CN211598567U - Righting manipulator and catwalk - Google Patents
Righting manipulator and catwalk Download PDFInfo
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- CN211598567U CN211598567U CN201921841954.XU CN201921841954U CN211598567U CN 211598567 U CN211598567 U CN 211598567U CN 201921841954 U CN201921841954 U CN 201921841954U CN 211598567 U CN211598567 U CN 211598567U
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Abstract
The utility model relates to an oil drilling and production device, in particular to a righting manipulator and a catwalk, wherein the righting manipulator comprises a turnover device, a righting device and a clamping device; the turnover device is hinged with a cart of the catwalk; the righting device is connected with the overturning device and the clamping device; the clamping device is provided with a clamping space which can be opened and closed and is used for clamping the pipe fitting. Catwalk includes foretell righting manipulator. The utility model provides a right manipulator can connect on the catwalk to can save the installation space of rig floor face.
Description
Technical Field
The utility model relates to an oil drilling equipment, especially a righting manipulator and catwalk.
Background
The offshore oil drilling has the characteristics of severe working environment, high cost, long working period and the like, and the offshore oil drilling equipment is required to have the characteristics of high integration level, high automation degree, high working efficiency, high reliability and the like. The riser is a steel pipe connecting the subsea bop stack and the floating offshore drilling rig, and is mainly used to isolate seawater, conduct drilling and casing pipes, and form a channel for mud circulation. The equipment that typically participates in riser processing is: a riser crane, a riser catwalk, a righting manipulator, etc. The riser catwalk plays a role in transporting the riser from the riser storage area to the drill floor, but the conventional riser catwalk cannot be directly matched with the top drive to realize the butt joint of the riser when entering and exiting the drill floor, and a special righting manipulator is needed to right the riser.
The existing centering manipulator is usually arranged on a drilling platform surface or a derrick, and a special installation space needs to be reserved on the drilling platform surface for installing the centering manipulator, so that the operation space of the drilling platform surface is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: the utility model provides a to the problem that the butt joint of riser can not directly be realized with the cooperation of top drive to the conventional marine riser catwalk that prior art exists when business turn over drill floor face, provide a righting manipulator and catwalk, should right the manipulator and can install on the catwalk, can advance/go out the drill floor face along with the catwalk, right pipe fittings such as marine riser or sleeve pipe to reduce the quantity of drill floor face equipment, save installation space.
In order to realize the purpose, the utility model discloses a technical scheme be:
on one hand, the utility model provides a righting manipulator, which comprises a turnover device, a righting device and a clamping device; the turnover device is hinged with a cart of the catwalk; the righting device is connected with the overturning device and the clamping device; the clamping device is provided with a clamping space which can be opened and closed and is used for clamping the pipe fitting. The utility model provides a right manipulator articulates on the catwalk to can rotate according to the operation condition, save the installation space of rig floor face.
As the utility model discloses a preferred scheme, turning device rotates the orbit plane that forms and is parallel with the axis of pipe fitting, and righting device rotates the orbit plane that forms and is used for the axis parallel arrangement with the pipe fitting. The prior art centralizing manipulators are usually mounted on a drill floor or a derrick, and when in use, the manipulators can continuously rotate in a horizontal plane to reach a use position. In production, in order to avoid the righting manipulator to interfere with the process of lifting the marine riser by driving the top, the marine riser is usually lifted by driving the top, so that the marine riser is separated from the catwalk, the righting manipulator can enter a working state and is matched with the marine riser, and therefore the righting and aligning work of the marine riser is carried out, and the problems that the existing marine riser is long in consumed time, the efficiency is relatively low and the using frequency of the catwalk is low are caused. And in the above-mentioned scheme provided by the utility model, the angle of arm is right through the turning device adjustment to the manipulator of righting, through right device adjustment clamping device's angle, through clamping device centre gripping marine riser, carries out righting of marine riser, and turning device all actuates in the plane that parallels with the marine riser axis with righting the device to make turning device and righting actuating of device can not influence the motion of marine riser. Therefore, when using, this mechanical hand of rightting can drive with catwalk and top and cooperate, drives the process that promotes the riser along with catwalk transportation riser and top, carries out the work of righting of riser in step for work efficiency can promote, improves the frequency of use of catwalk.
It should be noted that, parallel arrangement, its purpose is to avoid turning device and righting actuating process and riser to interfere mutually of device to can drive on the top and carry out turning device and righting actuating of device promptly when mentioning the riser, practice thrift and right the required time. The term "parallel" does not mean absolute parallelism, but may be offset on the basis of parallelism, provided that the operations of the upender and centralizer do not interfere with the riser.
As the preferred scheme of the utility model, the turnover device comprises a turnover arm and a turnover driving piece, one end of the turnover arm is hinged with the cart, and one end of the turnover driving piece is also hinged with the cart; the one end of keeping away from the cart on the upset driving piece is articulated with arbitrary position between the upset arm both ends, and upset arm, upset driving piece are used for linking to each other with the cart and form the triangle-shaped structure, and the upset driving piece constitutes the variable length limit of triangle-shaped structure.
As the preferred scheme of the utility model, the upset driving piece includes the hydro-cylinder.
As the preferred scheme of the utility model, the righting device is articulated continuous with turning device.
As the preferred scheme of the utility model, the righting device comprises a righting arm and a righting driving piece, one end of the righting arm is hinged with the upper end of the turning arm, one end of the righting driving piece is hinged with the middle lower part of the turning arm, and the other end of the righting driving piece is hinged with any position between the two ends of the righting arm; the righting arm, the righting driving piece and the overturning arm form a triangular structure, and the righting driving piece forms a variable-length side of the triangular structure. Specifically, the centering driving member is an oil cylinder.
Through the scheme, the overturning device and the righting device both adopt the oil cylinder driving and triangular transmission structures, the driving force is large, and the transmission process is stable.
As the preferred scheme of the utility model, the number of the turnover devices is at least two, and the number of the righting devices is at least two; at least two turning devices are arranged oppositely, and at least two righting devices are arranged oppositely.
As the preferable scheme of the utility model, the righting manipulator also comprises a connecting rod; at least two righting devices are connected through a connecting rod; at least two turning devices are connected through a connecting rod. Through setting up the connecting rod for the device and the turning device of righting of cart both sides can keep synchronous rotation.
As the utility model discloses a preferred scheme, clamping device includes preceding clamping component and back clamping component, forms the centre gripping space between preceding clamping component and the back clamping component.
As a preferred scheme of the utility model, the front clamping component comprises a front clamping arm and a front clamping driving piece; the front clamping driving piece is hinged with the centering arm, one end of the front clamping driving piece is hinged with the front clamping arm, and one end of the front clamping arm is hinged with the centering device; the front clamping driving piece is used for driving the front clamping arm to rotate.
As the preferred scheme of the utility model, the number of the front clamping arms is at least two, one of the front clamping arms is hinged with one righting device, and the other front clamping arm is hinged with the other righting device; the end part of the front clamping arm is fixedly connected with the conical joint or is connected with the conical joint only by keeping the rotation freedom of the conical joint around the axis of the conical joint; the free end of the conical joint is smaller than the end of the conical joint connected with the front clamping arm; when the front clamping arms are used for clamping the pipe fitting, the axes of the conical joints of the two front clamping arms are collinear, and the two conical joints are oppositely arranged. Through connect the taper joint in the front on the clamp arm, be favorable to increasing the area of contact between right manipulator and the riser, and drive the in-process of mentioning the pipe fitting at the top, the taper joint can be with the participation, realizes the positioning action to the riser.
As the preferred scheme of the utility model, the righting arm is fixedly provided with a connecting lug, the front clamping component also comprises a first force transmission piece and a second force transmission piece, the front clamping driving piece is hinged on the connecting lug, and one end of the front clamping driving piece is hinged with the first force transmission piece; the connecting lug, the first force transmission piece and the front clamping driving piece form a triangular structure, wherein the front clamping driving piece forms a variable-length side of the triangular structure; the centering device, the first force transmission piece, the second force transmission piece and the front clamping arm form a four-bar mechanism, wherein the centering device is used as a fixed bar in the four-bar mechanism, the first force transmission piece is used as a driving bar in the four-bar mechanism, the second force transmission piece is used as a connecting bar in the four-bar mechanism, and the front clamping arm is used as a driven bar in the four-bar mechanism. In the scheme, the front clamping assembly is matched with a four-bar mechanism through a triangular structure to transfer force, so that a large rotation angle of the front clamping arm can be realized through a short driving piece stroke, and the installation space is further saved.
As a preferred scheme of the utility model, the rear clamping component comprises a rear clamping arm, a rear clamping driving piece and a pivot; one end of the rear clamping driving piece is connected with the righting device, and the rear clamping driving piece is used for driving the rear clamping arm to rotate; the rear clamping arm is hinged with the righting device through a pivot.
As the utility model discloses a preferred scheme, back clamp driving piece is articulated with back clamp arm tip, and a position between the back clamp arm both ends is articulated through the pivot with righting the device.
As the preferred scheme of the utility model, the rear clamping component also comprises a connecting block; the rear clamping driving piece is hinged to one end of the connecting block, the other end of the connecting block is fixedly connected with the pivot, the pivot is hinged to the centering device, and the rear clamping arm is fixedly connected with the pivot.
As the utility model discloses a preferred scheme, the quantity of back clamp arm is at least two, and one of them back clamp arm links to each other with one of them righting device, and another back clamp arm links to each other with another righting device.
On the other hand, the utility model also provides a catwalk, which comprises a cart, a shuttle car, a front supporting frame and the righting manipulator; the front support frame is arranged at one end of the cart, the shuttle cart is slidably arranged on the cart, the righting manipulator is arranged at one end of the cart close to the front support frame, and the turnover device is used for driving the righting device to move in a direction far away from the middle of the cart; the cart is provided with a first installation part hinged with the turnover driving piece and a second installation part hinged with the turnover arm.
As the preferred scheme of the utility model, the mounting part I comprises a connecting column and a connecting plate, one end of the connecting column is connected with the side surface of the cart, the overturning driving piece is hinged with the connecting column, the other end of the connecting column is connected with the connecting plate, and the connecting plate is fixedly connected with the cart; the second mounting part and the first mounting part have the same structure.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1. the righting manipulator can be installed on a cart of a catwalk, and a special righting manipulator installation space does not need to be reserved on a drilling platform surface;
2. the rotation tracks of the turnover device and the righting device of the righting manipulator do not interfere with the motion track of the water-separating pipe when the riser is lifted by the top drive, so that the riser is lifted by the water-separating pipe conveying and the top drive along with the catwalk, the righting manipulator of the water-separating pipe can be synchronously righting, the working efficiency is improved, the catwalk of the riser can be used more frequently, the use frequency of the catwalk of the riser is improved, the catwalk and the top drive are matched more closely, and the higher equipment integration level is realized;
3. the integrated level of this marine riser catwalk is high, with can realize closely cooperating between driving on the top.
Drawings
Fig. 1 is a schematic structural view of the catwalk provided by the present invention when it is matched with a riser.
Figure 2 is a schematic view of the riser as it is lifted by the top drive.
Fig. 3 is a schematic view of the centering manipulator provided by the present invention when cooperating with the top drive, centering the driving member for extension.
Figure 4 is a schematic view of the cone joints in contact for riser positioning during top drive riser lifting.
Fig. 5 is a schematic diagram of the righting manipulator clamping the riser and aligning.
Fig. 6 is a top view of the centralizing manipulator provided by the present invention clamping the riser.
Fig. 7 is an axonometric view of the centering manipulator provided by the present invention.
Fig. 8 is a simplified structural schematic diagram of the front clamping assembly on the straightening manipulator provided by the present invention.
Fig. 9 is a partially enlarged view of a portion a in fig. 7.
Icon: 1-catwalk; 11-righting the manipulator; 111-a flipping device; 1111-flip arm; 1112-a tumble drive; 112-a righting device; 1121-righting arm; 1122-centering drive; 1123-engaging lugs; 1124-a first through slot; 1125-a second through slot; 113-a clamping device; 1131-taper joint; 1132 — front clamping driver; 1133 — a first force transfer member; 1134 — a second force transfer member; 1135 — rear clamp arm; 1136 — rear clamping drive; 1137-front clamp arm; 1138, connecting blocks; 1139-pivot; 114-a connecting rod; 12-cart; 13-front support frame; 14-a shuttle car; 15-a mounting portion; 151-connecting column; 152-a connecting plate; 2-a riser; 3-well head center.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Example 1
Referring to fig. 1-8, the present invention provides a centralizing manipulator 11 for centralizing a riser 2 during a process of top drive hoisting and lowering the riser 2, the centralizing manipulator 11 comprising a turning device 111, a centralizing device 112 and a clamping device 113.
Referring to fig. 3, 5 and 9, the turnover device 111 is used to connect with the catwalk 1, and the turnover device 111 is hinged with the cart 12 of the catwalk 1. Specifically, the number of the turning devices 111 is two, and the two turning devices 111 are connected by a connecting rod 114. One of the turnover devices 111 is arranged on one side of the cart 12, and the other turnover device 111 is arranged on the other side of the cart 12.
Referring to fig. 7 and 9, the tilting device 111 includes a tilting driving member 1112 and a tilting arm 1111. One end of tumble drive 1112 is hinged to cart 12 and the other end of tumble drive 1112 is used to hinge to tumble arm 1111. Flip arm 1111 is hinged to cart 12 at one end. The tumble drive 1112 may be extendable or retractable in length. Through the structure, the overturning driving part 1112, the cart 12 and the overturning arm 1111 form a triangular structure, and the length of one side formed by the overturning driving part 1112 can be extended or shortened, so that the one side formed by the overturning arm 1111 is driven to rotate.
Referring to fig. 9, specifically, the tilting driving element 1112 is configured as a cylinder. The two tilting arms 1111 provided at both sides of the cart 12 are connected by the connecting rod 114 so that the two tilting arms 1111 can be rotated in synchronization.
Referring to fig. 3 and 5, the righting device 112 is connected to the turning device 111. The number of the righting devices 112 is two. One of the centralizers 112 is connected to one of the tilters 111, and the other centralizer 112 is connected to the other tilter 111.
The centralizer 112 includes a centralizer arm 1121 and a centralizer drive 1122. One end of the righting arm 1121 is hinged to one end of the turning arm 1111, which is far away from the cart 12. One end of the righting driving member 1122 is hinged to the middle-lower portion of the turning arm 1111, the other end of the righting driving member 1122 is hinged to any position between two ends of the righting arm 1121, the righting driving member 1122 can extend or shorten, so that the righting arm 1121, the righting driving member 1122 and the turning arm 1111 form a triangular structure, and the length of one side formed by the righting driving member 1122 can extend or shorten, so that the righting arm 1121 is driven to rotate.
Referring to fig. 7, the track formed by the rotation of the turning arm 1111 and the righting arm 1121 is coplanar, and in use, the track formed by the rotation of the turning arm 1111 and the righting arm 1121 is parallel to the axis of the riser 2.
Specifically, the centering driving member 1122 is configured as a cylinder, and the centering arms 1121 of the two centering devices 112 are connected by the connecting rod 114, so that the two centering arms 1121 can rotate synchronously.
The clamping device 113 is connected with the centralizer 112, and an openable clamping space is formed on the clamping device 113 and is used for clamping the riser 2. The clamping device 113 includes a front clamping assembly and a rear clamping assembly. The front clamping assembly is connected to the end of the centering arm 1121 that is away from one end of the tilting arm 1111, and the rear clamping assembly is connected to the middle of the centering arm 1121, so that a clamping space is formed between the front clamping assembly and the rear clamping assembly.
The number of front clamp assemblies is two, wherein one front clamp assembly is connected to one centering arm 1121, and the other front clamp assembly is connected to the other centering arm 1121. The number of the rear clamping assemblies is two, wherein one rear clamping assembly is connected with one centering arm 1121, and the other rear clamping assembly is connected with the other centering arm 1121.
Referring to fig. 6 and 7, the front clamping assembly includes a front clamping arm 1137, a front clamping driving member 1132, a first force transmission member 1133 and a second force transmission member 1134, wherein the first force transmission member 1133 and the second force transmission member 1134 are used for transmitting the output force of the front clamping driving member 1132 to the front clamping arm 1137, so that the front clamping driving member 1132 can drive the front clamping arm 1137 to rotate.
Referring to fig. 7 and 8, in particular, a first through slot 1124 is disposed at an end of the centering arm 1121, which is away from the flipping arm 1111, and a connecting lug 1123 is further disposed on the centering arm 1121. One end of the front clamping arm 1137 is disposed in the first through-slot 1124 and is hinged to the wall of the first through-slot 1124. The connecting lug 1123 is fixedly connected to the side surface of the centering arm 1121. The front clamping driving member 1132 is hinged to the connecting lug 1123, a first connecting point on the first force transmission member 1133 is hinged to one end of the front clamping driving member 1132, and a second connecting point on the first force transmission member 1133 is hinged to the connecting lug 1123, so that the connecting lug 1123, the first force transmission member 1133 and the front clamping driving member 1132 form a triangular structure, and the length of one side formed by the front clamping driving member 1132 can be extended or shortened, and the first force transmission member 1133 can rotate along with the change of the length of the front clamping driving member 1132.
The third connecting point on the first force transmission element 1133 is hinged to one end of the second force transmission element 1134, and the other end of the second force transmission element 1134 is hinged to the front clamping arm 1137, so that the centering arm 1121, the first force transmission element 1133, the second force transmission element 1134 and the front clamping arm 1137 form a four-bar mechanism, wherein the centering arm 1121 serves as a fixed rod in the four-bar mechanism, the first force transmission element 1133 serves as a driving rod in the four-bar mechanism, the second force transmission element 1134 serves as a connecting rod in the four-bar mechanism, and the front clamping arm 1137 serves as a driven rod in the four-bar mechanism, that is: when the first force-transmitting member 1133 is rotated, the front clamping arm 1137 is rotated therewith.
When it is desired to clamp the riser 2 or to position the riser 2, the front clamp arms 1137 of the two front clamp assemblies are rotated in a direction towards each other; when it is desired to release the riser 2, the front clamp arms 1137 of the two front clamp assemblies are rotated away from each other. The plane formed by the rotation path of the front clamp arm 1137 is intended to be arranged at an angle to the axis of the riser 2.
The free end of the front clamp arm 1137 is fixedly connected to a tapered joint 1131, and the free end of the tapered joint 1131 is smaller than the end of the tapered joint 1131 connected to the front clamp arm 1137. When the front clamping arms 1137 are used to clamp the riser 2, the tapered joints 1131 of the two front clamping arms 1137 are arranged relatively in a line, so as to increase the contact area with the riser 2 and have better positioning effect. In other embodiments of the present invention, the taper joint 1131 may also be rotatably connected to the front clamping arm 1137, but the taper joint 1131 can only rotate about its own axis.
Referring to fig. 6 and 7, the rear clamp assembly includes a rear clamp arm 1135, a rear clamp actuator 1136 and a connecting block 1138. One end of the rear clamping driving member 1136 is hinged to the centering arm 1121, the other end of the rear clamping driving member 1136 is hinged to one end of the connecting block 1138, the other end of the connecting block 1138 is fixedly connected to a pivot 1139, the pivot 1139 is rotatably connected to the centering arm 1121, and the rear clamping arm 1135 is fixedly connected to the pivot 1139. Through the structure, when the rear clamping driving member 1136 extends, the rear clamping driving member 1136 can drive the connecting block 1138 and the pivot 1139 to rotate together, so as to drive the rear clamping arm 1135 to rotate, the rear clamping arm 1135 and the righting arm 1121 form a triangular structure, and the length of one side formed by the rear clamping driving member 1136 can extend or shorten, so that the rear clamping arm 1135 can be driven to rotate. Specifically, the rear clamp actuator 1136 is configured as a cylinder. The connecting block 1138 has an L-shaped configuration.
In other embodiments of the present invention, the structure of the rear clamping assembly can be further configured as follows: the rear clamp assembly includes a rear clamp arm 1135, a rear clamp drive 1136 and a pivot 1139. One end of the rear clamping driving member 1136 is hinged to the centering arm 1121, the other end of the rear clamping driving member 1136 is hinged to the end of the rear clamping arm 1135, and any point between two ends of the rear clamping arm 1135 is hinged to the centering arm 1121 through a pivot 1139. With the above structure, when the rear clamp driving member 1136 extends, the end of the rear clamp arm 1135 can be driven to rotate around the pivot 1139, so as to drive the rear clamp arm 1135 to rotate.
When the riser 2 needs to be clamped, the rear clamping arms 1135 in the two rear clamping assemblies rotate in a direction approaching each other; when it is desired to release the riser 2, the rear clamp arms 1135 of the two rear clamp assemblies are rotated away from each other. The plane formed by the rotation path of the rear clamp arm 1135 is intended to be arranged at an angle to the axis of the riser 2.
Further, a second through slot 1125 is disposed on the centering arm 1121, and one end of the rear clamping driving member 1136 is disposed in the second through slot 1125 and hinged to the inner wall of the second through slot 1125. The pivot 1139 is disposed in the second through groove 1125 and is rotatably connected to the inner wall of the second through groove 1125, and the pivot 1139 can only rotate around its axis.
The utility model provides a righting manipulator 11's theory of operation lies in:
during the use, please refer to fig. 1, install this righting manipulator 11 in the end of catwalk 1, the driving piece of each righting manipulator 11 is in the retraction state, make this righting manipulator 11 can present the folding gesture, place riser 2 on catwalk 1. Referring to fig. 2, the front end of the riser 2 is lifted by the top drive, the rear end of the riser 2 is connected to the shuttle car 14, and the shuttle car 14 and the rear end of the riser 2 are driven by the top drive to approach the righting manipulator 11. Referring to fig. 3 and 4, the centering driving member 1122 of the centering manipulator 11 extends, the centering arms 1121 rotate along with the extending, the centering arms 1121 are in a vertical or substantially vertical posture, the two centering arms 1121 are respectively located at two sides of the riser 2, the front clamping driving member 1132 extends, the two front clamping arms 1137 rotate in a direction approaching to each other, the two conical joints 1131 are oppositely arranged, the side surface of the riser 2 is in contact with the front clamping arms 1137, and the conical joints 1131 play a role in positioning the riser 2; referring to fig. 5, as the top drive continues to be lifted, the position on the riser 2, which is in contact with the conical joint 1131, further approaches the wellhead center 3, the overturning driving member 1112 of the centering manipulator 11 extends, and the overturning arm 1111 rotates along with the extending member to drive the centering arm 1121 to move toward the direction close to the wellhead center 3, so that the riser 2 always keeps contact with the conical joint 1131 until the riser 2 is completely lifted by the top drive, at this time, the centering arms 1121 are located at both sides of the riser 2, and the centering arm 1121 remains horizontal or substantially horizontal; referring to fig. 6, the rear clamp driver 1136 is extended, and the two rear clamp arms 1135 are rotated toward each other, so that a clamping space is formed between the front clamp arm 1137 and the rear clamp arm 1135, and the riser 2 is located in the clamping space, thereby performing a function of centering the riser 2 and assisting the riser 2 to be aligned with the wellhead center 3.
The embodiment of the utility model provides a right manipulator 11's beneficial effect lies in:
1. the righting manipulator 11 can be arranged on a cart 12 of the catwalk 1, and a special righting manipulator 11 installation space does not need to be reserved on a drilling platform surface;
2. in a non-use state, the righting manipulator 11 can be folded, so that the occupied space is further reduced;
3. the rotation tracks of the turning device 111 and the righting device 112 of the righting manipulator 11 are not interfered with the motion track of the water-stop pipe 2 when the top drive lifts the water-stop pipe 2, so that the righting manipulator 11 can synchronously realize the righting of the water-stop pipe 2 along with the process that the catwalk 1 transports the water-stop pipe 2 and the top drive lifts the water-stop pipe 2, the working efficiency is improved, the catwalk 1 can be used more frequently, the use frequency of the catwalk 1 is improved, the catwalk 1 is matched with the top drive more closely, and the equipment integration level is higher;
4. be equipped with the taper joint 1131 on the preceding clamp arm 1137, at the in-process of mentioning riser 2, can realize the location to riser 2 through taper joint 1131, reduced and mentioned rocking of in-process riser pipe 2, when the centre gripping, the contact area of clamp arm 1137 and riser 2 before the taper joint 1131 can also increase makes the centre gripping more stable.
It should be noted that the centralizing manipulator 11 provided in this embodiment may be used to centralize not only the riser 2, but also other pipes such as casing pipes.
Example 2
The embodiment of the utility model provides a catwalk 1, this kind of catwalk 1 include cart 12, shuttle 14, preceding support frame 13, coupling assembling and embodiment 1 in provide right manipulator 11.
Specifically, the mounting portion 15 includes a connection post 151 and a connection plate 152. The number of the mounting portions 15 is four, two of which are first mounting portions and the other two of which are second mounting portions. The first mounting portion is used for connecting the cart 12 with the turnover driving member 1112, and the second mounting portion is used for connecting the cart 12 with the turnover arm 1111. The first mounting part and the second mounting part have the same structure.
Specifically, referring to fig. 9, one end of the connecting column 151 is connected to the cart 12, the connecting column 151 is rotatably connected to the flipping arm 1111 or the flipping driving member 1112, and the other end of the connecting column 151 is connected to the connecting plate 152. Further, connecting plate 152 includes integrated into one piece's first kink and second kink, and spliced pole 151 links to each other with first kink, and the second kink is fixed with cart 12 and links to each other.
In use, the righting arm 1121 on the righting manipulator 11 is configured to rotate in a direction away from the middle of the cart 12, so that the righting arm 1121 can be located above the wellhead center 3, thereby facilitating positioning of the riser 2 to the wellhead center 3.
The embodiment of the utility model provides a catwalk 1's beneficial effect lies in:
can drive to cooperate with the top and realize righting of marine riser 2, work efficiency is high.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (18)
1. A righting manipulator is characterized by comprising a turnover device, a righting device and a clamping device;
the turnover device is hinged with a cart of the catwalk;
the righting device is connected with the overturning device, and the righting device is connected with the clamping device;
and an openable clamping space is formed on the clamping device and is used for clamping the pipe fitting.
2. The centralizing manipulator according to claim 1, wherein the trajectory plane formed by the turning device is parallel to the axis of the pipe, and the trajectory plane formed by the centering device is arranged parallel to the axis of the pipe.
3. The straightening manipulator according to claim 2, wherein the overturning device comprises an overturning arm and an overturning driving member, one end of the overturning arm is hinged to the cart, and one end of the overturning driving member is also hinged to the cart;
the turnover driving part is hinged to any position between two ends of the turnover arm and one end, far away from the cart, of the turnover driving part, the turnover arm, the turnover driving part and the cart are connected to form a triangular structure, and the turnover driving part forms a variable-length edge of the triangular structure.
4. The centralizing manipulator according to claim 3, wherein the tumble drive comprises a cylinder.
5. The centralizing manipulator according to claim 3, characterized in that the centralizing means is hingedly connected to the turning means.
6. The centering manipulator according to claim 5, wherein the centering device comprises a centering arm and a centering driving member, one end of the centering arm is hinged to the upper end of the overturning arm, one end of the centering driving member is hinged to the middle lower part of the overturning arm, and the other end of the centering driving member is hinged to any position between two ends of the centering arm;
the righting arm, the righting driving piece and the overturning arm form a triangular structure, and the righting driving piece forms a variable-length side of the triangular structure.
7. The righting manipulator according to claim 6, wherein the number of the turning devices is at least two, and the number of the righting devices is at least two;
at least two turning devices are arranged oppositely, and at least two righting devices are arranged oppositely.
8. The centralizing manipulator according to claim 7, further comprising a connecting rod;
at least two of the righting devices are connected through the connecting rod;
at least two turning devices are connected through the connecting rod.
9. The centralizing manipulator according to claim 8, wherein the clamping device comprises a front clamping assembly and a rear clamping assembly, the front and rear clamping assemblies forming the clamping space therebetween.
10. The centralizing manipulator according to claim 9, wherein the front clamp assembly comprises a front clamp arm and a front clamp drive;
the front clamping driving piece is hinged with the centering arm, one end of the front clamping driving piece is hinged with the front clamping arm, and one end of the front clamping arm is hinged with the centering device;
the front clamping driving piece is used for driving the front clamping arm to rotate.
11. The centralizing manipulator according to claim 10, wherein the number of the front clamping arms is at least two, one of the front clamping arms is hinged with one centralizing device, and the other front clamping arm is hinged with the other centralizing device;
the end part of the front clamping arm is fixedly connected with the conical joint or is connected with the conical joint only by keeping the rotation freedom degree of the conical joint around the axis of the conical joint;
the free end of the conical joint is smaller than the end of the conical joint connected with the front clamping arm;
when the front clamping arms are used for clamping the pipe fitting, the axes of the conical joints of the two front clamping arms are collinear, and the two conical joints are oppositely arranged.
12. The straightening manipulator according to claim 11, wherein a connecting lug is fixedly arranged on the straightening arm, the front clamping assembly further comprises a first force transmission piece and a second force transmission piece, the front clamping driving piece is hinged to the connecting lug, and one end of the front clamping driving piece is hinged to the first force transmission piece;
the connecting lug, the first force transmission piece and the front clamping driving piece form a triangular structure, wherein the front clamping driving piece forms a variable-length side of the triangular structure;
the centering device, the first force transmission piece, the second force transmission piece and the front clamping arm form a four-bar mechanism, wherein the centering device is used as a fixed bar in the four-bar mechanism, the first force transmission piece is used as a driving bar in the four-bar mechanism, the second force transmission piece is used as a connecting bar in the four-bar mechanism, and the front clamping arm is used as a driven bar in the four-bar mechanism.
13. The centralizing manipulator according to claim 9, wherein the rear clamp assembly comprises a rear clamp arm, a rear clamp drive and a pivot shaft;
one end of the rear clamping driving piece is connected with the righting device, and the rear clamping driving piece is used for driving the rear clamping arm to rotate;
the rear clamping arm is hinged with the righting device through the pivot.
14. The centralizing manipulator according to claim 13, wherein the rear clamping drive is hinged to the rear clamping arm end, and a position between the two ends of the rear clamping arm is hinged to the centralizing device by the pivot.
15. The centralizing manipulator according to claim 13, wherein the rear clamping assembly further comprises a connecting block;
the rear clamping driving piece is hinged to one end of the connecting block, the other end of the connecting block is fixedly connected with the pivot, the pivot is hinged to the centering device, and the rear clamping arm is fixedly connected with the pivot.
16. The centralizing manipulator according to claim 13, wherein the number of the rear clamping arms is at least two, one of the rear clamping arms being connected to one of the centralizing devices and the other rear clamping arm being connected to the other of the centralizing devices.
17. A catwalk comprising a cart, a shuttle car, a front support frame, and the centralizing manipulator of any one of claims 3-16;
the front support frame is arranged at one end of the cart, the shuttle car is slidably arranged on the cart, the righting manipulator is arranged at one end of the cart close to the front support frame, and the turnover device is used for driving the righting device to move in a direction far away from the middle of the cart;
the cart is provided with a first installation part hinged with the turnover driving piece and a second installation part hinged with the turnover arm.
18. The catwalk according to claim 17, wherein the mounting portion comprises a connecting column and a connecting plate, one end of the connecting column is connected with the side surface of the cart, the turnover driving member is hinged to the connecting column, the other end of the connecting column is connected with the connecting plate, and the connecting plate is fixedly connected with the cart;
the second installation part is the same as the first installation part in structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921841954.XU CN211598567U (en) | 2019-10-30 | 2019-10-30 | Righting manipulator and catwalk |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921841954.XU CN211598567U (en) | 2019-10-30 | 2019-10-30 | Righting manipulator and catwalk |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112746821A (en) * | 2019-10-30 | 2021-05-04 | 四川宏华石油设备有限公司 | Righting manipulator and catwalk |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112746821A (en) * | 2019-10-30 | 2021-05-04 | 四川宏华石油设备有限公司 | Righting manipulator and catwalk |
| CN112746821B (en) * | 2019-10-30 | 2024-04-09 | 四川宏华石油设备有限公司 | Righting manipulator and catwalk |
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