CN208220681U - A kind of rig floor manipulator - Google Patents
A kind of rig floor manipulator Download PDFInfo
- Publication number
- CN208220681U CN208220681U CN201820746361.4U CN201820746361U CN208220681U CN 208220681 U CN208220681 U CN 208220681U CN 201820746361 U CN201820746361 U CN 201820746361U CN 208220681 U CN208220681 U CN 208220681U
- Authority
- CN
- China
- Prior art keywords
- moving arm
- oil cylinder
- guide rail
- sliding block
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Earth Drilling (AREA)
Abstract
The utility model discloses a kind of rig floor manipulator, moves horizontally guide rail and is fixedly connected with drilling floor surface, and pivoting support, which is mounted on, to be moved horizontally on guide rail, and the guide rail that vertically moves being vertically arranged is connected with pivoting support；Mobile sliding block, which is installed on, to be vertically moved in guide rail, and the fixing end and movable end of the first oil cylinder are fixedly connected with vertically moving guide rail and move sliding block respectively；Interior moving arm bottom is hinged with mobile sliding block, and the fixing end and movable end of the second oil cylinder are hinged with the middle and lower part of mobile sliding block and interior moving arm respectively；Hinged with the top on moving arm top at the top of interior moving arm, the fixing end of third oil cylinder is hinged on interior moving arm top, and the movable end of third oil cylinder is hinged on the middle part on moving arm top.Buffering, tubing string (drilling rod) when the utility model can be realized the movement of drilling floor surface tubing string, tubing string enters rig floor arrival well head enter the automation of the dynamic equal groundworks of mouse, solve the problems, such as that current drilling floor surface tubing string is mobile and manpower and more devices is relied on to spread the work.
Description
Technical field
The utility model belongs to oil gas engineering drilling equipment technical field, in particular in a kind of oil-gas mining operation process
It can be realized a kind of rig floor manipulator of drilling floor surface tubing string displacement and drilling rod decentralization (entering rat hole).
Background technique
Nowadays, right with the continuous improvement of safety requirements and the increase of personnel cost in oil-gas mining drilling equipment field
The demand of drilling floor surface tubing string multifunction manipulator is more and more, and full-automatic, high efficiency, long-range control, substitutes manually low power consuming
Drilling floor surface tubing string multifunction manipulator is inevitable development trend.
However, the mobile operation of existing drilling floor surface tubing string mainly uses Manual-pushing, drilling rod enters rat hole operation and mainly adopts
Lifted by crane with air hoist, that there are the amounts of labour used is big for traditional work mode, and personnel labor intensity is high, and personnel safety risk is high, drilling rod into
The disadvantages of entering rat hole low efficiency.
Utility model content
The purpose of this utility model is to provide a kind of rig floor manipulators, to solve the above technical problems.The utility model
Can be realized the movement of drilling floor surface tubing string, tubing string enter rig floor reach well head when buffering, particularly tubing string (drilling rod) enter mouse
The dynamic automation for waiting groundworks, to solve the mobile status spread the work by manpower and more devices of current drilling floor surface tubing string.
To achieve the goals above, the utility model adopts the following technical solution:
A kind of rig floor manipulator, including move horizontally guide rail, pivoting support, mobile sliding block, vertically move guide rail, interior movement
Arm and outer moving arm；
It moves horizontally guide rail to be fixedly connected with drilling floor surface, pivoting support, which is mounted on, to be moved horizontally on guide rail, is vertically arranged
Guide rail is vertically moved to be connected with pivoting support；
Mobile sliding block, which is installed on, to be vertically moved in guide rail, and the fixing end and movable end of the first oil cylinder are led with vertically moving respectively
Rail is fixedly connected with mobile sliding block, and mobile sliding block can vertically move guide rail in the drive lower edge of the first oil cylinder and move up and down；
Interior moving arm bottom is hinged with mobile sliding block, the fixing end and movable end of the second oil cylinder respectively with mobile sliding block and interior
The middle and lower part of moving arm is hinged, can be realized interior moving arm relative to the angle for vertically moving guide rail by the driving of the second oil cylinder
Folding；
Outer moving arm includes moving arm top and moving arm lower part, and moving arm top passes through internal slide bar with moving arm lower part
It is coupled, can be realized the flexible of outer moving arm；
Hinged with the top on moving arm top at the top of interior moving arm, the fixing end of third oil cylinder is hinged on interior moving arm
Portion, the movable end of third oil cylinder are hinged on the middle part on moving arm top；By third oil cylinder can be realized outer moving arm relative to
The angle of interior moving arm opens and closes；
Moving arm is connected with gripper clamp at the top of top；The lower part of moving arm lower part is connected with lower gripper clamp.
Further, moving arm top and moving arm lower part are equipped with arc track face.
Further, upper gripper clamp includes left nipper, right nipper and control mechanism.
Further, lower gripper clamp includes left nipper, right nipper, the 5th oil cylinder, friction block and sensor, and the 5th oil cylinder connects
Connect left nipper, right nipper；5th oil cylinder is controlled by sensor, by sensor feedback, can be adjusted the 5th oil cylinder and be realized lower folder
Hold the folding, support and clamping of pincers；Friction block is installed on the inside of left nipper and right nipper.
It further, further include the link mechanism for keeping moving horizontally for controlling lower gripper clamp.
Compared with the existing technology, the utility model has the following beneficial effects:
1) inside and outside moving arm realizes the level of lower part gripper clamp in different operating conditions with different geometry motion relationships
Mobile and required track movement；
2) intensifying force of gripper clamp can be adjusted as requested, control the size of frictional force.
3) utility model device has increasingly automated function, while also having manual operation mode.
4) the multiple autonomous working links of former rig floor are based on completing all over the body by utility model device, and are created drilling rod and entered rat hole
Function, it is easy for installation.
5) utility model device reduces operating personnel while reducing labor intensity, controls security risk.
6) utility model device is the generation of subsequent drilling floor surface column, provides tool.
The utility model passes through revolution, lifting, the folding of electrichydraulic control moving arm, flexible, the lower gripper clamp of outer moving arm
Chucking power adjust so that Tubular-column holder drives tubing string to have different space mobile, be sent to tubing string and reach designated position, solution
Traditional work of having determined mainly leans on Manual-pushing tubing string mobile in drilling floor surface, and air hoist (or using hook) lifts drilling rod and is put into
The work such as rat hole, the utility model realize it is full-automatic, high efficiency, low energy consumption, remotely control, substitute artificial function, effectively
Reduce recruitment quantity, labor intensity, personnel safety risk etc..
Detailed description of the invention
Fig. 1 is a kind of rig floor manipulator collapsed state schematic diagram of the utility model；
Fig. 2 is a kind of rig floor robot work status diagram of the utility model；
When Fig. 3 is a kind of rig floor robot work of the utility model, tubing string, which enters rig floor and reaches the buffering work of well head, to be shown
It is intended to；
Fig. 4 is that drilling rod is sent into the dynamic operation schematic diagram of mouse；
Fig. 5 is upper clamp pincers schematic diagram；
Fig. 6 is lower part gripper clamp schematic diagram；
Fig. 7 is outer moving arm schematic diagram.
In figure shown in serial number: 1, moving horizontally guide rail；2, pivoting support；3, electric cabinet；4, mobile sliding block；5, it vertically moves
Guide rail；6, the first oil cylinder；7, hydraulic control box；8, the second oil cylinder；9, interior moving arm；10, third oil cylinder；11 moving arm tops；12,
Four oil cylinders；13, moving arm lower part；14, the 5th oil cylinder；15, left nipper；16, right nipper；17, upper clamp clamps；18, connecting rod machine
Structure；100, outer moving arm；170, lower gripper clamp；200, drilling rod；300, tubing string；400, rat hole.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
Shown in please referring to Fig.1 to Fig.4, the utility model provides a kind of rig floor manipulator, including moves horizontally guide rail 1, returns
Turn bearing 2, mobile sliding block 4, vertically move guide rail 5, interior moving arm 9, outer moving arm 100 and link mechanism 18.
It moves horizontally guide rail 1 to be fixedly connected with drilling floor surface, pivoting support 2, which is mounted on, to be moved horizontally on guide rail 1, is vertically arranged
The guide rail 5 that vertically moves be connected with pivoting support 2, establish whole column for multifunction manipulator；Vertically move 5 energy of guide rail
It is enough to be rotated relative to pivoting support 2.
Mobile sliding block 4, which is installed on, to be vertically moved in guide rail 5, and the fixing end and movable end of the first oil cylinder 6 are moved with vertical respectively
Dynamic guide rail 5 is fixedly connected with mobile sliding block 4, and mobile sliding block 4 can vertically move on guide rail 5 in the drive lower edge of the first oil cylinder 6
Lower movement；
Interior 9 bottom of moving arm is hinged with mobile sliding block 4, moves up and down and vertically move guide rail 5 by mobile sliding block 4
Rotation be able to drive interior moving arm 9 move up and down, relative to move horizontally guide rail 1 rotate, the fixing end and activity of the second oil cylinder 8
End is hinged with the lower middle part of mobile sliding block 4 and interior moving arm 9 respectively, can be realized interior moving arm 9 by the driving of the second oil cylinder 8
It is opened and closed relative to the angle for vertically moving guide rail 5；
Outer moving arm 100 includes moving arm top 11 and moving arm lower part 13, moving arm top 11 and moving arm lower part 13
Upper face forms arc track face, and moving arm top 11 is coupled with moving arm lower part 13 by internal slide bar, can be realized outer
Moving arm 100 stretches.
Interior 9 top of moving arm and 11 top of moving arm top are hinged, and the fixing end of third oil cylinder 10 is hinged on interior moving arm 9
Top, the movable end of third oil cylinder 10 are hinged on the middle part on moving arm top 11；It can be realized outer movement by third oil cylinder 10
Arm 100 is opened and closed relative to the angle of interior moving arm 9；
Gripper clamp 17 is connected at the top of moving arm top 11, upper gripper clamp includes left nipper, right nipper and control mechanism；
The lower part of moving arm lower part 13 is connected with lower gripper clamp 170, and lower gripper clamp includes left nipper 15, right nipper 16,
Five oil cylinders 14, friction block and sensor, the 5th oil cylinder 14 connect left nipper 15, right nipper 16；5th oil cylinder 14 is by sensor control
System, by sensor feedback, adjusting the 5th oil cylinder 14 can be realized the folding, support and clamping of lower gripper clamp；Left 15 He of nipper
The inside of right nipper 16 is equipped with friction block.
Link mechanism 18 is parallelogram mechanism, is moved horizontally for controlling lower gripper clamp holding.
Concrete operations explanation:
1, it mode of operation of the tubing string 300 in drilling floor surface locomotive function: adjusts the second oil cylinder 8 and interior moving arm 9 is driven to stretch out, adjust
Section third oil cylinder 10 drives outer moving arm 100 to stretch out, and drives lower gripper clamp 170 to move forward, under the action of link mechanism 18, guarantees
Lower 170 horizontal motion of gripper clamp；After tubing string enters the jaw of lower gripper clamp 170, sensor feedback signal adjusts lower folder
The 5th oil cylinder 14 for holding pincers 170 drives left nipper 15 and right nipper 16 to shrink, folder/support tubing string.It adjusts in the second oil cylinder 8 drives
The recycling of moving arm 9, adjusting third oil cylinder 10 drive outer moving arm 100 to recycle, and driving pivoting support 2 drives moving arm rotation, make
Lower gripper clamp reaches setting orientation, adjusts the second oil cylinder 8 and the interior stretching of moving arm 9, adjusting third oil cylinder 10 is driven to drive outer movement
The stretching of arm 100 is sent to tubing string and reaches designated position, and trip crane system lands tubing string, adjusts the 5th oil cylinder 14, drives lower gripper clamp
170 unclamp, and repeat next circulation.
2, tubing string enters the operating instruction that rig floor reaches well head pooling feature: the tubing string upper end that elevator is sling on ramp is upward
It is mobile, when ramp is left in tubing string lower end, lower gripper clamp 170 is moved at the top of rig floor ramp, is clamped under rig floor manipulator
Pincers 170 hold up tubing string lower end, adjust the 5th oil cylinder 14 and left nipper 15 and right nipper 16 is driven to shrink, folder/support tubing string；Adjust the
Two oil cylinders 8, third oil cylinder 10 drive interior moving arm 9, outer moving arm 100 to recycle, and driving pivoting support 2 drives moving arm rotation,
The second oil cylinder 8, third oil cylinder 10 are adjusted, drives interior moving arm 9, outer moving arm 100 to recycle moving arm Forward, lower end is sent to arrive
The underface of suspension centre adjusts the 5th oil cylinder 14, drives lower gripper clamp to unclamp, completes buffering work, repeat next circulation.
3, tubing string enters the operating instruction of rat hole 400: being coupled by mechanism revolution, moving arm folding, 13 lower end of moving arm
Lower gripper clamp 170 reach the preceding setting position in ramp, wait drilling rod 200 to be received.Automation cat road trolley send drilling rod upper end to enter
The arc track face on moving arm top 11 and moving arm lower part 13 outside rig floor manipulator, drilling rod are moved up along the track, work as drilling rod
Upper end cross track upper end, 17 obvolvent of upper gripper clamp of 11 upper end of moving arm top (prevents drilling rod from falling off, clamping gap is pre-
Set), when in cat road, trolley continues to send drilling rod, the first oil cylinder 6 drives the interior moving arm 9 being linked on mobile sliding block 4 to synchronize and moves up
(drilling rod top, which cannot contact, vertically moves guide rail 5, prevents drilling rod from interfering with rig floor operation rotary drill rod), while moving arm top
11 keep whole parallel with drilling rod by control with moving arm lower part 13, after in cat road, trolley send drilling rod to reach setting position, move
13 lower end gripper clamp 170 of swing arm lower part steps up drilling rod (cannot slide), and the drive of the first oil cylinder 6 is linked in interior on mobile sliding block 4
Moving arm 9 continues uplink and reaches high point, and drilling rod lower end is detached from drilling floor surface, and inside and outside moving arm recycling, rotation, drilling rod reach setting side
To inside and outside moving arm is stretched out, and drilling rod reaches above rat hole (plumbness is presented when reaching in moving arm lower part 13), according to setting speed
Degree, by (Fig. 6) intensifying force of lower end gripper clamp 170 of speed sensorless control moving arm lower part 13 come regulating friction force, drilling rod is logical
It crosses self gravity and starts to transfer according to setting speed, when drilling rod upper end is close to 11 upper end gripper clamp 17 of moving arm top, upper end
Gripper clamp 17 unclamps, and drilling rod continues to move down, and when drilling rod upper-end contact arrives lower end gripper clamp 170 (Fig. 6), the 4th oil cylinder 12 drives shifting
Swing arm lower part 13 downwards, drives the lower gripper clamp 170 being coupled on it to continue to move down (drilling rod and then moves down), end in contact under drilling rod
When mouse moves bottom, drilling rod enters mouse and starts building to complete.Lower end gripper clamp 170 (Fig. 6) unclamps, and mechanism recycling repeats next follow
Ring.
Claims (5)
1. a kind of rig floor manipulator, which is characterized in that including move horizontally guide rail (1), pivoting support (2), mobile sliding block (4),
Vertically move guide rail (5), interior moving arm (9) and outer moving arm (100)；
It moves horizontally guide rail (1) to be fixedly connected with drilling floor surface, pivoting support (2), which is mounted on, to be moved horizontally on guide rail (1), is set vertically
Guide rail (5) the same to pivoting support (2) that vertically moves set is connected；
Mobile sliding block (4), which are installed on, to be vertically moved in guide rail (5), the fixing end and movable end of the first oil cylinder (6) respectively with it is vertical
Moving guide rail (5) is fixedly connected with mobile sliding block (4), and mobile sliding block (4) can vertically be moved in the drive lower edge of the first oil cylinder (6)
Dynamic guide rail (5) move up and down；
Hingedly with mobile sliding block (4), the fixing end and movable end of the second oil cylinder (8) are slided with mobile respectively for interior moving arm (9) bottom
The middle and lower part of block (4) and interior moving arm (9) is hinged, by the driving of the second oil cylinder (8) can be realized interior moving arm (9) relative to
Vertically move the angle folding of guide rail (5)；
Outer moving arm (100) includes moving arm top (11) and moving arm lower part (13), and moving arm top (11) are the same as under moving arm
Portion (13) is coupled by internal slide bar, can be realized the flexible of outer moving arm (100)；
Hinged with the top of moving arm top (11) at the top of interior moving arm (9), the fixing end of third oil cylinder (10) is hinged on interior shifting
The movable end on swing arm (9) top, third oil cylinder (10) is hinged on the middle part of moving arm top (11)；Pass through third oil cylinder (10) energy
It is enough to realize that outer moving arm (100) opens and closes relative to the angle of interior moving arm (9)；
Gripper clamp (17) are connected at the top of moving arm top (11)；The lower part of moving arm lower part (13) is connected with lower gripper clamp
(170)。
2. a kind of rig floor manipulator according to claim 1, which is characterized in that moving arm top (11) and moving arm lower part
(13) it is equipped with arc track face.
3. a kind of rig floor manipulator according to claim 1, which is characterized in that upper gripper clamp includes left nipper, right nipper
And control mechanism.
4. a kind of rig floor manipulator according to claim 1, which is characterized in that lower gripper clamp includes left nipper (15), the right side
Nipper (16), the 5th oil cylinder (14), friction block and sensor, the 5th oil cylinder (14) connect left nipper (15), right nipper (16)；The
Five oil cylinders (14) are controlled by sensor, by sensor feedback, can adjust the 5th oil cylinder (14) realize lower gripper clamp folding,
It helps and clamps；Friction block is installed on the inside of left nipper (15) and right nipper (16).
5. a kind of rig floor manipulator according to claim 1, which is characterized in that further include being kept for controlling lower gripper clamp
The link mechanism (18) moved horizontally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820746361.4U CN208220681U (en) | 2018-05-18 | 2018-05-18 | A kind of rig floor manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820746361.4U CN208220681U (en) | 2018-05-18 | 2018-05-18 | A kind of rig floor manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208220681U true CN208220681U (en) | 2018-12-11 |
Family
ID=64508440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820746361.4U Active CN208220681U (en) | 2018-05-18 | 2018-05-18 | A kind of rig floor manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208220681U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108547584A (en) * | 2018-05-18 | 2018-09-18 | 杜江 | A kind of rig floor manipulator |
| CN111173499A (en) * | 2019-05-05 | 2020-05-19 | 中国矿业大学(北京) | Equipment is peeld in drilling with push mechanism |
| CN111206887A (en) * | 2020-01-15 | 2020-05-29 | 宝鸡石油机械有限责任公司 | Single-drive double-action holding forceps |
-
2018
- 2018-05-18 CN CN201820746361.4U patent/CN208220681U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108547584A (en) * | 2018-05-18 | 2018-09-18 | 杜江 | A kind of rig floor manipulator |
| CN111173499A (en) * | 2019-05-05 | 2020-05-19 | 中国矿业大学(北京) | Equipment is peeld in drilling with push mechanism |
| CN111173499B (en) * | 2019-05-05 | 2022-01-28 | 中国矿业大学(北京) | Equipment is peeld in drilling with push mechanism |
| CN111206887A (en) * | 2020-01-15 | 2020-05-29 | 宝鸡石油机械有限责任公司 | Single-drive double-action holding forceps |
| CN111206887B (en) * | 2020-01-15 | 2021-10-15 | 宝鸡石油机械有限责任公司 | Single-drive double-action holding forceps |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202507275U (en) | Automatic transportation device | |
| CN208220681U (en) | A kind of rig floor manipulator | |
| CN206445815U (en) | A kind of multi-function robot | |
| CN111911099B (en) | Oil field well repairing operation process for realizing automation of sucker rod | |
| CN108547584A (en) | A kind of rig floor manipulator | |
| CN101168254A (en) | Swinging arm type transmission line polling robot | |
| CN208231391U (en) | A kind of machining workpiece holding transfer device | |
| CN201363107Y (en) | Cantilever type drill pipe racking device | |
| CN102717382A (en) | Synchronous clawing mechanism with multiple manipulators | |
| CN105082107B (en) | Heavy-load carrying manipulator for forging | |
| CN105234954A (en) | Mechanical carrying gripper | |
| CN202765836U (en) | Rubber grabbing machine | |
| CN108942909A (en) | A kind of crawl transportation manipulator structure | |
| CN111648727A (en) | Automatic well repairing equipment and automatic well repairing method thereof | |
| CN107869315B (en) | Automatic change workover rig | |
| CN106945033B (en) | A kind of robot localization clamping jaw | |
| CN201363109Y (en) | Travelling drill pipe racking device | |
| CN210714524U (en) | Tool for connecting and replacing drill rod | |
| CN206928916U (en) | Stacking tubing string manipulator | |
| CN115949353B (en) | Workover system and method with vertical guide lateral lifting follow-up manipulator | |
| CN207942395U (en) | A kind of architectural engineering Multi-freedom-degreemanipulator manipulator | |
| CN103496033A (en) | Mechanical arm device | |
| CN211174000U (en) | Pipe grabbing manipulator | |
| CN207027508U (en) | A kind of reclaimer robot device | |
| CN109404022B (en) | Automatic anchor drilling device for anchor rod machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |