CN205778618U - A kind of quadruple board platform Intelligent drainage guard system - Google Patents

A kind of quadruple board platform Intelligent drainage guard system Download PDF

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Publication number
CN205778618U
CN205778618U CN201620518893.3U CN201620518893U CN205778618U CN 205778618 U CN205778618 U CN 205778618U CN 201620518893 U CN201620518893 U CN 201620518893U CN 205778618 U CN205778618 U CN 205778618U
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China
Prior art keywords
jaw
forearm
postbrachium
pin joint
hinged
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CN201620518893.3U
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Chinese (zh)
Inventor
赵奎
刘洪刚
张坤
崔海朋
潘树鹏
孙吉磊
杜鹏
吴洪晓
鹿传祥
魏立明
王勇
张超
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Qingdao Jari Industrial Control Technology Co Ltd
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Qingdao Jari Industrial Control Technology Co Ltd
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Priority to CN201620518893.3U priority Critical patent/CN205778618U/en
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Abstract

This utility model relates to petroleum equipment technical field, especially a kind of quadruple board platform Intelligent drainage guard system.Comprising: a bearing, turntable, rotary drive mechanism, jaw, linear moving mechanism, mechanical arm and controller, 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 quadruple board platform Intelligent drainage guard system 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, 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, and fingerboard lock and the pneumatic pin of fingerboard can play the effect of safeguard protection, prevent tubing string from deviating from.

Description

A kind of quadruple board platform Intelligent drainage guard system
Technical field
This utility model relates to petroleum equipment technical field, especially a kind of quadruple board platform intelligence comb System.
Background technology
In Process of Oil Well Drilling, will carry out lifting the work of drilling rod, drilling rod is sling by crane, Need several operator auxiliary carry out upper drilling rod, drilling rod enters mouse hole, kelly bar enters big rat hole, The work such as stacks make-up, row column, lower pillar stand, completion breaking down.
During drilling rod operates, owing to drilling rod is long, when removing drilling rod, drilling rod Amplitude of fluctuation is relatively big, bigger by human assistance job safety hidden danger;And need several operator Member's auxiliary, waste of manpower, work efficiency is relatively low.
In tubing string is mainly transplanted on fingerboard by elevator by quadruple board platform swing pipe mechanical hand and by fingerboard Take out and send into elevator.
Tubing string is transplanted in fingerboard by mechanical hand by elevator: after tubing string sits ground, quadruple board platform Intelligent drainage Guard system stretches out catches tubing string, elevator to open, and mechanical hand is retracted and taken out by elevator by tubing string, machine Tool hands half-twist, mechanical hand moves and tubing string is directed at corresponding fingerboard, and fingerboard lock is opened, Then tubing string is sent in fingerboard by Arm expanding, and fingerboard lock cuts out, and gripper is retracted, and is returned to Start position;
Tubing string is taken out by fingerboard and sends into elevator by mechanical hand: mechanical hand moves to corresponding fingerboard Position, Arm expanding captures tubing string, and fingerboard lock is opened, and arm is retracted, and is hauled out by tubing string and refers to Beam, fingerboard lock closedown, mechanical hand moves to pithead position, then half-twist, by tubing string Alignment elevator, arm is released, is sent in elevator by tubing string.
The two course of action is contrary.
Utility model content
This utility model aims to solve the problem that the problems referred to above, it is provided that a kind of quadruple board platform Intelligent drainage piping System, its topology layout is reasonable, can realize this quadruple board platform Intelligent drainage piping by linear moving mechanism Moving horizontally of system, it is achieved quadruple board platform Intelligent drainage guard system is just to fingerboard;Rotary drive mechanism is adopted With rotary reducer, structure is reliable, compact;With encoder on rotary reducer, Ke Yijing Really control angle of revolution;By the first parallelogram and the second parallelogram and they share Connecting plate jaw can be made to remain level, by the first angle measurement unit and second Angle measurement unit and controller can control and adjust forearm oil cylinder and postbrachium oil cylinder between the two Travel relationships, it is achieved the horizontal linear of jaw moves, makes extending and retracting of mechanical hand more steady; The compact conformation of jaw, takes up room little, and fingerboard lock and the pneumatic pin of fingerboard can play safeguard protection Effect, prevent tubing string from deviating from, its technical scheme used is as follows:
A kind of quadruple board platform Intelligent drainage guard system, it is characterised in that including:
Propping up bearing, it is installed on quadruple board platform assembly, and is driven two by linear moving mechanism Move along a straight line on layer platform assembly;
Turntable, it is rotatably installed in a bearing;
For driving turntable relative to propping up the rotary drive mechanism that bearing rotates;
Jaw, it is fixed on jaw seat;
Mechanical arm, its mainly by fixing seat, forearm, postbrachium, forearm link, rear arm link, Turn for the forearm oil cylinder driving forearm to rotate relative to postbrachium, for driving postbrachium to be relatively fixed seat Dynamic postbrachium oil cylinder and connecting plate composition, described fixing seat is fixed on turntable, described postbrachium Top is hinged with fixing seat, and pin joint is the first pin joint;Rotating shaft is passed through with front in postbrachium bottom The bottom of arm is hinged, and pin joint is the second pin joint;Described connecting plate is rotationally connected with rotating shaft On, described rear arm link top is hinged with fixing seat, and pin joint is the 3rd pin joint;Postbrachium Connecting rod bottom is hinged with the first end of connecting plate, and pin joint is the 4th pin joint;Described forearm Connecting rod bottom is hinged with the second end of connecting plate, and pin joint is the 5th pin joint, forearm link Top is hinged with jaw seat, and pin joint is the 6th pin joint;The top of described forearm and jaw Seat is hinged, and pin joint is the 7th pin joint;Described postbrachium oil cylinder one end is hinged with fixing seat, The other end is hinged with postbrachium, and described forearm oil cylinder one end is hinged with postbrachium, and the other end is with front Arm is hinged;Described first pin joint, the second pin joint, the 4th pin joint and the 3rd pin joint Line forms the first parallelogram successively, described second pin joint, the 5th pin joint, the 6th Pin joint and the 7th pin joint line successively form the second parallelogram;
And controller.
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 With by the vertical curve of the second pin joint for axis of symmetry axial symmetry.
In order to improve the structural strength of forearm and postbrachium, described postbrachium and forearm are box beam formula knot Structure, in order to overall attractive in appearance, described forearm link is positioned in forearm, and described rear arm link is positioned at In postbrachium.
In order to improve the structural strength of forearm and postbrachium further, described postbrachium and the inside of forearm Be fixedly installed some horizontal reinforcing plates, described reinforcing plate offers for forearm link and The through hole that rear arm link passes, the length of described through hole should be greater than forearm link and rear arm link Diameter, 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 arranged Have and be relatively fixed the angle value of seat or the first angular surveying of angle changing value for measuring postbrachium Device, the position that described forearm is hinged with postbrachium is provided with for measuring forearm relative to postbrachium Angle value or the second angle measurement unit of angle changing value.
On the basis of technique scheme, described first angle measurement unit and the second angular surveying Device is encoder.
On the basis of technique scheme, described controller is according to the first angle measurement unit and Value measured by two angle measurement units, controls the stroke of forearm oil cylinder and stretching of postbrachium oil cylinder Contracting amount makes jaw horizontal rectilinear motion all the time.
On the basis of technique scheme, the fingerboard on described quadruple board platform assembly is near mechanical arm One end on be provided with fingerboard lock, described fingerboard lock be mainly made up of rotary cylinder and baffle plate, institute Stating rotary cylinder to be fixedly installed on fingerboard, described rotary cylinder drives baffle plate to turn by shaft coupling Dynamic, it is positioned on the front end face of fingerboard foremost and is provided with the pneumatic pin of fingerboard, described fingerboard gas Dynamic pin is mainly made up of cylinder and pin, and described cylinder is fixedly installed on fingerboard, described gear Bar is connected with the piston rod of cylinder.
On the basis of technique scheme, described jaw includes: jaw arm, jaw intermediate, Clamping jaw oil cylinder, jaw arm link, connector and connecting rod, described jaw intermediate is fixed in folder On pawl seat, described clamping jaw oil cylinder is fixedly installed in jaw intermediate, described connector and jaw The free end of cylinder piston rod is connected, and described jaw arm link one end is hinged with connector, The other end is hinged with jaw arm;Described connecting rod one end is hinged with jaw arm, the other end with Jaw intermediate is hinged;With interconnective jaw arm link, jaw arm and connecting rod for one Group, totally two groups are symmetricly set in jaw intermediate both sides.
Preferably, described connecting rod is at least four, is positioned at the connection of jaw intermediate the same side It is parallel to each other between bar.So can improve the steadiness of clamping.
Preferably, the front end face of described jaw intermediate is arc, and it is fixed with the of arc One pad, the clamping face of described jaw arm is arc, and described clamping face is fixed with arc Second pad.
On the basis of technique scheme, described jaw also includes for observing jaw arm clamping shape The photographic head of state, described photographic head is installed on jaw intermediate.
On the basis of technique scheme, described jaw also includes proximity switch, described close to opening Pass is installed on jaw seat.
On the basis of technique scheme, the end of described jaw arm is removably connected with for making Jaw arm is suitable for the replaceable expansion block of holding smaller diameter tubing string.
On the basis of technique scheme, described rotary drive mechanism includes returning with encoder Turning decelerator and hydraulic motor, described hydraulic motor and rotary reducer are installed in a bearing, Described hydraulic motor drives turntable to rotate by rotary reducer.
On the basis of technique scheme, described linear moving mechanism is mainly by line slideway, horse Reach, gear and tooth bar composition, described line slideway and tooth bar are fixedly installed in quadruple board platform assembly On, described bearing is slidably connected with line slideway, and described motor is installed in a bearing, institute State gear driven by motor and be meshed with tooth bar.
On the basis of technique scheme, the bottom of described forearm extends rearwardly to form extension, The bottom of described forearm oil cylinder is hinged with extension, after pin joint is positioned at the second pin joint Side;Described forearm oil cylinder and postbrachium oil cylinder may be contained within the rear of postbrachium.Realized by extension Can forearm oil cylinder be arranged at the rear of postbrachium, compare and forearm oil cylinder is arranged at postbrachium At front, more compact structure, take up room less.
This utility model has the advantage that topology layout is reasonable, can by linear moving mechanism Realize moving horizontally of this quadruple board platform Intelligent drainage guard system, it is achieved quadruple board platform Intelligent drainage guard system is just To fingerboard;Rotary drive mechanism uses rotary reducer, and structure is reliable, compact;Rotary decelerating With encoder on device, can accurately control angle of revolution;By the first parallelogram and Two parallelogrames and their shared connecting plates can make jaw remain level, pass through First angle measurement unit and the second angle measurement unit and controller can control and adjust forearm Oil cylinder and postbrachium oil cylinder travel relationships between the two, it is achieved the horizontal linear of jaw moves, and makes machine Extending and retracting of tool hands is more steady;The compact conformation of jaw, takes up room little, fingerboard lock and The pneumatic pin of fingerboard can play the effect of safeguard protection, prevents tubing string from deviating from.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, The accompanying drawing used required in embodiment or description of the prior art will be briefly described below. It should be evident that the accompanying drawing in describing below is only a kind of embodiment of the present utility model, right From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, 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: plan structure schematic diagram of the present utility model;
Fig. 3: left view structural representation of the present utility model;
Fig. 4: the structural representation of mechanical arm described in the utility model;
Fig. 5: 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. 6: jaw described in the utility model;
The A-A of Fig. 7: Fig. 5 is to cross-sectional view;
The structure for amplifying schematic diagram of Fig. 8: fingerboard described in the utility model lock;
Fig. 9: the structure for amplifying schematic diagram of the pneumatic pin of fingerboard described in the utility model;
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 in the accompanying drawings Illustrating, the most same or similar label represents same or similar element or has The element of same or like function.The embodiment described below with reference to accompanying drawing is exemplary , it is only used for explaining this utility model, and it is not intended that to restriction of the present utility model.
In description of the present utility model, it should be noted that unless otherwise clear and definite regulation and Limiting, term " is installed ", " being connected ", " connection " should be interpreted broadly, for example, it may be Fixing connection, it is also possible to be to removably connect, or be integrally connected;Can be to be joined directly together, Can also be indirectly connected to by intermediary.For the ordinary skill in the art, may be used Above-mentioned term concrete meaning in this utility model is understood with concrete condition.
In description of the present utility model, it should be noted that term "front", "rear", " on ", Orientation or the position relationship of the instruction such as D score, "left", "right", " top ", " end " are based on attached Position relationship shown in figure, is for only for ease of description this utility model and simplifies description, and not It is to indicate or imply that the device of indication or element must have specific orientation, with specific orientation Structure and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " the One ", " second ", " the 3rd ", " the 4th " are only used for describing purpose, and it is not intended that instruction Or hint relative importance.
As shown in Figures 1 to 4, a kind of quadruple board platform Intelligent drainage guard system, it is characterised in that bag Include:
Propping up bearing 1, it is installed on quadruple board platform assembly 3, and is driven by linear moving mechanism Quadruple board platform assembly moves along a straight line;
Turntable 2, it is rotatably installed in a bearing 1;
For driving turntable 2 relative to propping up the rotary drive mechanism that bearing 1 rotates;
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, for driving forearm oil cylinder 14 that forearm rotates relative to postbrachium, for driving Postbrachium is relatively fixed postbrachium oil cylinder 15 that seat 17 rotates and connecting plate 16 forms, described fixing Seat 17 is fixed on turntable 2, and described postbrachium 11 top is hinged with fixing seat 17, hinge Contact 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 rotating shaft 18 On, 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 is hinged with the first end of connecting plate 16, and pin joint is the 4th hinge Contact A4;Described forearm link 12 bottom is hinged with the second end of connecting plate 16, hinged Point is the 5th pin joint B1, and forearm link 12 top and jaw seat 40 are hinged, pin joint It is the 6th pin joint B2;The top of described forearm 10 is hinged with jaw seat 40, pin joint It is the 7th pin joint B3;Described postbrachium oil cylinder 15 one end is hinged with fixing seat 17, another End is hinged with postbrachium 11, and described forearm oil cylinder 14 one end is hinged with postbrachium 11, another End is hinged with forearm 10;Described first pin joint A1, the second pin joint A2, the 4th hinge Contact A4 and the 3rd pin joint A3 line successively form the first parallelogram, and described second Pin joint A2, the 5th pin joint B1, the 6th pin joint B2 and the 7th pin joint B3 connect successively Line forms the second parallelogram;
And controller.
Preferably, described jaw 4 level is fixed on jaw seat 40.
Preferably, described first parallelogram and the second parallelogram are with hinged by second The vertical curve of some A2 is axis of symmetry axial symmetry.
In order to improve the structural strength of forearm and postbrachium, described postbrachium and forearm are box beam formula knot Structure, in order to overall attractive in appearance, described forearm link 12 is positioned in forearm 10, and described postbrachium is even Bar 13 is positioned in postbrachium 11;
In order to improve the structural strength of forearm and postbrachium further, described postbrachium and the inside of forearm It is fixedly installed some horizontal reinforcing plates, described reinforcing plate offers for forearm link 12 and the through hole that passes of rear arm link 13, the length of described through hole is more than forearm link 12 He The diameter of rear arm link 13.
Preferably, the position that described fixing seat 17 and postbrachium 11 are hinged is provided with for surveying Amount postbrachium 11 is relatively fixed the first angle measurement unit of seat 17 angle value or angle changing value, Described forearm 10 is provided with for measuring forearm 10 relative with the position that postbrachium 11 is hinged Postbrachium 11 angle value 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, described controller is according to the first angle measurement unit and the second angle measurement unit Measured value, the stroke of the stroke and postbrachium oil cylinder 15 that control forearm oil cylinder 14 makes folder Pawl 4 horizontal rectilinear motion all the time.
As it is shown in figure 5, owing to the upper minor face A1A3 of the first parallelogram is fixing, root Begin according to the angle of two minor face relative level lines of parallelogram feature the first parallelogram It is constant eventually, owing to the first parallelogram and the second parallelogram share same a plate 16, therefore the angle of the lower minor face A2B1 relative level line of the second parallelogram is constant all the time , according to the characteristic of parallelogram, and then the upper minor face B2B3 phase of the second parallelogram Also it is thick-and-thin to horizontal angle, therefore passes through the structure of two parallelogrames and be total to Connecting plate 16 ensure that in quadruple board platform Intelligent drainage guard system work process, no matter forearm The how action of oil cylinder 14 and postbrachium oil cylinder 15, jaw 4 remains level.
Meanwhile, controller is fed back by the first angle measurement unit and the second angle measurement unit Angle value, and according to the relational expression defaulted in controller between two angles, control forearm oil cylinder The stroke of 14 and the stroke of postbrachium oil cylinder 15 make jaw 4 horizontal rectilinear motion all the time.
As shown in Fig. 2, Fig. 8 and Fig. 9, it is preferred that the finger on described quadruple board platform assembly 3 Beam 32 is provided with fingerboard lock 30 on one end of mechanical arm 5, and it is main that described fingerboard locks 30 Being made up of rotary cylinder 30-1 and baffle plate 30-4, described rotary cylinder 30-1 is fixedly installed in finger On beam 32, described rotary cylinder 30-1 drives baffle plate 30-4 to rotate by shaft coupling 30-2, Further, described fingerboard 32 is installed with clutch shaft bearing seat 30-3 and the second bearing block 30-5, described baffle plate 30-4 are rotationally connected with clutch shaft bearing seat 30-3 and by axle and bearing Between two bearing bracket 30-5, so can improve the stability that baffle plate 30-4 rotates, make gear simultaneously Plate 30-4 can bear bigger power, and described baffle plate 30-4 is advisable with vertical fingerboard 32;
As in figure 2 it is shown, be positioned at, to be provided with fingerboard on the front end face of fingerboard 32 foremost pneumatic Pin 31, the pneumatic pin of described fingerboard 31 is mainly made up of cylinder 31-1 and pin 31-3, Described cylinder 31-1 is fixedly installed on fingerboard 32, described pin 31-3 and cylinder 31-1's Piston rod is connected, and further, is positioned on the front end face of fingerboard 32 foremost and fixedly mounts There are sliding sleeve 31-2, described pin 31-3 to be threaded onto in sliding sleeve 31-2 and slide even with sliding sleeve 31-2 Connect, pin 31-3 so can be enable to bear bigger power.
During as in figure 2 it is shown, tubing string is by well head to area under control, it is to first pass through the first introduction channel 33 (to refer to Folded region between free end and the quadruple board platform assembly 3 of beam) enter the second introduction channel 34 (folded region between adjacent fingerboard), fingerboard lock 30 plays the effect of safeguard protection, prevents tubing string Deviating from from the second introduction channel 34, it is logical that the pneumatic pin of fingerboard 31 prevents tubing string from importing from first Road 33 is deviate from.
As shown in Figure 6 and Figure 7, it is preferred that described jaw 4 includes: jaw arm 41, folder Pawl 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, and described clamping jaw oil cylinder 43 is fixedly installed In jaw intermediate 42, described connector 45 and the free end of clamping jaw oil cylinder 43 piston rod Being connected, described jaw arm link 44 one end is hinged with connector 45, the other end and jaw Arm 41 is hinged;Described connecting rod 46 one end is hinged with jaw arm 41, the other end and folder Pawl intermediate 42 is hinged;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, Take up room little.
Preferably, described connecting rod 46 at least four, it is positioned at jaw intermediate 42 the same side Connecting rod 46 between be parallel to each other.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 arc The first pad 50, the clamping face of described jaw arm 41 is arc, solid on described clamping face Surely there is the second pad 51 of arc.When jaw intermediate 42 and jaw arm 41 are impacted During power, the first pad 50 and the second pad 51 carry out buffer protection jaw intermediate 42 With jaw arm 41.
Preferably, described jaw 4 also includes the shooting for observing jaw arm 41 clamp position 47, described photographic head 47 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 the jaw arm 41 can Adapt to the replaceable expansion block 49 of holding smaller diameter tubing string.
Further, described rotary drive mechanism includes the rotary reducer 8 with encoder and liquid Pressure motor, described hydraulic motor and rotary reducer be installed in bearing 1, described hydraulic pressure horse Reach and drive turntable 2 to rotate by rotary reducer.Structure is reliable, compact;Rotary reducer On with encoder, can accurately control angle of revolution.
Further, described linear moving mechanism is mainly by line slideway, motor, gear and tooth bar 7 form, and described line slideway and tooth bar are fixedly installed on quadruple board platform assembly, described supporting Seat 1 is slidably connected with line slideway, and described motor is installed on and props up in bearing 1, described gear by Motor drives and is meshed with tooth bar 7.So can realize the water of this quadruple board platform Intelligent drainage guard system Translation is dynamic, it is achieved quadruple board platform Intelligent drainage guard system is just to fingerboard.
Further, the bottom of described forearm 10 extends rearwardly to form extension 100, described The bottom of forearm oil cylinder 14 is hinged with extension 100, and pin joint is positioned at the second pin joint A2 Rear;Described forearm oil cylinder 14 and postbrachium oil cylinder 15 may be contained within the rear of postbrachium 11. Achieve can forearm oil cylinder is arranged at the rear of postbrachium by extension, compare forearm oil Cylinder is arranged at the front of postbrachium, more compact structure, takes up room less.
The most by way of example this utility model is illustrated, but this utility model is not limited to Above-mentioned specific embodiment, all any changes done based on this utility model or modification belong to this The scope that utility model is claimed.

Claims (10)

1. a quadruple board platform Intelligent drainage guard system, it is characterised in that including:
Propping up bearing (1), it is installed on quadruple board platform assembly (3), and by rectilinear movement machine Structure drives and moves along a straight line on quadruple board platform assembly;
Turntable (2), it is rotatably installed in a bearing (1);
For driving turntable (2) relative to propping up the rotary drive mechanism that bearing (1) rotates;
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), for driving the forearm that forearm rotates relative to postbrachium Oil cylinder (14), it is used for driving postbrachium to be relatively fixed the postbrachium oil cylinder (15) that seat (17) rotates Forming with connecting plate (16), described fixing seat (17) is fixed on turntable (2), institute Stating postbrachium (11) top to be hinged with fixing seat (17), pin joint is the first pin joint (A1); Postbrachium (11) bottom is hinged by the bottom of rotating shaft (18) with forearm (10), pin joint It 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 hinged Point (A3);Rear arm link (13) bottom is hinged with the first end of connecting plate (16), hinge Contact is the 4th pin joint (A4);Described forearm link (12) bottom and connecting plate (16) The second end be hinged, pin joint is the 5th pin joint (B1), forearm link (12) top Being hinged with jaw seat (40), pin joint is the 6th pin joint (B2);Described forearm (10) Top be hinged with jaw seat (40), pin joint is the 7th pin joint (B3);After described Arm oil cylinder (15) one end is hinged with fixing seat (17), and the other end cuts with scissors mutually with postbrachium (11) Connecing, described forearm oil cylinder (14) one end is hinged with postbrachium (11), the other end and forearm (10) It is hinged;Described first pin joint (A1), the second pin joint (A2), the 4th pin joint (A4) The first parallelogram, described second pin joint is formed with the 3rd pin joint (A3) line successively (A2), the 5th pin joint (B1), the 6th pin joint (B2) and the 7th pin joint (B3) Line forms the second parallelogram successively;
And controller.
A kind of quadruple board platform Intelligent drainage guard system the most according to claim 1, it is characterised in that: The position that described fixing seat (17) and postbrachium (11) are hinged is provided with for measuring postbrachium (11) angle value of seat (17) or the first angle measurement unit of angle changing value it are relatively fixed, The position that described forearm (10) and postbrachium (11) are hinged is provided with for measuring forearm (10) The angle value of relative postbrachium (11) or the second angle measurement unit of angle changing value.
A kind of quadruple board platform Intelligent drainage guard system the most according to claim 2, it is characterised in that: Described controller according to the value measured by the first angle measurement unit and the second angle measurement unit, The stroke of the stroke and postbrachium oil cylinder (15) that control forearm oil cylinder (14) makes jaw (4) All the time horizontal rectilinear motion.
4. according to a kind of quadruple board platform Intelligent drainage piping described in claims 1 to 3 any one System, it is characterised in that: the fingerboard (32) on described quadruple board platform assembly (3) is near machinery Being provided with fingerboard lock (30) on one end of arm (5), described fingerboard lock (30) is main by rotating Cylinder (30-1) and baffle plate (30-4) composition, described rotary cylinder (30-1) fixedly mounts On fingerboard (32), described rotary cylinder (30-1) drives gear by shaft coupling (30-2) Plate (30-4) rotates, and is positioned on the front end face of fingerboard (32) foremost and is provided with fingerboard gas Dynamic pin (31), the pneumatic pin of described fingerboard (31) is main by cylinder (31-1) and pin (31-3) composition, described cylinder (31-1) is fixedly installed on fingerboard (32), described gear Bar (31-3) is connected with the piston rod of cylinder (31-1).
5. according to a kind of quadruple board platform Intelligent drainage piping described in claims 1 to 3 any one System, 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 connecting rod (46), Described jaw intermediate (42) is fixed on jaw seat (40), described clamping jaw oil cylinder (43) It is fixedly installed in jaw intermediate (42), described connector (45) and clamping jaw oil cylinder (43) The free end of piston rod is connected, described jaw arm link (44) one end and connector (45) Being hinged, 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);To be connected with each other Jaw arm link (44), jaw arm (41) and connecting rod (46) be one group, totally two groups It is symmetricly set in jaw intermediate (42) both sides.
A kind of quadruple board platform Intelligent drainage guard system the most according to claim 4, it is characterised in that: Described jaw (4) also includes the photographic head (47) for observing jaw arm (41) clamp position And proximity switch (48), described photographic head (47) is installed on jaw intermediate (42), Described proximity switch (48) is installed on jaw seat (40).
A kind of quadruple board platform Intelligent drainage guard system the most according to claim 4, it is characterised in that: The end of described jaw arm (41) is removably connected with for making jaw arm (41) be suitable for folder Hold the replaceable expansion block (49) of small diameter tubing string.
A kind of quadruple board platform Intelligent drainage guard system the most according to claim 1, it is characterised in that: Described rotary drive mechanism includes the rotary reducer (8) with encoder and hydraulic motor, Described hydraulic motor and rotary reducer are installed in a bearing (1), and described hydraulic motor leads to Crossing rotary reducer drives turntable (2) to rotate.
A kind of quadruple board platform Intelligent drainage guard system the most according to claim 1, it is characterised in that: Described linear moving mechanism is mainly made up of line slideway, motor, gear and tooth bar (7), Described line slideway and tooth bar are fixedly installed on quadruple board platform assembly, described bearing (1) Being slidably connected with line slideway, described motor is installed in bearing (1), described gear by Motor drives and is meshed with tooth bar.
A kind of quadruple board platform Intelligent drainage guard system the most according to claim 1, its feature exists In: the bottom of described forearm (10) extends rearwardly to form extension (100), described forearm oil The bottom of cylinder (14) is hinged with extension (100), and pin joint is positioned at the second pin joint (A2) Rear;Described forearm oil cylinder (14) and postbrachium oil cylinder (15) may be contained within postbrachium (11) Rear.
CN201620518893.3U 2016-05-31 2016-05-31 A kind of quadruple board platform Intelligent drainage guard system Active CN205778618U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105822239A (en) * 2016-05-31 2016-08-03 青岛杰瑞工控技术有限公司 Intelligent racking-platform discharging pipe system
CN110080698A (en) * 2019-03-29 2019-08-02 宝鸡石油机械有限责任公司 A kind of control system of electronic fingerboard
CN110792402A (en) * 2018-08-01 2020-02-14 沈阳新松机器人自动化股份有限公司 Pipe arranging robot for derrick racking platform
CN111911097A (en) * 2020-07-31 2020-11-10 中国海洋大学 Automatic operation system and operation method for oilfield major workover operation

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105822239A (en) * 2016-05-31 2016-08-03 青岛杰瑞工控技术有限公司 Intelligent racking-platform discharging pipe system
CN105822239B (en) * 2016-05-31 2019-06-21 青岛杰瑞工控技术有限公司 A kind of quadruple board platform intelligence pipe system
CN110792402A (en) * 2018-08-01 2020-02-14 沈阳新松机器人自动化股份有限公司 Pipe arranging robot for derrick racking platform
CN110080698A (en) * 2019-03-29 2019-08-02 宝鸡石油机械有限责任公司 A kind of control system of electronic fingerboard
CN111911097A (en) * 2020-07-31 2020-11-10 中国海洋大学 Automatic operation system and operation method for oilfield major workover operation

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