CN211422559U - Drill rod discharging manipulator - Google Patents
Drill rod discharging manipulator Download PDFInfo
- Publication number
- CN211422559U CN211422559U CN202020022922.3U CN202020022922U CN211422559U CN 211422559 U CN211422559 U CN 211422559U CN 202020022922 U CN202020022922 U CN 202020022922U CN 211422559 U CN211422559 U CN 211422559U
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- rod
- clamping
- base body
- hinged
- driving
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Abstract
The invention provides a drill rod discharging manipulator which comprises clamping devices correspondingly arranged at two ends of a fixed beam; the clamping device comprises a base body, clamping jaws symmetrically arranged at the left and right sides, and two groups of clamping mechanisms symmetrically arranged on the base body, wherein each clamping jaw is arranged on the corresponding clamping mechanism; the driving mechanism arranged on the base body drives the clamping mechanism to act, so that the clamping jaws at two sides are mutually clamped or opened. The manipulator provided by the invention can realize the grasping or opening action of the clamping jaw part by utilizing one hydraulic cylinder, thereby effectively improving the efficiency of the drill rod transfer process, reducing the drilling operation cost, improving the automation degree, optimizing the working environment of workers and reducing the working danger degree.
Description
Technical Field
The invention belongs to the technical field of oil exploitation equipment, and particularly relates to a drill rod discharging manipulator.
Background
The traditional operation of lifting and throwing the drill rod of the drill rod up and down by using a steel wire rope has high danger, the rod is replaced by manpower, the labor intensity of workers is high, and the efficiency is low. Automation has become a trend in the development of today's industry, and it has become a major trend to employ advanced mechanical automation tools, efficient rig operation and monitoring to reduce drilling costs and improve drilling efficiency. In current automatic discharge system of drilling rod, generally use the centre gripping of manipulator completion well drilling in-process drilling rod, conveying and being connected, however, the rotary type manipulator of single driving source is adopted mostly to the drilling rod clamping manipulator among the prior art, nevertheless can produce centre gripping positioning error when the drilling rod of centre gripping different diameters, and be difficult to guarantee the stability of preferred, and in the use, automatic discharge system of drilling rod still has great impact and wearing and tearing, and life is lower.
Disclosure of Invention
In view of the above, the invention provides a drill rod discharging manipulator which aims at overcoming the defects in the prior art, simplifies the structure of the existing automatic drill rod discharging system, has small clamping and positioning deviation and high working stability, and effectively improves the service life and the safety of the automatic drill rod discharging system.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a drill rod discharging manipulator comprises clamping devices correspondingly arranged at two ends of a fixed beam; the clamping device comprises a base body, clamping jaws symmetrically arranged at the left and right sides, and two groups of clamping mechanisms symmetrically arranged on the base body, wherein each clamping jaw is arranged on the corresponding clamping mechanism;
the driving mechanism arranged on the base body drives the clamping mechanism to act, so that clamping jaws at two sides are clamped or opened;
the clamping mechanism comprises a driving rod driven by a driving mechanism, the driving rod is connected with the clamping jaw through a bent rod, and a connecting rod is arranged between the clamping jaw and the base body; the middle part of the bent rod is hinged with the base body, the upper end of the bent rod is hinged with the driving rod, and the lower end of the bent rod is hinged with the clamping jaw;
two ends of the connecting rod are respectively hinged to the clamping jaw and the base body; the hinge point of the connecting rod and the clamping jaw is positioned on the inner side of the hinge point of the bent rod and the clamping jaw, and meanwhile, the hinge point of the connecting rod and the base body is positioned on the inner side of the hinge point of the bent rod and the base body.
Furthermore, the driving mechanism adopts a hydraulic cylinder, and the driving rod is hinged with an extension rod of the driving mechanism.
Furthermore, the driving mechanism is vertically arranged, a mounting seat is fixedly arranged at the top end of the extending rod of the driving mechanism, and two ends of the mounting seat are respectively hinged with the corresponding driving rods.
Further, the base body comprises a front fixing plate and a rear fixing plate, the driving mechanism is installed between the two fixing plates, and an outer fixing shaft used for being connected with the middle of the bent rod and an inner fixing shaft used for being connected with the connecting rod are respectively arranged on the two fixing plates.
Furthermore, the bent rod comprises a base part, a protruding part facing one side of the center of the base body is arranged in the middle of the base part, a first hinge hole hinged with the driving rod and a second hinge hole hinged with the clamping jaw are respectively arranged at the upper end and the lower end of the base part, and a third hinge hole hinged with the base body is arranged on the protruding part.
Furthermore, the driving rod is hinged with the bent rod through a driving shaft.
Furthermore, a flange plate used for being connected with an external driving device is arranged in the middle of the fixed beam.
Further, the jaws comprise a V-shaped plate; the back of the V-shaped plate, which is different from one side of the opening, is fixed with a Y-shaped plate through a slip.
Furthermore, two Y-shaped plates are correspondingly arranged on the V-shaped plate, and a fourth hinge hole for being hinged with the bent rod and a fifth hinge hole for being hinged with the connecting rod are correspondingly arranged on the two Y-shaped plates.
Furthermore, a friction plate is fixed on the inner wall of one side of the opening of the V-shaped plate.
Compared with the prior art, the invention has the following advantages:
the manipulator provided by the invention can realize the grasping or opening action of the clamping jaw part by utilizing one hydraulic cylinder, and overcomes the defects of large volume and complex structure while taking the advantages of stable work and no clamping and positioning deviation of a translation manipulator into consideration. The efficiency of drilling rod migration process has effectively been improved, drilling operation cost is reduced, simultaneously, has improved degree of automation, has optimized workman's operational environment, has reduced the dangerous degree of work.
Drawings
The accompanying drawings, which 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 without limitation. In the drawings:
FIG. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of a clamping device according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a clamping device according to an embodiment of the present invention;
FIG. 4 is an exploded view of a clamping device in an embodiment of the invention;
FIG. 5 is a schematic view of a jaw in an embodiment of the invention;
fig. 6 is a schematic diagram of the inventive structure.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be construed broadly, e.g. as being fixed or detachable 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 creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
The invention will be described in detail with reference to the following embodiments with reference to the attached drawings.
A pipe racking robot, as shown in figures 1 to 6,
the mechanical arm clamping device comprises clamping devices 2 correspondingly installed at two ends of a fixed beam 1, a flange 3 used for being connected with an external driving device is arranged in the middle of the fixed beam, the external driving mechanism can be a crane, an excavator or other devices, the device or equipment is actually used for driving the mechanical arm to move, only required actions are needed to be achieved, and the device or equipment can be selected automatically according to actual working conditions.
The clamping device comprises a base body 4, clamping jaws 5 which are symmetrically arranged left and right, and two groups of clamping mechanisms 6 which are symmetrically arranged on the base body, wherein each clamping jaw is arranged on a corresponding clamping mechanism 7; the driving mechanism 28 arranged on the base body drives the clamping mechanism to act, so that the clamping jaws at the two sides are mutually clamped or opened;
the clamping mechanism comprises a driving rod 8 driven by a driving mechanism, the driving rod is connected with the clamping jaw through a bent rod 9, and a connecting rod 10 is arranged between the clamping jaw and the base body; the middle part of the bent rod is hinged with the base body, the upper end of the bent rod is hinged with the driving rod, and the lower end of the bent rod is hinged with the clamping jaw;
two ends of the connecting rod are respectively hinged to the clamping jaw and the base body; the hinge point of the connecting rod and the clamping jaw is positioned on the inner side of the hinge point of the bent rod and the clamping jaw, and meanwhile, the hinge point of the connecting rod and the base body is positioned on the inner side of the hinge point of the bent rod and the base body. Usually, the driving rod is hinged with the bent rod through a driving shaft 11.
The driving mechanism adopts a hydraulic cylinder, and the driving rod is hinged to the extending rod end (also called as a piston rod) of the driving mechanism. The driving mechanism is vertically arranged, a mounting seat 12 is fixedly arranged at the top end of the extending rod of the driving mechanism, and two ends of the mounting seat are respectively hinged with the corresponding driving rods.
The base body comprises a front fixing plate 13 and a rear fixing plate 14, the driving mechanism is arranged between the two fixing plates, and an outer fixing shaft 15 used for connecting the middle part of the bent rod and an inner fixing shaft 16 used for connecting the connecting rod are respectively arranged on the two fixing plates.
The bending rod comprises a base part 17, a protruding part 18 facing to one side of the center of the base body is arranged in the middle of the base part, a first hinge hole 19 hinged with the driving rod and a second hinge hole 20 hinged with the clamping jaw are respectively arranged at the upper end and the lower end of the base part, and a third hinge hole 21 hinged with the base body is arranged on the protruding part.
It should be noted that the distance h1 between the hinge point of the connecting rod and the clamping jaw and the hinge point of the bending rod and the clamping jaw, and the distance h2 between the hinge point of the connecting rod and the base and the hinge point of the bending rod and the base are equal. The bent rod, the connecting rod, the base body connected with the bent rod and the connecting rod and the clamping jaws form a parallelogram structure; and the clamping mechanisms on the left side and the right side are symmetrically arranged. By utilizing the structural characteristic of the parallelogram, the clamping jaw is always kept parallel to the connecting line of the central lines of the inner and outer fixed shafts when the bent rod rotates around the outer fixed shaft.
The clamping jaw comprises a V-shaped plate 22, one side of the opening of which faces to the center of the base body; the back of the V-shaped plate, which is different from one side of the opening, is fixed with a Y-shaped plate 24 through a slip 23. Generally, two corresponding Y-shaped plates are arranged on the V-shaped plate, and a fourth hinge hole 25 for being hinged with the bent rod and a fifth hinge hole 26 for being hinged with the connecting rod are correspondingly arranged on the two Y-shaped plates. The Y-shaped plate is hinged with the connecting rod through a first driven shaft 29, and the Y-shaped plate is hinged with the bent rod through a second driven shaft 30. Further, a friction plate 27 may be fixed to the inner wall of the opening side of the V-shaped plate.
When the grabbing operation of the drill rod is carried out, the fixed beam is moved to a determined position by using an external driving device, then the extending rod is retracted by controlling the pressure of the hydraulic cylinder, and the driving rods on the left side and the right side are pushed to move, so that the left driving shaft and the right driving shaft are respectively driven to move. The two driving shafts respectively drive the bent rods hinged with the driving shafts to do rotary motion around the axis of the outer fixed shaft, and the left clamping jaw and the right clamping jaw are pushed to do parallel symmetrical motion through the matching of the corresponding connecting rods, so that the clamping jaws are folded, and the clamping operation of the drill rod is completed.
The fixed beam is driven to ascend to a specified position, and under the action of an external driving device (a motor), the axis of the flange plate is used as a rotating shaft to rotate for 90 degrees, so that horizontal-vertical conversion of the drill rod is realized.
When the drill rod is loosened, the extension rod of the hydraulic cylinder is controlled to extend out to drive the driving rods to move synchronously, the driving rods on two sides respectively drive the corresponding driving shafts to move, so that the bent rod rotates around the outer fixed shaft, and the left clamping jaw and the right clamping jaw are driven to move symmetrically outwards under the matching of the connecting rods, so that the clamping jaws are loosened, and the loosening action of the drill rod is completed.
Through the application to the parallelogram structure, the parallel symmetrical motion of clamping jaw has been realized with a pneumatic cylinder in single clamping structure, when considering the advantage of translation type manipulator steady operation, no centre gripping positioning deviation, overcomes its bulky, the complicated shortcoming of structure. In the case of the calculated dimensions of the bent rod, the connecting rod and the Y-shaped plate, it is also possible to achieve a center deviation of 0 when clamping drill rods having diameters of 73mm and 89 mm. And simultaneously, the utility model discloses need not change the drilling rod that the clamping jaw just can the other various sizes of centre gripping, and the positional deviation who produces is also very little.
In addition, the automation degree is higher, the efficiency of the drill rod transfer process is improved, and the drilling operation cost is reduced; the working environment of workers is optimized, the working danger degree is reduced, the operation precision of the horizontal-vertical conversion system is enhanced, the impact and the abrasion of the system are reduced, and the service life and the safety of the system can be effectively improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the invention, so that any modifications, equivalents, improvements and the like, which are within the spirit and principle of the present invention, should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a drilling rod arranges manipulator which characterized in that:
comprises clamping devices correspondingly arranged at two ends of a fixed beam; the clamping device comprises a base body, clamping jaws symmetrically arranged at the left and right sides, and two groups of clamping mechanisms symmetrically arranged on the base body, wherein each clamping jaw is arranged on the corresponding clamping mechanism; the driving mechanism arranged on the base body drives the clamping mechanism to act, so that clamping jaws at two sides are clamped or opened;
the clamping mechanism comprises a driving rod driven by a driving mechanism, the driving rod is connected with the clamping jaw through a bent rod, and a connecting rod is arranged between the clamping jaw and the base body; the middle part of the bent rod is hinged with the base body, the upper end of the bent rod is hinged with the driving rod, and the lower end of the bent rod is hinged with the clamping jaw;
two ends of the connecting rod are respectively hinged to the clamping jaw and the base body; the hinge point of the connecting rod and the clamping jaw is positioned on the inner side of the hinge point of the bent rod and the clamping jaw, and meanwhile, the hinge point of the connecting rod and the base body is positioned on the inner side of the hinge point of the bent rod and the base body.
2. The drill rod racking robot of claim 1, wherein: the driving mechanism adopts a hydraulic cylinder, and the driving rod is hinged to the extension rod of the driving mechanism.
3. The drill rod racking robot of claim 2, wherein: the driving mechanism is vertically arranged, a mounting seat is fixedly arranged at the top end of the extending rod of the driving mechanism, and two ends of the mounting seat are respectively hinged with the corresponding driving rods.
4. The drill rod racking robot of claim 1, wherein: the base body comprises a front fixing plate and a rear fixing plate, the driving mechanism is installed between the two fixing plates, and an outer fixing shaft used for being connected with the middle of the bent rod and an inner fixing shaft used for being connected with the connecting rod are respectively arranged on the two fixing plates.
5. The drill rod racking robot of claim 4, wherein: the bent rod comprises a base part, a protruding part facing one side of the center of the base body is arranged in the middle of the base part, a first hinge hole hinged with the driving rod and a second hinge hole hinged with the clamping jaw are respectively arranged at the upper end and the lower end of the base part, and a third hinge hole hinged with the base body is arranged on the protruding part.
6. The drill rod racking robot of claim 1, wherein: the driving rod is hinged with the bent rod through a driving shaft.
7. The drill rod racking robot of claim 1, wherein: and the middle part of the fixed beam is provided with a flange plate used for being connected with an external driving device.
8. The drill rod racking robot of claim 1, wherein: the clamping jaw comprises a V-shaped plate; the back of the V-shaped plate, which is different from one side of the opening, is fixed with a Y-shaped plate through a slip.
9. The drill rod racking robot of claim 8, wherein: two Y-shaped plates are correspondingly arranged on the V-shaped plate, and a fourth hinge hole for being hinged with the bent rod and a fifth hinge hole for being hinged with the connecting rod are correspondingly arranged on the two Y-shaped plates.
10. The drill rod racking robot of claim 8, wherein: and a friction plate is fixed on the inner wall of one side of the opening of the V-shaped plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020022922.3U CN211422559U (en) | 2020-01-07 | 2020-01-07 | Drill rod discharging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020022922.3U CN211422559U (en) | 2020-01-07 | 2020-01-07 | Drill rod discharging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211422559U true CN211422559U (en) | 2020-09-04 |
Family
ID=72285265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020022922.3U Expired - Fee Related CN211422559U (en) | 2020-01-07 | 2020-01-07 | Drill rod discharging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211422559U (en) |
-
2020
- 2020-01-07 CN CN202020022922.3U patent/CN211422559U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200904 Termination date: 20220107 |