CN210418329U - Workover oil pipe snatchs and moves fortune test device - Google Patents
Workover oil pipe snatchs and moves fortune test device Download PDFInfo
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- CN210418329U CN210418329U CN201920564305.3U CN201920564305U CN210418329U CN 210418329 U CN210418329 U CN 210418329U CN 201920564305 U CN201920564305 U CN 201920564305U CN 210418329 U CN210418329 U CN 210418329U
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Abstract
A workover oil pipe grabbing and moving test device. The main purpose is to provide a device which can realize the movement with six degrees of freedom, and can complete the reliable moving and accurate positioning of the oil pipe between the pipe rack and the wellhead. The device mainly comprises a pipe clamping mechanical arm, a mechanical arm swinging mechanism, a mechanical arm rotating mechanism, a chassis rotating mechanism, a folding lifting mechanism and a base conveying mechanism; the pipe clamping manipulator adopts a cylinder driving link mechanism, a manipulator swinging mechanism and a manipulator rotating mechanism are both driven by a servo motor, the motor output shaft of the manipulator swinging mechanism is coaxially installed with the manipulator cylinder, and the motor output shaft of the manipulator swinging mechanism is vertical to the axis of the manipulator cylinder; the chassis rotating mechanism respectively drives the worm gear mechanism and the gear rack mechanism by using two servo motors; the folding lifting mechanism drives the hinged rod piece by using a hydraulic cylinder, so that the lifting of the device can be realized; the base conveying mechanism adopts a mode that a hydraulic cylinder drives a linear slide rail, and the front-back distance between the device and a well head can be adjusted.
Description
Technical Field
The utility model relates to a workover oil pipe snatchs and moves fortune device belongs to oil pipe and moves fortune equipment technical field.
Background
The existing automatic system for transferring and transporting the tubular column in the drilling and workover operation can be mainly divided into a power catwalk transfer type, a parallel link mechanism transfer type, a large arm rotation transfer type, a tubular column vertical transfer type, a derrick manipulator transfer type and the like, but the degree of freedom is low, the tubular column can only be transferred from a tubular rack to a well head generally, and the operation of the well head in which the tubular column is positioned generally needs a well head operation worker to manually pull and lean on the well head in position or a well head auxiliary manipulator to realize the centering of the tubular column. Therefore, in order to research and develop new workover mechanized system, the utility model provides a workover mechanized equipment's experimental research platform can help the experimenter to study and improve workover technology and mechanized operation equipment's control method and performance to further improve workover mechanical automation degree of practicality, reduce intensity of labour, improve the operating efficiency.
Disclosure of Invention
In order to solve the technical problem who mentions among the background art, the utility model provides a workover oil pipe snatchs and moves fortune test device, this kind of device can realize the motion of six degrees of freedom in the space, can accomplish oil pipe and reliably move fortune and the accuracy is taken one's place between pipe bent frame and well head, and the research and development of oil pipe migration device provides a reliable technical reference in the workover for the scene.
The technical scheme of the utility model is that: the workover operation oil pipe grabbing and moving test device comprises a pipe clamping manipulator 1, a manipulator swinging mechanism 2, a manipulator rotating mechanism 3, a chassis rotating mechanism 4, a folding lifting mechanism 5 and a base conveying mechanism 6; the method is characterized in that:
the pipe clamping manipulator 1 comprises a cylinder 8, a supporting plate 9, a sleeve 10, a connector 11, an upper manipulator claw 12, a lower manipulator claw 13 and a connecting rod 14; the supporting plate 9 is fixed at the end face of the end cover of the cylinder 8 through a screw, and the connecting head 11 is firstly sleeved on the piston rod of the cylinder 8 and then is tightly pressed by matching a nut and the external thread of the piston rod; one end of each of four mechanical claw connecting rods 14 is matched with the connector 11 and is connected with the connector through a nut and a bolt, and the other end of each of the four mechanical claw connecting rods is respectively matched with the upper mechanical claw 12 and the lower mechanical claw 13 and is connected with the upper mechanical claw and the lower mechanical claw through nuts and bolts; the upper mechanical claw 12 and the lower mechanical claw 13 are connected with the supporting plate 9 through nuts and bolts, and the sleeve 10 between the claws and the supporting plate 9 plays a role in fixing the mechanical claws;
the manipulator swinging mechanism 2 comprises a servo motor 17, a box body 18, a deep groove ball bearing 20, a connecting disc 21, an end cover 22, a swinging output shaft 23 and a deep groove ball bearing 24; wherein, the servo motor 17 is fixedly connected with the swinging mechanism box 18 through a screw, and the output shaft of the servo motor 17 is connected with the swinging output shaft 23 through a key 19; the deep groove ball bearing 20 and the deep groove ball bearing 24 are installed with the swing mechanism box 18 and the swing output shaft 23 in a matching way; the swing mechanism end cover 22 is fixedly connected with the swing mechanism box body 18 through screws; the groove of the connecting disc 21 is matched with the shaft end of the swinging output shaft 23 to play a role in positioning and is fixed through a screw;
the mechanical arm slewing mechanism 3 comprises a connecting disc 28, a front end cover 29, a front end cover gasket 30, a box body 31, a rear end cover 33, a servo motor 34, a rear end cover gasket 35, a deep groove ball bearing 36, a deep groove ball bearing 37, a slewing output shaft 38 and the like; the swing mechanism box body 31 plays a role in fixing and supporting, the swing mechanism rear end cover 33 is fixedly connected with the swing mechanism box body 31 through screws, and a rear end cover gasket 35 is added in the middle; the servo motor 34 is fixedly connected with the rear end cover 33 of the swing mechanism through screws; the deep groove ball bearing 36 and the deep groove ball bearing 37 are installed with the slewing mechanism box body 31 and the slewing output shaft 38 in a matching way; the output shaft of the servo motor 34 is connected with a rotary output shaft 38 through a key 32; the front end cover 29 of the swing mechanism is fixedly connected with a box body 31 of the swing mechanism through screws, and a front end cover gasket 30 is added in the middle; the groove of the connecting disc 28 is matched with the shaft end of the rotary output shaft 38 to play a positioning role and is fixed through screws;
the chassis rotating mechanism 4 comprises a worm and gear rotating system consisting of a servo motor 41, a worm 48, a deep groove ball bearing 49, a connecting disc 50, an end cover 51, a retainer ring 52, a box cover 53, a turbine 54, a rotating output shaft 56, a deep groove ball bearing 57, a box body 58 and an L-shaped retainer ring 59; wherein, the output shaft of the servo motor 41 is connected with the rotary output shaft 56 through a key 55, and provides power for the worm, so that the rotary mechanism connecting disc 50 drives the upper mechanism to complete the rotary action; the servo motor 47 drives the rack 44 and the gear 45;
the folding lifting mechanism 5 comprises an upper seat 62, a lower seat 64, a folding mechanism rod piece 69 and a folding mechanism rod piece belt beam 70 which are hinged through a bolt 63, a lifting mechanism sliding guide rail 65 and a lifting mechanism driving hydraulic cylinder 66; one end of a lifting mechanism driving hydraulic cylinder 66 is installed on a fixed hinged support of the lower seat of the folding lifting mechanism through a bolt, and the other end of the lifting mechanism driving hydraulic cylinder is fixed on a hinged support of a folding mechanism rod piece with a cross beam 70 through a bolt to provide power for the folding frame so as to realize the lifting of the folding frame and complete the lifting action of the whole device;
the base transport mechanism 6 comprises a transport mechanism driving hydraulic cylinder 71, a connecting seat 72, a sliding block 73, a base linear guide rail 74 and a fixed base 75, wherein the base linear guide rail 74 is fixedly connected with the fixed base 75 through a screw; the transportation mechanism drives the hydraulic cylinder 71 to be fixedly connected with the fixed base 75 through screws, and a piston rod of the hydraulic cylinder 71 is in threaded fit connection with the connecting seat 72;
the threaded hole of the sliding block 73 in the base transportation mechanism 6 is matched with the base transportation mechanism mounting connecting hole 68 of the folding lifting mechanism 5 and is fixedly connected with the base transportation mechanism mounting connecting hole through a screw; the through hole on the connecting seat 72 is matched with the base conveying mechanism mounting hole 67 on the lower seat of the folding lifting mechanism 5 and is fixedly connected with the lower seat through a screw; under the action of the base conveying mechanism 6, the mechanism above the base conveying mechanism 6 can do linear motion along the base linear guide rail 74; the mounting and connecting holes 60 of the folding lifting mechanism are matched with the mounting holes 43 of the rotating mechanism of the chassis rotating mechanism 4 and fixedly connected through screws; the servo motor 47 is fixed on the motor base through a screw, and the motor base fixing hole 46 is matched with a chassis rotating mechanism motor mounting connecting hole 61 of the upper base of the folding lifting mechanism 5 and is fixedly connected through a screw; the gear 45 is fixedly connected with an output shaft of the servo motor 47, and the rack 44 is fixedly connected with a box body 58 in the chassis rotating mechanism 4 through a screw; the servo motor 47 drives the gear 45 and the rack 44, so that the upper part of the chassis rotating mechanism 4 can do linear motion along the linear slide rail 42; a revolving mechanism motor mounting counter bore 27 in the mechanical arm revolving mechanism 3 is matched with a chassis revolving mechanism mounting connecting through hole 39 on a connecting disc 50 in the chassis revolving mechanism 4 and fixedly connected through a screw, and a first positioning hole 26 on a box body in the revolving mechanism is matched with a second positioning hole 40 on the rotating mechanism connecting disc 50 and is connected and positioned through a pin; a swing mechanism mounting connecting hole 25 on a connecting disc 28 in the mechanical arm swing mechanism 3 is matched with a swing mechanism motor mounting screw hole 15 of the mechanical arm swing mechanism 2 and is fixedly connected with the swing mechanism motor mounting screw hole through a screw; the swing mechanism mounting connecting hole 16 on the connecting disc 21 in the manipulator swing mechanism 2 is matched with the pipe clamping manipulator mounting through hole 7 of the pipe clamping manipulator 1 and fixedly connected with the pipe clamping manipulator through a screw.
The utility model discloses following beneficial effect has: the pipe clamping mechanical arm of the device adopts a cylinder to drive a connecting rod mechanism. Under different displacements of the piston rod, the tail end paw can obtain different opening angles, and therefore oil pipes with different outer diameters can be grabbed. An output shaft of a servo motor in the manipulator swinging mechanism and a driving cylinder of the pipe clamping manipulator are coaxially arranged, so that the pipe clamping manipulator can rotate in the transverse axial direction around an axis; the mechanical arm swing mechanism drives a swing output shaft connected with the mechanical arm swing mechanism through a servo motor, and the swing output shaft is perpendicular to an output shaft of a motor in the mechanical arm swing mechanism, so that the pipe clamping mechanical arm can realize rotation in the longitudinal axial direction by taking the axis of the swing output shaft as a rotating shaft; a gear is arranged on an output shaft of a driving servo motor fixedly arranged on a folding lifting mechanism in a chassis rotating mechanism, and a rack-and-pinion mechanism and a linear slide rail are utilized to enable an upper mechanism to realize reciprocating linear motion along a transverse guide rail, so that the left-and-right distance between a pipe clamping manipulator and a well head can be adjusted; the folding lifting mechanism adopts a hydraulic cylinder to drive the hinged rod piece, and can realize the lifting of the upper device by utilizing the instability of a parallelogram, thereby realizing the adjustment of the vertical distance of the pipe clamping mechanical arm on a wellhead; the folding lifting mechanism, the chassis rotating mechanism, the mechanical arm rotating mechanism and the mechanical arm swinging mechanism are arranged on the base conveying mechanism. The base conveying mechanism is driven by a hydraulic cylinder, and the linear slide rail is utilized to enable the device to reciprocate along the longitudinal guide rail, so that the front-back distance between the pipe clamping mechanical arm and a well head can be adjusted; therefore, the tube clamping mechanical arm can adjust three straight distances and three axial angles in space.
In conclusion, the device can be used for carrying out simulation tests of oil pipe migration, discharge and auxiliary in-place operation in the oil pipe lifting and lowering operation in the field workover process in a laboratory, can reliably clamp, migrate and place the simulated oil pipe with the same outer diameter as an actual oil pipe and the length of 1 meter, provides a reference scheme for the design and research and development of a workover string migration device, and is convenient for testers to explore the process, operation and different control methods and performances of the workover oil pipe transportation device.
Description of the drawings:
FIG. 1 is a schematic diagram of a three-dimensional structure of a workover oil pipe grabbing and transferring test device.
Fig. 2 is a three-dimensional schematic view 1 of a pipe clamping manipulator in the device.
Fig. 3 is a two-dimensional schematic diagram 2 of the pipe clamping manipulator in the device.
Fig. 4 is a two-dimensional schematic view 3 of the tube clamping manipulator in the device.
Fig. 5 is a three-dimensional schematic view of a robot swing mechanism in the present apparatus.
Fig. 6 is a two-dimensional schematic view of a robot swing mechanism in the present apparatus.
FIG. 7 is a three-dimensional schematic view of a swing mechanism of the robot arm in the present apparatus.
FIG. 8 is a two-dimensional schematic diagram of the swing mechanism of the robot arm in the present apparatus.
Fig. 9 is a three-dimensional schematic view 1 of the chassis rotation mechanism in the present device.
Figure 10 is a three-dimensional schematic view 2 of the chassis rotation mechanism in the present device.
Fig. 11 is a three-dimensional schematic view of the folding lifting mechanism in the device.
Fig. 12 is a three-dimensional schematic view of a base transport mechanism in the present device.
FIG. 13 is a schematic view of the distribution of the operation space of the workover oil pipe gripping and transporting test device.
In the figure: 1-a pipe clamping manipulator; 2-a manipulator swing mechanism; 3-a mechanical arm slewing mechanism; 4-a chassis rotation mechanism; 5-folding lifting mechanism; 6-a base transport mechanism; 7-installing a through hole in the pipe clamping manipulator; 8-cylinder; 9-a support plate; 10-a sleeve; 11-a connector; 12-upper manipulator paw; 13-lower manipulator paw; 14-a connecting rod; 15-mounting a screw hole on a motor of the swing mechanism; 16-installing a connecting hole on the swing mechanism; 17-a first servomotor; 18-a swing mechanism box; a bond number 19-1; 20-a first deep groove ball bearing; 21-a swing mechanism connecting disc; 22-oscillating mechanism end cap; 23-oscillating the output shaft; 24-a second deep groove ball bearing; 25-installing a connecting hole on the slewing mechanism; 26-a first locating hole; 27-mounting a counter bore in the motor of the slewing mechanism; 28-a slewing mechanism connection disc; 29-front cover of rotary mechanism; 30-front end cover gasket; 31-a slewing gear box; a bond number 32-2; 33-rear end cover of swing mechanism; 34-a second servo motor; 35-rear end cap gasket; 36-third deep groove ball bearing; 37-a fourth deep groove ball bearing; 38-a rotary output shaft; 39-installing a connecting through hole on the chassis rotating mechanism; 40-a second positioning hole; 41-a third servo motor; 42-linear slide rail; 43-rotating mechanism mounting holes; 44-a rack; 45-gear; 46-motor base fixing hole; 47-a fourth servo motor; 48-a worm; 49-fifth deep groove ball bearing; 50-rotating mechanism connection disc; 51-rotation mechanism end caps; 52-a retainer ring; 53-rotating the mechanism lid; 54-a turbine; a bond number 55-3; 56-rotating the output shaft; 57-a sixth deep groove ball bearing; 58-rotating mechanism box; 59-L-shaped retainer ring; 60-installing a connecting hole on the folding lifting mechanism; 61-installing a connecting hole on a motor of the chassis rotating mechanism; 62-upper seat; 63-hinge bolts; 64-lower seat; 65-lifting mechanism sliding guide; 66-lifting mechanism driving hydraulic cylinder; 67-base transport mechanism mounting holes; 68-base transport mechanism mounting connection holes; 69-folding mechanism rods; 70-folding mechanism bar with beam; 71-the transport mechanism drives the hydraulic cylinder; 72-a connecting seat; 73-a slide; 74-linear guide; 75-a stationary base; 76-simulated tubing; 77-wellhead; 78-the test device; 79-pipe bent.
The specific implementation mode is as follows:
the present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 12, the testing device mainly comprises a pipe clamping manipulator 1, a manipulator swinging mechanism 2, a manipulator swing mechanism 3, a chassis rotating mechanism 4, a folding lifting mechanism 5 and a base conveying mechanism 6. The threaded hole of the sliding block 73 in the base transportation mechanism 6 is matched with the base transportation mechanism mounting connecting hole 68 of the folding lifting mechanism 5 and is fixedly connected with the base transportation mechanism mounting connecting hole through a screw, and the base linear guide rail 74 is fixedly connected with the fixed base 75 through a screw; the transportation mechanism drives the hydraulic cylinder 71 to be fixedly connected with the fixed base 75 through screws, a piston rod of the hydraulic cylinder 71 is in threaded fit connection with the connecting seat 72, and a through hole in the connecting seat 72 is matched with the base transportation mechanism mounting hole 67 in the lower seat of the folding lifting mechanism 5 and is fixedly connected with the lower seat through screws; under the action of the base conveying mechanism 6, the upper mechanism can do linear motion along the base linear guide rail 74; the mounting and connecting holes 60 of the folding lifting mechanism are matched with the mounting holes 43 of the rotating mechanism of the chassis rotating mechanism 4 and fixedly connected through screws; the servo motor 47 is fixed on the motor base through a screw, and the motor base fixing hole 46 is matched with a chassis rotating mechanism motor mounting connecting hole 61 of the upper base of the folding lifting mechanism 5 and is fixedly connected through a screw; the gear 45 is fixedly connected with an output shaft of the servo motor 47, and the rack 44 is fixedly connected with a box body 58 in the chassis rotating mechanism 4 through a screw; the servo motor 47 drives the gear 45 and the rack 44, so that the upper part of the chassis rotating mechanism 4 can do linear motion along the linear slide rail 42; a revolving mechanism motor mounting counter bore 27 in the mechanical arm revolving mechanism 3 is matched with a chassis revolving mechanism mounting connecting through hole 39 on a connecting disc 50 in the chassis revolving mechanism 4 and fixedly connected through a screw, and a first positioning hole 26 on a box body in the revolving mechanism is matched with a second positioning hole 40 on the rotating mechanism connecting disc 50 and is connected and positioned through a pin; a swing mechanism mounting connecting hole 25 on a connecting disc 28 in the mechanical arm swing mechanism 3 is matched with a swing mechanism motor mounting screw hole 15 of the mechanical arm swing mechanism 2 and is fixedly connected with the swing mechanism motor mounting screw hole through a screw; the swing mechanism mounting connecting hole 16 on the connecting disc 21 in the manipulator swing mechanism 2 is matched with the pipe clamping manipulator mounting through hole 7 of the pipe clamping manipulator 1 and fixedly connected with the pipe clamping manipulator through a screw.
The pipe clamping manipulator 1 mainly comprises a cylinder 8, a support plate 9, a sleeve 10, a connector 11, manipulator claws 12 and 13 and a connecting rod 14; the supporting plate 9 is fixed at the end face of the end cover of the cylinder 8 through a screw, and the connecting head 11 is firstly sleeved on the piston rod of the cylinder 8 and then is tightly pressed by matching a nut and the external thread of the piston rod; one end of each of four mechanical claw connecting rods 14 is matched with the connector 11 and is connected with the connector through a nut and a bolt, and the other end of each of the four mechanical claw connecting rods is respectively matched with the upper mechanical claw 12 and the lower mechanical claw 13 and is connected with the upper mechanical claw and the lower mechanical claw through nuts and bolts; the upper mechanical claw 12, the lower mechanical claw 13 and the supporting plate 9 are connected through nuts and bolts, and the sleeve 10 between the mechanical claws and the supporting plate 9 plays a role in fixing the mechanical claws.
The manipulator swinging mechanism 2 comprises a servo motor 17, a box 18, a deep groove ball bearing 20, a connecting disc 21, an end cover 22, a swinging output shaft 23, a deep groove ball bearing 24 and the like. The servo motor 17 is fixedly connected with the swinging mechanism box 18 through a screw, and an output shaft of the servo motor 17 is connected with a swinging output shaft 23 through a key 19; the deep groove ball bearing 20 and the deep groove ball bearing 24 are installed with the swing mechanism box 18 and the swing output shaft 23 in a matching way; the swing mechanism end cover 22 is fixedly connected with the swing mechanism box body 18 through screws; the groove of the connecting disc 21 is matched with the shaft end of the swinging output shaft 23 to play a positioning role and is fixed through a screw.
The mechanical arm slewing mechanism 3 comprises a connecting disc 28, a front end cover 29, a front end cover gasket 30, a box body 31, a rear end cover 33, a servo motor 34, a rear end cover gasket 35, a deep groove ball bearing 36, a deep groove ball bearing 37, a slewing output shaft 38 and the like. The swing mechanism box body 31 plays a role in fixing and supporting, the swing mechanism rear end cover 33 is fixedly connected with the swing mechanism box body 31 through screws, and a rear end cover gasket 35 is added in the middle; the servo motor 34 is fixedly connected with the rear end cover 33 of the swing mechanism through screws; the deep groove ball bearing 36 and the deep groove ball bearing 37 are installed with the slewing mechanism box body 31 and the slewing output shaft 38 in a matching way; the output shaft of the servo motor 34 is connected with a rotary output shaft 38 through a key 32; the front end cover 29 of the swing mechanism is fixedly connected with a box body 31 of the swing mechanism through screws, and a front end cover gasket 30 is added in the middle; the groove of the connecting disc 28 is matched with the shaft end of the rotary output shaft 38 to play a positioning role and is fixed through screws.
In the chassis rotating mechanism 4, a box body mainly comprises a worm and gear rotating system consisting of a servo motor 41, a worm 48, a deep groove ball bearing 49, a connecting disc 50, an end cover 51, a retainer ring 52, a box cover 53, a turbine 54, a rotating output shaft 56, a deep groove ball bearing 57, a box body 58 and an L-shaped retainer ring 59. The output shaft of the servo motor 41 is connected with a rotary output shaft 56 through a key 55, and provides power for the worm, so that the rotary mechanism connecting disc 50 drives the upper mechanism to complete the rotary action. The servo motor 47 drives a mechanism composed of a rack 44 and a gear 45, so that the upper mechanism can perform reciprocating linear motion on the linear slide rail 42.
The folding lifting mechanism 5 is composed of an upper seat 62, a lower seat 64, a folding mechanism rod piece 69 and a folding mechanism rod piece belt beam 70 which are hinged through a bolt 63, a lifting mechanism sliding guide rail 65 and a lifting mechanism driving hydraulic cylinder 66. One end of the lifting mechanism driving hydraulic cylinder 66 is installed on a fixed hinged support of the lower seat of the folding lifting mechanism through a bolt, and the other end of the lifting mechanism driving hydraulic cylinder is fixed on a hinged support of a rod piece with a cross beam 70 of the folding mechanism through a bolt, so that power is provided for the folding frame, and the lifting of the folding frame can be realized, so that the whole device can complete lifting action.
The base transport mechanism 6 comprises a transport mechanism driving hydraulic cylinder 71, a connecting seat 72, a sliding block 73, a base linear guide rail 74 and a fixed base 75, wherein the base linear guide rail 74 is fixedly connected with the fixed base 75 through a screw; the transportation mechanism drives the hydraulic cylinder 71 to be fixedly connected with the fixed base 75 through screws, and a piston rod of the hydraulic cylinder 71 is in threaded fit connection with the connecting seat 72;
FIG. 13 is a schematic view of the distribution of the operation space of the workover oil pipe gripping and transporting test device. The working process of the device comprises the steps of clamping the oil pipe from the pipe bent frame, transporting the oil pipe to a wellhead, clamping the oil pipe from the wellhead, and transporting the oil pipe to the pipe bent frame. When the device is moved to the well head from the pipe bent frame clamp oil extraction pipe, the working flow is as follows: the base conveying mechanism drives a hydraulic cylinder piston rod to extend out, the folding lifting mechanism and the mechanisms above the folding lifting mechanism move to the position near the pipe arrangement frame, the folding lifting mechanism is lowered to the minimum, and the manipulator swinging mechanism and the pipe clamping manipulator adjust the grabbing angle to be in the inclined upward direction under the rotation motion of the manipulator swinging mechanism and the pipe clamping manipulator. The mechanism above the folding lifting mechanism moves upwards along with the lifting of the folding lifting mechanism, the mechanical arm rotating mechanism and the mechanism above the mechanical arm rotating mechanism move towards the direction close to the pipe arrangement frame under the action of the gear rack mechanism along the linear slide rail, the mechanical gripper can accurately move to the position where the oil pipes are arranged and extend into the gripper from the gap between the oil pipes, and at the moment, the cylinder in the pipe clamping mechanical arm drives the connecting rod to move so that the upper mechanical gripper and the lower mechanical gripper are closed to grasp the oil pipes. The mechanism above the folding lifting mechanism continues to move upwards along with the lifting of the folding lifting mechanism, the mechanical arm rotating mechanism and the mechanism above the mechanical arm rotating mechanism move along the slide rail in the direction away from the pipe rack, when the oil pipe leaves the pipe rack, the whole mechanism moves to an open area between the pipe rack and a wellhead under the action of the slide rail hydraulic cylinder, firstly, the mechanical arm swinging mechanism rotates to enable the pipe clamping mechanical arm to be horizontal from an upward inclined state, then, the chassis rotating mechanism drives the mechanism above the mechanical arm to rotate 90 degrees, then, the mechanical arm swinging mechanism drives the pipe clamping mechanical arm to rotate 90 degrees, and the oil pipe is changed from the horizontal state to a vertical state. The whole mechanism is driven by the sliding rail hydraulic cylinder to move to the position near the wellhead, and the position of the oil pipe relative to the wellhead is adjusted through the folding lifting mechanism and three movements in the directions of the two sliding rails, so that the oil pipe is aligned with the wellhead, and the actions of clamping the oil pipe from the pipe bent frame and transferring the oil pipe to the wellhead are completed. The working flow of the device for clamping the oil pipe from the wellhead and transferring the oil pipe to the pipe bent frame is just opposite to the working flow of the device for clamping the oil pipe from the pipe bent frame and transferring the oil pipe to the wellhead.
Claims (1)
1. A workover oil pipe grabbing and moving test device comprises a pipe clamping manipulator, a manipulator swinging mechanism, a chassis rotating mechanism, a folding lifting mechanism and a base conveying mechanism; the method is characterized in that:
the pipe clamping manipulator comprises a cylinder, a supporting plate, a sleeve, a connector, an upper mechanical claw, a lower mechanical claw and a connecting rod; the supporting plate is fixed at the end face of an end cover of the air cylinder through a screw, and the connecting head is firstly sleeved on a piston rod of the air cylinder and then is tightly pressed by matching a nut and an external thread of the piston rod; one end of each of the four mechanical claw connecting rods is matched with the connector and is connected with the connector through a nut bolt, and the other end of each of the four mechanical claw connecting rods is respectively matched with the upper mechanical claw and the lower mechanical claw and is connected with the upper mechanical claw and the lower mechanical claw through nut bolts; the upper mechanical claw, the lower mechanical claw and the supporting plate are connected through nuts and bolts, and a sleeve between the claw and the supporting plate plays a role in fixing the mechanical claw;
the manipulator swinging mechanism comprises a first servo motor, a box body, a first deep groove ball bearing, a connecting disc, an end cover, a swinging output shaft and a second deep groove ball bearing; the first servo motor is fixedly connected with the swing mechanism box body through a screw, and an output shaft of the first servo motor is connected with a swing output shaft through a No. 1 key; the first deep groove ball bearing and the second deep groove ball bearing are installed with the swinging mechanism box body and the swinging output shaft in a matching mode; the end cover of the swing mechanism is fixedly connected with the box body of the swing mechanism through a screw; the connecting disc groove is matched with the shaft end of the swinging output shaft to play a role in positioning and is fixed through a screw;
the mechanical arm slewing mechanism comprises a connecting disc, a front end cover gasket, a box body, a rear end cover, a second servo motor, a rear end cover gasket, a third deep groove ball bearing, a fourth deep groove ball bearing and a slewing output shaft; the box body of the slewing mechanism plays a role in fixing and supporting, the rear end cover of the slewing mechanism is fixedly connected with the box body of the slewing mechanism through screws, and a rear end cover gasket is added in the middle of the box body of the slewing mechanism; the second servo motor is fixedly connected with the rear end cover of the slewing mechanism through a screw; the third deep groove ball bearing and the fourth deep groove ball bearing are installed with the slewing mechanism box body and the slewing output shaft in a matching way; the output shaft of the second servo motor is connected with the rotary output shaft through a No. 2 key; the front end cover of the swing mechanism is fixedly connected with the box body of the swing mechanism through screws, and a front end cover gasket is added in the middle; the connecting disc groove is matched with the shaft end of the rotary output shaft to play a role in positioning and is fixed through a screw;
the chassis rotating mechanism comprises a worm and gear rotating system consisting of a third servo motor, a worm, a fifth deep groove ball bearing, a connecting disc, an end cover, a retainer ring, a box cover, a turbine, a rotating output shaft, a sixth deep groove ball bearing, a box body and an L-shaped retainer ring; the output shaft of the third servo motor is connected with the rotary output shaft through a No. 3 key to provide power for the worm so that the rotary mechanism connecting disc drives the upper mechanism to complete the rotary action; the fourth servo motor drives the rack and the gear;
the folding lifting mechanism comprises an upper seat, a lower seat, a folding mechanism rod piece belt beam, a lifting mechanism sliding guide rail and a lifting mechanism driving hydraulic cylinder, wherein the folding mechanism rod piece and the folding mechanism rod piece belt beam are hinged through bolts; one end of a lifting mechanism driving hydraulic cylinder is arranged on a fixed hinged support of a lower seat of the folding lifting mechanism through a bolt, and the other end of the lifting mechanism driving hydraulic cylinder is fixed on a hinged support with a beam of a rod piece of the folding mechanism through a bolt to provide power for the folding frame so as to realize the lifting of the folding frame, so that the whole device finishes the lifting action;
the base conveying mechanism comprises a conveying mechanism driving hydraulic cylinder, a connecting seat, a sliding block, a base linear guide rail and a fixed base, wherein the base linear guide rail is fixedly connected with the fixed base through a screw; the conveying mechanism drives the hydraulic cylinder to be fixedly connected with the fixed base through a screw, and a piston rod of the hydraulic cylinder is connected with the connecting seat in a threaded fit manner;
the threaded hole of the sliding block in the base conveying mechanism is matched with the base conveying mechanism mounting connecting hole of the folding lifting mechanism and is fixedly connected with the base conveying mechanism mounting connecting hole through a screw; the through hole on the connecting seat is matched with the base conveying mechanism mounting hole on the lower seat of the folding lifting mechanism and is fixedly connected with the base conveying mechanism mounting hole through a screw; under the action of the base conveying mechanism, the mechanism above the base conveying mechanism can do linear motion along the base linear guide rail; the mounting connection hole of the folding lifting mechanism is matched with the mounting hole of the rotating mechanism of the chassis rotating mechanism and is fixedly connected with the mounting hole of the rotating mechanism through a screw; the fourth servo motor is fixed on the motor base through a screw, and a motor base fixing hole is matched with a chassis rotating mechanism motor mounting connecting hole of the upper base of the folding lifting mechanism and is fixedly connected through a screw; the gear is fixedly connected with an output shaft of the fourth servo motor, and the rack is fixedly connected with a box body in the chassis rotating mechanism through a screw; the fourth servo motor drives the gear rack, so that the upper part of the chassis rotating mechanism can do linear motion along the linear slide rail; a rotary mechanism motor mounting counter bore in the mechanical arm rotary mechanism is matched with a chassis rotary mechanism mounting connecting through hole on a connecting disc in the chassis rotary mechanism and is fixedly connected through a screw, and a first positioning hole in a box body in the rotary mechanism is matched with a second positioning hole on the rotating mechanism connecting disc and is connected and positioned through a pin; a swing mechanism mounting connecting hole on a connecting disc in the mechanical arm swing mechanism is matched with a swing mechanism motor mounting screw hole of the mechanical arm swing mechanism and is fixedly connected with the swing mechanism motor mounting screw hole through a screw; and a swinging mechanism mounting connecting hole on a connecting disc in the manipulator swinging mechanism is matched with a pipe clamping manipulator mounting through hole of the pipe clamping manipulator and is fixedly connected with the pipe clamping manipulator through a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920564305.3U CN210418329U (en) | 2019-04-23 | 2019-04-23 | Workover oil pipe snatchs and moves fortune test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920564305.3U CN210418329U (en) | 2019-04-23 | 2019-04-23 | Workover oil pipe snatchs and moves fortune test device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210418329U true CN210418329U (en) | 2020-04-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920564305.3U Expired - Fee Related CN210418329U (en) | 2019-04-23 | 2019-04-23 | Workover oil pipe snatchs and moves fortune test device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210418329U (en) |
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2019
- 2019-04-23 CN CN201920564305.3U patent/CN210418329U/en not_active Expired - Fee Related
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