CN211174000U - Pipe grabbing manipulator - Google Patents

Abstract

The utility model discloses a pipe grasping manipulator, which comprises a manipulator, a large support, a turning hydraulic cylinder and a sliding rail. The manipulator is arranged at both ends of the large support; One end of the cylinder is fixed on the back of the slide rail, and the other end is connected with the large bracket. Driven by the overturning hydraulic cylinder, the large bracket together with the manipulator can realize flipping and swinging. The structure of the utility model is simple and reliable, and the oil pipe can be grasped and released only by the expansion and contraction of the oil cylinder, and the reliability is high; the utility model realizes the lifting of the oil pipe by a manipulator instead of manually dragging the oil pipe through the hook on the derrick, thereby improving the work efficiency and reducing the labor cost. Labor intensity and safety are good.

Description

A pipe grasping manipulator

technical field

The utility model relates to a pipe grasping manipulator, which belongs to the technical field of oil workover.

Background technique

Workover operation is an important part of oilfield production, and it is also a key process to ensure stable oilfield production. At present, the key to the automation of well workover operations is a reliable and efficient boom manipulator device, which places high demands on the stability and reliability of the pipe grabbing manipulator.

SUMMARY OF THE INVENTION

In order to solve this technical problem, the utility model provides a pipe grasping manipulator, which includes a manipulator, a large support, a turning hydraulic cylinder, and a slide rail, and the manipulator is arranged at both ends of the large support; The hinge seat is installed on the back of the slide rail, one end of the turning hydraulic cylinder is fixed on the back of the slide rail, and the other end is connected with the large bracket. Driven by the turning hydraulic cylinder, the large bracket and the manipulator can realize turning and swinging.

The manipulator includes a small bracket, a gripper, a four-bar linkage mechanism and a hydraulic cylinder. The middle part of the gripper is fixed on the small bracket through a hinge shaft, and its tail end is hinged with the four-bar linkage mechanism. The hydraulic cylinder drives the four-bar linkage mechanism, In turn, the opening and closing and closing of the gripping claw are driven, so as to realize the action of gripping the tube.

The sliding rail is installed on the mobile platform through a sliding rod, and the pipe-grabbing manipulator can move longitudinally and laterally on the mobile platform.

Beneficial effects: the structure of the utility model is simple and reliable, and the grab and release of the oil pipe can be completed only through the expansion and contraction of the oil cylinder, and the reliability is high; the utility model realizes the lifting of the oil pipe by the manipulator instead of manually dragging the oil pipe through the hook on the derrick, which improves the work efficiency. Efficiency, reduce labor intensity, and good safety.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation one of the utility model manipulator;

Fig. 3 is the structural representation two of the utility model manipulator;

FIG. 4 is a schematic diagram of the installation of the utility model.

In the picture: I pipe grasping manipulator, II mobile platform; 1 manipulator, 2 large brackets, 3 flipping hydraulic cylinders, 4 sliding rails, 5 hinged seats, 6 small brackets, 7 grasping jaws, 8 four-bar linkage mechanism, 9 hydraulic cylinders, 10 sliders.

Detailed ways

The present utility model will be described in detail below with reference to the accompanying drawings and embodiments.

Figure 1 shows a schematic structural diagram of the utility model.

The utility model provides a pipe grasping manipulator, which comprises a manipulator 1, a large support 2, a turning hydraulic cylinder 3, and a slide rail 4. The manipulator 1 is arranged at both ends of the large support 2; the large support 2 passes through the turning hydraulic cylinder 3 , The hinge seat 5 is installed on the back of the slide rail 4, one end of the flip hydraulic cylinder 3 is fixed on the back of the slide rail 4, and the other end is connected with the large bracket 2. Driven by the flip hydraulic cylinder 3, the large bracket 2 and the manipulator 1 can realize flipping and swinging .

FIG. 2 is a schematic structural diagram 1 of the manipulator of the present invention.

FIG. 3 is a second schematic view of the structure of the manipulator of the present invention.

The manipulator 1 includes a small bracket 6, a gripper 7, a four-bar linkage mechanism 8 and a hydraulic cylinder 9. The middle of the gripper 7 is fixed on the small bracket 6 through a hinge shaft, and its tail end is hinged with the four-bar linkage mechanism 8, The hydraulic cylinder 9 drives the four-bar linkage mechanism 8, and further drives the opening, closing and closing of the gripper 7, thereby realizing the pipe gripping action.

FIG. 4 is a schematic diagram of the installation of the utility model.

The sliding rail 4 is installed on the mobile platform II through the sliding rod 10, and the pipe grasping manipulator I can realize the longitudinal and lateral movement on the mobile platform II.

The working process of the utility model:

Oil pipe: When the boom is raised, the manipulator rotates to a vertical state and moves to the wellhead position, the gripper clamps the oil pipe, the manipulator retreats, and the manipulator rotates to a horizontal state when the boom falls, the gripper is released, and the oil pipe is placed. To the V-shaped roller table, repeat the above actions.

Lowering the oil pipe: the manipulator rotates to a horizontal state when the boom falls, the gripper clamps the oil pipe on the roller table, the boom lifts, and at the same time the manipulator rotates to a vertical state and moves to the wellhead position, the lower guides the clamps and the upper guides The roller clamps the oil pipe, the gripper of the manipulator is released, the elevator lifts the upper end coupling of the oil pipe, the upper guide roller is released, the manipulator retreats, and the above actions are repeated.

The structure of the utility model is simple and reliable, and the oil pipe can be grasped and placed only by the expansion and contraction of the oil cylinder, and the reliability is high; the utility model realizes the lifting of the oil pipe by a manipulator instead of manually dragging the oil pipe through the hook on the derrick, thereby improving the work efficiency and reducing the labor cost. Labor intensity and safety are good.

The above-mentioned embodiments of the present utility model are merely illustrative, not exclusive, and all changes within the scope of the present utility model or within the scope equivalent to the present utility model are encompassed by the present utility model.

Claims (3)

1. The utility model provides a grab a pipe manipulator which characterized in that: the manipulator mechanism comprises a manipulator (1), a large support (2), a turnover hydraulic cylinder (3) and a slide rail (4), wherein the manipulator (1) is arranged at two ends of the large support (2); big support (2) are installed on slide rail (4) back through upset pneumatic cylinder (3), articulated seat (5), and upset pneumatic cylinder (3) one end is fixed at slide rail (4) back, and the other end is connected with big support (2), and under upset pneumatic cylinder (3) drive, big support (2) can realize the upset swing together with manipulator (1).

2. The tube grasping manipulator according to claim 1, characterized in that: the manipulator (1) comprises a small support (6), a gripper (7), a four-bar mechanism (8) and a hydraulic cylinder (9), the middle of the gripper (7) is fixed on the small support (6) through a hinged shaft, the tail end of the gripper is hinged to the four-bar mechanism (8), and the hydraulic cylinder (9) drives the four-bar mechanism (8) to drive the gripper (7) to open and close so as to realize pipe grabbing.

3. The pipe gripping manipulator according to claim 1 or 2, characterized in that: the sliding rail (4) is installed on the moving platform (II) through a sliding rod (10), and the pipe grabbing mechanical arm (I) can move longitudinally and transversely on the moving platform (II).

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