose, circular arc handgrip mouth 12 comprises arc-shaped surface 120, the inclined-plane 122 that arc-shaped surface 120 two ends are extended with plane 121 respectively and outwards widen.
As shown in Figure 3, offer circular arc first chute 8 and circular arc second chute 7 at pedestal 2 other end, be relatively arranged on the pedestal 2 of handgrip mouth 12 both sides.First handgrip bar 3 and the second handgrip bar 4 are also arc-shaped structure, and the first handgrip bar 3 can slide in the first chute 8, and the second handgrip bar 4 can slide in the second chute 7, and the first handgrip bar 3 is hinged with first connecting rod 10, and the second handgrip bar 4 is hinged with second connecting rod 6.It is hinged with driving cylinder 1 that first connecting rod 10 and second connecting rod 6 pass through junction plate 11, during driving cylinder 1 stretching motion, by junction plate 11 and first connecting rod 10 and second connecting rod 6, the first handgrip bar 3 is driven to slide along the first chute 8, drive the second handgrip bar 4 to slide along the second chute 7, tubing string is clamped.
In order to make the first handgrip bar 3 and the second handgrip bar 4 be hidden in pedestal 2, the first handgrip bar 3 and the second handgrip bar 4 is protected to collide.Pedestal 2 comprises upper cover plate 20 and lower cover 21, upper cover plate 20 and lower cover 21 are bolted, first handgrip bar 3 and the second handgrip bar 4 are between upper cover plate 20 and lower cover 21, and junction plate 11 and first connecting rod 10 and second connecting rod 6 are also between upper cover plate 20 and lower cover 21.Upper cover plate 20 and lower cover 21 all offer the first chute 8 and the second chute 7.
First handgrip bar 3 is hinged with first connecting rod 10 by the first bearing pin 9, and the two ends of the first bearing pin 9 lay respectively in the first chute 8 on upper cover plate 20 and lower cover 21; Second handgrip bar 4 is hinged with second connecting rod 6 by the second bearing pin 5, and the two ends of the second bearing pin 5 lay respectively in the second chute 7 on upper cover plate 20 and lower cover 21.
During original state; first handgrip bar 3 and the second handgrip bar 4 are recovered in upper cover plate 20 and lower cover 21; for the protection of the first handgrip bar 3 and the second handgrip bar 4; manipulator is avoided to move in the process of target tubing string; collide with tubing string; cause the first handgrip bar 3 and the second handgrip bar 4 to damage, pipe is grabbed in impact.
When pipe grabbed by needs, mobile manipulator, tubing string is made to enter in handgrip mouth, driving cylinder 1 works, be driven through junction plate 11 and promote first connecting rod 10 and second connecting rod 6 outwards moves, thus driving the first handgrip bar 3 and the second handgrip bar 4 to slide along the first chute 8 and the second chute 7 respectively, the first handgrip bar 3 and the second handgrip bar 4 coordinate clamping tubing string, prevent tubing string from getting loose.
After grabbing pipe, under tubing string is subject to the effect of external force, the active force that can produce the first handgrip bar and the second handgrip bar, this active force passes to the first chute and the second chute by the first handgrip bar and the second handgrip bar, finally pass to pedestal, because this active force bears primarily of the first chute and the second chute, make better stressed, not easily slippage tubing string.First chute 8 of first connecting rod 10 and second connecting rod 6 and pedestal 2 and the second chute 7 shared tubing string, to the active force of the first handgrip bar 3 and the second handgrip bar 4, extend the application life of the first handgrip bar 3 and the second handgrip bar 4.
Pipe-grabbing mechanical arm compact overall structure of the present utility model, occupies little space, long service life.In addition, the utility model additionally provides a kind of automatic-discharging pipe device, comprises above-mentioned pipe-grabbing mechanical arm, has the effect that above-mentioned pipe-grabbing mechanical arm is identical, no longer repeat.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (8)
1. a pipe-grabbing mechanical arm, it is characterized in that, comprise pedestal (2), pedestal (2) one end is connected with driving cylinder (1), pedestal (2) other end offers handgrip mouth (12), first chute (8) and the second chute (7), first chute (8) slidably connects the first handgrip bar (3), second chute (7) slidably connects the second handgrip bar (4), driving cylinder (1) and first connecting rod (10) and second connecting rod (6) hinged, first connecting rod (10) is hinged with the first handgrip bar (3), second connecting rod (6) is hinged with the second handgrip bar (4).
2. pipe-grabbing mechanical arm according to claim 1, it is characterized in that, pedestal (2) comprises upper cover plate (20) and lower cover (21), upper cover plate (20) is fixedly connected with lower cover (21), first handgrip bar (3) and the second handgrip bar (4) are positioned between upper cover plate (20) and lower cover (21), and upper cover plate (20) and lower cover (21) all offer the first chute (8) and the second chute (7).
3. pipe-grabbing mechanical arm according to claim 2, it is characterized in that, hinged by the first bearing pin (9) between first handgrip bar (3) and first connecting rod (10), the two ends of the first bearing pin (9) lay respectively in the first chute (8) on upper cover plate (20) and lower cover (21); Hinged by the second bearing pin (5) between second handgrip bar (4) and second connecting rod (6), the two ends of the second bearing pin (5) lay respectively in the second chute (7) on upper cover plate (20) and lower cover (21).
4. pipe-grabbing mechanical arm according to claim 2, it is characterized in that, also comprise junction plate (11), first connecting rod (10) and second connecting rod (6) are connected with driving cylinder (1) by junction plate (11).
5. the pipe-grabbing mechanical arm according to Claims 1-4 any one, is characterized in that, the first chute (8) and the second chute (7) are circular arc, are relatively arranged on the pedestal of handgrip mouth (12) both sides.
6. the pipe-grabbing mechanical arm according to Claims 1-4 any one, is characterized in that, the first handgrip bar (3) and the second handgrip bar (4) are arc-shaped structure.
7. the pipe-grabbing mechanical arm according to Claims 1-4 any one, it is characterized in that, handgrip mouth (12) comprises arc-shaped surface (120), the inclined-plane (122) that arc-shaped surface (120) two ends are extended with plane (121) respectively and outwards widen.
8. an automatic-discharging pipe device, is characterized in that, comprises the pipe-grabbing mechanical arm as described in claim 1 to 7 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420662981.1U CN204283259U (en) | 2014-11-07 | 2014-11-07 | A kind of pipe-grabbing mechanical arm and automatic-discharging pipe device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420662981.1U CN204283259U (en) | 2014-11-07 | 2014-11-07 | A kind of pipe-grabbing mechanical arm and automatic-discharging pipe device |
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| CN204283259U true CN204283259U (en) | 2015-04-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420662981.1U Active CN204283259U (en) | 2014-11-07 | 2014-11-07 | A kind of pipe-grabbing mechanical arm and automatic-discharging pipe device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105370226A (en) * | 2015-11-02 | 2016-03-02 | 湖南三一石油科技有限公司 | Petroleum drilling and production equipment, drilling table surface manipulator and pipe column support mechanism |
| CN105401896A (en) * | 2015-11-02 | 2016-03-16 | 湖南三一石油科技有限公司 | Petroleum drilling and production device, drilling stand face mechanical arm and pulley mechanism |
| CN105401897A (en) * | 2015-11-02 | 2016-03-16 | 湖南三一石油科技有限公司 | Petroleum drill and exploitation equipment, drill floor face mechanical hand and mechanical arm |
| CN105443050A (en) * | 2015-12-25 | 2016-03-30 | 湖南三一石油科技有限公司 | Petroleum drilling and exploitation device, automatic pipe discharging device and tubular column supporting mechanism |
| CN105479477A (en) * | 2015-12-30 | 2016-04-13 | 苏州林信源自动化科技有限公司 | Detachable simple mechanical gripper |
| CN105858198A (en) * | 2016-06-07 | 2016-08-17 | 湖南三石油科技有限公司 | Workover treatment integrated equipment, tubular column holding device and grabbing hand thereof |
| CN105927172A (en) * | 2016-06-07 | 2016-09-07 | 哈尔滨工业大学 | Automatic operation system for oil well repairing |
| CN106217344A (en) * | 2016-08-29 | 2016-12-14 | 芜湖银星汽车零部件有限公司 | One automatically extracts uses clamp |
| CN106892263A (en) * | 2015-12-21 | 2017-06-27 | 董鹏钦 | Manipulator |
| CN108005594A (en) * | 2018-01-27 | 2018-05-08 | 张成功 | A kind of encircling type manipulator for capturing tubing string in a row |
| CN110886908A (en) * | 2019-12-10 | 2020-03-17 | 泰能天然气有限公司 | High-stability stainless steel corrugated hose wall outlet device for gas conveying |
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2014
- 2014-11-07 CN CN201420662981.1U patent/CN204283259U/en active Active
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105401896A (en) * | 2015-11-02 | 2016-03-16 | 湖南三一石油科技有限公司 | Petroleum drilling and production device, drilling stand face mechanical arm and pulley mechanism |
| CN105401897A (en) * | 2015-11-02 | 2016-03-16 | 湖南三一石油科技有限公司 | Petroleum drill and exploitation equipment, drill floor face mechanical hand and mechanical arm |
| CN105370226A (en) * | 2015-11-02 | 2016-03-02 | 湖南三一石油科技有限公司 | Petroleum drilling and production equipment, drilling table surface manipulator and pipe column support mechanism |
| CN105370226B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism |
| CN105401896B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and pulley mechanism |
| CN105401897B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm |
| CN106892263A (en) * | 2015-12-21 | 2017-06-27 | 董鹏钦 | Manipulator |
| CN105443050A (en) * | 2015-12-25 | 2016-03-30 | 湖南三一石油科技有限公司 | Petroleum drilling and exploitation device, automatic pipe discharging device and tubular column supporting mechanism |
| CN105479477A (en) * | 2015-12-30 | 2016-04-13 | 苏州林信源自动化科技有限公司 | Detachable simple mechanical gripper |
| CN105927172A (en) * | 2016-06-07 | 2016-09-07 | 哈尔滨工业大学 | Automatic operation system for oil well repairing |
| CN105858198A (en) * | 2016-06-07 | 2016-08-17 | 湖南三石油科技有限公司 | Workover treatment integrated equipment, tubular column holding device and grabbing hand thereof |
| CN105927172B (en) * | 2016-06-07 | 2018-01-30 | 哈尔滨工业大学 | A kind of workover automatization operation system |
| CN105858198B (en) * | 2016-06-07 | 2018-08-07 | 湖南三一石油科技有限公司 | Workover treatment integration apparatus, tubing string supporting device and its handgrip |
| CN106217344A (en) * | 2016-08-29 | 2016-12-14 | 芜湖银星汽车零部件有限公司 | One automatically extracts uses clamp |
| CN108005594A (en) * | 2018-01-27 | 2018-05-08 | 张成功 | A kind of encircling type manipulator for capturing tubing string in a row |
| CN110886908A (en) * | 2019-12-10 | 2020-03-17 | 泰能天然气有限公司 | High-stability stainless steel corrugated hose wall outlet device for gas conveying |
| CN110886908B (en) * | 2019-12-10 | 2021-10-19 | 泰能天然气有限公司 | High-stability stainless steel corrugated hose wall outlet device for gas conveying |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181210 Address after: 410100 Room 101, Unit 1, East of East Third Line and South of Liangtang Road, Changsha Economic and Technological Development Zone, Hunan Province Patentee after: Sany Group Co Ltd Hunan branch Address before: 410100 31 industrial city, Changsha economic and Technological Development Zone, Hunan Patentee before: HUNAN SANY PETROLEUM TECHNOLOGY CO., LTD. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201224 Address after: 412005 Room 201, Dingshan Road office building, Shifeng District, Zhuzhou City, Hunan Province Patentee after: HUNAN SANY PETROLEUM TECHNOLOGY Co.,Ltd. Address before: 410100 Room 101, Unit 1, East of East Third Line and South of Liangtang Road, Changsha Economic and Technological Development Zone, Hunan Province Patentee before: SANY GROUP Co.,Ltd. HUNAN BRANCH |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210611 Address after: Room 101, No.1 United workshop, east of East Third Line and south of liangtang Road, Changsha Economic and Technological Development Zone, Changsha, Hunan 410000 Patentee after: SANY GROUP Co.,Ltd. HUNAN BRANCH Address before: 412005 Room 201, Dingshan Road office building, Shifeng District, Zhuzhou City, Hunan Province Patentee before: HUNAN SANY PETROLEUM TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |