CN211761528U - Drill floor manipulator - Google Patents
Drill floor manipulator Download PDFInfo
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- CN211761528U CN211761528U CN202020178490.5U CN202020178490U CN211761528U CN 211761528 U CN211761528 U CN 211761528U CN 202020178490 U CN202020178490 U CN 202020178490U CN 211761528 U CN211761528 U CN 211761528U
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- 238000005553 drilling Methods 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 94
- 230000005540 biological transmission Effects 0.000 claims description 10
- 210000000245 forearm Anatomy 0.000 description 11
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 206010063659 Aversion Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a drill floor manipulator, which comprises a base, wherein the base is arranged between two drill rod boxes of the drill floor, and two side surfaces of the base are provided with X-axis guide rails; the track table is arranged on the base and slides along the X-axis guide rail, and Y-axis guide rails are arranged on two side faces of the track table; the movable trolley is arranged on the track table and slides along the Y-axis guide rail; and the manipulator assembly is fixed on the top surface of the movable trolley. The utility model discloses a travelling car sets up on the track platform to slide along the Y axle guide rail of track platform both sides face; the track platform sets up on the base to along the X axle guide rail of base both sides slip, the manipulator assembly sets up at the travelling car top surface, can be through controlling the slip of travelling car and track platform, at two-dimensional plane adjustment control manipulator assembly position, thereby improve the operating range of manipulator greatly, satisfy large-scale drilling platform demand, practice thrift the cost.
Description
Technical Field
The utility model relates to an oil exploration equipment technical field, concretely relates to rig floor face manipulator.
Background
In the process of oil exploration, the operations of drill rod position movement, drill tool buckling, drilling and tripping are required to be carried out on an oil drilling platform, and the operations comprise buckling of a kelly and a drill tool in a mouse hole; moving the kelly bar into a rat hole; the upright posts are automatically arranged when the drill is started; moving the upright post to a wellhead during drilling; moving the drill rod into the mouse hole from the gate ramp; moving the drill pipe from the wellhead or mouse hole to a gate ramp or the like. Need the supplementary pipe, calandria of holding up of many staff, extravagant manpower, work efficiency is lower.
At present, along with the technological progress, a drill floor manipulator is used for adjusting and controlling the positions of a drill rod and a drilling tool, and the working efficiency is greatly improved. The existing drill floor manipulator is generally fixed on a drill floor through a mounting seat, and the position of a drill rod and a drill is adjusted through rotation and angle adjustment after the manipulator clamps the drill rod and the drill.
However, because the existing drill floor surface manipulator is fixed on the drill floor surface through the mounting seat, the mounting seat cannot move, the operation range of the manipulator is small, the operation in a small range around the mounting seat can only be realized, and the working requirement of a large-scale drilling platform cannot be met.
SUMMERY OF THE UTILITY MODEL
An object of the application is to provide a drill floor face manipulator to the working range of solving among the prior art drill floor face manipulator is less, only can realize the operation of less scope around the mount pad, can't satisfy the technical problem of large-scale drilling platform work demand.
In order to achieve the purpose, the embodiment of the application discloses a drill floor manipulator which comprises a base, wherein the base is arranged between two drill rod boxes on a drill floor, and X-axis guide rails are arranged on two side surfaces of the base; the track table is arranged on the base and slides along the X-axis guide rail, and Y-axis guide rails are arranged on two side faces of the track table; the movable trolley is arranged on the track table and slides along the Y-axis guide rail; and the manipulator assembly is fixed on the top surface of the movable trolley.
Compared with the prior art, the beneficial effects of the embodiment of the application are as follows: the movable trolley is arranged on the track table and slides along Y-axis guide rails on two side faces of the track table; the track platform sets up on the base to along the X axle guide rail of base both sides slip, the manipulator assembly sets up at the travelling car top surface, can be through controlling the slip of travelling car and track platform, at two-dimensional plane adjustment control manipulator assembly position, thereby improve the operating range of manipulator greatly, satisfy large-scale drilling platform demand, practice thrift the cost.
The application further improves the scheme as follows:
preferably, the track platform both ends symmetry is fixed with down the mounting panel, down the mounting panel lower part install with the electronic pulley that the X axle guide rail matches, the track platform is established through a pair of electronic pulley card on the base.
Through adopting above-mentioned scheme, the track platform passes through the electronic pulley card at both ends to be established on the base, and the X axle that can realize the track platform through controlling electronic pulley and sliding along X axle guide rail removes.
Preferably, the track table is provided with a through upper pin hole, the base is provided with a row of lower pin holes corresponding to the upper pin hole, and the upper pin hole and the lower pin hole are internally inserted with fixing pins.
By adopting the above scheme, when the track platform moves to the working position, the fixing pin is inserted into the upper pin hole and the lower pin hole to lock the position of the track platform, so that the track platform is prevented from shifting during operation of the manipulator, and potential safety hazards are avoided.
Preferably, the upper pin holes are symmetrically arranged at the center positions of two sides of the track table.
Preferably, a Y-axis driving motor is arranged inside the moving trolley, an output end of the Y-axis driving motor vertically penetrates downwards and is connected with a driving gear, and a rack which is arranged along the Y axis and is meshed with the driving gear is installed on the top surface of the track table.
By adopting the scheme, the Y-axis driving motor controls the driving gear to rotate, and the driving gear slides along the rack, so that the position of the moving trolley on the Y axis is controlled.
Preferably, the two ends of the moving trolley are symmetrically fixed with upper mounting plates, the lower parts of the upper mounting plates are provided with rollers matched with the Y-axis guide rails, and the moving trolley is clamped on the rail table through a pair of rollers.
Through adopting above-mentioned scheme, the travelling car is established on the track platform through the gyro wheel card at both ends, stability when improving the travelling car aversion, guarantees simultaneously that the travelling car atress is stable, reduces the aversion resistance.
Further, the manipulator assembly is including the horizontal rotation actuating mechanism, back seat, trailing arm mechanism, middle seat, forearm mechanism, front stall and the electronic fixture that set gradually, the back seat passes through horizontal rotation actuating mechanism and installs the travelling car top surface, trailing arm mechanism both ends respectively in back seat and middle seat are articulated, be equipped with in the back seat and be used for the drive the rotatory vertical rotation actuating mechanism of trailing arm, forearm mechanism both ends respectively in middle seat and front stall are articulated, be equipped with transmission link mechanism between trailing arm mechanism and forearm mechanism.
By adopting the scheme, the horizontal rotation driving mechanism is used for controlling the horizontal rotation of the manipulator, so that the operation range is further enlarged; the vertical rotary driving mechanism controls the rotation of the rear arm mechanism, the transmission connecting mechanism is arranged between the rear arm mechanism and the front arm mechanism, and when the rear arm mechanism rotates, the front arm mechanism is driven to rotate, so that the height and the extending distance of the electric clamping mechanism are adjusted, and the position control of the high-efficiency mechanized drilling tool and the drilling rod is realized.
Further, the postbrachium mechanism includes a pair of parallel arrangement's outer postbrachium and interior postbrachium, outer postbrachium and interior postbrachium both ends equally divide do not with middle seat and back seat hinge joint, vertical rotary driving mechanism with outer postbrachium or interior postbrachium transmission are connected, forearm mechanism includes a pair of parallel arrangement's outer forearm and interior forearm, outer forearm and interior forearm both ends equally divide do not with middle seat and front seat hinge joint, transmission coupling mechanism includes back connecting rod and preceding connecting rod, back connecting rod one end with interior postbrachium end fixing, the other end with preceding connecting rod one end is connected, the preceding connecting rod other end with outer postbrachium is articulated.
By adopting the scheme, the pair of parallel outer rear arms, the middle seat and the rear seat form a rear parallelogram mechanism, and the pair of parallel front arm mechanisms, the middle seat and the front seat form a front parallelogram mechanism; due to the characteristics of the parallelogram, when the angles of the rear arm mechanism and the front arm mechanism are changed, the angles of the middle seat and the front seat are not changed; the vertical rotary driving mechanism controls the rear arm mechanism to rotate, the inner rear arm drives the front connecting rod to act through the rear connecting rod, and the front connecting rod drives the front arm mechanism to act, so that the height and the extending distance of the electric clamping mechanism are controlled.
Furthermore, the horizontal rotation driving mechanism is a horizontal rotation driving servo motor fixed on the top surface of the movable trolley, and the vertical rotation driving mechanism is a vertical rotation driving servo motor fixed inside the rear seat.
Compared with the prior art, the beneficial effects of the embodiment of the application are that:
1. the movable trolley slides along Y-axis guide rails on two side faces of the track table; the track table slides along X-axis guide rails on two sides of the base, the manipulator assembly is arranged on the top surface of the movable trolley, and the position of the manipulator assembly can be adjusted and controlled on a two-dimensional plane by controlling the sliding of the movable trolley and the track table, so that the operation range of the manipulator is greatly improved, the requirements of a large drilling platform are met, and the cost is saved;
2. according to the track table, the upper pin holes which penetrate through the track table are formed, the base is provided with the row of lower pin holes corresponding to the upper pin holes, when the track table moves to the working position, fixing pins are inserted into the upper pin holes and the lower pin holes to lock the position of the track table, the track table is prevented from shifting during operation of a manipulator, and potential safety hazards are avoided;
3. according to the Y-axis driving motor, the driving gear is controlled to rotate, and the driving gear slides along the rack, so that the position of the moving trolley on the Y axis is controlled; the movable trolley is clamped on the rail table through the rollers at the two ends, so that the stability of the movable trolley during displacement is improved, the stress stability of the movable trolley is ensured, and the displacement resistance is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic side view of an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a base according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of the track table and the mobile cart according to the embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a robot assembly according to an embodiment of the present invention.
Shown in the figure:
1. a base; 101. an X-axis guide rail; 102. a lower pin hole;
2. a drill rod box;
3. a track table; 301. a lower mounting plate; 302. an electric pulley; 303. an upper pin hole; 304. a rack; 305. a Y-axis guide rail;
4. moving the trolley; 401. a Y-axis drive motor; 402. a drive gear; 403. an upper mounting plate; 404. a roller;
5. a manipulator assembly; 501. a servo motor is driven by horizontal rotation; 502. a rear seat; 503. a rear arm mechanism; 5031. an outer rear arm; 5032. an inner rear arm; 504. a middle seat; 505. a forearm mechanism; 5051. an outer forearm; 5052. an inner forearm; 506. a front seat; 507. an electric clamping mechanism; 508. the servo motor is driven by vertical rotation; 509. a transmission link mechanism; 5091. a rear connecting rod; 5092. a front link.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "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 for convenience in describing the present 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 not to be considered limiting of the present invention.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1 to 5, the present embodiment provides a drill floor robot, which includes a base 1, a track table 3, a moving cart 4, and a robot assembly 5.
The base 1 is arranged between the two drill rod boxes 2 on the drilling platform surface, and X-axis guide rails 101 are arranged on two side surfaces of the base 1.
The track platform 3 is arranged on the base 1, the track platform 3 slides along the X-axis guide rail 101, and two side surfaces of the track platform 3 are provided with Y-axis guide rails 305.
Lower mounting plates 301 are symmetrically fixed at two ends of the track table 3, electric pulleys 302 matched with the X-axis guide rail 101 are mounted at the lower parts of the lower mounting plates 301, and the track table 3 is clamped on the base 1 through a pair of electric pulleys 302.
The track table 3 is clamped on the base 1 through electric pulleys 302 at two ends, and the X-axis movement of the track table 3 can be realized by controlling the electric pulleys 302 to slide along the X-axis guide rail 101.
The track platform 3 is provided with a through upper pin hole 303, and the upper pin hole 303 is symmetrically arranged at the center position of two sides of the track platform 3.
Two sides of the base 1 are respectively provided with a row of three lower pin holes 102 corresponding to the upper pin holes 303, and the upper pin holes 303 and the lower pin holes 102 are internally inserted with fixing pins. The three lower pin holes 102 correspond to three working positions of the track table 3, and when the track table 3 moves to the working positions, fixing pins are inserted into the upper pin holes 303 and the lower pin holes 102 to lock the position of the track table 3, so that the track table 3 is prevented from shifting during operation of a manipulator, and potential safety hazards are avoided.
The traveling carriage 4 is disposed on the track table 3, and the traveling carriage 4 slides along the Y-axis guide 305.
A Y-axis driving motor 401 is arranged in the movable trolley 4, the output end of the Y-axis driving motor 401 vertically downwards penetrates through the movable trolley 4 and then is connected with a driving gear 402, and a rack 304 which is arranged along the Y axis and meshed with the driving gear 402 is installed on the top surface of the track table 3. The Y-axis drive motor 401 controls the drive gear 402 to rotate, and the drive gear 402 slides along the rack 304, thereby realizing the position control of the mobile cart 4 on the Y axis.
The upper mounting plates 403 are symmetrically fixed at two ends of the mobile trolley 4, the rollers 404 matched with the Y-axis guide rail 305 are mounted at the lower part of the upper mounting plates 403, and the mobile trolley 4 is clamped on the rail table 3 through a pair of rollers 404. The moving trolley 4 is clamped on the track table 3 through the rollers 404 at the two ends, so that the stability of the moving trolley 4 during shifting is improved, the stress stability of the moving trolley 4 is ensured, and the shifting resistance is reduced.
The manipulator assembly 5 is fixed on the top surface of the movable trolley 4.
The manipulator assembly 5 comprises a horizontal rotation driving mechanism, a rear seat 502, a rear arm mechanism 503, a middle seat 504, a front arm mechanism 505, a front seat 506 and an electric clamping mechanism 507 which are sequentially arranged, the rear seat 502 is installed on the top surface of the movable trolley 4 through the horizontal rotation driving mechanism, two ends of the rear arm mechanism 503 are respectively hinged with the rear seat 502 and the middle seat 504, a vertical rotation driving mechanism for driving the rear arm to rotate is arranged in the rear seat 502, two ends of the front arm mechanism 505 are respectively hinged with the middle seat 504 and the front seat 506, and a transmission link mechanism 509 is arranged between the rear arm mechanism 503 and the front arm mechanism 505.
The horizontal rotation driving mechanism is used for controlling the horizontal rotation of the manipulator, so that the operation range is further enlarged; the vertical rotation driving mechanism controls the rotation of the rear arm mechanism 503, a transmission connecting mechanism is arranged between the rear arm mechanism 503 and the front arm mechanism 505, and when the rear arm mechanism 503 rotates, the front arm mechanism 505 is driven to rotate, so that the height and the extending distance of the electric clamping mechanism 507 are adjusted, and the position control of a high-efficiency mechanized drilling tool and a drilling rod is realized.
The rear arm mechanism 503 comprises a pair of outer rear arm 5031 and inner rear arm 5032 which are arranged in parallel, two ends of the outer rear arm 5031 and the inner rear arm 5032 are hinged with the middle seat 504 and the rear seat 502 respectively, the vertical rotary driving mechanism is in transmission connection with the inner rear arm 5032, the front arm mechanism 505 comprises a pair of outer front arm 5051 and inner front arm 5052 which are arranged in parallel, two ends of the outer front arm 5051 and the inner front arm 5052 are hinged with the middle seat 504 and the front seat 506 respectively, the transmission connection mechanism comprises a rear connecting rod 5091 and a front connecting rod 5092, one end of the rear connecting rod 5091 is fixed with the end of the inner rear arm 5032, the other end of the rear connecting rod 5092 is connected with one end of the front connecting rod 5092, and the other end of the.
A pair of outer rear parallel arms 5031, a mid-mount 504 and a rear mount 502 form a rear parallelogram mechanism, and a pair of front parallel arm mechanisms 505, a mid-mount 504 and a front mount 506 form a front parallelogram mechanism; due to the characteristics of the parallelogram, when the angles of the rear arm mechanism 503 and the front arm mechanism 505 are changed, the angles of the middle seat 504 and the front seat 506 are not changed; the vertical rotation driving mechanism controls the rotation of the rear arm mechanism 503, the inner rear arm 5032 drives the front link 5092 to act through the rear link 5091, and the front link 5092 drives the front arm mechanism 505 to act, so that the height and the extension distance of the electric clamping mechanism 507 are controlled.
The horizontal rotation driving mechanism is a horizontal rotation driving servo motor 501 fixed on the top surface of the traveling car 4, and the vertical rotation driving mechanism is a vertical rotation driving servo motor 508 fixed inside the rear seat 502.
The electric clamping mechanism 507 is a common technical means in the field, and meanwhile, a direct drive motor controls clamping and loosening of the clamping block, which is not described in detail.
The moving trolley 4 of the embodiment slides along the Y-axis guide rails 305 on both side surfaces of the track table 3; the track table 3 slides along X-axis guide rails 101 on two sides of the base 1, the manipulator assembly 5 is arranged on the top surface of the movable trolley 4, and the position of the manipulator assembly 5 can be adjusted and controlled in a two-dimensional plane by controlling the sliding of the movable trolley 4 and the track table 3, so that the operation range of the manipulator is greatly enlarged, the requirement of a large drilling platform is met, and the cost is saved;
in the embodiment, the track table 3 is provided with the upper pin holes 303 which penetrate through the track table, the base 1 is provided with the row of lower pin holes 102 corresponding to the upper pin holes 303, and when the track table 3 moves to the working position, the fixed pins are inserted into the upper pin holes 303 and the lower pin holes 102 to lock the position of the track table 3, so that the track table 3 is prevented from shifting during operation of a manipulator, and potential safety hazards are avoided;
in the embodiment, the Y-axis driving motor 401 controls the driving gear 402 to rotate, and the driving gear 402 slides along the rack 304, so that the position control of the movable trolley 4 on the Y axis is realized; the moving trolley 4 is clamped on the track table 3 through the rollers 404 at the two ends, so that the stability of the moving trolley 4 during shifting is improved, the stress stability of the moving trolley 4 is ensured, and the shifting resistance is reduced.
In the specification of the present invention, a large number of specific details are explained. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.
Claims (9)
1. The manipulator of the drilling platform surface is characterized by comprising a base, wherein the base is arranged between two drill rod boxes of the drilling platform surface, and X-axis guide rails are arranged on two side surfaces of the base;
the track table is arranged on the base and slides along the X-axis guide rail, and Y-axis guide rails are arranged on two side faces of the track table;
the movable trolley is arranged on the track table and slides along the Y-axis guide rail;
and the manipulator assembly is fixed on the top surface of the movable trolley.
2. The manipulator according to claim 1, wherein lower mounting plates are symmetrically fixed to both ends of the track table, electric pulleys matched with the X-axis guide rail are mounted on the lower portion of each lower mounting plate, and the track table is clamped on the base through a pair of electric pulleys.
3. The drill floor manipulator according to claim 1, wherein the track table is provided with an upper pin hole therethrough, the base is provided with a row of lower pin holes corresponding to the upper pin hole, and the upper pin hole and the lower pin hole are provided with fixing pins inserted therein.
4. The drill floor manipulator according to claim 3, wherein the upper pin holes are symmetrically formed in the center of both sides of the rail platform.
5. The drill floor manipulator according to claim 1, wherein a Y-axis driving motor is arranged inside the moving trolley, an output end of the Y-axis driving motor vertically penetrates downwards through the moving trolley and is connected with a driving gear, and a rack which is arranged along the Y axis and is meshed with the driving gear is arranged on the top surface of the track table.
6. The manipulator according to claim 5, wherein upper mounting plates are symmetrically fixed to two ends of the moving trolley, rollers matched with the Y-axis guide rails are mounted on the lower portions of the upper mounting plates, and the moving trolley is clamped on the rail table through a pair of rollers.
7. The drill floor manipulator according to claim 1, wherein the manipulator assembly comprises a horizontal rotation driving mechanism, a rear seat, a rear arm mechanism, a middle seat, a front arm mechanism, a front seat and an electric clamping mechanism, the horizontal rotation driving mechanism, the rear seat, the front arm mechanism, the front seat and the electric clamping mechanism are sequentially arranged, the rear seat is mounted on the top surface of the movable trolley through the horizontal rotation driving mechanism, two ends of the rear arm mechanism are respectively hinged to the rear seat and the middle seat, a vertical rotation driving mechanism for driving the rear arm to rotate is arranged in the rear seat, two ends of the front arm mechanism are respectively hinged to the middle seat and the front seat, and a transmission link mechanism is arranged between the rear arm mechanism and the front arm mechanism.
8. The drill floor manipulator of claim 7, wherein the rear arm mechanism includes a pair of parallel outer and inner rear arms, the outer and inner rear arms being hingedly connected at opposite ends to the center and rear seats, the vertical rotary drive mechanism being drivingly connected to the outer or inner rear arms, the front arm mechanism including a pair of parallel outer and inner front arms, the outer and inner front arms being hingedly connected at opposite ends to the center and front seats, the drive connection mechanism including a rear link and a front link, the rear link being fixed at one end to the inner rear arm and connected at the other end to the front link, the front link being hingedly connected at the other end to the outer rear arm.
9. The drill floor manipulator according to claim 7, wherein the horizontal rotation driving mechanism is a horizontal rotation driving servo motor fixed to the top surface of the traveling carriage, and the vertical rotation driving mechanism is a vertical rotation driving servo motor fixed to the inside of the rear seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020178490.5U CN211761528U (en) | 2020-02-17 | 2020-02-17 | Drill floor manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020178490.5U CN211761528U (en) | 2020-02-17 | 2020-02-17 | Drill floor manipulator |
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| CN211761528U true CN211761528U (en) | 2020-10-27 |
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| CN202020178490.5U Active CN211761528U (en) | 2020-02-17 | 2020-02-17 | Drill floor manipulator |
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| CN (1) | CN211761528U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112878933A (en) * | 2020-12-30 | 2021-06-01 | 中曼石油装备集团有限公司 | Large-span multi-section guide rail laying method |
-
2020
- 2020-02-17 CN CN202020178490.5U patent/CN211761528U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112878933A (en) * | 2020-12-30 | 2021-06-01 | 中曼石油装备集团有限公司 | Large-span multi-section guide rail laying method |
| CN112878933B (en) * | 2020-12-30 | 2023-03-10 | 中曼石油装备集团有限公司 | Large-span multi-section guide rail laying method |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A drill floor manipulator Effective date of registration: 20221108 Granted publication date: 20201027 Pledgee: Bank of China Limited by Share Ltd. Yangzhou Weiyang branch Pledgor: JIANGSU CHENG CHUANG INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: Y2022980021055 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
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Granted publication date: 20201027 Pledgee: Bank of China Limited by Share Ltd. Yangzhou Weiyang branch Pledgor: JIANGSU CHENG CHUANG INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: Y2022980021055 |
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Denomination of utility model: A drilling table manipulator Granted publication date: 20201027 Pledgee: Bank of China Limited by Share Ltd. Yangzhou Weiyang branch Pledgor: JIANGSU CHENG CHUANG INTELLIGENT EQUIPMENT Co.,Ltd. Registration number: Y2024980021988 |