CN211851707U - Pipe supporting manipulator for minor repair - Google Patents

Abstract

The utility model relates to a pipe supporting manipulator for minor repair. The technical scheme is as follows: the base is installed on the platform, the swing arm is connected with the base, the base provides swing power for the swing arm, the gripper is connected with the swing arm, the swing arm swings under the action of the power provided by the base, and therefore the gripper can push and support the tubular column. The beneficial effects are that: the utility model discloses a hydraulic motor drives, the main arm passes through hydraulic motor drive transmission shaft rotation, it is at certain angle luffing motion to drive the main arm, promote tongs seat drive tubular column and push up, its compact structure, light in weight, high reliability, realized the smooth migration of tubular column between catwalk and well head in the minor repair operation, the work efficiency is improved, the intensity of labour and the work danger coefficient of workman are reduced, the tubular column between well head and the catwalk is transported in the replacement manual work that can be fine realization well head.

Description

Pipe supporting manipulator for minor repair

Technical Field

The utility model relates to an oil workover rig operation auxiliary device, in particular to pipe supporting manipulator for minor overhaul is used for pushing and supporting of minor overhaul operation in-process tubular column.

Background

The oil field well repairing operation is an important component of the oil field production process, minor repair in the well repairing operation occupies a large proportion of the operation, the minor repair operation process is popularized and mechanized along with the development of the well repairing technology, the production efficiency is improved, the labor intensity is reduced, but some working procedures still need thermal assistance. The transfer process of tubular column between catwalk and well head is exactly the current artificial operation flow that can't break away from, and the mode that needs to push up through the manual work removes the tubular column from the catwalk to the well head or from the well head to the catwalk, and artifical well head operation danger coefficient is high, and intensity of labour is big.

With the technical development of the petroleum equipment industry, at present, some manufacturers have developed a mechanical device for pushing and supporting a pipe string at a wellhead to replace manpower to realize the migration of the pipe string between the wellhead and a catwalk, but the mechanical device still has the following defects: 1. the equipment operation efficiency is low; 2. the smoothness is not enough in the pipe column moving process; 3. the structure is too complex; 4. the volume is large, and the transportation is inconvenient.

Disclosure of Invention

The utility model aims at providing an above-mentioned defect to prior art exists, provide a pipe supporting manipulator for minor repair, realized the smooth migration of tubular column between catwalk and well head in the minor repair operation, improved work efficiency, reduced workman's intensity of labour and work danger coefficient.

The utility model provides a repair with holding up pipe manipulator for a short time, its technical scheme is: the pipe column pushing device comprises a base (100), a swing arm (200) and a gripper (300), wherein the base (100) is installed on a platform, the swing arm (200) is connected with the base (100), the base (100) provides swing power for the swing arm (200), the gripper (300) is connected with the swing arm (200), the swing arm (200) swings under the power provided by the base (100), and therefore the gripper (300) pushes a pipe column; the base (100) comprises a guide rail (110), a base (120), a rotary speed reducer (130), a hydraulic motor (140), a transmission shaft (150) and an outer spherical bearing with a seat (160); the guide rail (110) is installed on the platform, the base (120) is installed on the upper surface of the guide rail (110), the hydraulic motor (140) is installed on the rotary speed reducer (130), the rotary speed reducer (130) is installed on the base (120), meanwhile, the transmission shaft (150) is connected with the rotary speed reducer (130), power is transmitted to the rotary speed reducer (130) through rotation of the hydraulic motor (140), and finally the power is transmitted to the transmission shaft (150).

Preferably, the swing arm (200) comprises a main arm (210), an inner auxiliary arm (220) and a main arm shaft (230), wherein the lower part of the main arm (210) is hinged with the transmission shaft (150), the upper part of the main arm is hinged with the gripper (300), the lower part of the inner auxiliary arm (220) is hinged with the base (120), the upper part of the inner auxiliary arm is hinged with the gripper (300), and the inner auxiliary arm (220) is arranged in the inner cavity of the main arm (210); the main arm (210) is finally driven to move by the rotation of the hydraulic motor (140).

Preferably, the gripper (300) comprises gripper seats (310), air cylinders (320), fingers (330) and a protective cover (340), the gripper seats (310) are respectively connected with the main arm (210) and the inner auxiliary arm (220), one ends of the two air cylinders (320) are respectively fixed on the gripper seats (310), the other ends of the two air cylinders are respectively connected with the two fingers (330) through transmission mechanisms, V-shaped rollers are arranged on the inner sides of the fingers (330), and the two fingers (330) are driven by the air cylinders (320) to clamp the tubular column.

Preferably, the guide rail (110) is an arc rail, and a base (120) is fixed to an upper surface thereof.

Preferably, the upper surface of the base (120) is further provided with a spherical outer bearing (160) with a seat, which is positioned on one side of the rotary speed reducer (130) and plays a role in fixing the transmission shaft (150).

Preferably, the shield (340) is mounted on the gripper seat (310) to protect the cylinder (320) and the fingers (330).

Preferably, the main arm (210) and the inner auxiliary arm (220) are connected with the base (120) at the lower end and the gripper seat (310) at the upper end, the main arm (210) drives the transmission shaft (150) to rotate through the hydraulic motor (140), the main arm (210) is driven to swing up and down at a certain angle, and the gripper seat (310) is pushed to drive the tubular column to push and hold.

The utility model has the advantages that: the utility model discloses a hydraulic motor drives, the main arm passes through hydraulic motor drive transmission shaft rotation, it is at certain angle luffing motion to drive the main arm, promote tongs seat drive tubular column and push up, its compact structure, light in weight, high reliability, realized the smooth migration of tubular column between catwalk and well head in the minor repair operation, the work efficiency is improved, the intensity of labour and the work danger coefficient of workman are reduced, the tubular column between well head and the catwalk is transported in the replacement manual work that can be fine realization well head.

Drawings

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

FIG. 2 is a schematic view of the extended state of the present invention;

FIG. 3 is a schematic structural view of a swing arm assembly;

FIG. 4 is a schematic illustration of the construction of the gripper assembly;

fig. 5 is a perspective schematic view of the present invention;

fig. 6 is a perspective schematic view of the present invention;

in the upper diagram: the robot comprises a base 100, a swing arm 200, a hand grip 300, a guide rail 110, a base 120, a rotary speed reducer 130, a hydraulic motor 140, a transmission shaft 150, a spherical outside bearing 160 with a seat, a main arm 210, an inner auxiliary arm 220, a main arm shaft 230, a hand grip seat 310, an air cylinder 320, a finger 330, a shield 340, a transmission mechanism 350 and a V-shaped roller 360.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

The utility model provides a pipe supporting manipulator for minor repair, as shown in fig. 1, comprising a base 100, a swing arm 200 and a gripper 300; the base 100 is installed on the platform, the swing arm 200 is connected with the base 100, the base 100 provides swing power for the swing arm 200, the hand grip 300 is connected with the swing arm 200, the swing arm 200 swings under the power provided by the base 100, and therefore the hand grip 300 pushes and supports the pipe column.

As shown in fig. 2, 5 and 6, the base 100 of the present invention comprises a guide rail 110, a base 120, a rotary speed reducer 130, a hydraulic motor 140, a transmission shaft 150, and a spherical outer bearing 160 with a seat; the guide rail 110 is an arc-shaped rail, is suitable for the shape structure of the minor repair platform, and is fixedly arranged on the minor repair platform, and the base 120 is arranged on the guide rail 110, so that the position of the guide rail can be adjusted along the arc shape of the arc-shaped rail; the hydraulic motor 140 is installed on the rotary speed reducer 130, the rotary speed reducer 130 is installed on the base 120, the transmission shaft 150 is connected with the rotary speed reducer 130, power is transmitted to the rotary speed reducer 130 through rotation of the hydraulic motor 140 and is finally transmitted to the transmission shaft 150, and the spherical outer surface bearing with a seat 160 is fixed on the base 120 and located on one side of the rotary speed reducer 130 to play a role of fixing the transmission shaft 150.

As shown in fig. 3, 5 and 6, the swing arm 200 of the present invention is composed of a main arm 210, an inner auxiliary arm 220 and a main arm shaft 230; the lower part of the main arm 210 is hinged with the transmission shaft 150, the upper part of the main arm is hinged with the hand grip 300, the lower part of the inner auxiliary arm 220 is hinged with the base 120, the upper part of the inner auxiliary arm 220 is hinged with the hand grip 300, and the inner auxiliary arm 220 is positioned in the inner cavity of the main arm; the rotation of the hydraulic motor 140 finally drives the main arm 210.

As shown in fig. 4, the gripper 300 of the present invention comprises a gripper seat 310, a cylinder 320, fingers 330 and a protective cover 340, wherein the gripper seat 310 is connected with the main arm 210 and the inner auxiliary arm 220 respectively, one end of each of the two cylinders 320 is fixed on the gripper seat 310 respectively, the other end of each of the two cylinders is connected with the two fingers 330 through a transmission mechanism 350, the inner side of each of the fingers 330 is provided with a V-shaped roller 360, and the control cylinder 320 drives the two fingers 330 and the V-shaped roller 360 to clamp the tubular column.

As shown in fig. 1 and 2, the main arm 210, the inner auxiliary arm 220, the base 120 and the gripper seat 310 are configured to swing the main arm 210 under the driving of the output shaft by the rotation of the hydraulic motor 140, and the gripper seat 310 can adapt to the pushing and supporting of a pipe string during the swinging process and change at a certain angle, so as to adapt to the state change of the pipe string during the operation process, and the pipe string can be smoothly pushed and supported.

The above description is only a preferred embodiment of the present invention, and any person skilled in the art may modify the present invention or modify it into an equivalent technical solution by using the technical solutions described above. Therefore, any simple modifications or equivalent replacements made according to the technical solution of the present invention belong to the scope of the claimed invention as far as possible.

Claims (7)

1. The utility model provides a pipe supporting manipulator for minor repair which characterized by: the pipe column pushing device comprises a base (100), a swing arm (200) and a gripper (300), wherein the base (100) is installed on a platform, the swing arm (200) is connected with the base (100), the base (100) provides swing power for the swing arm (200), the gripper (300) is connected with the swing arm (200), the swing arm (200) swings under the power provided by the base (100), and therefore the gripper (300) pushes a pipe column; the base (100) comprises a guide rail (110), a base (120), a rotary speed reducer (130), a hydraulic motor (140), a transmission shaft (150) and an outer spherical bearing with a seat (160); the guide rail (110) is installed on the platform, the base (120) is installed on the upper surface of the guide rail (110), the hydraulic motor (140) is installed on the rotary speed reducer (130), the rotary speed reducer (130) is installed on the base (120), meanwhile, the transmission shaft (150) is connected with the rotary speed reducer (130), power is transmitted to the rotary speed reducer (130) through rotation of the hydraulic motor (140), and finally the power is transmitted to the transmission shaft (150).

2. The pipe supporting manipulator for minor repair according to claim 1, wherein: the swing arm (200) comprises a main arm (210), an inner auxiliary arm (220) and a main arm shaft (230), the lower part of the main arm (210) is hinged with the transmission shaft (150), the upper part of the main arm is hinged with the gripper (300), the lower part of the inner auxiliary arm (220) is hinged with the base (120), the upper part of the inner auxiliary arm is hinged with the gripper (300), and the inner auxiliary arm (220) is arranged in the inner cavity of the main arm (210); the main arm (210) is finally driven to move by the rotation of the hydraulic motor (140).

3. The pipe supporting manipulator for minor repair according to claim 1, wherein: the gripper (300) comprises gripper seats (310), air cylinders (320), fingers (330) and a protective cover (340), wherein the gripper seats (310) are respectively connected with a main arm (210) and an inner auxiliary arm (220), one ends of the two air cylinders (320) are respectively fixed on the gripper seats (310), the other ends of the two air cylinders are respectively connected with the two fingers (330) through transmission mechanisms, V-shaped rollers are arranged on the inner sides of the fingers (330), and the two fingers (330) are driven by the air cylinders (320) to clamp a pipe column.

4. The pipe supporting manipulator for minor repair according to claim 1, wherein: the guide rail (110) is an arc-shaped rail, and a base (120) is fixed on the upper surface.

5. The pipe supporting manipulator for minor repair according to claim 1 or 4, wherein: the upper surface of the base (120) is also provided with an outer spherical bearing (160) with a seat, which is positioned at one side of the rotary speed reducer (130) and plays a role in fixing the transmission shaft (150).

6. The pipe supporting manipulator for minor repair according to claim 3, wherein: the protective cover (340) is arranged on the gripper seat (310) and plays a role in protecting the air cylinder (320) and the fingers (330).

7. The pipe supporting manipulator for minor repair according to claim 2, wherein: the main arm (210) and the inner auxiliary arm (220) are connected with the base (120) at the lower end and the gripper seat (310) at the upper end, the main arm (210) drives the transmission shaft (150) to rotate through the hydraulic motor (140) to drive the main arm (210) to swing up and down at a certain angle, and the gripper seat (310) is pushed to drive the pipe column to push and hold.

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