CN206816206U - A kind of big arm assembly of petroleum well workover Work robot - Google Patents

A kind of big arm assembly of petroleum well workover Work robot Download PDF

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Publication number
CN206816206U
CN206816206U CN201720296138.XU CN201720296138U CN206816206U CN 206816206 U CN206816206 U CN 206816206U CN 201720296138 U CN201720296138 U CN 201720296138U CN 206816206 U CN206816206 U CN 206816206U
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China
Prior art keywords
arm
swing
oil cylinder
manipulator
swing arm
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Active
Application number
CN201720296138.XU
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Chinese (zh)
Inventor
侯树旺
赵宏杰
崔译戈
谢俊飞
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Ji'nan Core Intelligent Equipment Co Ltd
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Ji'nan Core Intelligent Equipment Co Ltd
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Abstract

The utility model discloses a kind of big arm assembly of petroleum well workover Work robot, including large arm pendulous device, flexible manipulator and hydraulic system, the large arm pendulous device includes swing arm, swing seat, oil cylinder one and locking cylinder, the swing seat is fixed on chassis, swing arm is hinged on swing seat, and swing arm can be swung under the driving of oil cylinder one around hinge;The flexible manipulator includes mechanical arm, manipulator and oil cylinder two, and manipulator is arranged on mechanical arm both ends, swing arm end is hinged in the middle part of mechanical arm and can be swung with swing arm, while flexible manipulator can be around hinge self-swinging under the driving of oil cylinder two.The utility model structure is simpler, reasonable, reliable, and oil pipe is accurately put into very much into well head upright position from horizontal level automatically, and its distinguishing feature is labor intensity reduction, security reliability improves, do not need operating personnel to be operated to well head, save substantial amounts of human and material resources, improve pitch time.

Description

A kind of big arm assembly of petroleum well workover Work robot
Technical field
A kind of workover treatment machine National People's Congress arm assembly is the utility model is related to, belongs to petroleum well workover equipment technical field.
Background technology
During oil well well workover, most of workover treatment is had been manually done by well workover personnel, and wherein well casing is vertical Conversion between state and horizontality be workover treatment process labor intensity maximum, work repetitive rate highest link it Most dangerous link during one, and well workover.With oil field and society to the attention of safety in production and people to working environment It is required that continuous improvement, this long-term manually job state needs improvement badly.
The content of the invention
Technical problem to be solved in the utility model is the defects of presence for prior art, there is provided a kind of petroleum well workover The big arm assembly of Work robot.
To solve this technical problem, the utility model provides a kind of big arm assembly of petroleum well workover Work robot, bag Large arm pendulous device, flexible manipulator and hydraulic system are included, the large arm pendulous device includes swing arm, swing seat, oil cylinder one and lock Locking oil cylinder, the swing seat are fixed on chassis, and swing arm is hinged on swing seat, and swing arm can be swung under the driving of oil cylinder one around hinge; The flexible manipulator includes mechanical arm, manipulator and oil cylinder two, and manipulator is arranged on mechanical arm both ends, mechanical arm Middle part is hinged on swing arm end and can swung with swing arm, while flexible manipulator can be around hinge self-swinging under the driving of oil cylinder two.
The hydraulic system includes hydraulic executing system and hydraulic control system, and the hydraulic executing system includes and swing arm The oil cylinder one and displacement transducer one and proportioning valve of connection, the oil cylinder two and displacement transducer two being connected with flexible manipulator;Institute Stating hydraulic control system includes PLC CUP modules, digital output module, analog output and encoder feedback module.
Beneficial effect:The utility model structure is simpler, reasonable, reliable, very automatically that oil pipe is accurate from horizontal level Well head upright position is put into, its distinguishing feature is labor intensity reduction, and security reliability improves, it is not necessary to operating personnel to well head Operation, substantial amounts of human and material resources are saved, improve pitch time.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the schematic diagram that the utility model is in horizontality.
In figure:1 large arm pendulous device, 2 flexible manipulators, 3 swing arms, 4 swing seats, 5 oil cylinders one, 6 locking cylinders, 7 oil pipes, 8 Chassis, 9 mechanical arms, 10 manipulators.
Embodiment
Below in conjunction with the accompanying drawings and embodiment specifically describes to the utility model.
Fig. 1 show structural representation of the present utility model.
The utility model includes large arm pendulous device 1, flexible manipulator 2 and hydraulic system.
The large arm pendulous device 1 includes swing arm 3, swing seat 4, oil cylinder 1 and locking cylinder 6, and the swing seat 4 is fixed on bottom On disk 8, swing arm 3 is hinged on swing seat 4, and swing arm 3 can be swung under the driving of oil cylinder 1 around hinge.
The flexible manipulator 2 includes mechanical arm 9, manipulator 10 and oil cylinder two, and manipulator 10 is arranged on mechanical arm 9 Both ends, the middle part of mechanical arm 9 is hinged on the end of swing arm 3 and can swung with swing arm 3, while flexible manipulator 2 drives in oil cylinder two Can be around hinge self-swinging under dynamic.
The hydraulic system includes hydraulic executing system and hydraulic control system, and the hydraulic executing system includes and swing arm Oil cylinder 1, displacement transducer one and the proportioning valve of 3 connections, the oil cylinder two and displacement transducer two being connected with flexible manipulator 2; The hydraulic control system includes PLC CUP modules, digital output module, analog output and encoder feedback module.
The course of work of the present utility model:
Oil pipe 7 is clamped under the vertical state of well head when playing oil pipe and lifted, large arm pendulous device 1 is put since 105 ° Dynamic, during to 85 °, flexible manipulator 2 starts from 90 ° of rotations, and when 1 to 40 ° of large arm pendulous device, flexible manipulator 2 turns to 0 ° of state of level, large arm pendulous device 1 continue to swing to 0 ° of state of level, and large arm pendulous device 1 and flexible manipulator 2 are water After level state, oil pipe 7 is horizontal (as shown in Figure 2), and oil pipe 7 is horizontally placed to conveying device and picks oil pipe position.
Oil pipe 7 is clamped oil pipe, large arm by the flexible manipulator 2 in lower Tubing During Running from conveying device drain line position Pendulous device 1 is swung since 0 ° of level, and when large arm pendulous device 1 swings to 35 °, flexible manipulator 2 starts from 0 ° of rotation, The complete rotation in 90 ° of flexible manipulator 2 when large arm pendulous device 1 swings to 85 °, large arm pendulous device 1 continue to swing to 105 ° Oil pipe 7 is sent to well head upright position.
The utility model long 8500mm, wide 1000mm, high 1100mm;0-105 ° of large arm hunting range, flexible manipulator turn It is dynamic 0-90 °, overall weight about 2800KG.
The utility model structure is simpler, reasonable, reliable, and oil pipe is accurately easily put into very much into well head from horizontal level hangs down Straight position, its distinguishing feature are labor intensity reductions, and security reliability improves, it is not necessary to which operating personnel to well head operate, and save Substantial amounts of human and material resources, improve pitch time.
The utility model the embodiment above, is merely illustrative, be not it is only, it is all in the scope of the utility model Or the change in equivalent the scope of the utility model is surrounded by the utility model.

Claims (2)

  1. A kind of 1. big arm assembly of petroleum well workover Work robot, it is characterised in that:Including large arm pendulous device (1), flexible mechanical Hand (2) and hydraulic system, the large arm pendulous device (1) include swing arm (3), swing seat (4), oil cylinder one (5) and locking cylinder (6), the swing seat (4) is fixed on chassis (8), and swing arm (3) is hinged on swing seat (4), and swing arm (3) is driven by oil cylinder one (5) It can be swung around hinge;The flexible manipulator (2) includes mechanical arm (9), manipulator (10) and oil cylinder two, and manipulator (10) is set Put and be hinged on swing arm (3) end in the middle part of the both ends of mechanical arm (9), mechanical arm (9) and can be swung with swing arm (3), simultaneously Flexible manipulator (2) can be around hinge self-swinging under the driving of oil cylinder two.
  2. 2. the big arm assembly of petroleum well workover Work robot according to claim 1, it is characterised in that:The hydraulic system bag Hydraulic executing system and hydraulic control system are included, the hydraulic executing system includes oil cylinder one (5) and the position being connected with swing arm (3) Displacement sensor one and proportioning valve, the oil cylinder two and displacement transducer two being connected with flexible manipulator (2);The hydraulic control system CUP modules, digital output module, analog output and encoder feedback module including PLC.
CN201720296138.XU 2017-03-24 2017-03-24 A kind of big arm assembly of petroleum well workover Work robot Active CN206816206U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720296138.XU CN206816206U (en) 2017-03-24 2017-03-24 A kind of big arm assembly of petroleum well workover Work robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720296138.XU CN206816206U (en) 2017-03-24 2017-03-24 A kind of big arm assembly of petroleum well workover Work robot

Publications (1)

Publication Number Publication Date
CN206816206U true CN206816206U (en) 2017-12-29

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201720296138.XU Active CN206816206U (en) 2017-03-24 2017-03-24 A kind of big arm assembly of petroleum well workover Work robot

Country Status (1)

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CN (1) CN206816206U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109403889A (en) * 2018-12-24 2019-03-01 辽宁陆海石油装备研究院有限公司 A kind of movement discharge method of marine drilling platform drilling rod

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109403889A (en) * 2018-12-24 2019-03-01 辽宁陆海石油装备研究院有限公司 A kind of movement discharge method of marine drilling platform drilling rod

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Effective date of registration: 20200922

Granted publication date: 20171229

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