CN208686336U - Pipe device is helped in a kind of automation - Google Patents

Abstract

The utility model discloses a kind of automations to help pipe device, belongs to technical field of mechanical automation.It includes platform part, track portion, motor part, drag chain portion, base portion, mechanical arm and paw portion that pipe device 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 device 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

Pipe device is helped in a kind of automation

Technical field

The utility model relates to a kind of automations to help pipe device, 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 device.

In the prior art, pipe manipulator is helped to carry out the case where helping pipe operation using automation there is also certain, but these are helped For pipe manipulator using fixedly mounted mostly on drilling floor surface, manipulator is immovable, and mechanical hand steered tube efficiency is lower, Er Qierong Personnel's collision is easily caused to lead to danger；It, can only be in drilling floor surface along wherein although can be moved there are also some manipulators The a certain single movement of specific direction, this kind of manipulator equally can be in the form of a single because of movement when help pipe operation, Wu Fagen It is flexibly moved according to needs, so as to cause helping tube efficiency lower.

Utility model content

To solve the above problems, the utility model, which provides a kind of automate, helps pipe device, it includes platform parts, track Portion, motor part, drag chain portion, base portion, mechanical arm and paw portion are, it can be achieved that oil drilling table top drilling rod, drill collar and casing The automatic operation of discharge, taking-up, thribble etc., being also suitable for ramp, drilling floor surface helps pipe to operate up and down with cat road progress tubing string.This This automation that utility model provides helps pipe device drilling floor surface can be replaced manually to help Guan Zuoye, has to reduce and helps Guan Zuoye labor Fatigue resistance improves the advantage for helping pipe operating efficiency and safety.

The technical solution of the utility model is as follows:

The utility model provides a kind of automate and helps pipe device, and it includes platform part, track that pipe device is helped in the automation Portion, motor part, drag chain portion, base portion, mechanical arm and paw portion；

The platform part includes platform skeleton；The platform skeleton is by all side beam, rear side beam, left side beam and right side beam The quadrate framework of composition；Oil cylinder is installed on all side beam；Straight coupling and hinged shaft are connected on the oil cylinder；The oil Cylinder is installed on the left end of all side beam, straight coupling is installed on the left end of oil cylinder and hinged shaft is installed on the right end or the oil cylinder of oil cylinder It is installed on the right end of all side beam, straight coupling is installed on the right end of oil cylinder and hinged shaft is installed on the left end of oil cylinder；The rear side beam On have and the symmetrically arranged oil cylinder of all side beam, straight coupling and hinged shaft.

In a kind of embodiment of the utility model, the platform part also includes stiffening plate, platform cover board, cover board pillar And cover board cushion block.

In a kind of embodiment of the utility model, the stiffening plate is connected to the left side beam and right side beam of platform skeleton Between；The cover board pillar is mounted on above stiffening plate；The cover board cushion block be mounted on all side beam of platform skeleton, rear side beam, Above left side beam and right side beam；The top surface of the cover board cushion block and cover board pillar is in same level；The platform cover board It is placed in the top of cover board pillar and cover board cushion block.

In a kind of embodiment of the utility model, in the left side beam and right side beam, closer to straight coupling Oil circuit is installed on the inside of left side beam or right side beam and concentrates block.

In a kind of embodiment of the utility model, hinged shaft is connected with by pin shaft on the oil cylinder.

In a kind of embodiment of the utility model, the platform skeleton be by all side beam, rear side beam, left side beam and The quadrate framework that right side beam is connected and composed by screw threads for fastening.

In a kind of embodiment of the utility model, all side beam, rear side beam, left side beam and right side beam are adopted Made of overall processing after rectangular tube and thick steel plate welding.

In a kind of embodiment of the utility model, it is mounted on the inside of the platform skeleton surrounding and is close to platform skeleton Baffle.

In a kind of embodiment of the utility model, ear is installed on all side beam and rear side beam of the platform skeleton Plate or hanging ring.

In a kind of embodiment of the utility model, knob is installed above the platform cover board.

In a kind of embodiment of the utility model, between the platform cover board and cover board pillar and cover board cushion block between Gap is placed with sealing plate.

In a kind of embodiment of the utility model, one jiao in platform cover board quadrangle or polygonal pass through butterfly A removable cover is arranged in hinge.

In a kind of embodiment of the utility model, the track portion includes track skeleton, false guide rail and rack gear seat； The track skeleton is the quadrate framework being made of front mounting plate, rear mounting plate, Zuo Liang and right beam；Outside the front mounting plate Side is provided with the first idler wheel and link block；First idler wheel mutually agrees with oil cylinder；The link block mutually agrees with hinged shaft；It is described There are first idler wheel and link block symmetrical with front mounting plate on mounting plate afterwards；The vacation guide rail is installed on the interior of Zuo Liang and right beam It side and is in contact with front mounting plate and rear mounting plate；The rack gear seat connection front mounting plate and rear mounting plate；On the pinion stand Ruler item is installed.

In a kind of embodiment of the utility model, it is provided with above the front mounting plate in the track portion and rear mounting plate Baffle；Protective plate is provided on the outside of the Zuo Liang in the track portion and right beam；The top surface of the baffle and protective plate is in same water Plane.

In a kind of embodiment of the utility model, the track portion also includes the preceding armor and the rear armor.

In a kind of embodiment of the utility model, the preceding armor and the rear armor are installed on the upper of baffle and protective plate Side.

In a kind of embodiment of the utility model, stiffening plate is connected between the Zuo Liang and right beam.

In a kind of embodiment of the utility model, oil nozzle is also equipped on the front mounting plate and rear mounting plate.

In a kind of embodiment of the utility model, be equipped on the inside of the front mounting plate and rear mounting plate cushion block and/ Or buffer stopper.

In a kind of embodiment of the utility model, on the outside of the front mounting plate and rear mounting plate and/or left side and/or The both ends on right side are equipped with limited block and cleaning shoe.

In a kind of embodiment of the utility model, in the limited block, it is located at front mounting plate and rear mounting plate is same The limited block of side need to be symmetrical arranged.

In a kind of embodiment of the utility model, the cleaning shoe is for protecting limited block and the first idler wheel.

In a kind of embodiment of the utility model, first idler wheel is to be connected to front mounting plate by roller bearing On rear mounting plate.

In a kind of embodiment of the utility model, the link block is set to the middle of front mounting plate.

In a kind of embodiment of the utility model, the motor part includes the first connecting plate, the second idler wheel, straight-tooth Wheel；Spur gear is provided with below first connecting plate；Encoder and brake are installed above first connecting plate； The second connecting plate and third connecting plate normal thereto are extended with down respectively at left and right sides of first connecting plate lower part；It is described Spur gear is meshed with ruler item；The brake top is connected with motor；The motor head is connected with balanced valve；The horse Throttle valve is connected with up to side；The second idler wheel is provided on the outside of second connecting plate and third connecting plate；Described second Idler wheel mutually agrees with false guide rail.

In a kind of embodiment of the utility model, the brake is connected with spur gear.

In a kind of embodiment of the utility model, there are two spur gears for the lower section setting of first connecting plate.

In a kind of embodiment of the utility model, the quadrangle of first connecting plate is separately connected there are four bolt.

In a kind of embodiment of the utility model, second idler wheel is connected to the second connecting plate by roller bearing With third connecting plate.

In a kind of embodiment of the utility model, second idler wheel for being located at the second connecting plate or third connecting plate It is connected by a T-shape connector.

In a kind of embodiment of the utility model, the T-shape connector is for lubricating roller bearing.

In a kind of embodiment of the utility model, one end that the T-shape connector is not connected with idler wheel passes through the One connecting plate.

In a kind of embodiment of the utility model, the both ends setting of second connecting plate and third connecting plate is useful In the cleaning shoe for protecting the second idler wheel.

In a kind of embodiment of the utility model, shield is provided on the outside of the encoder.

In a kind of embodiment of the utility model, the throttle valve is one-way throttle valve.

In a kind of embodiment of the utility model, the motor side is connected with by straight coupling, crooked joint One-way throttle valve.

In a kind of embodiment of the utility model, the drag chain portion includes support plate, the first plinth, the second connector Seat, the first connector, the second connector and drag chain；First plinth and the second plinth are respectively arranged at the two sides of support plate And it is vertical with support plate；First connector is located at the first plinth；Second connector is located at the second plinth；It is described to drag Chain is located at one end in support board ends and the both ends of drag chain and is connected respectively with the first connector and the second connector.

In a kind of embodiment of the utility model, the base portion includes motor box and hydraulic tank；The motor Filter is installed in case；Straight coupling and filter transit joint are installed on the filter；The hydraulic tank installation In the side of motor box；Hydraulic valve, balance valve block and oil return block are installed in the hydraulic tank；The oil return block can pass through oil Pipe is connected across hydraulic tank with the second connector.

In a kind of embodiment of the utility model, the base portion also includes anti-explosion cabinet.

In a kind of embodiment of the utility model, it is opposite that the anti-explosion cabinet with hydraulic tank is respectively arranged in motor box Two sides.

In a kind of embodiment of the utility model, the motor box can connect a movable doorboard by butterfly hinge.

In a kind of embodiment of the utility model, a settable flat lock on the movable doorboard.

In a kind of embodiment of the utility model, the company of the filter and straight coupling and filter transit joint The place of connecing can add seal gasket.

In a kind of embodiment of the utility model, settable cover plate protects oil pipe at the oil pipe.

In a kind of embodiment of the utility model, the mechanical arm include connector, large arm, forearm, first connecting rod, Second connecting rod, fourth link, the first tripod, the second tripod, the first servo-cylinder, the second servo-cylinder, returns at third connecting rod Pivoted frame and rotation motor；First tripod and the second tripod contain vertex, first end point and the second endpoint；It is described Vertex is connected with large arm and forearm by the first connecting shaft simultaneously；The large arm and forearm do not divide with the other end of the first connecting shaft Reversing frame and connector are not connected to by the second connecting shaft and third connecting shaft；First tripod and the second tripod First end point is connected separately with first connecting rod and second connecting rod；Second endpoint of first tripod and the second tripod difference It is connected with third connecting rod and fourth link；The first connecting rod and second connecting rod are not connected with the first tripod and the second tripod The other end be connected to reversing frame；The third connecting rod and fourth link are not connected with the first tripod and the second tripod The other end be connected to connector；The first connecting rod and second connecting rod are located above large arm；The third connecting rod and Double leval jib is located above forearm；The both ends of first servo-cylinder pass through the fourth connecting shaft respectively and the 5th connection axis connection is big Arm and reversing frame；The both ends of second servo-cylinder pass through the 6th connecting shaft and the 7th connection axis connection forearm and big respectively Arm；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.

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 track portion is installed on above platform part；The motor part peace Loaded on above track portion；The drag chain portion is installed on the side that platform part has oil cylinder；The base portion is installed on the outside of motor part； The mechanical arm is installed on above base portion close to one end of large arm；The paw portion is installed on mechanical arm close to the one of forearm End.

In a kind of embodiment of the utility model, it includes transport frock portion that the automation, which helps pipe device also,.

In a kind of embodiment of the utility model, the transport frock portion is located at below paw portion.

The utility model has the advantages that

(1) the utility model help pipe device can realize the discharge of oil drilling table top drilling rod, drill collar and casing, taking-up, The automatic operation of thribble etc.；

(2) the utility model helps pipe device 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 device can replace drilling floor surface manually help Guan Zuoye, have reduce help Guan Zuoye labor Fatigue resistance improves the advantage for helping pipe operating efficiency and safety；

(4) the utility model helps the track portion of pipe device that can be moved in platform part, and motor part can be in track portion It is moved, mechanical arm rotates in base portion, considerably increases its flexibility ratio and usable floor area；

(5) the utility model helps the pipe device to have huge application prospect in terms of helping pipe and drilling well.

Detailed description of the invention

Fig. 1 is the overall schematic that the utility model helps pipe device；

Fig. 2 is the overall schematic of the utility model platform part；

Fig. 3 is the assembling schematic diagram in the utility model track portion and motor part；

Fig. 4 is the parts schematic diagram in the utility model track portion；

Fig. 5 is the overall schematic of the utility model motor part；

Fig. 6 is the parts schematic diagram of the utility model motor part

Fig. 7 is the overall schematic in the utility model drag chain portion；

Fig. 8 is the overall schematic of the utility model base portion；

Fig. 9 is the parts schematic diagram of the utility model base portion；

Figure 10 is the overall schematic of the utility model mechanical arm；

Figure 11 is the parts schematic diagram of the utility model mechanical arm；

Figure 12 is the overall schematic of the utility model paw portion；

Figure 13 is the parts schematic diagram of the utility model paw portion；

Wherein, platform part 100, platform skeleton 101, all side beam 102, rear side beam 103, left side beam 104, right side beam 105, oil Cylinder 106, straight coupling 107, hinged shaft 108, stiffening plate 109, platform cover board 110, cover board pillar 111, cover board cushion block 112, oil circuit Concentrate block 113, knob 114, track portion 200, track skeleton 201, false guide rail 202, rack gear seat 203, front mounting plate 204, rear peace It is loading board 205, Zuo Liang 206, right beam 207, the first idler wheel 208, link block 209, ruler item 210, baffle 211, protective plate 212, preceding The armor 213 and the rear armor 214, stiffening plate 215, oil nozzle 216, cushion block 217, buffer stopper 218, limited block 219, cleaning shoe 220, horse Up to portion 300, the first connecting plate 301, the second idler wheel 302, spur gear 303, encoder 304, brake 305, the second connecting plate 306, third connecting plate 307, motor 308, balanced valve 309, one-way throttle valve 310, bolt 311, T-shape connector be connected 312, Cleaning shoe 313, shield 314, drag chain portion 400, support plate 401, the first plinth 402, the second plinth 403, the first connector 404, the second connector 405, drag chain 406, base portion 500, motor box 501, hydraulic tank 502, filter 503, straight coupling 504, Filter transit joint 505, hydraulic valve 506, balance valve block 507, oil return block 508, oil pipe 509, movable doorboard 510, sealant Pad 511, cover plate 512, mechanical arm 600, connector 601, large arm 602, forearm 603, first connecting rod 604, second connecting rod 605, 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, rotation motor 613, vertex 614, first end point 615, the second endpoint 616, the first connecting shaft 617, Two connecting shafts 618, third connecting shaft 619, the fourth connecting shaft 620, the 5th connecting shaft 621, the connection of the 6th connecting shaft the 622, the 7th Axis 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. 1-2, the automation of the utility model help pipe device include platform part 100, track portion 200, motor part 300, Drag chain portion 400, base portion 500, mechanical arm 600 and paw portion 700；

The platform part 100 includes platform skeleton 101；The platform skeleton 101 be by all side beam 102, rear side beam 103, The quadrate framework that left side beam 104 and right side beam 105 are constituted；Oil cylinder 106 is installed on all side beam 102；The oil cylinder 106 On be connected with straight coupling 107 and hinged shaft 108；The oil cylinder 106 is installed on the left end of all side beam 102, straight coupling 107 is pacified Left end loaded on oil cylinder 106 and hinged shaft 108 are installed on the right end of oil cylinder 106 or the oil cylinder 106 is installed on the right side of all side beam 102 End, straight coupling 107 are installed on the right end of oil cylinder 106 and hinged shaft 108 is installed on the left end of oil cylinder 106；On the rear side beam 103 Have and the symmetrically arranged oil cylinder 106 of all side beam 102, straight coupling 107 and hinged shaft 108.

Preferably, the platform part also includes stiffening plate 109, platform cover board 110, cover board pillar 111 and cover board pad Block 112.

Preferably, the stiffening plate 109 is connected between the left side beam 104 of platform skeleton 101 and right side beam 105；Institute It states cover board pillar 111 and is mounted on 109 top of stiffening plate；The cover board cushion block 112 be mounted on platform skeleton 101 all side beam 102, 105 top of rear side beam 103, left side beam 104 and right side beam；The top surface of the cover board cushion block 112 and cover board pillar 111 is in same One horizontal plane；The platform cover board 110 is placed in the top of cover board pillar 111 and cover board cushion block 112.

Preferably, the left side beam 104 in right side beam 105, left side beam 104 closer to straight coupling 107 or Oil circuit is installed on the inside of right side beam 105 and concentrates block 113.

Preferably, being connected with hinged shaft 108 by pin shaft on the oil cylinder 106.

Preferably, the platform skeleton 101 is by all side beam 102, rear side beam 103, left side beam 104 and right side beam 105 quadrate frameworks connected and composed by screw threads for fastening.

Preferably, all side beam 102, rear side beam 103, left side beam 104 and right side beam 105 are using rectangular tube After being welded with thick steel plate made of overall processing.

Preferably, being mounted on the baffle for being close to platform skeleton on the inside of 101 surrounding of platform skeleton.

Preferably, being equipped with otic placode or hanging ring on all side beam 102 and rear side beam 103 of the platform skeleton 101.

Preferably, being equipped with knob 114 above the platform cover board 110.

Preferably, the gap between the platform cover board 110 and cover board pillar 111 and cover board cushion block 112 be placed with it is close Glue sealing board.

Preferably, a removable cover is arranged in one jiao in 110 4 jiaos of the platform cover board or the polygonal butterfly hinge that can pass through Plate.

Such as Fig. 3-4, the track portion 200 includes track skeleton 201, false guide rail 202 and rack gear seat 203；The track Skeleton 201 is the quadrate framework being made of front mounting plate 204, rear mounting plate 205, Zuo Liang 206 and right beam 207；Peace before described The outside of loading board 204 is provided with the first idler wheel 208 and link block 209；First idler wheel 208 agrees with 106 phase of oil cylinder；It is described Link block 209 agrees with 108 phase of hinged shaft；There is first idler wheel 208 symmetrical with front mounting plate 204 on mounting plate 205 after described With link block 209；It is described vacation guide rail 202 be installed on left beam 206 and right beam 207 inside and with front mounting plate 204 and afterwards install Plate 205 is in contact；The rack gear seat 203 connects front mounting plate 204 and rear mounting plate 205；It is equipped on the pinion stand 203 straight Ruler item 210.

Preferably, being provided with baffle 211 above the front mounting plate 204 and rear mounting plate 205 in the track portion 200；Institute It states and is provided with protective plate 212 on the outside of the Zuo Liang and right beam in track portion；The top surface of the baffle 211 and protective plate 212 is in same Horizontal plane.

Preferably, the track portion 200 also includes the preceding armor 213 and the rear armor 214.

Preferably, the preceding armor 213 is installed on the top of baffle 211 Yu protective plate 212 with the rear armor 214.

Preferably, being connected with stiffening plate 215 between the left beam 206 and right beam 207.

Preferably, being also equipped with oil nozzle 216 on the front mounting plate 204 and rear mounting plate 205.

Preferably, being equipped with cushion block 217 and/or buffer stopper 218 on the inside of the front mounting plate 204 and rear mounting plate 205.

Preferably, the front mounting plate 204 and the both ends in rear 205 outside of mounting plate and/or left side and/or right side are installed There are limited block 219 and cleaning shoe 220.

Preferably, in the limited block 219, positioned at the limited block of front mounting plate 204 and rear 205 the same side of mounting plate 219 need to be symmetrical arranged.

Preferably, the cleaning shoe 220 is for protecting limited block 219 and the first idler wheel 208.

Preferably, first idler wheel 208 is to be connected to front mounting plate 204 and rear mounting plate 205 by roller bearing On.

Preferably, the link block 209 is set to the middle of front mounting plate 204.

It is arranged that the first idler wheel mutually agrees with oil cylinder, link block and hinged shaft mutually agree with herein, track portion is enabled to pass through company Connect that block is fixed on hinged shaft and the idler wheel in track portion can move on oil cylinder, when oil cylinder running, track portion can be with oil cylinder It pushes, is moved in platform part.

Such as Fig. 5-6, the motor part 300 includes the first connecting plate 301, the second idler wheel 302, spur gear 303；Described first The lower section of connecting plate 301 is provided with spur gear 303；The top of first connecting plate 301 is equipped with encoder 304 and brake 305；The second connecting plate 306 and third normal thereto are extended with down respectively at left and right sides of first connecting plate, 301 lower part Connecting plate 307；The spur gear 303 is meshed with ruler item 210；305 top of brake is connected with motor 308；It is described 308 head of motor is connected with balanced valve 309；308 side of motor is connected with throttle valve 310；Second connecting plate 306 with The outside of third connecting plate 307 is provided with the second idler wheel 302；Second idler wheel 302 agrees with false 202 phase of guide rail.

Preferably, the brake 305 is connected with spur gear 303.

Preferably, there are two spur gears 303 for the lower section setting of first connecting plate 301.

Preferably, the quadrangle of first connecting plate 301 is separately connected, there are four bolts 311.

Preferably, second idler wheel 302 is connected to the second connecting plate 306 and third connecting plate by roller bearing 307。

Preferably, second idler wheel 302 for being located at the second connecting plate 306 or third connecting plate 307 passes through a T-shape Connector connected 313.

Preferably, the T-shape connector 312 is for lubricating roller bearing.

Preferably, one end that the T-shape connector 312 is not connected with idler wheel passes through the first connecting plate 301.

Preferably, the both ends of second connecting plate 306 and third connecting plate 307 are provided with for protecting the second idler wheel 302 cleaning shoe 313.

Preferably, the outside of the encoder 304 is provided with shield 314.

Preferably, the throttle valve 310 is one-way throttle valve.

Preferably, 308 side of motor is connected with one-way throttle valve 310 by straight coupling, crooked joint.

Setting spur gear is meshed with ruler item herein, and when motor operation, motor part can be controlled straight by brake Rotation of the gear on ruler item, so that entire motor part be driven to move in track portion.

Such as Fig. 7, the drag chain portion 400 includes support plate 401, the first plinth 402, the second plinth 403, the first connector 404, the second connector 405 and drag chain 406；First plinth 402 and the second plinth 403 are respectively arranged at support plate 401 two sides and vertical with support plate 401；First connector 404 is located at the first plinth 402；Second connector 405 Positioned at the second plinth 403；The drag chain 406 is located at the both ends of one end in 401 both ends of support plate and drag chain 406 respectively with One connector 404 is connected with the second connector 405.

Such as Fig. 8-9, the base portion 500 includes motor box 501 and hydraulic tank 502；It is equipped in the motor box 501 Filter 503；Straight coupling 504 and filter transit joint 505 are installed on the filter 503；The hydraulic tank 502 It is installed on the side of motor box 501；Hydraulic valve 506, balance valve block 507 and oil return block are installed in the hydraulic tank 502 508；The oil return block 508 can pass through hydraulic tank 502 by oil pipe 509 and be connected with the second connector 405.

Preferably, the base portion 500 also includes anti-explosion cabinet 509.

Preferably, the anti-explosion cabinet 509 and hydraulic tank 502 two sides that be respectively arranged in motor box 501 opposite.

Preferably, the motor box 501 can connect a movable doorboard 510 by butterfly hinge.

Preferably, a settable flat lock on the movable doorboard 510.

Preferably, the filter 503 can be added with the junction of straight coupling 504 and filter transit joint 505 Seal gasket 511.

Preferably, settable cover plate 512 protects oil pipe 509 at the oil pipe 509.

Such as Figure 10-11, the mechanical arm 600 includes connector 601, large arm 602, forearm 603, first connecting rod 604, second Connecting rod 605, third connecting rod 606, fourth link 607, the first tripod 608, the second tripod 609, the first servo-cylinder 610, Second servo-cylinder 611, reversing frame 612 and rotation motor 613；First tripod 608 contains with the second tripod 609 There are vertex 614, first end point 615 and the second endpoint 616；The vertex 614 is connected with large arm by the first connecting shaft 617 simultaneously 602 and forearm 603；The large arm 602 passes through the second company with the other end that forearm 603 is not connected with the first connecting shaft 617 respectively Spindle 618 and third connecting shaft 619 are connected to reversing frame 612 and connector 601；First tripod 608 and the second triangle The first end point 615 of frame 609 is connected separately with first connecting rod 604 and second connecting rod 605；First tripod 608 and second Second endpoint 616 of tripod 609 is connected separately with third connecting rod 606 and fourth link 607；The first connecting rod 604 and The other end that two connecting rods 605 are not connected with the first tripod 608 and the second tripod 609 is connected to reversing frame 612；It is described The other end that third connecting rod 606 and fourth link 607 are not connected with the first tripod 608 and the second tripod 609 is separately connected In connector 601；The first connecting rod 604 and second connecting rod 605 are located above large arm；The third connecting rod 606 and the 4th connects Bar 607 is located above forearm；The both ends of first servo-cylinder 610 pass through the fourth connecting shaft 620 and the 5th connecting shaft respectively 621 connection large arm 602 and reversing frame 612；The both ends of second servo-cylinder 611 pass through the 6th connecting shaft 622 and respectively Seven connecting shafts 623 connect forearm 603 and large arm 602；The side of the reversing frame 612 is equipped with rotation motor 613；The revolution The inside of frame 612 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.

Preferably, the mechanical arm 600 is connected by ring flange with base portion 500.

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 Figure 12-13, the paw portion 700 includes gripper oil cylinder 701, straight coupling 702, connecting plate 703, stroke guiding Block 704, link block 705, first connecting rod 706, second connecting rod 707, the first gripper arm 708 and the second gripper arm 709；The company Fishplate bar 703 is internally provided with stroke guide pad 704；One end of the connecting plate 703 is connected with gripper oil cylinder 701；The hand Straight coupling 702 is provided on pawl oil cylinder 701；The other end that the connecting plate 703 is not connected with gripper oil cylinder 701, which passes through, to be connect Block 705 is connected with first connecting rod 706, second connecting rod 707；The first connecting rod 706 is connected with first by the first connecting shaft 710 Gripper 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 track portion 200 is installed on 100 top of platform part；The motor part 300 is installed in track portion 200 Side；The drag chain portion 400 is installed on the side that platform part 100 has oil cylinder 106；The base portion 500 is installed on outside motor part 300 Side；The mechanical arm 600 is installed on above base portion 500 close to one end of large arm 602；The paw portion 700 is installed on machinery Arm 600 is close to one end of forearm 603.

Preferably, it includes transport frock portion 800 that the automation, which helps pipe device also,.

Preferably, the transport frock portion 800 is located at 700 lower section of paw portion.

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 device is helped in a kind of automation, which is characterized in that it includes platform part, track portion, motor that pipe device is helped in the automation Portion, drag chain portion, base portion, mechanical arm and paw portion；

The platform part includes platform skeleton；The platform skeleton is made of all side beam, rear side beam, left side beam and right side beam Quadrate framework；Oil cylinder is installed on all side beam；Straight coupling and hinged shaft are connected on the oil cylinder；The oil cylinder peace Left end, straight coupling loaded on all side beam are installed on the left end of oil cylinder and hinged shaft is installed on the right end of oil cylinder or the oil cylinder is installed The right end of oil cylinder is installed in right end, the straight coupling of all side beam and hinged shaft is installed on the left end of oil cylinder；The rear side Liang Shangyou With the symmetrically arranged oil cylinder of all side beam, straight coupling and hinged shaft.

2. pipe device is helped in a kind of automation as described in claim 1, which is characterized in that the track portion include track skeleton, False guide rail and rack gear seat；The track skeleton is the quadrate being made of front mounting plate, rear mounting plate, Zuo Liang and right beam Frame；The first idler wheel and link block are provided on the outside of the front mounting plate；First idler wheel mutually agrees with oil cylinder；The connection Block mutually agrees with hinged shaft；There are first idler wheel and link block symmetrical with front mounting plate on mounting plate after described；The vacation guide rail It is installed on the inside of Zuo Liang and right beam and is in contact with front mounting plate and rear mounting plate；The rack gear seat connection front mounting plate is with after Mounting plate；Ruler item is installed on the rack gear seat.

3. pipe device is helped in a kind of automation as described in claim 1, which is characterized in that the motor part includes the first connection Plate, the second idler wheel, spur gear；Spur gear is provided with below first connecting plate；It installs the top of first connecting plate There are encoder and brake；The second connecting plate normal thereto is extended with down respectively at left and right sides of first connecting plate lower part With third connecting plate；The spur gear is meshed with ruler item；The brake top is connected with motor；The motor head connects It is connected to balanced valve；The motor side is connected with throttle valve；It is provided on the outside of second connecting plate and third connecting plate Second idler wheel；Second idler wheel mutually agrees with false guide rail.

4. pipe device is helped in a kind of automation as described in claim 1, which is characterized in that the drag chain portion includes support plate, the One plinth, the second plinth, the first connector, the second connector and drag chain；First plinth and the second plinth are distinguished It is set to two sides of support plate and vertical with support plate；First connector is located at the first plinth；Second connector position In the second plinth；The drag chain is located at one end in support board ends and the both ends of drag chain and connects respectively with the first connector and second Head is connected.

5. pipe device is helped in a kind of automation as described in claim 1, which is characterized in that the base portion include motor box and Hydraulic tank；Filter is installed in the motor box；Straight coupling and filter transit joint are installed on the filter； The hydraulic tank is installed on the side of motor box；Hydraulic valve, balance valve block and oil return block are installed in the hydraulic tank；It is described Oil return block can pass through hydraulic tank by oil pipe and be connected with the second connector.

6. pipe device is helped in a kind of automation as described in claim 1, which is characterized in that the mechanical arm includes connector, big Arm, forearm, first connecting rod, second connecting rod, third connecting rod, fourth link, the first tripod, the second tripod, the first servo oil Cylinder, the second servo-cylinder, reversing frame and rotation motor；First tripod and the second tripod contain vertex, first Endpoint and the second endpoint；The vertex is connected with large arm and forearm by the first connecting shaft simultaneously；The large arm and forearm not with The connected other end of first connecting shaft passes through the second connecting shaft respectively and third connecting shaft is connected to reversing frame and connector；It is described The first end point of first tripod and the second tripod is connected separately with first connecting rod and second connecting rod；First tripod with Second endpoint of the second tripod is connected separately with third connecting rod and fourth link；The first connecting rod and second connecting rod be not with The other end that one tripod and the second tripod are connected is connected to reversing frame；The third connecting rod and fourth link be not with The other end that one tripod and the second tripod are connected is connected to connector；The first connecting rod and second connecting rod are located at big Above arm；The third connecting rod and fourth link are located above forearm；The both ends of first servo-cylinder pass through the 4th respectively Connecting shaft and the 5th connection axis connection large arm and reversing frame；The both ends of second servo-cylinder pass through respectively the 6th connecting shaft and 7th connection axis connection forearm and large arm；The side of the reversing frame is equipped with rotation motor；It installs the inside of the reversing frame There are device for revolving and driving and deceleration device.

7. pipe device is helped in a kind of automation as described in claim 1, which is characterized in that the paw portion include gripper 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 connecting plate is internally provided with stroke guide pad；One end of the connecting plate is connected with gripper oil cylinder；The gripper oil cylinder On be provided with straight coupling；The other end that the connecting plate is not connected with gripper oil cylinder by link block be connected with first connecting rod, Second connecting rod；The first connecting rod is connected with the first gripper arm by the first connecting shaft；The second connecting rod passes through the second connection Axis connection has the second gripper arm.

8. pipe device is helped in a kind of automation as described in claim 1, which is characterized in that the track portion is installed in platform part Side；The motor part is installed on above track portion；The drag chain portion is installed on the side that platform part has oil cylinder；The base portion peace Loaded on the outside of motor part；The mechanical arm is installed on above base portion close to one end of large arm；The paw portion is installed on machinery One end of the nearly forearm of arm rest.

9. pipe device is helped in a kind of automation as described in claim 1, which is characterized in that the automation helps the pipe device also to include Transport frock portion.

10. pipe device is helped in a kind of automation as described in claim 1, which is characterized in that the platform part also include stiffening plate, Platform cover board, cover board pillar and cover board cushion block；The stiffening plate is connected between the left side beam and right side beam of platform skeleton；Institute Cover board pillar is stated to be mounted on above stiffening plate；The cover board cushion block be mounted on all side beam of platform skeleton, rear side beam, left side beam with And above right side beam；The top surface of the cover board cushion block and cover board pillar is in same level；The platform cover board is placed in lid The top of plate pillar and cover board cushion block.