CN209838342U - Drill floor manipulator - Google Patents
Drill floor manipulator Download PDFInfo
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- CN209838342U CN209838342U CN201920626112.6U CN201920626112U CN209838342U CN 209838342 U CN209838342 U CN 209838342U CN 201920626112 U CN201920626112 U CN 201920626112U CN 209838342 U CN209838342 U CN 209838342U
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- arm support
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- hand grip
- manipulator
- drill floor
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Abstract
The utility model provides a drill floor manipulator, which relates to the technical field of petroleum equipment and comprises a mechanical arm, a gripper and a rotary arm frame; one end of the rotary arm support is movably connected with the mechanical arm, and the other end of the rotary arm support is connected with the hand grip and used for adjusting the distance between the hand grip and the mechanical arm. An object of the utility model is to provide a rig floor surface tongs to the not high technical problem of manipulator accuracy that has existed among the prior art has been alleviated.
Description
Technical Field
The utility model belongs to the technical field of the oil equipment technique and specifically relates to a rig floor face manipulator is related to.
Background
With the progress of science and technology and the development of petroleum equipment technology, when more and more automatic and intelligent technologies are applied to workover treatment in petroleum equipment, some local semi-automatic equipment appears in each large oil field in succession, and in order to solve the problem that a wellhead is unmanned, the automatic equipment must solve the problem of drill column discharge of a drilling platform surface. At present, the drill floor stand box adopts manual pipe arrangement or a remote controller to control a drill floor manipulator to arrange a drill string. However, the manual discharge of the drill string is labor intensive and has a high safety risk; the drilling platform surface manipulator on the market can not realize the accurate row of tubular column one key.
In view of the above disadvantages, how to adjust the precision of the manipulator becomes a problem to be solved urgently by those skilled in the art.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a rig floor surface tongs to the not high technical problem of manipulator accuracy that has existed among the prior art has been alleviated.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides a drill floor face manipulator, include: the mechanical arm, the gripper and the rotary arm frame;
one end of the rotating arm support is movably connected with the mechanical arm, and the other end of the rotating arm support is connected with the hand grip and used for adjusting the distance between the hand grip and the mechanical arm.
Further, one end, far away from the hand grip, of the rotating arm support is hinged with the mechanical arm;
or one end of the rotating arm support, which is far away from the hand grip, is connected with the mechanical arm through a connecting piece.
Further, the connecting piece is a bolt or a pin shaft.
Furthermore, the drill floor surface manipulator further comprises an adjusting piece, one end of the adjusting piece is connected with the rotating arm support, and the other end of the adjusting piece is connected with the hand grip.
Further, the adjusting part is an air cylinder or a hydraulic cylinder or an electric push rod.
Further, the mechanical arm comprises a rotary table, a first arm frame group, a connecting seat and a second arm frame group;
the first arm frame group is rotationally connected with the rotary table;
the second arm frame group is connected with the first arm frame group through the connecting seat;
the second arm support group is movably connected with the rotary arm support.
Furthermore, the first arm support group comprises a first arm support and a second arm support, the first arm support and the second arm support are arranged in parallel, one end of the first arm support is connected with the rotary table, and the other end of the first arm support is connected with the connecting seat.
Furthermore, the second arm support group comprises a third arm support and a fourth arm support, the third arm support and the fourth arm support are arranged in parallel, one end of each third arm support is connected with the connecting seat, and the other end of each third arm support is connected with the rotating arm support.
Furthermore, the mechanical arm further comprises a driving part, one end of the driving part is connected with the rotary table, and the other end of the driving part is connected with the first arm support group and used for driving the first arm support group to rotate around the rotary table.
Further, the driving part is an air cylinder, a hydraulic cylinder or an electric push rod.
The utility model provides a rig floor face manipulator has following beneficial effect:
the utility model provides a drill floor face manipulator, include: the mechanical arm, the gripper and the rotary arm frame; one end of the rotary arm support is movably connected with the mechanical arm, and the other end of the rotary arm support is connected with the hand grip and used for adjusting the distance between the hand grip and the mechanical arm.
Generally, a manipulator of a drilling platform surface on the market is directly arranged at one end of a mechanical arm, the action of the manipulator is controlled, so that the movement of the manipulator is limited, the movement of the manipulator is usually shortened by a forearm connecting the mechanical arm and the manipulator to relieve the situation, and the height of the manipulator is small in moving range. The utility model provides a tongs is through rotating cantilever crane and arm swing joint among the rig floor face manipulator, and the forearm of arm shortens, can not influence the activity of tongs, can rotate the height that the cantilever crane adjusted the tongs through the regulation. The height of the pipe column grabbed and placed by the grabber is guaranteed while the height of the whole arm support is reduced.
The utility model provides a rig floor surface manipulator rotates the cantilever crane through increasing between tongs and arm, has realized the adjustable of tongs height to can guarantee the tongs when reducing whole arm height and grab the height of putting the tubular column, thereby improve the operation precision of rig floor surface manipulator.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a drill floor surface manipulator according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a drill floor-side manipulator provided in embodiment 3 of the present invention.
Icon: 100-a robotic arm; 200-hand grip; 300-rotating the arm support; 400-an adjustment member; 110-a turntable; 120-a first set of booms; 130-a connecting seat; 140-a second set of armrests; 150-a drive section; 121-a first arm support; 122-a second boom; 141-a third arm support; 142-fourth arm support.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.
Referring to fig. 1 and fig. 2, a drill floor manipulator according to an embodiment of the present invention will be described in detail with reference to the drawings.
An embodiment of the utility model provides a rig floor face manipulator, include: the mechanical arm 100, the gripper 200 and the rotary arm support 300;
one end of the rotary arm support 300 is movably connected with the mechanical arm 100, and the other end is connected with the hand grip 200 and used for adjusting the distance between the hand grip 200 and the mechanical arm 100.
In a drilling floor manipulator on the market, the hand grip 200 is usually directly mounted at one end of the mechanical arm 100, and the motion of the hand grip 200 is realized by controlling the motion of the mechanical arm 100, so that the motion of the hand grip 200 is limited, and in order to relieve the situation, the front arm connecting the mechanical arm 100 and the hand grip 200 is usually shortened, which in turn makes the height motion range of the hand grip 200 small. The embodiment of the utility model provides a tongs 200 is through rotating cantilever crane 300 and arm 100 swing joint among the rig floor surface manipulator, and the forearm of arm 100 shortens, can not influence the activity of tongs 200, can rotate the height that tongs 200 was adjusted to cantilever crane 300 through the regulation. The height of the pipe column can be guaranteed to be grabbed and released by the gripper 200 while the height of the whole arm support is reduced.
The embodiment of the utility model provides a rig floor surface manipulator rotates cantilever crane 300 through increasing between tongs 200 and arm 100, has realized the adjustable of tongs 200 height to can reduce the height of whole arm 100, guarantee tongs 200 and grab the height of putting the tubular column, thereby improved rig floor surface manipulator's operation precision.
In an optional solution of this embodiment, further, one end of the rotary arm support 300 away from the gripper 200 is hinged to the robot arm 100;
alternatively, the end of the rotary arm support 300 away from the hand grip 200 is connected to the robot arm 100 through a connection member.
Rig floor surface manipulator tongs 200 direct mount on the market is on arm 100, and in order to be suitable for more circumstances operations, arm 100 is shorter usually for tongs 200 home range is narrower, and the operating accuracy is not high, the embodiment of the utility model provides a rig floor surface manipulator has add between arm 100 and tongs 200 and has rotated cantilever crane 300, when reducing whole cantilever crane height, guarantees tongs 200 and grabs the height of putting the tubular column.
In at least one embodiment, one end of the rotating arm support 300, which is far away from the hand grip 200, is hinged to the robot arm 100, and the hand grip 200 is mounted on the rotating arm support 300, so that the hand grip 200 can rotate around the robot arm 100 along with the rotating arm support 300, and thus the height of the hand grip 200 can be adjusted as required, a larger moving range of the hand grip 200 is realized, the operation is facilitated, and the operation precision of the robot arm is improved.
In at least one embodiment, one end of the rotating arm support 300, which is far away from the gripper 200, is connected with the mechanical arm 100 through a connecting piece, the connecting piece can lock the rotating arm support 300 and the mechanical arm 100, and can also be loosened to enable the rotating arm support 300 to rotate around the mechanical arm 100, the gripper 200 is mounted on the rotating arm support 300, so that the gripper 200 can rotate around the mechanical arm 100 along with the rotating arm support 300, the height of the gripper 200 can be adjusted as required, the gripper 200 has a larger moving range, the operation is convenient, and the operation precision of the mechanical arm is improved.
In an optional aspect of this embodiment, the connecting member is a bolt or a pin.
In at least one embodiment, the end of the rotatable arm 300 away from the hand grip 200 is connected to the robotic arm 100 via a connector, such as a bolt or a pin. The rotating arm support 300 and the mechanical arm 100 are rotatably connected through a bolt or a pin shaft, the rotating arm support 300 can rotate around the bolt or the pin shaft, the hand grip 200 is mounted on the rotating arm support 300, the hand grip 200 can rotate around the mechanical arm 100 along with the rotating arm support 300, the height of the hand grip 200 can be adjusted as required, the purpose that the hand grip 200 has a larger moving range is achieved, operation is facilitated, and the operation precision of the mechanical arm is improved.
In an optional solution of this embodiment, the drill floor manipulator further includes an adjusting member 400, and one end of the adjusting member 400 is connected to the rotating arm support 300, and the other end is connected to the gripper 200.
In at least one embodiment, the gripper 200 in the drill floor manipulator is connected with the rotating arm support 300 through the adjusting piece 400, and the adjusting piece 400 can adjust the length between the gripper 200 and the rotating arm support 300, so that the height of the gripper 200 is further adjusted, the height adjusting range of the gripper 200 is further expanded, and the operation precision of the manipulator is improved.
It should be noted that the hand grip 200 in the drill floor manipulator is connected to the rotating arm support 300 through the adjusting member 400, and the adjusting member 400 can drive the hand grip 200 to move up or down. The main function of the adjusting member 400 is to drive the hand grip 200 to move up or down to adjust the distance between the hand grip 200 and the rotating arm support 300, so that all structures capable of playing the above-mentioned role can be used as the adjusting member 400 in this embodiment, specifically, for example: telescopic rods, air cylinders, hydraulic cylinders or electric push rods, etc.
In the alternative of this embodiment, the adjusting member 400 is a pneumatic cylinder, a hydraulic cylinder or an electric push rod.
In at least one embodiment, the rotating arm support 300 is connected with the hand grip 200 through a lifting cylinder of the hand grip 200. The hand grip 200 is hinged to the rotary arm support 300 through a hand grip 200 lifting cylinder, and the height of the hand grip 200 can be adjusted by the hand grip 200 lifting cylinder.
In an alternative embodiment, the robot arm 100 further includes a rotary table 110, a first arm support set 120, a connecting base 130, and a second arm support set 140;
the first arm support group 120 is rotatably connected with the rotary table 110;
the second arm frame set 140 and the first arm frame set 120 are connected through the connecting seat 130;
the second arm support group 140 is movably connected with the rotary arm support 300.
In at least one embodiment, the turntable 110, the first arm support group 120, the connecting base 130 and the second arm support group 140 of the robot arm 100 are sequentially connected, and the rotary arm support 300 is movably connected with the second arm support group 140. In this embodiment, the robot arm 100 may adjust the gripper 200 by rotating the arm support 300 to adjust the height of the gripper 200 relative to the second arm support group 140, so as to expand the height adjustment range of the gripper 200, thereby improving the operation precision of the robot.
In an optional solution of this embodiment, the first arm support group 120 further includes a first arm support 121 and a second arm support 122, the first arm support 121 and the second arm support 122 are disposed in parallel, one end of each of the first arm support 121 and the second arm support 122 is connected to the turntable 110, and the other end of each of the first arm support and the second arm support is connected to the connecting seat 130.
In an optional solution of this embodiment, the second arm support group 140 further includes a third arm support 141 and a fourth arm support 142, the third arm support 141 and the fourth arm support 142 are arranged in parallel, one end of each of the third arm support 141 and the fourth arm support 142 is connected to the connection seat 130, and the other end of each of the third arm support 141 and the fourth arm support 142 is connected to the rotating arm support 300.
In at least one embodiment, the first arm support 121 and the second arm support 122 form a parallelogram, the third arm support 141 and the fourth arm support 142 form a parallelogram, the rotating arm support 300 is hinged to the parallelogram formed by the second arm support group 140, and the hand grip 200 is hinged to the rotating arm support 300 directly or connected through a connecting member such as a bolt or a pin or connected through the adjusting member 400.
In an alternative embodiment, the robot arm 100 further includes a driving part 150, one end of the driving part 150 is connected to the turntable 110, and the other end is connected to the first arm support group 120, for driving the first arm support group 120 to rotate around the turntable 110.
In an alternative embodiment, the driving unit 150 is an air cylinder, a hydraulic cylinder, or an electric push rod.
In the drill floor robot, a driving unit 150 is connected between the turntable 110 and the first arm group 120, and the driving unit 150 can drive the first arm group 120 to rotate around the turntable 110. The main function of the adjusting member 400 is to drive the first arm frame set 120 to rotate around the revolving stage 110 to drive the first arm frame set 120 to move, so that any structure capable of playing the above-mentioned function can be used as the driving part 150 in the present embodiment, specifically, for example: motors, cylinders, hydraulic or electric pushrods, etc.
In at least one embodiment, an arm cylinder is disposed between the rotary table 110 and the first arm support group 120, and one end of the arm cylinder is hinged to the rotary table 110, and the other end is hinged to the first arm support 121.
In at least one embodiment, the drill floor manipulator is of a five-section arm structure composed of a first arm frame 121, a second arm frame 122, a third arm frame 141, a fourth arm frame 142 and a rotating arm frame 300, the fifth section arm, namely the rotating arm frame 300, is hinged to the gripper 200, or the gripper 200 is connected with the fifth section arm, namely the rotating arm frame 300, through a bolt or a pin shaft, or the gripper 200 is connected with the fifth section arm, namely the rotating arm frame 300, through a cylinder, an air cylinder, an electric cylinder and the like, so that the height of the gripper 200 is adjusted, and the height of the gripper 200 for gripping and releasing a tubular column is ensured while the height of the whole arm frame is reduced.
Example 1
In this embodiment, the drill floor manipulator includes a robot arm 100, a rotary arm support 300 and a gripper 200, where the robot arm 100 includes a first arm support group 120, a connection seat 130 and a second arm support group 140 of a turntable 110, which are connected in sequence, and an arm support cylinder for driving the first arm support group 120 to rotate around the turntable 110; the first arm support 121 and the second arm support 122 in the first arm support group 120 form a parallelogram, the third arm support 141 and the fourth arm support 142 in the second arm support group 140 form a parallelogram, the rotating arm support 300 is hinged with the parallelogram formed by the second arm support group 140, and the hand grip 200 is hinged with the rotating arm support 300. The drill floor manipulator in this embodiment adopts a five-section arm structure composed of a first arm support 121, a second arm support 122, a third arm support 141, a fourth arm support 142 and a rotating arm support 300, and the fifth arm, namely the rotating arm support 300, and the gripper 200 are hinged to each other, so that the height of the gripper 200 is adjusted, and the height of the gripper 200 for gripping and releasing a tubular column is ensured while the height of the whole arm support is reduced.
Example 2
In this embodiment, the drill floor manipulator includes a robot arm 100, a rotary arm support 300 and a gripper 200, where the robot arm 100 includes a first arm support group 120, a connection seat 130 and a second arm support group 140 of a turntable 110, which are connected in sequence, and an arm support cylinder for driving the first arm support group 120 to rotate around the turntable 110; the first arm support 121 and the second arm support 122 in the first arm support group 120 form a parallelogram, the third arm support 141 and the fourth arm support 142 in the second arm support group 140 form a parallelogram, the rotating arm support 300 is hinged with the parallelogram formed by the second arm support group 140, and the hand grip 200 is hinged with the rotating arm support 300 through a bolt or a pin shaft. The drill floor manipulator in this embodiment adopts a five-section arm structure composed of a first arm frame 121, a second arm frame 122, a third arm frame 141, a fourth arm frame 142 and a rotating arm frame 300, and the fifth arm, namely the rotating arm frame 300, is hinged to the gripper 200 through a bolt or a pin shaft, so that the height of the gripper 200 is adjusted, and the height of the gripper 200 for gripping and releasing a tubular column is ensured while the height of the whole arm frame is reduced.
Example 3
In this embodiment, the drill floor manipulator includes a robot arm 100, a rotary arm support 300 and a gripper 200, where the robot arm 100 includes a first arm support group 120, a connection seat 130 and a second arm support group 140 of a turntable 110, which are connected in sequence, and an arm support cylinder for driving the first arm support group 120 to rotate around the turntable 110; the first arm support 121 and the second arm support 122 in the first arm support group 120 form a parallelogram, the third arm support 141 and the fourth arm support 142 in the second arm support group 140 form a parallelogram, the rotating arm support 300 is hinged with the parallelogram formed by the second arm support group 140, and the hand grip 200 is hinged with the rotating arm support 300 through a lifting oil cylinder. The drill floor manipulator in this embodiment adopts a five-section arm structure composed of a first arm frame 121, a second arm frame 122, a third arm frame 141, a fourth arm frame 142 and a rotating arm frame 300, and the fifth arm, namely the rotating arm frame 300, is hinged to the gripper 200 through a lifting oil cylinder, so that the height of the gripper 200 is adjusted, and the height of the gripper 200 for gripping and releasing a tubular column is ensured while the height of the whole arm frame is reduced.
The above description has been made on the drill floor manipulator of the present invention, but the present invention is not limited to the above specific embodiments, and various modifications and changes can be made without departing from the scope of the claims. The present invention includes various modifications and alterations within the scope of the claims.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A drill floor manipulator, comprising: the mechanical arm, the gripper and the rotary arm frame;
one end of the rotating arm support is movably connected with the mechanical arm, and the other end of the rotating arm support is connected with the hand grip and used for adjusting the distance between the hand grip and the mechanical arm.
2. The drill floor manipulator of claim 1, wherein the end of the rotatable arm support remote from the hand grip is hinged to the robotic arm;
or one end of the rotating arm support, which is far away from the hand grip, is connected with the mechanical arm through a connecting piece.
3. The drill floor manipulator according to claim 2, wherein the connector is a bolt or a pin.
4. The floor manipulator of claim 1, further comprising an adjustment member, wherein one end of the adjustment member is connected to the rotatable arm support and the other end is connected to the hand grip.
5. The drill floor manipulator according to claim 4, characterized in that the adjusting member is a pneumatic or hydraulic cylinder or an electric push rod.
6. The drill floor manipulator of claim 1, wherein the manipulator comprises a turret, a first set of jibs, a connecting socket, and a second set of jibs;
the first arm frame group is rotationally connected with the rotary table;
the second arm frame group is connected with the first arm frame group through the connecting seat;
the second arm support group is movably connected with the rotary arm support.
7. The drill floor manipulator according to claim 6, wherein the first arm support group comprises a first arm support and a second arm support, the first arm support and the second arm support are arranged in parallel, one end of each arm support is connected with the rotary table, and the other end of each arm support is connected with the connecting base.
8. The drill floor manipulator of claim 6, wherein the second arm support group comprises a third arm support and a fourth arm support, the third arm support and the fourth arm support are arranged in parallel, one end of each arm support is connected with the connecting seat, and the other end of each arm support is connected with the rotating arm support.
9. The drill floor manipulator of claim 6, further comprising a drive section connected at one end to the turret and at another end to the first set of booms for driving the first set of booms to rotate about the turret.
10. The floor manipulator according to claim 9, wherein the drive is an air cylinder or a hydraulic cylinder or an electric push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920626112.6U CN209838342U (en) | 2019-04-30 | 2019-04-30 | Drill floor manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920626112.6U CN209838342U (en) | 2019-04-30 | 2019-04-30 | Drill floor manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209838342U true CN209838342U (en) | 2019-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920626112.6U Active CN209838342U (en) | 2019-04-30 | 2019-04-30 | Drill floor manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209838342U (en) |
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2019
- 2019-04-30 CN CN201920626112.6U patent/CN209838342U/en active Active
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20210104 Address after: 412005 Room 201, Dingshan Road office building, Shifeng District, Zhuzhou City, Hunan Province Patentee after: HUNAN SANY PETROLEUM TECHNOLOGY Co.,Ltd. Address before: 410000 Xingsha Sany Industrial Park, Changsha City, Hunan Province Patentee before: SANY GROUP Co.,Ltd. HUNAN BRANCH |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210615 Address after: Room 101, No.1 United workshop, east of East Third Line and south of liangtang Road, Changsha Economic and Technological Development Zone, Changsha, Hunan 410000 Patentee after: SANY GROUP Co.,Ltd. HUNAN BRANCH Address before: 412005 Room 201, Dingshan Road office building, Shifeng District, Zhuzhou City, Hunan Province Patentee before: HUNAN SANY PETROLEUM TECHNOLOGY Co.,Ltd. |