CN206722806U - A kind of petroleum well workover Work robot guiding mechanism - Google Patents

Abstract

The utility model discloses a guiding mechanism for a petroleum workover operation robot, which comprises a guiding guide rail, an elevator, an upper guiding guide, and a hydraulic clamp. The upper guiding guide and the hydraulic clamp are arranged on the guiding guide rail. The positive guide rail is a folding form composed of an upper guide rail, a lower guide rail and a folding mechanism, the upper guide rail and the lower guide rail are connected by a folding mechanism, and the upper guide rail can be folded 180° by the folding mechanism driven by the hydraulic cylinder two. The main function of the utility model is to adjust the position of the wellhead, play a guiding role in the lifting and lowering of the elevator, and integrate functions such as elevator guiding, vertical guiding, clamp operating device, hydraulic clamp, guiding device adjustment and the like. The structure of the utility model is more simple, reasonable and reliable, and it is easy to put the oil pipe from the horizontal position to the vertical position of the well head. Material resources, improve takt time.

Description

A guiding mechanism of an oil workover operation robot

technical field

The utility model relates to a guiding mechanism of a petroleum workover operation robot, which belongs to the technical field of petroleum workover equipment.

Background technique

Conventional well workover operations are usually carried out outdoors, and external natural factors such as wind and hook eccentric load are often the main factors that interfere with normal workover operations. In the process of changing oil well workover from manual operation to automation, the center alignment of each screw thread and pipe clamp in the tubing running is the decisive factor to determine whether the workover operation can be automated. Usually, manual guidance is usually required when the elevator goes in and out of the tubing. There are many problems such as many operators, frequent work, high repeatability, easily damaged threads, and poor safety. Solving the alignment of the tubing every time also ensures the definite track operation of the elevator, which is the key to whether the workover operation can realize automatic operation. The essential.

Contents of the invention

The technical problem to be solved by the utility model is to provide a guiding mechanism for an oil workover operation robot in view of the defects in the prior art.

In order to solve this technical problem, the utility model provides a guiding mechanism of an oil well workover robot, which includes a guiding guide rail, an elevator, an upper guiding guide, and a hydraulic clamp. On the positive guide rail, the positive guide rail is a folding form composed of an upper guide rail, a lower guide rail and a folding mechanism. The upper guide rail and the lower guide rail are connected by a folding mechanism. Folds 180°.

The folding mechanism includes an upper link, a lower link and two hydraulic cylinders, one end of the upper link and the lower link is respectively hinged with the upper guide rail and the lower guide rail, and the upper link and the lower link are hinged by a hinge shaft. , the piston rod end of the hydraulic cylinder 2 is hinged to the hinge shaft, and the cylinder body end is connected to the lower guide rail.

The bottom of the guide rail is hinged on the guide base, and the guide base is fixed on the robot chassis. The guide rail can swing by 90° under the drive of hydraulic cylinder one.

Beneficial effects: the main function of the utility model is to adjust the position of the wellhead, play a guiding role in the lifting and lowering of the elevator, and integrate elevator guiding, vertical guiding, clamp operating device, hydraulic clamp, and guiding device adjustment and other functions. The structure of the utility model is more simple, reasonable and reliable, and it is easy to put the oil pipe from the horizontal position to the vertical position of the wellhead. Material resources, improve takt time.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of folding mechanism of the present utility model;

Fig. 3 is a schematic diagram of the state when the utility model is folded;

Fig. 4 is a schematic diagram of the folding state of the folding mechanism of the present invention.

In the figure: 1 guide rail, 11 upper guide rail, 12 lower guide rail, 2 upper guide rail, 3 hydraulic clamp, 4 folding mechanism, 41 upper link, 42 lower link, 43 hinge shaft, 5 guide base, 6 Robot chassis, 7 hydraulic cylinders one, 8 hydraulic cylinders two.

detailed description

Below in conjunction with accompanying drawing and embodiment the utility model is described in detail.

Shown in Fig. 1 is the structural representation of the utility model.

The utility model comprises a guide rail 1, an upper guide rail 2, and a hydraulic clamp 3, and the upper guide rail 2 and the hydraulic clamp 3 are arranged on the guide rail 1.

Described guide rail 1 is the folding form that upper guide rail 11, lower guide rail 12 and folding mechanism 4 constitute, and is connected by folding mechanism 4 between described upper guide rail 11 and lower guide rail 12, and upper guide rail 11 is driven by hydraulic cylinder 2 8 The bottom can be folded 180° by the folding mechanism 4 (as shown in Figure 3).

Figure 2 is a schematic structural view of the folding mechanism of the present invention.

Fig. 4 is a schematic diagram of the folding state of the folding mechanism of the present invention.

Described folding mechanism 4 comprises upper connecting rod 41, lower connecting rod 42 and hydraulic cylinder two 8, and one end of described upper connecting rod 41 and lower connecting rod 42 is hinged with upper guide rail 11 and lower guide rail 12 respectively, and upper connecting rod 41 and The lower connecting rods 42 are hinged by the hinge shaft 43, the piston rod end of the hydraulic cylinder 2 8 is hinged with the hinge shaft 43, and the cylinder end is connected with the lower guide rail 12, and the hydraulic cylinder 2 8 drives the hinge shaft 43 displacement to make the upper The angle of the connecting rod 41 and the lower connecting rod 42 changes until the upper guide rail 11 and the lower guide rail 12 are parallel to realize folding by 180°.

The bottom of the guide rail 1 is hinged on the guide base 5, and the guide base 5 is fixed on the robot chassis 6. The guide rail 1 can swing 90° under the drive of the hydraulic cylinder one 7, which is convenient for transportation.

The guiding device is 4400mm long, 1850mm wide, and 14465mm high; the guiding device swings from 0-90°, and when folded and placed in the transportation state, it is 8000mm long, 1850mm wide, and 2550mm high. The overall weight is about 3200KG.

The main function of the utility model is to adjust the position of the wellhead, play a guiding role in the lifting and lowering of the elevator, and integrate functions such as elevator guiding, vertical guiding, clamp operating device, hydraulic clamp, and guiding device adjustment. The structure of the utility model is more simple, reasonable and reliable, and it is easy to put the oil pipe from the horizontal position to the vertical position of the wellhead. Material resources, improve takt time.

The above-mentioned embodiments of the utility model are only examples, not the only ones, and all changes within the scope of the utility model or equivalent to the scope of the utility model are surrounded by the utility model.

Claims (3)

1. a kind of petroleum well workover Work robot guiding mechanism, including correcting guide rail (1), upper correcting (2), hydraulic clamp (3), institute State correcting (2) and hydraulic clamp (3) be arranged on correcting guide rail (1), it is characterised in that：The correcting guide rail (1) is above to lead The folded form that rail (11), lower guideway (12) and fold mechanism (4) are formed, lead between the upper rail (11) and lower guideway (12) Fold mechanism (4) connection is crossed, upper rail (11) passes through fold mechanism (4) foldable for 180 degrees under the driving of hydraulic cylinder two (8).

2. petroleum well workover Work robot guiding mechanism according to claim 1, it is characterised in that：The fold mechanism (4) one end point of upper connecting rod (41), lower link (42) and hydraulic cylinder two (8), the upper connecting rod (41) and lower link (42) is included It is not be hinged with upper rail (11) and lower guideway (12), be hinged by hinge (43) between upper connecting rod (41) and lower link (42), institute The piston rod end and hinge (43) for stating hydraulic cylinder two (8) are hinged, and its cylinder body end is connected with lower guideway (12).

3. petroleum well workover Work robot guiding mechanism according to claim 1, it is characterised in that：The correcting guide rail (1) bottom is hinged on correcting base (5), and correcting base (5) is fixed on robot chassis (6), and the correcting guide rail (1) exists Swingable 90 ° under the driving of hydraulic cylinder one (7).