CN205734921U - A kind of drilling floor surface swing pipe mechanical hand - Google Patents
A kind of drilling floor surface swing pipe mechanical hand Download PDFInfo
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- CN205734921U CN205734921U CN201620511645.6U CN201620511645U CN205734921U CN 205734921 U CN205734921 U CN 205734921U CN 201620511645 U CN201620511645 U CN 201620511645U CN 205734921 U CN205734921 U CN 205734921U
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- jaw
- pin joint
- forearm
- postbrachium
- hinged
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Abstract
This utility model relates to petroleum equipment technical field, especially a kind of drilling floor surface swing pipe mechanical hand.Comprising: base, turntable, rotary drive mechanism, jaw, mechanical arm and electrical control cubicles, mechanical arm is mainly made up of fixing seat, forearm, postbrachium, forearm link, rear arm link, forearm oil cylinder, postbrachium oil cylinder and connecting plate.It can realize moving horizontally of this drilling floor surface swing pipe mechanical hand by linear moving mechanism；Rotary drive mechanism uses the rotary reducer with encoder, and structure is reliable, compact, can accurately control angle of revolution；Jaw can be made to remain level by the first parallelogram and the second parallelogram and their shared connecting plates, forearm oil cylinder and postbrachium oil cylinder travel relationships between the two can be controlled by the first angle measurement unit and the second angle measurement unit and controller, the horizontal linear realizing jaw moves, and makes extending and retracting of mechanical hand more steady；The compact conformation of jaw, takes up room little.
Description
Technical field
This utility model relates to petroleum equipment technical field, especially a kind of drilling floor surface swing pipe mechanical hand.
Background technology
In Process of Oil Well Drilling, carry out lift drilling rod work, need several operator auxiliary carry out upper drilling rod,
The work such as drilling rod enters mouse hole, kelly bar enters big rat hole, stacks make-up, row column, lower pillar stand, completion breaking down.
During drilling rod operates, owing to drilling rod is long, the amplitude of fluctuation of drilling rod is relatively big, human assistance operation pacify
Full hidden danger is bigger；And needing several operator to assist, waste of manpower, work efficiency is relatively low.
Utility model content
This utility model aims to solve the problem that the problems referred to above, it is provided that a kind of drilling floor surface swing pipe mechanical hand, and its topology layout is reasonable,
Moving horizontally of this drilling floor surface swing pipe mechanical hand can be realized, it is achieved drilling floor surface swing pipe mechanical hand is just to finger by linear moving mechanism
Beam；Rotary drive mechanism uses rotary reducer, and structure is reliable, compact；With encoder on rotary reducer, can accurately control
Angle of revolution processed；Jaw can be made to protect all the time by the first parallelogram and the second parallelogram and their shared connecting plates
Water holding level state, can control and adjust forearm oil cylinder by the first angle measurement unit and the second angle measurement unit and controller
With postbrachium oil cylinder travel relationships between the two, it is achieved the horizontal linear of jaw moves, make extending and retracting of mechanical hand more steady；
The compact conformation of jaw, takes up room little, and its technical scheme used is as follows:
A kind of drilling floor surface swing pipe mechanical hand, it is characterised in that including:
Base；
Turntable, it is rotatably installed on base, and described turntable is connected with frame；
For the rotary drive mechanism driving turntable respect thereto to rotate；
Jaw, it is fixed on jaw seat；
Mechanical arm, its mainly by fixing seat, forearm, postbrachium, forearm link, rear arm link, be used for driving forearm relatively after
Arm rotate forearm oil cylinder, for drive postbrachium be relatively fixed seat rotate postbrachium oil cylinder and connecting plate composition, described fixing seat
Being fixed in frame, described postbrachium top is hinged with fixing seat, and pin joint is the first pin joint；Postbrachium bottom by rotating shaft with
The bottom of forearm is hinged, and pin joint is the second pin joint；Described connecting plate is rotationally connected with in rotating shaft, described rear arm link top
End is hinged with fixing seat, and pin joint is the 3rd pin joint；Rear arm link bottom is hinged with the first end of connecting plate, pin joint
It it is the 4th pin joint；Described forearm link bottom is hinged with the second end of connecting plate, and pin joint is the 5th pin joint, and forearm is even
Masthead end is hinged with jaw seat, and pin joint is the 6th pin joint；The top of described forearm is hinged with jaw seat, and pin joint is
7th pin joint；Described postbrachium oil cylinder one end is hinged with fixing seat, and the other end is hinged with postbrachium, described forearm oil cylinder one end
Being hinged with postbrachium, the other end is hinged with forearm；Described first pin joint, the second pin joint, the 4th pin joint and the 3rd hinge
Contact line successively forms the first parallelogram, and described second pin joint, the 5th pin joint, the 6th pin joint and the 7th are hinged
Point line successively forms the second parallelogram；
And electrical control cubicles.
In order to strengthen the steadiness of structure, described frame is gate frame structure, and it is by two columns and a crossbeam one
Body is constituted, and described fixing seat is fixedly installed on crossbeam.
On the basis of technique scheme, described jaw level is fixed on jaw seat.
On the basis of technique scheme, described first parallelogram and the second parallelogram are with hinged by second
The vertical curve of point is axis of symmetry axial symmetry.
In order to improve the structural strength of forearm and postbrachium, described postbrachium and forearm are case girder structure, for overall U.S.
Seeing, described forearm link is positioned in forearm, and described rear arm link is positioned in postbrachium.
In order to improve the structural strength of forearm and postbrachium further, the inside of described postbrachium and forearm is fixedly installed some
Horizontal reinforcing plate, offers the through hole passed for forearm link and rear arm link, the length of described through hole in described reinforcing plate
Degree should be greater than forearm link and the diameter of rear arm link, thus can make forearm link and the rear arm link can be movable in through hole.
On the basis of technique scheme, the position that described fixing seat and postbrachium are hinged is provided with for measuring postbrachium
It is relatively fixed the angle value of seat or the first angle measurement unit of angle changing value, the position that described forearm and postbrachium are hinged
It is provided with for measuring the forearm angle value relative to postbrachium or the second angle measurement unit of angle changing value.
On the basis of technique scheme, described first angle measurement unit and the second angle measurement unit are coding
Device.
On the basis of technique scheme, the controller in described electrical control cubicles is according to the first angle measurement unit and second jiao
Degree value measured by measurement apparatus, the stroke of the stroke and postbrachium oil cylinder that control forearm oil cylinder makes jaw horizontal linear all the time
Motion.
On the basis of technique scheme, described jaw includes: jaw arm, jaw intermediate, clamping jaw oil cylinder, jaw arm are even
Bar, connector and connecting rod, described jaw intermediate is fixed on jaw seat, and described clamping jaw oil cylinder is fixedly installed in the middle of jaw
In body, described connector is connected with the free end of clamping jaw oil cylinder piston rod, and described jaw arm link one end is cut with scissors mutually with connector
Connecing, the other end is hinged with jaw arm；Described connecting rod one end is hinged with jaw arm, and the other end cuts with scissors mutually with jaw intermediate
Connect；Being one group with interconnective jaw arm link, jaw arm and connecting rod, totally two groups are symmetricly set in jaw intermediate two
Side.
Preferably, described connecting rod is at least four, is parallel to each other between the connecting rod of jaw intermediate the same side.
So can improve the steadiness of clamping.
Preferably, the front end face of described jaw intermediate is arc, and it is fixed with the first pad of arc, described folder
The clamping face of pawl arm is arc, and described clamping face is fixed with the second pad of arc.
On the basis of technique scheme, described jaw also includes the photographic head for observing jaw arm clamp position, institute
State photographic head to be installed on jaw intermediate.
On the basis of technique scheme, described jaw also includes that proximity switch, described proximity switch are installed on jaw seat
On.
On the basis of technique scheme, the end of described jaw arm is removably connected with for making jaw arm be suitable for folder
Hold the replaceable expansion block of small diameter tubing string.
On the basis of technique scheme, described rotary drive mechanism includes the rotary reducer with encoder and driving
Motor, described driving motor and rotary reducer be installed on base, and described driving motor is driven by rotary reducer and rotates
Platform rotates.
On the basis of technique scheme, this drilling floor surface swing pipe mechanical hand also includes for driving base for linear motion
Linear moving mechanism, described linear moving mechanism is mainly made up of line slideway, motor, gear and tooth bar, described line slideway
Being fixedly installed on the deck of drilling platforms with tooth bar, described base is slidably connected with line slideway, and described motor is installed on the end
On seat, described gear is driven by motor and is meshed with tooth bar.
On the basis of technique scheme, the bottom of described forearm extends rearwardly to form extension, described forearm oil cylinder
Bottom is hinged with extension, and pin joint is positioned at the rear of the second pin joint；Described forearm oil cylinder and postbrachium oil cylinder may be contained within
The rear of postbrachium.Achieve can forearm oil cylinder is arranged at the rear of postbrachium by extension, compare and forearm oil cylinder is arranged
At the front of postbrachium, more compact structure, take up room less.
This utility model has the advantage that topology layout is reasonable, can realize this drilling floor surface by linear moving mechanism and put
Moving horizontally of pipe mechanical hand, it is achieved drilling floor surface swing pipe mechanical hand is just to fingerboard；Rotary drive mechanism uses rotary reducer, knot
Structure is reliable, compact；With encoder on rotary reducer, can accurately control angle of revolution；By the first parallelogram and
Second parallelogram and their shared connecting plates can make jaw remain level, by the first angle measurement unit
Can control and adjust forearm oil cylinder and postbrachium oil cylinder travel relationships between the two with the second angle measurement unit and controller, it is achieved
The horizontal linear of jaw moves, and makes extending and retracting of mechanical hand more steady；The compact conformation of jaw, takes up room little.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art.It should be evident that the accompanying drawing in describing below is only
It is a kind of embodiment of the present utility model, for those of ordinary skill in the art, in the premise not paying creative work
Under, it is also possible to extend according to the accompanying drawing provided and obtain other enforcement accompanying drawing.
Fig. 1: perspective view of the present utility model；
Fig. 2: side-looking structural representation of the present utility model；
Fig. 3: the structural representation of mechanical arm described in the utility model；
Fig. 4: the schematic diagram of mechanism of one course of action of mechanical arm described in the utility model；
The plan structure schematic diagram of Fig. 5: jaw described in the utility model；
The A-A of Fig. 6: Fig. 5 is to cross-sectional view；
Detailed description of the invention
The utility model is described in further detail with example below in conjunction with the accompanying drawings:
Of the present utility model embodiment is described below in detail, and the example of described embodiment is shown in the drawings, the most ad initio
Represent same or similar element to same or similar label eventually or there is the element of same or like function.Below by ginseng
It is exemplary for examining the embodiment that accompanying drawing describes, and is only used for explaining this utility model, and it is not intended that to of the present utility model
Limit.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", should be interpreted broadly " being connected ", " connection ", for example, it may be fix connection, it is also possible to be to removably connect, or integratedly
Connect；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary.For the ordinary skill in the art,
Above-mentioned term concrete meaning in this utility model can be understood with concrete condition.
In description of the present utility model, it should be noted that term "front", "rear", " on ", D score, "left", "right",
" push up ", the orientation of the instruction such as " end " or position relationship be based on position relationship shown in the drawings, are for only for ease of and describe this reality
Describe with novel and simplification rather than indicate or imply that the device of indication or element must have specific orientation, with specifically
Azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second ", "
Three ", " the 4th " be only used for describe purpose, and it is not intended that instruction or hint relative importance.
As shown in Figure 1 to Figure 3, a kind of drilling floor surface swing pipe mechanical hand, it is characterised in that including:
Base 1；
Turntable 2, it is rotatably installed on base 1, and described turntable 2 is connected with frame 3；
For the rotary drive mechanism driving turntable 2 respect thereto 1 to rotate；
Jaw 4, it is fixed on jaw seat 40；
Mechanical arm 5, its mainly by fixing seat 17, forearm 10, postbrachium 11, forearm link 12, rear arm link 13, be used for driving
Forearm oil cylinder 14 that forearm rotates relative to postbrachium, for drive postbrachium to be relatively fixed postbrachium oil cylinder 15 and connecting plate that seat 17 rotates
16 compositions, described fixing seat 17 is fixed in frame 3, and described postbrachium 11 top is hinged with fixing seat 17, and pin joint is first
Pin joint A1；Postbrachium 11 bottom is hinged by the bottom of rotating shaft 18 with forearm 10, and pin joint is the second pin joint A2；Described company
Fishplate bar 16 is rotationally connected with in rotating shaft 18, and described rear arm link 13 top is hinged with fixing seat 17, and pin joint is the 3rd hinged
Point A3；Rear arm link 13 bottom is hinged with the first end of connecting plate 16, and pin joint is the 4th pin joint A4；Described forearm link
12 bottoms are hinged with the second end of connecting plate 16, and pin joint is the 5th pin joint B1, forearm link 12 top and jaw seat 40
Being hinged, pin joint is the 6th pin joint B2；The top of described forearm 10 is hinged with jaw seat 40, and pin joint is the 7th hinged
Point B3；Described postbrachium oil cylinder 15 one end is hinged with fixing seat 17, and the other end is hinged with postbrachium 11, described forearm oil cylinder 14 1
End is hinged with postbrachium 11, and the other end is hinged with forearm 10；Described first pin joint A1, the second pin joint A2, the 4th hinged
Point A4 and the 3rd pin joint A3 line successively form the first parallelogram, described second pin joint A2, the 5th pin joint B1, the
Six pin joint B2 and the 7th pin joint B3 line successively form the second parallelogram；
With electrical control cubicles 6.
Preferably, described jaw 4 level is fixed on jaw seat 40.
Preferably, described frame 3 is gate frame structure, and it is integrally formed by two columns and a crossbeam, described solid
Reservation is fixedly installed on crossbeam.
Preferably, described first parallelogram and the second parallelogram with the vertical curve by the second pin joint A2 are
Axis of symmetry axial symmetry.
In order to improve the structural strength of forearm and postbrachium, described postbrachium and forearm are case girder structure, for overall U.S.
Seeing, described forearm link 12 is positioned in forearm 10, and described rear arm link 13 is positioned in postbrachium 11；
In order to improve the structural strength of forearm and postbrachium further, the inside of described postbrachium and forearm is fixedly installed some
Horizontal reinforcing plate, offers the through hole passed for forearm link 12 and rear arm link 13, described through hole in described reinforcing plate
Length more than forearm link 12 and the diameter of rear arm link 13.
Preferably, the position that described fixing seat 17 and postbrachium 11 are hinged is provided with and is relatively fixed for measuring postbrachium 11
Seat 17 angle values or the first angle measurement unit of angle changing value, the position that described forearm 10 and postbrachium 11 are hinged is arranged
Have for measuring relative postbrachium 11 angle value of forearm 10 or the second angle measurement unit of angle changing value.
Preferably, described first angle measurement unit and the second angle measurement unit are encoder (absolute type encoder
Or incremental encoder).
Preferably, the controller in described electrical control cubicles 6 is according to the first angle measurement unit and the second angle measurement unit institute
The value measured, the stroke of the stroke and postbrachium oil cylinder 15 that control forearm oil cylinder 14 makes jaw 4 horizontal rectilinear motion all the time.
As shown in Figure 4, owing to the upper minor face A1A3 of the first parallelogram is fixing, according to parallelogram feature
The angle of two minor face relative level lines of one parallelogram is constant all the time, due to the first parallelogram and second flat
Row tetragon shares with a plate 16, therefore the angle of the lower minor face A2B1 relative level line of the second parallelogram is not all the time
Becoming, according to the characteristic of parallelogram, and then the angle of the upper minor face B2B3 relative level line of the second parallelogram is also
Thick-and-thin, therefore the structure and shared connecting plate 16 by two parallelogrames ensure that at drilling floor surface swing pipe mechanical hand
In work process, no matter forearm oil cylinder 14 and postbrachium oil cylinder 15 how action, jaw 4 remains level.
Meanwhile, the angle value that controller is fed back by the first angle measurement unit and the second angle measurement unit, and according to
Defaulting in the relational expression between two angles in controller, the stroke of the stroke and postbrachium oil cylinder 15 that control forearm oil cylinder 14 makes
Jaw 4 horizontal rectilinear motion all the time.
As shown in Figure 5 and Figure 6, it is preferred that described jaw 4 includes: jaw arm 41, jaw intermediate 42, clamping jaw oil cylinder 43,
Jaw arm link 44, connector 45 and connecting rod 46, described jaw intermediate 42 is fixed on jaw seat 40, described clamping jaw oil cylinder
43 are fixedly installed in jaw intermediate 42, and described connector 45 is connected with the free end of clamping jaw oil cylinder 43 piston rod, described
Jaw arm link 44 one end is hinged with connector 45, and the other end is hinged with jaw arm 41；Described connecting rod 46 one end and folder
Pawl arm 41 is hinged, and the other end is hinged with jaw intermediate 42；With interconnective jaw arm link 44, jaw arm 41 and company
Extension bar 46 is one group, and totally two groups are symmetricly set in jaw intermediate 42 both sides.Compact conformation, takes up room little.
Preferably, described connecting rod 46 at least four, phase between the connecting rod 46 of jaw intermediate 42 the same side
The most parallel.The steadiness of clamping can be improved by passive constraint.
Preferably, the front end face of described jaw intermediate 42 is arc, and it is fixed with the first pad 50 of arc, institute
The clamping face stating jaw arm 41 is arc, and described clamping face is fixed with the second pad 51 of arc.When jaw intermediate 42
During with jaw arm 41 by impulsive force, the first pad 50 and the second pad 51 carry out buffer protection jaw intermediate 42 and folder
Pawl arm 41.
Preferably, described jaw 4 also includes the photographic head 47 for observing jaw arm 41 clamp position, described photographic head 47
It is installed on jaw intermediate 42.
Preferably, described jaw 4 also includes that proximity switch 48, described proximity switch 48 are installed on jaw seat 40.
Preferably, the end of described jaw arm 41 is removably connected with for making jaw arm 41 be suitable for holding smaller diameter
The replaceable expansion block 49 of tubing string.
Further, described rotary drive mechanism includes the rotary reducer 8 with encoder and drives motor, described driving
Motor and rotary reducer are installed on base 1, and described driving motor drives turntable 2 to rotate by rotary reducer.Structure
Reliably, compact；On rotary reducer with encoder, can accurately control angle of revolution.
Further, also include for driving base 1 linear moving mechanism for linear motion, described linear moving mechanism master
Will be made up of line slideway, motor, gear and tooth bar, described line slideway and tooth bar are fixedly installed in the deck of drilling platforms
On, described base 1 is slidably connected with line slideway, and described motor is installed on base 1, and described gear is driven by motor and and tooth
Bar is meshed.So can realize moving horizontally of this drilling floor surface swing pipe mechanical hand, it is achieved drilling floor surface swing pipe mechanical hand is just to fingerboard.
Further, the bottom of described forearm 10 extends rearwardly to form extension 100, the bottom of described forearm oil cylinder 14 with
Extension 100 is hinged, and pin joint is positioned at the rear of the second pin joint A2；Described forearm oil cylinder 14 and postbrachium oil cylinder 15 are respectively provided with
Rear in postbrachium 11.Achieve can forearm oil cylinder is arranged at the rear of postbrachium by extension, compare forearm oil cylinder
It is arranged at the front of postbrachium, more compact structure, take up room less.
The most by way of example this utility model is illustrated, but this utility model is not limited to above-mentioned being embodied as
Example, all any changes done based on this utility model or modification belong to the scope that this utility model is claimed.
Claims (10)
1. a drilling floor surface swing pipe mechanical hand, it is characterised in that including:
Base (1)；
Turntable (2), it is rotatably installed on base (1), described turntable (2) is connected with frame (3)；
For the rotary drive mechanism driving turntable (2) respect thereto (1) to rotate；
Jaw (4), its level is fixed on jaw seat (40)；
Mechanical arm (5), its mainly by fixing seat (17), forearm (10), postbrachium (11), forearm link (12), rear arm link (13),
For the forearm oil cylinder (14) driving forearm to rotate relative to postbrachium, it is used for driving postbrachium to be relatively fixed the postbrachium oil that seat (17) rotates
Cylinder (15) and connecting plate (16) composition, described fixing seat (17) is fixed in frame (3), described postbrachium (11) top and fixing seat
(17) being hinged, pin joint is the first pin joint (A1)；Postbrachium (11) bottom is by the bottom phase of rotating shaft (18) with forearm (10)
Hinged, pin joint is the second pin joint (A2)；Described connecting plate (16) is rotationally connected with in rotating shaft (18), described rear arm link
(13) top is hinged with fixing seat (17), and pin joint is the 3rd pin joint (A3)；Rear arm link (13) bottom and connecting plate
(16) the first end is hinged, and pin joint is the 4th pin joint (A4)；Described forearm link (12) bottom and connecting plate (16)
Second end is hinged, and pin joint is the 5th pin joint (B1), and forearm link (12) top is hinged with jaw seat (40), pin joint
It it is the 6th pin joint (B2)；The top of described forearm (10) is hinged with jaw seat (40), and pin joint is the 7th pin joint (B3)；
Described postbrachium oil cylinder (15) one end is hinged with fixing seat (17), and the other end is hinged with postbrachium (11), described forearm oil cylinder
(14) one end is hinged with postbrachium (11), and the other end is hinged with forearm (10)；Described first pin joint (A1), the second pin joint
(A2), the 4th pin joint (A4) and the 3rd pin joint (A3) line successively form the first parallelogram, described second pin joint
(A2), the 5th pin joint (B1), the 6th pin joint (B2) and the 7th pin joint (B3) line successively form the second parallelogram
With electrical control cubicles (6).
A kind of drilling floor surface swing pipe mechanical hand the most according to claim 1, it is characterised in that: described fixing seat (17) and postbrachium
(11) position being hinged is provided with and is relatively fixed the angle value of seat (17) or angle changing value for measuring postbrachium (11)
The position that first angle measurement unit, described forearm (10) and postbrachium (11) are hinged is provided with for measuring forearm (10) phase
Angle value or the second angle measurement unit of angle changing value to postbrachium (11).
A kind of drilling floor surface swing pipe mechanical hand the most according to claim 2, it is characterised in that: the control in described electrical control cubicles (6)
Device processed, according to the value measured by the first angle measurement unit and the second angle measurement unit, controls the stroke of forearm oil cylinder (14)
Jaw (4) horizontal rectilinear motion all the time is made with the stroke of postbrachium oil cylinder (15).
4. according to a kind of drilling floor surface swing pipe mechanical hand described in claims 1 to 3 any one, it is characterised in that: described jaw
(4) including: jaw arm (41), jaw intermediate (42), clamping jaw oil cylinder (43), jaw arm link (44), connector (45) and company
Extension bar (46), described jaw intermediate (42) is fixed on jaw seat (40), and described clamping jaw oil cylinder (43) is fixedly installed on jaw
In intermediate (42), described connector (45) is connected with the free end of clamping jaw oil cylinder (43) piston rod, described jaw arm link
(44) one end is hinged with connector (45), and the other end is hinged with jaw arm (41)；Described connecting rod (46) one end and jaw
Arm (41) is hinged, and the other end is hinged with jaw intermediate (42)；With interconnective jaw arm link (44), jaw arm
(41) and connecting rod (46) is one group, totally two groups are symmetricly set in jaw intermediate (42) both sides.
A kind of drilling floor surface swing pipe mechanical hand the most according to claim 4, it is characterised in that: described jaw (4) also includes using
In the photographic head (47) of observation jaw arm (41) clamp position, described photographic head (47) is installed on jaw intermediate (42).
A kind of drilling floor surface swing pipe mechanical hand the most according to claim 4, it is characterised in that: described jaw (4) also includes connecing
Nearly switch (48), described proximity switch (48) is installed on jaw seat (40).
A kind of drilling floor surface swing pipe mechanical hand the most according to claim 4, it is characterised in that: the end of described jaw arm (41)
It is removably connected with for making jaw arm (41) be suitable for the replaceable expansion block (49) of holding smaller diameter tubing string.
A kind of drilling floor surface swing pipe mechanical hand the most according to claim 1, it is characterised in that: described rotary drive mechanism includes
With rotary reducer (8) and the driving motor of encoder, described driving motor and rotary reducer are installed on base (1),
Described driving motor drives turntable (2) to rotate by rotary reducer.
A kind of drilling floor surface swing pipe mechanical hand the most according to claim 1, it is characterised in that: also include for driving base
(1) linear moving mechanism for linear motion, described linear moving mechanism is mainly by line slideway, motor, gear and tooth bar group
Becoming, described line slideway and tooth bar are fixedly installed on the deck of drilling platforms, and described base (1) slides even with line slideway
Connecing, described motor is installed on base (1), and described gear is driven by motor and is meshed with tooth bar.
A kind of drilling floor surface swing pipe mechanical hand the most according to claim 1, it is characterised in that: the bottom of described forearm (10)
Extending rearwardly to form extension (100), the bottom of described forearm oil cylinder (14) is hinged with extension (100), and pin joint is positioned at
The rear of the second pin joint (A2)；Described forearm oil cylinder (14) and postbrachium oil cylinder (15) may be contained within the rear of postbrachium (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620511645.6U CN205734921U (en) | 2016-05-31 | 2016-05-31 | A kind of drilling floor surface swing pipe mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620511645.6U CN205734921U (en) | 2016-05-31 | 2016-05-31 | A kind of drilling floor surface swing pipe mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734921U true CN205734921U (en) | 2016-11-30 |
Family
ID=57362257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620511645.6U Active CN205734921U (en) | 2016-05-31 | 2016-05-31 | A kind of drilling floor surface swing pipe mechanical hand |
Country Status (1)
| Country | Link |
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| CN (1) | CN205734921U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798903A (en) * | 2016-05-31 | 2016-07-27 | 青岛杰瑞工控技术有限公司 | Drilling table surface swing pipe manipulator |
| CN107457779A (en) * | 2017-09-29 | 2017-12-12 | 辛鸣 | Manipulator based on linkage |
-
2016
- 2016-05-31 CN CN201620511645.6U patent/CN205734921U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798903A (en) * | 2016-05-31 | 2016-07-27 | 青岛杰瑞工控技术有限公司 | Drilling table surface swing pipe manipulator |
| CN105798903B (en) * | 2016-05-31 | 2019-01-04 | 青岛杰瑞工控技术有限公司 | A kind of drilling floor surface swing pipe manipulator |
| CN107457779A (en) * | 2017-09-29 | 2017-12-12 | 辛鸣 | Manipulator based on linkage |
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