CN208686332U - Pipe mechanical arm is helped in a kind of automation - Google Patents
Pipe mechanical arm is helped in a kind of automation Download PDFInfo
- Publication number
- CN208686332U CN208686332U CN201820949349.3U CN201820949349U CN208686332U CN 208686332 U CN208686332 U CN 208686332U CN 201820949349 U CN201820949349 U CN 201820949349U CN 208686332 U CN208686332 U CN 208686332U
- Authority
- CN
- China
- Prior art keywords
- arm
- connecting rod
- tripod
- automation
- helped
- 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
- 210000002683 Foot Anatomy 0.000 claims abstract description 12
- 210000000245 Forearm Anatomy 0.000 claims description 20
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000005553 drilling Methods 0.000 abstract description 21
- 241000282326 Felis catus Species 0.000 abstract description 2
- 230000001808 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000577 Adipose Tissue Anatomy 0.000 description 1
- 210000000078 Claw Anatomy 0.000 description 1
- 206010022114 Injury Diseases 0.000 description 1
- 150000001412 amines Chemical class 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Abstract
The utility model discloses a kind of automations to help pipe mechanical arm, belongs to technical field of mechanical automation.It includes arm and paw portion that pipe mechanical arm is helped in this automation provided by the utility model, the automatic operation that discharge, taking-up, thribble of oil drilling table top drilling rod, drill collar and casing etc. can be achieved, being also suitable for ramp, drilling floor surface helps pipe to operate up and down with cat road progress tubing string.This automation provided by the utility model helps pipe mechanical arm drilling floor surface can be replaced manually to help Guan Zuoye, has to reduce and helps pipe operation labor intensity, improves the advantage for helping pipe operating efficiency and safety.
Description
Technical field
The utility model relates to a kind of automations to help pipe mechanical arm, belong to technical field of mechanical automation.
Background technique
Currently, China's oil drilling rig floor face, which helps pipe operation mainly to pass through, manually helps pipe, the degree of automation is lower, needs
Several operators auxiliary carries out drilling rod, drilling rod into work such as hole, row's column, lower pillar stands, waste of manpower, working efficiency compared with
It is low.
Also, Process of Oil Well Drilling has a falling rocks, when human assistance operation, has the risk injured by a crashing object；Drilling rod is long,
The amplitude of fluctuation of drilling rod is larger, if drilling rod is toppled over, can also damage to people, security risk is larger.
Therefore, pipe working efficiency is helped to improve, pipe operating risk is helped in reduction, and urgent need finds a kind of helping for achievable automation
Pipe mechanical arm.
In the prior art, pipe mechanical arm is helped to carry out the case where helping pipe operation using automation there is also certain, but these are helped
Pipe mechanical arm mostly moves in the form of a single, is only capable of completing moving up and down by a small margin, can not move as needed and flexibly, thus
Cause to help tube efficiency lower；And the crawl of these mechanical arms is also inflexible, firm, and drilling rod is be easy to cause to topple over, so as to cause
Injury to personnel.
Utility model content
To solve the above problems, the utility model, which provides a kind of automate, helps pipe mechanical arm, it includes arms and gripper
Portion, it can be achieved that oil drilling table top drilling rod, drill collar and casing discharge, taking-up, thribble etc. automatic operation, be also suitable for slope
The road Dao Yumao carries out tubing string, and drilling floor surface helps pipe to operate up and down.This automation provided by the utility model helps pipe mechanical arm being capable of generation
Guan Zuoye is manually helped for drilling floor surface, has to reduce and helps pipe operation labor intensity, improves and helps the excellent of pipe operating efficiency and safety
Gesture.
The technical solution of the utility model is as follows:
The utility model provides a kind of automate and helps pipe mechanical arm, and it includes arm and hand that pipe mechanical arm is helped in the automation
Claw；
The arm includes connector, large arm, forearm, first connecting rod, second connecting rod, third connecting rod, fourth link, first
Tripod, the second tripod, the first servo-cylinder, the second servo-cylinder, reversing frame and rotation motor；First tripod
Contain vertex, first end point and the second endpoint with the second tripod；The vertex is connected with big simultaneously by the first connecting shaft
Arm and forearm；The large arm and forearm do not pass through the second connecting shaft respectively with the other end of the first connecting shaft and third connecting shaft connects
It is connected to reversing frame and connector；The first end point of first tripod and the second tripod is connected separately with first connecting rod and
Two connecting rods；Second endpoint of first tripod and the second tripod is connected separately with third connecting rod and fourth link；It is described
The other end that first connecting rod and second connecting rod are not connected with the first tripod and the second tripod is connected to reversing frame；It is described
The other end that third connecting rod and fourth link are not connected with the first tripod and the second tripod is connected to connector；It is described
First connecting rod and second connecting rod are located above large arm；The third connecting rod and fourth link are located above forearm；Described first watches
The both ends for taking oil cylinder pass through the fourth connecting shaft and the 5th connection axis connection large arm and reversing frame respectively；Second servo-cylinder
Both ends pass through the 6th connecting shaft and the 7th connection axis connection forearm and large arm respectively；The side of the reversing frame is equipped with rotation horse
It reaches；The inside of the reversing frame is equipped with device for revolving and driving and deceleration device.
In a kind of embodiment of the utility model, first tripod is identical and mutual with the second tripod
In parallel.
In a kind of embodiment of the utility model, the deceleration device is located at turn around inside driving device.
In a kind of embodiment of the utility model, the deceleration device is internally provided with swivel joint.
In a kind of embodiment of the utility model, swivel joint lid is provided with above the deceleration device.
In a kind of embodiment of the utility model, the swivel joint side of covering is equipped with hollow cover.
In a kind of embodiment of the utility model, the mechanical arm is connected by ring flange with base portion.
In a kind of embodiment of the utility model, the paw portion includes oil cylinder, straight coupling, connecting plate, stroke
Guide pad, link block, first connecting rod, second connecting rod, the first gripper arm and the second gripper arm；The inside of the connecting plate is arranged
There is stroke guide pad；One end of the connecting plate is connected with oil cylinder；Straight coupling is provided on the oil cylinder；The connecting plate is not
The other end being connected with oil cylinder is connected with first connecting rod, second connecting rod by link block；The first connecting rod passes through the first connection
Axis connection has the first gripper arm；The second connecting rod is connected with the second gripper arm by the second connecting shaft.
In a kind of embodiment of the utility model, the inside of the first gripper arm and the second gripper arm is provided with
Pressing plate.
In a kind of embodiment of the utility model, the pressing plate by polyurethane cushion cover be installed on the first gripper arm and
The inside of second gripper arm.
In a kind of embodiment of the utility model, the paw portion is installed on the one end of arm close to forearm.
The utility model has the advantages that
(1) the utility model helps the pipe mechanical arm can to realize the discharge of oil drilling table top drilling rod, drill collar and casing, take
Out, the automatic operation of thribble etc.；
(2) the utility model helps pipe mechanical arm to be suitable for ramp and cat road to carry out tubing string drilling floor surface helps pipe to operate up and down；
(3) the utility model help pipe mechanical arm can replace drilling floor surface manually help Guan Zuoye, have reduce help Guan Zuoye
Labor intensity improves the advantage for helping pipe operating efficiency and safety.
Detailed description of the invention
Fig. 1 is the overall schematic that the utility model helps pipe mechanical arm；
Fig. 2 is the overall schematic of the utility model arm；
Fig. 3 is the parts schematic diagram of the utility model arm；
Fig. 4 is the overall schematic of the utility model paw portion；
Fig. 5 is the parts schematic diagram of the utility model paw portion；
Wherein, arm 600, connector 601, large arm 602, forearm 603, first connecting rod 604, second connecting rod 605, third connect
Bar 606, fourth link 607, the first tripod 608, the second tripod 609, the first servo-cylinder 610, the second servo-cylinder
611, reversing frame 612, rotation motor 613, vertex 614, first end point 615, the second endpoint 616, the first connecting shaft 617, second
Connecting shaft 618, third connecting shaft 619, the fourth connecting shaft 620, the 5th connecting shaft 621, the 6th connecting shaft 622, the 7th connecting shaft
623, device for revolving and driving 624, deceleration device 625, swivel joint 626, swivel joint lid 627, hollow cover 628, paw portion
700, gripper oil cylinder 701, straight coupling 702, connecting plate 703, stroke guide pad 704, link block 705, first connecting rod 706,
Two connecting rods 707, the second gripper arm 709, the first connecting shaft 710, the second connecting shaft 711, pressing plate 712, gather first gripper arm 708
Amine fat pad set 713.
Specific embodiment
To make the utility model realize above objects, features, and advantages and can be more obvious and easy to understand, below with reference to attached
Figure is described in further detail the utility model.
Such as Fig. 1-3, it includes arm 600 and paw portion 700 that pipe manipulator is helped in the automation of the utility model；
The mechanical arm 600 includes connector 601, large arm 602, forearm 603, first connecting rod 604, second connecting rod 605, the
Three-link 606, fourth link 607, the first tripod 608, the second tripod 609, the first servo-cylinder 610, the second servo oil
Cylinder 611, reversing frame 612 and rotation motor 613；First tripod 608 and the second tripod 609 containing vertex 614,
First end point 615 and the second endpoint 616；The vertex 614 is connected with large arm 602 and forearm by the first connecting shaft 617 simultaneously
603；The large arm 602 and the other end that forearm 603 is not connected with the first connecting shaft 617 pass through respectively the second connecting shaft 618 with
Third connecting shaft 619 is connected to reversing frame 612 and connector 601；The of first tripod 608 and the second tripod 609
End point 615 is connected separately with first connecting rod 604 and second connecting rod 605；First tripod 608 and the second tripod 609
The second endpoint 616 be connected separately with third connecting rod 606 and fourth link 607；The first connecting rod 604 and second connecting rod 605
The other end not being connected with the first tripod 608 and the second tripod 609 is connected to reversing frame 612；The third connecting rod
606 and the other end that is not connected with the first tripod 608 and the second tripod 609 of fourth link 607 be connected to connector
601；The first connecting rod 604 and second connecting rod 605 are located above large arm；The third connecting rod 606 and fourth link 607 are located at
Above forearm；The both ends of first servo-cylinder 610 pass through the fourth connecting shaft 620 respectively and the 5th connecting shaft 621 connects greatly
Arm 602 and reversing frame 612；The both ends of second servo-cylinder 611 pass through the 6th connecting shaft 622 and the 7th connecting shaft respectively
623 connection forearms 603 and large arm 602；The side of the reversing frame 612 is equipped with rotation motor 613；The reversing frame 612
Inside is equipped with device for revolving and driving 624 and deceleration device 625.
Preferably, first tripod 608 is identical with the second tripod 609 and is parallel to each other.
Preferably, the deceleration device 625 is located at turn around inside driving device 624.
Preferably, the deceleration device 625 is internally provided with swivel joint 626.
Preferably, being provided with swivel joint lid 627 above the deceleration device 625.
Preferably, being equipped with hollow cover 628 above the swivel joint lid 627.
When rotation motor running, entire mechanical arm can carry out left-right rotary by device for revolving and driving above base portion
Turn；
When the running of the first servo-cylinder, large arm can swing up and down by axis of reversing frame；
When the running of the second servo-cylinder, forearm can swing up and down by axis of tripod.
Such as Fig. 4-5, the paw portion 700 includes gripper oil cylinder 701, straight coupling 702, connecting plate 703, stroke guide pad
704, link block 705, first connecting rod 706, second connecting rod 707, the first gripper arm 708 and the second gripper arm 709；The connection
Plate 703 is internally provided with stroke guide pad 704；One end of the connecting plate 703 is connected with gripper oil cylinder 701；The gripper
Straight coupling 702 is provided on oil cylinder 701；The other end that the connecting plate 703 is not connected with gripper oil cylinder 701 passes through link block
705 are connected with first connecting rod 706, second connecting rod 707；The first connecting rod 706 is connected with first-hand by the first connecting shaft 710
Pawl arm 708；The second connecting rod 707 is connected with the second gripper arm 709 by the second connecting shaft 711.
Preferably, the inside of the first gripper arm 708 and the second gripper arm 709 is provided with pressing plate 712.
Preferably, the pressing plate 712 is installed on the first gripper arm 708 and the second gripper arm by polyurethane cushion cover 713
709 inside.
Can by gripper oil cylinder control the first gripper arm and the second gripper arm release or promptly drilling rod, drill collar and casing etc. into
Row helps Guan Zuoye.
Such as Fig. 1, the paw portion 700 is installed on arm 600 close to one end of forearm 603.
The protection scope of the utility model is not limited merely to above-described embodiment, all spirit in the utility model design
Within principle, any modifications, equivalent replacements, and improvements etc. that one of skill in the art can make should be included in this reality
Within novel protection scope.
Claims (10)
1. pipe mechanical arm is helped in a kind of automation, which is characterized in that it includes arm and paw portion that pipe mechanical arm is helped in the automation；
The arm includes connector, large arm, forearm, first connecting rod, second connecting rod, third connecting rod, fourth link, the first triangle
Frame, the second tripod, the first servo-cylinder, the second servo-cylinder, reversing frame and rotation motor；First tripod and
Two tripods contain vertex, first end point and the second endpoint；The vertex by the first connecting shaft simultaneously be connected with large arm and
Forearm；The large arm does not pass through the second connecting shaft with forearm respectively with the other end of the first connecting shaft and is connected to third connecting shaft
Reversing frame and connector；The first end point of first tripod and the second tripod is connected separately with first connecting rod and second and connects
Bar；Second endpoint of first tripod and the second tripod is connected separately with third connecting rod and fourth link；Described first
The other end that connecting rod and second connecting rod are not connected with the first tripod and the second tripod is connected to reversing frame；The third
The other end that connecting rod and fourth link are not connected with the first tripod and the second tripod is connected to connector；Described first
Connecting rod and second connecting rod are located above large arm；The third connecting rod and fourth link are located above forearm；The first servo oil
The both ends of cylinder pass through the fourth connecting shaft and the 5th connection axis connection large arm and reversing frame respectively；The both ends of second servo-cylinder
Pass through the 6th connecting shaft and the 7th connection axis connection forearm and large arm respectively；The side of the reversing frame is equipped with rotation motor；
The inside of the reversing frame is equipped with device for revolving and driving and deceleration device.
2. pipe mechanical arm is helped in a kind of automation as described in claim 1, which is characterized in that the paw portion includes oil cylinder, straight
Pass joint, connecting plate, stroke guide pad, link block, first connecting rod, second connecting rod, the first gripper arm and the second gripper arm；Institute
That states connecting plate is internally provided with stroke guide pad；One end of the connecting plate is connected with oil cylinder；It is provided on the oil cylinder straight
Pass joint；The other end that the connecting plate is not connected with oil cylinder is connected with first connecting rod, second connecting rod by link block；Described
One connecting rod is connected with the first gripper arm by the first connecting shaft；The second connecting rod is connected with the second gripper by the second connecting shaft
Arm.
3. pipe mechanical arm is helped in a kind of automation as described in claim 1, which is characterized in that first tripod and the two or three
Corner bracket is identical and is parallel to each other.
4. pipe mechanical arm is helped in a kind of automation as described in claim 1, which is characterized in that the deceleration device is located at turn around drive
Inside dynamic device.
5. pipe mechanical arm is helped in a kind of automation as described in claim 1, which is characterized in that the deceleration device is internally provided with
Swivel joint.
6. pipe mechanical arm is helped in a kind of automation as described in claim 1, which is characterized in that be provided with above the deceleration device
Swivel joint lid.
7. pipe mechanical arm is helped in a kind of automation as claimed in claim 6, which is characterized in that the swivel joint side of covering installation
There is hollow cover.
8. pipe mechanical arm is helped in a kind of automation as claimed in claim 2, which is characterized in that the first gripper arm and second-hand
The inside of pawl arm is provided with pressing plate.
9. pipe mechanical arm is helped in a kind of automation as claimed in claim 8, which is characterized in that the pressing plate passes through polyurethane cushion cover
It is installed on the inside of the first gripper arm and the second gripper arm.
10. pipe mechanical arm is helped in a kind of automation as claimed in claim 2, which is characterized in that the paw portion is installed on arm
Close to one end of forearm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820949349.3U CN208686332U (en) | 2018-06-19 | 2018-06-19 | Pipe mechanical arm is helped in a kind of automation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820949349.3U CN208686332U (en) | 2018-06-19 | 2018-06-19 | Pipe mechanical arm is helped in a kind of automation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208686332U true CN208686332U (en) | 2019-04-02 |
Family
ID=65878665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820949349.3U Active CN208686332U (en) | 2018-06-19 | 2018-06-19 | Pipe mechanical arm is helped in a kind of automation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208686332U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112627747A (en) * | 2020-11-27 | 2021-04-09 | 四川宏华石油设备有限公司 | Pipe supporting device |
-
2018
- 2018-06-19 CN CN201820949349.3U patent/CN208686332U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112627747A (en) * | 2020-11-27 | 2021-04-09 | 四川宏华石油设备有限公司 | Pipe supporting device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105178982B (en) | A kind of Single Mechanical arm duct piece assembling machine for rectangular shield | |
| CN102720448B (en) | Device and method for connecting drill rod with three-joint unit | |
| CN206029897U (en) | Scalable agravic manipulator | |
| CN206554825U (en) | A kind of colliery multi-angle drilling rod catching robot | |
| CN104563917A (en) | Multifunctional robot for drilling site | |
| CN205978981U (en) | Initiative of symmetry V type hinders pipeline robot more | |
| CN206393631U (en) | A kind of hydraulic pressure climbing level robot | |
| CN206769848U (en) | Thribble automatic discharge device | |
| CN105332663A (en) | Drill pipe and upright auto-discharge manipulator | |
| CN203804973U (en) | Manipulator for drilling tools | |
| CN109798079A (en) | A kind of telescopic boom iron driller | |
| CN208686332U (en) | Pipe mechanical arm is helped in a kind of automation | |
| CN203742489U (en) | Drill rig pipe column conveying manipulator | |
| CN201883964U (en) | Automatic drill stem conveying device | |
| CN204054039U (en) | Be applicable to the drilling rod automatic-discharging manipulator of rock-core borer | |
| CN103696700A (en) | Well drilling device for double-wellhead operation | |
| CN104727759B (en) | Well workover oil tube centering system | |
| CN206554823U (en) | Packaged type rig floor pipe arranging robot telescopic arm | |
| CN111119762B (en) | Drilling machine tubular column processing manipulator supporting clamp with composite function | |
| CN107859851A (en) | A kind of intelligent robot being readily disassembled for wisdom piping lane inspection | |
| CN203488119U (en) | Iron stand | |
| CN202023514U (en) | Oil pipe righting device for well drilling and repairing operations | |
| CN104139387A (en) | Automatic drill rod discharge mechanical hand suitable for core drill | |
| CN208749313U (en) | A kind of petroleum well workover Work robot | |
| CN203939464U (en) | Novel land rig quadruple board platform pipe system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: No. 98 Jinchengwan Road, Wuxi Economic Development Zone, Jiangsu Province, 214000 Patentee after: WUXI SHENGBAOJIA TECHNOLOGY CO., LTD. Address before: 214000 Jinchengwan Road 98 Bridge Industrial Park, Wuxi City, Jiangsu Province Patentee before: WUXI SHENGBAOJIA TECHNOLOGY CO., LTD. |
|
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: No. 87, Huicheng Road, Huishan Economic Development Zone, Wuxi, Jiangsu 214000 Patentee after: WUXI SHENGBAOJIA TECHNOLOGY Co.,Ltd. Address before: No. 98, jinchengwan Road, Wuxi Economic Development Zone, Jiangsu Province, 214000 Patentee before: WUXI SHENGBAOJIA TECHNOLOGY Co.,Ltd. |