CN212837641U

CN212837641U - Automatic calandria device

Info

Publication number: CN212837641U
Application number: CN202021696364.5U
Authority: CN
Inventors: 刘泽华; 李云祥; 刘燕; 彭太锋; 张斌; 许梦杰
Original assignee: Sinopec Oilfield Equipment Corp; Sinopec Siji Petroleum Machinery Co Ltd
Current assignee: Sinopec Oilfield Equipment Corp; Sinopec Siji Petroleum Machinery Co Ltd
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2021-03-30
Anticipated expiration: 2030-08-14

Abstract

An automatic pipe arranging device comprises a movable base, a movable base and a pipe conveying device, wherein the movable base is arranged on a track and is driven by a gear rack mechanism to move along a feeding direction; a rotary driving device is mounted at the upper end of the movable base, and an output shaft of the rotary driving device is connected with the flange base and drives the flange base to rotate circumferentially; the flange base is provided with a parallelogram link mechanism and a driving device, and the driving device drives the parallelogram link mechanism to extend back and forth; and the top end of the parallelogram link mechanism is provided with a manipulator assembly, and the manipulator assembly grabs or loosens the tubular column. The utility model provides a pair of automatic calandria device can realize the automatic operation of drilling string calandria, reduces intensity of labour.

Description

Automatic calandria device

Technical Field

The utility model relates to an oil field drilling platform well head professional equipment, especially an automatic calandria device.

Background

In the drilling workover operation of present oil field most, connect a single stand to play down and put the stand and all need manual operation to accomplish, mainly have drawing of drilling rod oil pipe etc. send and put 3 kinds of actions, and the workman need put the tubular column in the repetitive operation between well head and the district under control, also need tubular columns such as artifical centering drilling rod oil pipe, and this kind of operation mode exists operational environment abominable, and intensity of labour is big, and is inefficient, danger coefficient height scheduling problem.

Disclosure of Invention

The utility model aims to solve the technical problem that an automatic calandria device is provided, can push away at the well head and put work such as drilling rod oil pipe, realize the automation mechanized operation, reduce manual operation, reduce intensity of labour and danger coefficient.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:

an automatic pipe arranging device comprises a movable base, a movable base and a pipe conveying device, wherein the movable base is arranged on a track and is driven by a gear rack mechanism to move along a feeding direction; a rotary driving device is mounted at the upper end of the movable base, and an output shaft of the rotary driving device is connected with the flange base and drives the flange base to rotate circumferentially; the flange base is provided with a parallelogram link mechanism and a driving device, and the driving device drives the parallelogram link mechanism to extend back and forth; and the top end of the parallelogram link mechanism is provided with a manipulator assembly, and the manipulator assembly grabs or loosens the tubular column.

The movable base is provided with rollers on the left and right sides, the rollers are arranged in the track in a sliding mode, and the rollers are limited by limiting seats at two ends of the track.

The rack-and-pinion mechanism comprises a rack fixed on one side of the track, the rack is meshed with the gear, the gear is driven by a hydraulic motor, and the hydraulic motor is fixed on the movable base.

Parallelogram link mechanism is including fixing the lower connection otic placode on the flange base, and articulated on the lower connection otic placode have parallel upper arm, underarm, and the other end of upper arm, underarm is articulated with last connection otic placode.

The driving device is a hydraulic oil cylinder, the lower end of the hydraulic oil cylinder is hinged with a double lug plate on the flange base, and the piston rod end of the hydraulic oil cylinder is hinged with a single lug plate welded on the lower arm.

The utility model relates to an automatic calandria device has following technological effect: the idler wheels are arranged on the periphery of the movable base and can move in the track, and the vertical grabbing pipe can move in the feeding direction by being driven by the gear rack mechanism; the rotary driving device can drive the parallelogram link mechanism (mechanical arm) to do circular rotation motion, the hydraulic oil cylinder can drive the parallelogram link mechanism (mechanical arm) to do telescopic motion under the pressure of the hydraulic source system, the mechanical arm assembly is arranged at the tail end of the mechanical arm, and the tubular column clamping device is arranged in the mechanical arm assembly, so that the grabbing and loosening actions can be realized. The device has the advantages of compact structure, large operation radius, high automation degree, convenient operation, safety and reliability, realizes the automatic operation of the pipe arrangement of the drill column, and has wide popularization prospect.

Drawings

The invention will be further explained with reference to the following figures and examples:

fig. 1 is a front view of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is a left side view of the present invention.

Fig. 4 is a schematic structural diagram of the present invention.

Fig. 5 is a top view of the middle manipulator assembly of the present invention.

In the figure: the mechanical arm comprises a track 1, a rack 2, a gear 3, a hydraulic control system 4, a hydraulic motor 5, a movable base 6, a rotary driving device 7, a flange base 8, a lower connecting double-lug plate group 9, a double-lug plate 10, an upper arm 11, a lower arm 12, a hydraulic oil cylinder 13, a single-lug plate 14, an upper connecting double-lug plate group 15 and a mechanical arm assembly 16.

Detailed Description

As shown in fig. 1-4, an automatic pipe arranging device comprises a movable base 6, rollers are installed on two sides of the movable base 6, and the movable base 6 is slidably disposed on a track 1 through the rollers. A rack 2 is installed on one side of the track 1, a hydraulic motor 5 is installed on the side face of the corresponding movable base 6, a gear 4 is installed at the lower end of the hydraulic motor 5, and the gear 4 is meshed with the rack 3 to form a gear-rack transmission pair. The movable base 6 can make reciprocating linear motion in the track 1 under the driving of the hydraulic motor 5.

The hydraulic motor 5 can also be an electric motor, and the motor or the motor is provided with an encoder, so that the position can be accurately controlled, the starting acceleration, the constant speed in the middle process and the deceleration when the position is approached are realized through a control system, and the stepless speed regulation ensures the motion stability of the whole process.

A rotary driving device 7 is installed at the upper end of the movable base 6 through bolts, and the rotary driving device 7 is a rotary speed reducer. The rotary speed reducer is of type SE 7. The slewing gear is generally composed of a worm, a slewing bearing, a housing, a hydraulic motor, and the like. Because the core component adopts the slewing bearing, the axial force, the radial force and the tipping moment can be borne simultaneously, the hydraulic or motor drive can be realized, the angle sensor is added, the accurate control of the position can be realized, and the memory function of the action path is realized.

The output end of the rotary driving device 7 is provided with a flange base 8 through bolts. Two groups of lower connecting lug plates 9 and double lug plates 10 are welded on the upper end face of the flange base 8, wherein the double lug plates 10 are arranged at the symmetrical middle positions of the two groups of lower connecting lug plates 9.

Two groups of lower connecting lug plates 9 are hinged with the lower ends of upper arms 11 and lower arms 12, the upper ends of the upper arms 11 and the lower arms 12 are hinged with upper connecting lug plates 15, and the lower connecting lug plates 9, the upper arms 11, the lower arms 12 and the upper connecting lug plates 15 form a parallelogram link mechanism.

The double-lug plate 10 is hinged with the lower end of a telescopic oil cylinder 13, and the piston rod end of the telescopic oil cylinder 13 is hinged with a single-lug plate 14 welded on a lower arm 12.

As shown in figure 5, two groups of upper connecting lug plates 15 are fixedly connected with a shell of a manipulator assembly 16, the manipulator assembly 16 comprises a shell 16-1, a pipe column clamping device is arranged in the shell 16-1 and comprises a telescopic hydraulic cylinder 16-2, first connecting plates 16-3 are symmetrically fixed at the end of a piston rod of the telescopic hydraulic cylinder 16-2 in the left-right direction, each connecting plate 16-3 is hinged with a second connecting plate 16-4, the other end of each second connecting plate 16-4 is hinged with a pipe clamping plate 16-5, and the middle of each pipe clamping plate 16-5 is rotatably arranged on the shell 16-1 through a pin shaft 16-6. When the telescopic hydraulic cylinder 16-2 extends out, the second connecting plates 16-4 rotate outwards, the two second connecting plates 16-4 are opened, one end of the pipe clamping plate 16-5 hinged with the second connecting plates 16-4 rotates outwards, the other end of the pipe clamping plate 16-5 rotates inwards, and therefore the other ends of the two pipe clamping plates 16-5 are close to each other to clamp the pipe column.

Here, a travel switch is provided on the housing of the manipulator assembly 16, and the travel switch can control the amount of extension and retraction of the hydraulic cylinder 16-2. And when the pipe column is in place, the hand grip is automatically clasped. A buffer collision energy absorption device cannot be added on the manipulator assembly 16, so that the collision and shaking of the tubular column are reduced.

The hydraulic motor 5, the rotary driving device 7, the hydraulic oil cylinder 13 and the pipe column clamping device in the manipulator assembly 16 form a hydraulic control loop together with the hydraulic control system 4.

The hydraulic motor 5 can drive the gear 4 to rotate under the control of the hydraulic control system 4, so that the movable base 6 moves in the track to realize the movement of the gripping vertical pipe in the feeding direction.

The hydraulic motor of the rotary driving device 7 can drive the flange base 8 to rotate under the control of the hydraulic control system 4, so that the vertical pipe can be grabbed to perform circular rotation motion.

The hydraulic oil cylinder 13 can drive the parallelogram link mechanism to perform front and back telescopic movement, and further drive the manipulator assembly 16 to grab or release the tubular column. The robot assembly 16 here remains horizontal throughout the movement.

Claims

1. An automatic calandria device which is characterized in that: the device comprises a movable base (6), wherein the movable base (6) is arranged on a track (1) and is driven by a gear rack mechanism to move along the feeding direction; a rotary driving device (7) is mounted at the upper end of the movable base (6), and an output shaft of the rotary driving device (7) is connected with the flange base (8) and drives the flange base (8) to rotate circumferentially; a parallelogram link mechanism and a driving device are arranged on the flange base (8), and the driving device drives the parallelogram link mechanism to extend back and forth; and the top end of the parallelogram link mechanism is provided with a manipulator assembly (16), and the manipulator assembly (16) is used for grabbing or loosening the tubular column.

2. The automatic pipe arranging device according to claim 1, wherein: the movable base (6) is provided with rollers on the left and right sides, the rollers are arranged in the track (1) in a sliding mode, and the rollers are limited by limiting seats at the two ends of the track (1).

3. The automatic pipe arranging device according to claim 1, wherein: the gear rack mechanism comprises a rack (2) fixed on one side of the track (1), the rack (2) is meshed with a gear (3), the gear (3) is driven by a hydraulic motor (5), and the hydraulic motor (5) is fixed on a movable base (6).

4. The automatic pipe arranging device according to claim 1, wherein: parallelogram link mechanism connects otic placode (9) including fixing down on flange base (8), and it has parallel upper arm (11), underarm (12) to connect to articulate on otic placode (9) down, and the other end and the last otic placode (15) of connecting of upper arm (11), underarm (12) are articulated.

5. The automatic pipe arranging device according to claim 4, wherein: the driving device is a hydraulic oil cylinder (13), the lower end of the hydraulic oil cylinder (13) is hinged with a double-lug plate (10) on the flange base (8), and the piston rod end of the hydraulic oil cylinder (13) is hinged with a single-lug plate (14) welded on the lower arm (12).