CN210564414U - Super single operation industrial robot device of well drilling and workover - Google Patents
Super single operation industrial robot device of well drilling and workover Download PDFInfo
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- CN210564414U CN210564414U CN201921463125.2U CN201921463125U CN210564414U CN 210564414 U CN210564414 U CN 210564414U CN 201921463125 U CN201921463125 U CN 201921463125U CN 210564414 U CN210564414 U CN 210564414U
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Abstract
The utility model discloses a bore super single operation industrial robot device of workover well, including well formula manipulator subassembly, upset manipulator subassembly, rod pipe racking subassembly, swing arm formula iron driller subassembly, mouse hole drilling rod buffer, soft hydraulic elevator subassembly of leading, right mechanical arm subassembly and power slips subassembly, well formula manipulator unit mount is on rig floor the place ahead ground fixed position, rod pipe racking subassembly is put at well formula manipulator subassembly adjacent position on one side, the upset arm is located well formula manipulator subassembly one side, swing arm formula iron driller subassembly is located the rig floor, mouse hole drilling rod buffer installs at rig floor mouse hole pipe side position, right mechanical arm unit mount is in near well head one side in the derrick bottom, power slips subassembly is installed respectively in well head position and mouse hole pipe position, the utility model discloses, realized the last of well drilling or big well super single drilling rod, The lower drill floor is automatically controlled, the working efficiency is high, the labor intensity of workers is reduced, and the operation safety of the drilling machine is improved.
Description
Technical Field
The utility model relates to a well drilling or overhaul tool well head automation technology field specifically is a super single operation industrial robot device of drilling and repairing well.
Background
At present, in the construction process of petroleum drilling and major workover, the placing and dismounting of a single drill rod on a drill floor in the drilling process or the placing and dismounting of two or three drill rods (a stand column) on the drill floor in the starting and descending processes are mostly finished by manual operation, and particularly, the placing process of transferring the drill rods from the horizontal state on the ground to the vertical state on the drill floor is the work link with the highest labor intensity and the highest repetition rate in the construction process of drilling and workover, and is also one of the most dangerous links in the construction process of drilling and workover. In the process of oil drilling or major workover operation, two to three fitters are generally required to place and dismantle drill rods at a well mouth, two plumbers are required to place and operate a single elevator below a platform, another derrick worker is required to operate the elevator and place the drill rods on a second-layer platform of a derrick in the tripping process, the labor intensity of the operators is high, and the danger coefficient is very high. With the importance of oil fields and society on safety production and the continuous improvement of requirements of people on working environment, the state of long-term manual drilling and workover needs to be improved urgently. In order to reduce the labor intensity and potential safety hazard of the tripping and placing work of the drilling and workover tubular column, a plurality of mechanical auxiliary devices for tripping and placing drill rods appear at home and abroad in recent years, such as Chinese patents: CN304209441S, power catwalk and drill rod box, chinese patent 201610601774.9 a pipe rod automatic conveyer and chinese patent: CN204552645U A drilling rod box and a drilling rod conveying device, all disclose a mode of conveying drilling rods or oil pipes by using a hydraulic catwalk, need to manually remotely operate a remote controller and be equipped with a special righting mechanical arm (such as a Chinese patent: CN204386514U automatic discharge pipe device and the mechanical arm thereof) to righting and pushing the drilling rods, are practical and only reduce the labor intensity of operators, but the number of wellhead workers is not reduced. Like the Chinese utility model patent: 201410583972.8 folding and unfolding type oil pipe loading and unloading manipulator on a vehicle, the manipulator can only be applied to oil pipes on a small workover wellhead without a working platform, and can not be used for lifting, lowering and placing drill pipes on a drilling platform with the height of 4-6 m or a large workover platform. Like the Chinese utility model patent: 201610396782 workover integrated equipment, disclosing workover integrated equipment for conveying drill rods by using a hydraulic catwalk and disassembling drill rods by a rail-mounted iron driller, wherein space hoisting transportation of the hydraulic catwalk conveying drill rod mode still needs manual remote control, and the rail-mounted iron driller can only be used for drill rod tripping operation, so that the kelly rod in the drilling process can not be met to connect single operation, and the full automatic control of the drilling and tripping overall process of the drilling and workover drill rod can not be realized. Therefore, it is necessary to design an industrial robot device for super single joint operation in well drilling and repairing.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a bore super single operation industrial robot device of workover to solve the problem that proposes in the above-mentioned background art.
In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides a super single operation industrial robot device of well drilling and workover, includes well formula manipulator subassembly, upset manipulator subassembly, rod pipe racking subassembly, swing arm formula iron driller subassembly, mouse hole drilling rod buffer, soft hydraulic elevator subassembly of leading, rights mechanical arm subassembly and power slips subassembly, well formula manipulator subassembly is installed on rig floor place ahead ground fixed position, rod pipe racking subassembly is put on well formula manipulator subassembly one side adjacent position, upset manipulator subassembly is located well formula manipulator subassembly one side, swing arm formula iron driller subassembly is located the drilling platform face, mouse hole drilling rod buffer installs in rig floor mouse hole pipe side position, right mechanical arm subassembly and install near well head one side in the derrick bottom, power slips subassembly is installed respectively in well head position and mouse hole pipe position.
According to the technical scheme, the well type mechanical arm assembly comprises a well type mechanical arm, a rotating base, a swing arm mechanical arm, a first mechanical gripper and a rotating hydraulic cylinder, a hydraulic pump station is installed on the rotating base, the well type mechanical arm is hinged to the rotating base, the rotating base is fixedly installed on a skid-mounted base in a rotating mode, a drill rod length measuring positioning device is installed on the skid-mounted base, the swing arm mechanical arm is hinged to the well type mechanical arm, and the tail end of the swing arm mechanical arm is fixedly connected with the first mechanical gripper.
According to the technical scheme, the overturning manipulator assembly comprises an overturning cylinder and a twisting cylinder, the twisting cylinder is arranged at the hinged support position of the overturning manipulator assembly, and the twisting angle of the twisting cylinder is 90 degrees.
According to the technical scheme, the rod pipe racking assembly comprises a triangular support, inclined hydraulic cylinders and cross braces, the triangular support is provided with three rows, one layer to three layers of drill rods are placed on the triangular support, the cross braces are arranged at intervals of the multiple layers of drill rods, hinged supports of the inclined hydraulic cylinders are arranged on two sides of the triangular support, and two ends of the rod pipe racking assembly are jacked up and inclined respectively in the process of lifting and drilling.
According to the technical scheme, the swing arm type iron roughneck assembly comprises an iron hinged support, a swing cylinder, a telescopic arm, a spinner and a fastener punching device, the swing arm type iron roughneck assembly is located at a position which is equidistant from the center of a wellhead and the center of a mouse hole, the swing cylinder is fixed on the iron hinged support, the telescopic arm is connected with the iron hinged support and the spinner, and the fastener punching device is located at the bottom of the spinner.
According to the technical scheme, the mouse hole drill rod buffering device comprises a hydraulic winch, a buffering base and a buffering pulley, the hydraulic winch is installed at the bottom of a platform on the side face of a mouse hole pipe, the buffering pulley is located on the side face of the top of the mouse hole pipe, a steel wire rope on the hydraulic winch is connected with the buffering base located inside the mouse hole pipe through the buffering pulley, and a screw thread protection device is arranged on the buffering base.
According to the technical scheme, the soft guide hydraulic elevator component comprises two soft guide steel wire ropes and a hydraulic elevator, one end of each soft guide steel wire rope is fixed on the crown block base, the other end of each soft guide steel wire rope is hinged to the wellhead turntable twice and is fixedly tensioned, and the hydraulic elevator is provided with two guide arms which penetrate through the two soft guide steel wire ropes respectively.
According to the technical scheme, the centralizing mechanical arm assembly is fixedly installed on the workover rig or a derrick of the drilling rig and consists of a mechanical main arm, a main thrust cylinder, a mechanical auxiliary arm, a folding cylinder, a centralizing cylinder and a second mechanical gripper, the mechanical main arm is hinged to the derrick, one side of the mechanical main arm is connected with the main thrust cylinder, the mechanical auxiliary arm is hinged to the mechanical main arm and driven by the folding cylinder to extend or fold on one side of the derrick, the centralizing cylinder is fixed on the mechanical auxiliary arm, and the mechanical auxiliary arm is connected with the second mechanical gripper located at the tail end of the centralizing cylinder.
According to the technical scheme, the power slip assembly comprises a slip seat, a power cylinder and a split slip body, the power slip assembly is a pneumatic slip or a hydraulic power slip assembly, the slip seat is fixed at a wellhead position, and the output end of the power cylinder is connected with the split slip body.
According to the technical scheme, the well type manipulator assembly, the turnover manipulator assembly, the rod pipe discharge frame assembly, the swing arm type iron roughneck assembly, the mouse hole drill rod buffering device, the soft guide hydraulic elevator assembly, the centering manipulator assembly and the power slip assembly are in signal connection with the industrial personal computer and the PLC, and the industrial personal computer and the PLC are located on a driller room or a driller operating platform.
According to the technical scheme, the well type manipulator assembly, the turnover manipulator assembly, the rod pipe discharge frame assembly, the swing arm type iron roughneck assembly, the mouse hole drill rod buffering device, the soft guide hydraulic elevator assembly, the centering mechanical arm assembly and the power slip assembly are all selectively provided with an intelligent brain-stimulating and visual identification system.
Compared with the prior art, the utility model discloses the beneficial effect who reaches is: the industrial robot device for super single-root operation of the drilling and workover well has the advantages that all steps can be automatically controlled through the position sensor and the programmable logic controller in sequence, remote control can be intervened at any time through manual work, the wellhead and the rod pipe discharge are unmanned, the automation degree is high, the labor intensity of workers is low, and the intellectualization and the automation of a root canal treatment system of the petroleum drilling and workover well are realized.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a general block diagram of the present invention;
FIG. 2 is a schematic structural view of the well type manipulator of the present invention;
fig. 3 is a schematic structural view of the turning manipulator of the present invention;
FIG. 4 is a schematic structural view of the rod pipe racking of the present invention;
FIG. 5 is a schematic structural view of a swing arm type iron roughneck of the present invention;
FIG. 6 is a schematic structural view of the mouse hole drill rod buffering device of the present invention;
FIG. 7 is a schematic structural view of the soft pilot hydraulic elevator of the present invention;
fig. 8 is a schematic structural view of the straightening mechanical arm of the present invention;
FIG. 9 is a schematic view of the power slip of the present invention;
in the figure: 1. a well-type manipulator assembly; 2. turning over the manipulator assembly; 3. a rod tube racker assembly; 4. a swing arm type iron roughneck assembly; 5. a mouse hole drill rod buffer device; 6. a soft pilot hydraulic elevator assembly; 7. righting the mechanical arm assembly; 8. a power slip assembly; 101. a well-type mechanical arm; 102. rotating the base; 103. a swing arm manipulator; 104. a first mechanical gripper; 105. a rotary hydraulic cylinder; 201. a cylinder is turned over; 202. twisting the cylinder; 301. a triangular bracket; 302. a tilting hydraulic cylinder; 303. a cross brace; 401. an iron hinge support; 402. a swing cylinder; 403. a telescopic arm; 404. a spinner; 405. punching a fastener; 501. a hydraulic winch; 502. a buffer base; 503. a buffer pulley; 601. soft pilot steel wire rope; 602. hydraulic elevator; 701. a mechanical main arm; 702. a main thrust cylinder; 703. a mechanical sub-arm; 704. a folding cylinder; 705. a righting cylinder; 706. a second mechanical gripper; 801. a slip seat; 802. a power cylinder; 803 a split slip body.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.
Referring to fig. 1-9, the present invention provides a technical solution: the utility model provides a super single operation industrial robot device of well drilling and workover, including well formula manipulator subassembly 1, upset manipulator subassembly 2, rod pipe rack subassembly 3, swing arm formula iron roughneck subassembly 4, mouse hole drilling rod buffer 5, soft hydraulic elevator subassembly 6 that leads, right arm subassembly 7 and power slips subassembly 8, well formula manipulator subassembly 1 is installed on rig floor place ahead ground fixed position, rod pipe rack subassembly 3 puts in well formula manipulator subassembly 1 one side adjacent position, upset manipulator subassembly 2 is located well formula manipulator subassembly 1 one side, swing arm formula iron roughneck subassembly 4 is located the rig floor face, mouse hole drilling rod buffer 5 installs in rig floor mouse hole pipe side position, right arm subassembly 7 and install in the near well head one side of derrick bottom, power slips subassembly 8 is installed respectively in well head position and mouse hole pipe position.
According to the technical scheme, the well type mechanical arm assembly 1 comprises a well type mechanical arm 101, a rotary base 102, a swing arm mechanical arm 103, a first mechanical gripper 104 and a rotary hydraulic cylinder 105, a hydraulic pump station is installed on the rotary base 102, the well type mechanical arm 101 is hinged to the rotary base 102, the rotary base 102 is fixedly installed on a skid-mounted base in a rotating mode, a drill rod length measuring and positioning device is installed on the skid-mounted base, the swing arm mechanical arm 103 is hinged to the well type mechanical arm 101, and the first mechanical gripper 104 is fixedly connected to the tail end of the swing arm mechanical arm 103.
According to the technical scheme, the turnover manipulator assembly 2 comprises a turnover cylinder 201 and a torsion cylinder 202, the torsion cylinder 202 is arranged at the hinged support position of the turnover manipulator assembly 2, and the torsion angle of the torsion cylinder 202 is 90 degrees.
According to the technical scheme, the rod pipe racking assembly 3 comprises a triangular support 301, inclined hydraulic cylinders 302 and cross braces 303, the triangular support 301 is provided with three rows, one layer to three layers of drill rods are placed on the triangular support 301, the cross braces 303 are arranged at intervals of the multiple layers of drill rods, hinged supports of the inclined hydraulic cylinders 302 are arranged on two sides of the triangular support 301, and two ends of the rod pipe racking assembly 3 are jacked up and inclined respectively in the process of lifting and drilling down.
According to the technical scheme, the swing arm type iron roughneck assembly 4 comprises an iron hinged support 401, a swing cylinder 402, a telescopic arm 403, a spinner 404 and a fastener punching device 405, the swing arm type iron roughneck assembly 4 is located at a position which is equidistant from the center of a wellhead and the center of a mouse hole, the swing cylinder 402 is fixed on the iron hinged support 401, the telescopic arm 403 is connected with the iron hinged support 401 and the spinner 404, and the fastener punching device 405 is located at the bottom of the spinner 404.
According to the technical scheme, the mouse hole drill rod buffering device 5 comprises a hydraulic winch 501, a buffering base 502 and a buffering pulley 503, the hydraulic winch 501 is installed at the bottom of a platform on the side face of the mouse hole pipe, the buffering pulley 503 is located on the side face of the top of the mouse hole pipe, a steel wire rope on the hydraulic winch 501 is connected with the buffering base 502 located inside the mouse hole pipe through the buffering pulley 503, and a screw thread protection device is arranged on the buffering base 502.
According to the technical scheme, the soft guide hydraulic elevator component 6 comprises two soft guide steel wire ropes 601 and a hydraulic elevator 602, one end of each soft guide steel wire rope 601 is fixed on the base of the crown block, the other end of each soft guide steel wire rope 601 is hinged to the wellhead turntable twice and is fixedly tensioned, and the hydraulic elevator 602 is provided with two guide arms which respectively penetrate through the two soft guide steel wire ropes 601.
According to the technical scheme, the centralizing mechanical arm assembly 7 is fixedly installed on a workover rig or a derrick of a drilling rig and consists of a mechanical main arm 701, a main thrust cylinder 702, a mechanical auxiliary arm 703, a folding cylinder 704, a centralizing cylinder 705 and a second mechanical gripper 706, the mechanical main arm 701 is hinged on the derrick, one side of the mechanical main arm 701 is connected with the main thrust cylinder 702, the mechanical auxiliary arm 703 is hinged with the mechanical main arm 701 and driven by the folding cylinder 704 to extend or fold on one side of the derrick, the centralizing cylinder 705 is fixed on the mechanical auxiliary arm 703, and the mechanical auxiliary arm 703 is connected with the second mechanical gripper 706 positioned at the tail end of the centralizing cylinder 705.
According to the technical scheme, the power slip assembly 8 comprises a slip seat 801, a power cylinder 802 and a split slip body 803, the power slip assembly 8 is a pneumatic slip or a hydraulic power slip assembly, the slip seat 801 is fixed at the position of a wellhead, and the output end of the power cylinder 802 is connected with the split slip body 803.
According to the technical scheme, the well type manipulator assembly 1, the turnover manipulator assembly 2, the rod pipe discharge frame assembly 3, the swing arm type iron driller assembly 4, the small cave drill rod buffering device 5, the soft guide hydraulic elevator assembly 6, the right manipulator assembly 7 and the power slip assembly 8 are in signal connection with the industrial personal computer and the PLC, and the industrial personal computer and the PLC are located on a driller room or a driller operating platform.
According to the technical scheme, the well type manipulator assembly 1, the overturning manipulator assembly 2, the rod pipe discharge frame assembly 3, the swing arm type iron driller assembly 4, the small cave drill rod buffering device 5, the soft guide hydraulic elevator assembly 6, the righting manipulator assembly 7 and the power slip assembly 8 are all selectively provided with an intelligent brain-moving and visual identification system.
To sum up, the well type mechanical arm component 1 is a skid-mounted type towing structure and is independently installed on the ground in front of a drill floor and automatically adjusts the height and the accurate position, the rod pipe discharging frame component 3 is placed on the left side of the well type mechanical arm component 1, the overturning mechanical arm component 2 is positioned on the upper left part of the well type mechanical arm component 1 and can overturn a drill rod on the rod pipe discharging frame component 3 to the appointed position of the well type mechanical arm component 1, the swing arm type iron drilling component 4 is positioned on the drill floor, a mouse hole drill rod buffering device 5 is installed at the mouse hole pipe and can automatically buffer a single drill rod which is put into the mouse hole pipe, the soft guide hydraulic elevator component 6 is installed on a winch hook and moves up and down along two steel wire ropes from the derrick to the drill floor, the righting mechanical arm component 7 is installed at the bottom end of the derrick to righting and positioning the drill rod, the two power slip components 8 are respectively installed at the wellhead position and the position of, the pipe column body is clamped, so that remote control screwing-unscrewing operation of a wellhead pipe column or a single pipe is conveniently realized; the utility model discloses an upper and lower rig floor automatic control, the work efficiency height of well drilling or major repair well super single drilling rod, reduced workman intensity of labour, improved the security of rig operation.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. The utility model provides a bore super single operation industrial robot device of workover, includes well formula manipulator subassembly (1), upset manipulator subassembly (2), pole pipe drain frame subassembly (3), swing arm formula iron driller subassembly (4), mouse hole drilling rod buffer (5), soft positive hydraulic elevator subassembly (6), right arm subassembly (7) and power slips subassembly (8), its characterized in that: well formula manipulator subassembly (1) is installed on drill floor the place ahead ground fixed position, rod pipe racking subassembly (3) is put at well formula manipulator subassembly (1) adjacent position on one side, upset manipulator subassembly (2) are located well formula manipulator subassembly (1) one side, swing arm formula iron roughneck subassembly (4) are located the drilling platform face, mouse hole drilling rod buffer (5) are installed in drill floor mouse hole pipe side position, right mechanical arm subassembly (7) and install in the nearly well head one side in the derrick bottom, power slips subassembly (8) are installed respectively in well head position and mouse hole pipe position.
2. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: well formula manipulator subassembly (1) includes well formula arm (101), rotating base (102), swing arm manipulator (103), first mechanical tongs (104) and rotary hydraulic cylinder (105), install hydraulic power unit on rotating base (102), well formula arm (101) articulate on rotating base (102), rotating base (102) fixed rotation is installed on sled dress base, and installs the drilling rod length measuring positioner on sled dress base, swing arm manipulator (103) articulate on well formula arm (101), swing arm manipulator (103) terminal fixedly connected with first mechanical tongs (104).
3. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: the overturning manipulator assembly (2) comprises an overturning cylinder (201) and a twisting cylinder (202), wherein the twisting cylinder (202) is arranged at the hinged support part of the overturning manipulator assembly (2), and the twisting angle of the twisting cylinder (202) is 90 degrees.
4. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: the pipe discharging frame component (3) comprises a triangular support (301), an inclined hydraulic cylinder (302) and cross braces (303), wherein the triangular support (301) is provided with three rows, one layer to three layers of drill rods are placed on the triangular support (301), the cross braces (303) are arranged at intervals of the multiple layers of drill rods, hinged supports of the inclined hydraulic cylinder (302) are arranged on two sides of the triangular support (301), and two ends of the pipe discharging frame component (3) are jacked up and inclined respectively in the processes of lifting and drilling.
5. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: swing arm formula iron roughneck subassembly (4) include iron hinge support (401), swing jar (402), flexible arm (403), spiral shell ware (404) and dash and detain ware (405), swing arm formula iron roughneck subassembly (4) are located apart from well head center and the equidistant position in mouse hole center, swing jar (402) are fixed on iron hinge support (401), iron hinge support (401) and spiral shell ware (404) are connected in flexible arm (403), dash and detain ware (405) and be located the bottom of spiral shell ware (404).
6. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: the mouse hole drill rod buffering device (5) comprises a hydraulic winch (501), a buffering base (502) and a buffering pulley (503), the hydraulic winch (501) is installed at the bottom of a platform on the side face of a mouse hole pipe, the buffering pulley (503) is located on the side face of the top of the mouse hole pipe, a steel wire rope on the hydraulic winch (501) is connected with the buffering base (502) located inside the mouse hole pipe through the buffering pulley (503), and a screw thread protection device is arranged on the buffering base (502).
7. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: the soft-guide hydraulic elevator component (6) comprises two soft-guide steel wire ropes (601) and a hydraulic elevator (602), one end of each soft-guide steel wire rope (601) is fixed on the base of the overhead travelling crane, the other end of each soft-guide steel wire rope is hinged to the wellhead turntable twice and is fixed and tensioned, and the hydraulic elevator (602) is provided with two guide arms which respectively penetrate through the two soft-guide steel wire ropes (601).
8. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: the mechanical arm straightening assembly (7) is fixedly installed on a workover rig or a derrick of a drilling rig and consists of a main mechanical arm (701), a main thrust cylinder (702), an auxiliary mechanical arm (703), a folding cylinder (704), a straightening cylinder (705) and a second mechanical gripper (706), the main mechanical arm (701) is hinged to the derrick, one side of the main mechanical arm is connected with the main thrust cylinder (702), the auxiliary mechanical arm (703) is hinged to the main mechanical arm (701) and driven by the folding cylinder (704) to extend or fold on one side of the derrick, the straightening cylinder (705) is fixed to the auxiliary mechanical arm (703), and the auxiliary mechanical arm (703) is connected with the second mechanical gripper (706) located at the tail end of the straightening cylinder (705).
9. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: the power slip assembly (8) comprises a slip seat (801), a power cylinder (802) and a split slip body (803), the power slip assembly (8) is a pneumatic slip or a hydraulic power slip assembly, the slip seat (801) is fixed at the position of a wellhead, and the output end of the power cylinder (802) is connected with the split slip body (803).
10. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: well formula manipulator subassembly (1), upset manipulator subassembly (2), pole pipe drain frame subassembly (3), swing arm formula iron roughneck worker subassembly (4), mouse hole drilling rod buffer (5), soft hydraulic elevator subassembly (6) of leading, right arm subassembly (7) and power slips subassembly (8) all pass through signal connection with industrial computer and PLC, and industrial computer and PLC are located driller's room or driller's operation panel.
11. The industrial robot apparatus for drilling and repairing wells of super single joint operation according to claim 1, wherein: the well type mechanical arm assembly (1), the turnover mechanical arm assembly (2), the rod pipe discharging frame assembly (3), the swing arm type iron driller assembly (4), the mouse hole drill rod buffering device (5), the soft guide hydraulic elevator assembly (6), the centralizing mechanical arm assembly (7) and the power slip assembly (8) are all selectively provided with an intelligent power brain and visual identification system.
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| CN201921463125.2U CN210564414U (en) | 2019-09-04 | 2019-09-04 | Super single operation industrial robot device of well drilling and workover |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110454100A (en) * | 2019-09-04 | 2019-11-15 | 智动时代(北京)科技有限公司 | A kind of super single operation industrial robot device of drilling and repairing well and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110454100A (en) * | 2019-09-04 | 2019-11-15 | 智动时代(北京)科技有限公司 | A kind of super single operation industrial robot device of drilling and repairing well and method |
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