CN215395303U - Electric drive drill floor surface mechanical arm - Google Patents
Electric drive drill floor surface mechanical arm Download PDFInfo
- Publication number
- CN215395303U CN215395303U CN202121782410.8U CN202121782410U CN215395303U CN 215395303 U CN215395303 U CN 215395303U CN 202121782410 U CN202121782410 U CN 202121782410U CN 215395303 U CN215395303 U CN 215395303U
- Authority
- CN
- China
- Prior art keywords
- hinged
- arm
- main arm
- base
- guide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005553 drilling Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
Images
Landscapes
- Structure Of Telephone Exchanges (AREA)
Abstract
The utility model discloses an electrically-driven drill floor mechanical arm which comprises a base, an electric control cabinet, a swing mechanism and a fixed base, wherein a mechanical arm body is arranged on the fixed base, the mechanical arm body comprises a rear main arm, a rear auxiliary arm, a front main arm and a front auxiliary arm, and two ends of the rear main arm and two ends of the rear auxiliary arm are respectively hinged with the fixed base and a hinged guide rail frame; the front main arm and the front auxiliary arm are respectively hinged with the hinged guide rail frame and the paw mounting seat; the base of the electric cylinder is arranged on the fixed base, and the piston end of the electric cylinder is hinged with the middle part of the rear main arm. The electric cylinder is adopted to push the mechanical arm to extend and retract, the electric cylinder is electrically connected with the electric control cabinet, the electric control cabinet is arranged above the base, the structural layout is simple and compact, the occupied space is small, and the arrangement of complex electric wires is avoided. The mechanical arm body is of a double-parallelogram linkage structure, so that the strength and the stability of the mechanical arm are ensured. The electric energy is adopted, the environment is protected, and the environment is not polluted.
Description
Technical Field
The utility model relates to the technical field of drilling and production equipment, in particular to an electrically-driven drill floor surface mechanical arm.
Background
The traditional land drilling machine adopts manual operation for accessing the vertical root; the stand access is an operation item with high danger coefficient, more repeated times and high labor intensity. The appearance of the manipulator of the double-layer bench pipe arranging machine and the drilling platform surface realizes the automation and the intellectualization of the whole stand storing and taking operation.
At present, a plurality of different types of drill floor surface manipulators appear on site, but most of the manipulators are driven by hydraulic pressure, and in the using process, a hydraulic control system and a hydraulic oil pipeline are complicated in layout, and the leakage of hydraulic oil cannot meet the environmental protection requirement.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an electrically-driven drill floor mechanical arm, which aims to solve the problems that the hydraulic pipeline layout and the operation control system of the existing hydraulically-driven mechanical arm are complex in structure, and the environment is influenced by hydraulic oil leakage.
In order to solve the technical problems, the technical scheme adopted by the utility model is as follows:
an electrically-driven drill floor mechanical arm comprises an electric control cabinet arranged on a base, wherein a rotary mechanism is arranged on the upper surface of the electric control cabinet and connected with a fixed base, a mechanical arm body is arranged on the fixed base and comprises a rear main arm and a rear auxiliary arm which are parallel to each other, a front main arm and a front auxiliary arm which are parallel to each other, the bottom end of the rear main arm is hinged with the fixed base, the top end of the rear main arm is hinged with a first hinge shaft of a hinge guide rail frame, the bottom end of the rear auxiliary arm is hinged with the fixed base, and the top end of the rear auxiliary arm is hinged with a third hinge shaft of the hinge guide rail frame; the top end of the front main arm is hinged with the first hinge shaft, and the bottom end of the front main arm is hinged with the paw mounting base; the top end of the front auxiliary arm is hinged with a second hinge shaft hinged with the guide rail frame, and the bottom end of the front auxiliary arm is hinged with the paw mounting seat;
the third hinge shaft and the second hinge shaft are respectively arranged at the left side and the right side of the hinge guide rail frame, and the first hinge shaft is arranged in the middle of the lower part of the hinge guide rail frame;
the base of the electric cylinder is arranged on the fixed base, the piston end of the electric cylinder is hinged with the middle part of the rear main arm, and the electric cylinder is electrically connected with the electric control cabinet.
Preferably, the middle part of the hinged guide rail frame is provided with a sliding groove, a fourth hinged shaft is installed in the sliding groove, and the first hinged shaft is located below the sliding groove.
Preferably, the upper part of the rear auxiliary arm is hinged with the bottom end of the rear connecting rod, the top end of the rear connecting rod is hinged with the fourth hinge shaft and the top end of the front connecting rod, and the bottom end of the front connecting rod is hinged with the upper part of the front auxiliary arm.
Preferably, the base is mounted on a slide rail of the drill floor.
Preferably, the slewing mechanism is provided with a rotary encoder, so that the rotation angle of the mechanical arm body can be accurately measured.
Preferably, a stay cord displacement sensor is mounted on the electric cylinder, and the position of the paw mounting seat can be monitored.
The working process of the utility model is as follows:
when the piston end of the electric cylinder extends, the rear main arm and the rear auxiliary arm are pushed to rotate clockwise, the hinged guide rail frame descends along with the rear main arm and the rear auxiliary arm, and the front auxiliary arm and the front main arm push the paw mounting base to move horizontally in the direction far away from the base under the connecting action of the hinged guide rail frame; a fourth hinged shaft arranged in the sliding groove moves downwards relatively in the sliding groove to push the front auxiliary arm to move stably; on the contrary, when the piston end of the electric cylinder is withdrawn, the rear main arm and the rear auxiliary arm rotate anticlockwise to drive the hinged guide rail frame to lift, the front main arm and the front auxiliary arm are pulled to be withdrawn, and the paw mounting base moves horizontally in the direction close to the base until the rear main arm, the rear auxiliary arm, the front main arm and the front auxiliary arm are all in a vertical state.
The utility model has the beneficial effects that:
(1) the electric cylinder is adopted to push the mechanical arm to extend and retract, the electric cylinder is electrically connected with the electric control cabinet, the electric control cabinet is arranged above the base, the structural layout is simple and compact, the occupied space is small, the arrangement of complex electric wires is avoided, electric energy is adopted, the electric control cabinet is green and environment-friendly, and the environment is not polluted;
(2) two ends of the rear main arm and the rear auxiliary arm are respectively hinged to the fixed base and the hinged guide rail frame to form a parallelogram structure, two ends of the front main arm and the front auxiliary arm are respectively hinged to the hinged guide rail frame and the paw mounting seat to form a second parallelogram structure, so that a double-parallelogram linkage structure is formed, and the strength of the mechanical arm and the stability of the drilling tool in the process of moving and transporting are ensured;
(3) the base is arranged on the sliding rail of the drilling platform surface, so that the position of the mechanical arm can be moved; by adopting the slewing mechanism, the extending direction and the rotating direction of the mechanical arm can be accurately controlled; the stay cord displacement sensor installed on the electric cylinder can accurately monitor the position of the paw mounting seat, so that automation and accurate control are realized, and the production cost is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a state diagram of the use of the present invention;
in the figure: 1. the robot comprises a base, 2, an electric control cabinet, 3, a swing mechanism, 4, a fixed base, 5, an electric cylinder, 6, a robot arm body, 601, a rear auxiliary arm, 602, a rear main arm, 603, a rear connecting rod, 604, a front connecting rod, 605, a front auxiliary arm, 606, a front main arm, 7, a hinged guide rail frame, 701, a first hinged shaft, 702, a second hinged shaft, 703, a third hinged shaft, 704, a fourth hinged shaft, 705, a sliding chute, 8 and a paw mounting seat.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, an electrically driven drill floor mechanical arm includes an electric control cabinet 2 installed on a base 1, a swing mechanism 3 is installed on an upper surface of the electric control cabinet 2, the swing mechanism 3 is connected with a fixed base 4, a mechanical arm body 6 is installed on the fixed base 4, the mechanical arm body 6 includes a rear main arm 602 and a rear sub arm 601 which are parallel to each other, and a front main arm 606 and a front sub arm 605 which are parallel to each other, a bottom end of the rear main arm 602 is hinged to the fixed base 4, a top end of the rear main arm 602 is hinged to a first hinge shaft 701 of a hinge guide rail frame 7, a bottom end of the rear sub arm 601 is hinged to the fixed base 4, and a top end of the rear sub arm 601 is hinged to a third hinge shaft 703 of the hinge guide rail frame 7; the top end of the front main arm 606 is hinged with the first hinge shaft 701, and the bottom end of the front main arm 606 is hinged with the paw mounting base 8; the top end of the front auxiliary arm 605 is hinged with a second hinge shaft 702 of the hinge guide rail frame 7, and the bottom end of the front auxiliary arm 605 is hinged with the paw mounting seat 8;
a third hinge shaft 703 and a second hinge shaft 702 are respectively installed at the left and right sides of the hinge guide rail frame 7, and a first hinge shaft 701 is installed in the middle of the lower part of the hinge guide rail frame 7;
the base of the electric cylinder 5 is arranged on the fixed base 4, the piston end of the electric cylinder 5 is hinged with the middle part of the rear main arm 602, and the electric cylinder 5 is electrically connected with the electric control cabinet 2.
A sliding groove 705 is formed in the middle of the hinge rail frame 7, a fourth hinge shaft 704 is installed in the sliding groove 705, and the first hinge shaft 701 is located below the sliding groove 705.
The upper portion of the rear sub-arm 601 is hinged to the bottom end of the rear link 603, the top end of the rear link 603 is hinged to the fourth hinge shaft 704 and the top end of the front link 604, and the bottom end of the front link 604 is hinged to the upper portion of the front sub-arm 605.
The base 1 is installed on a slide rail of a drilling platform surface.
The slewing mechanism 3 is provided with a rotary encoder for accurately measuring the rotation angle of the mechanical arm body 6.
And a stay cord displacement sensor is arranged on the electric cylinder 5 to monitor the position of the paw mounting seat 8.
According to the utility model, two ends of the rear main arm 602 and the rear auxiliary arm 601 are respectively hinged on the fixed base 4 and the hinged guide rail frame 7 to form a parallelogram structure, two ends of the front main arm 606 and the front auxiliary arm 605 are respectively hinged on the hinged guide rail frame 7 and the paw mounting seat 8 to form a second parallelogram structure, so that a double-parallelogram linkage structure is formed, and the stability and the strength of the mechanical arm are ensured.
When the piston end of the electric cylinder 5 extends, the rear main arm 602 and the rear auxiliary arm 601 are pushed to rotate clockwise, the hinge guide rail bracket 7 descends along with the piston end, and the front auxiliary arm 605 and the front main arm 606 push the paw mounting base 8 to move horizontally in the direction far away from the base 1 along with the piston end under the connection action of the hinge guide rail bracket 7; the fourth hinge shaft 604 installed in the slide groove 605 moves downward in the slide groove 605 to push the front sub-arm 605 to move stably; on the contrary, when the piston end of the electric cylinder 5 retracts, the rear main arm 602 and the rear auxiliary arm 601 rotate counterclockwise, and then the hinged guide rail frame 7 is driven to lift, the front main arm 606 and the front auxiliary arm 605 are pulled to retract, and the paw mounting base 8 moves horizontally in the direction close to the base 1 until the rear main arm 602, the rear auxiliary arm 601, the front main arm 606 and the front auxiliary arm 605 are all in the vertical state.
The electric cylinder is adopted to push the mechanical arm to extend and retract, the electric cylinder is electrically connected with the electric control cabinet, the electric control cabinet is arranged above the base, the structural layout is simple and compact, the occupied space is small, the arrangement of complex electric wires is avoided, electric energy is adopted, the electric control cabinet is green and environment-friendly, and the environment is not polluted.
Claims (6)
1. The utility model provides an electric drive rig floor face mechanical arm, is including installing automatically controlled cabinet (2) on base (1), and the last surface mounting of automatically controlled cabinet (2) has rotation mechanism (3), and rotation mechanism (3) are connected with unable adjustment base (4), install arm body (6), its characterized in that on unable adjustment base (4): the mechanical arm body (6) comprises a rear main arm (602), a rear auxiliary arm (601), a front main arm (606) and a front auxiliary arm (605), wherein the rear main arm and the rear auxiliary arm are parallel to each other, the front main arm and the front auxiliary arm are parallel to each other, the bottom end of the rear main arm (602) is hinged to the fixed base (4), the top end of the rear main arm (602) is hinged to a first hinged shaft (701) of the hinged guide rail frame (7), the bottom end of the rear auxiliary arm (601) is hinged to the fixed base (4), and the top end of the rear auxiliary arm (601) is hinged to a third hinged shaft (703) of the hinged guide rail frame (7); the top end of the front main arm (606) is hinged with the first hinged shaft (701), and the bottom end of the front main arm (606) is hinged with the paw mounting seat (8); the top end of the front auxiliary arm (605) is hinged with a second hinge shaft (702) of the hinge guide rail frame (7), and the bottom end of the front auxiliary arm (605) is hinged with the paw mounting seat (8);
a third hinge shaft (703) and a second hinge shaft (702) are respectively arranged at the left side and the right side of the hinge guide rail frame (7), and a first hinge shaft (701) is arranged in the middle of the lower part of the hinge guide rail frame (7);
the base of the electric cylinder (5) is arranged on the fixed base (4), the piston end of the electric cylinder (5) is hinged with the middle part of the rear main arm (602), and the electric cylinder (5) is electrically connected with the electric control cabinet (2).
2. The electrically driven drill floor robot of claim 1, wherein: the middle part of the hinged guide rail frame (7) is provided with a sliding groove (705), a fourth hinged shaft (704) is installed in the sliding groove (705), and the first hinged shaft (701) is located below the sliding groove (705).
3. The electrically driven drill floor robot of claim 1 or 2, wherein: the upper part of the rear auxiliary arm (601) is hinged with the bottom end of the rear connecting rod (603), the top end of the rear connecting rod (603) is hinged with the fourth hinged shaft (704) and the top end of the front connecting rod (604), and the bottom end of the front connecting rod (604) is hinged with the upper part of the front auxiliary arm (605).
4. The electrically driven floor robot of claim 3, wherein: the base (1) is arranged on a sliding rail of the drilling platform surface.
5. The electrically driven floor robot of claim 4, wherein: the rotary mechanism (3) is provided with a rotary encoder.
6. The electrically driven floor robot of claim 5, wherein: and a pull rope displacement sensor is arranged on the electric cylinder (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121782410.8U CN215395303U (en) | 2021-08-02 | 2021-08-02 | Electric drive drill floor surface mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121782410.8U CN215395303U (en) | 2021-08-02 | 2021-08-02 | Electric drive drill floor surface mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215395303U true CN215395303U (en) | 2022-01-04 |
Family
ID=79655838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121782410.8U Active CN215395303U (en) | 2021-08-02 | 2021-08-02 | Electric drive drill floor surface mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215395303U (en) |
-
2021
- 2021-08-02 CN CN202121782410.8U patent/CN215395303U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108301794B (en) | Petroleum workover robot | |
| CN111852332B (en) | Automatic rod adding drilling machine with drill rod box | |
| CN203584338U (en) | Land drilling machine working platform drill-rod stand discharging system | |
| CN102174879B (en) | Racking platform pipe column discharge system and working method thereof | |
| CN105332663B (en) | A kind of drill rod stand column automatic-discharging manipulator | |
| CN102383744B (en) | Pipe arranging device for headframe | |
| CN111894454B (en) | Crawler-type intelligent drilling machine for coal mine | |
| CN107905746B (en) | A kind of petroleum drilling and repairing well removes and puts the well formula robot device of tubing string | |
| CN202832297U (en) | Hydraulic cylinder driven pipe arranging device with translation feature | |
| CN103410458A (en) | Vertical discharge pipe system | |
| CN109798079A (en) | A kind of telescopic boom iron driller | |
| CN112065303B (en) | Drill floor robot | |
| CN215408522U (en) | Electric drive drill table-board translation righting mechanical arm | |
| CN215395303U (en) | Electric drive drill floor surface mechanical arm | |
| CN208749313U (en) | A kind of petroleum well workover Work robot | |
| CN105084224A (en) | Arm type lifting machine | |
| CN109605579A (en) | A kind of mountable formula drilling equipment of movement | |
| CN202663765U (en) | Lifting device used for orchard hole-digging fertilizer distributor | |
| CN203488122U (en) | Vertically pipe-arranging system | |
| CN111963765A (en) | Mechanical arm type pipe erecting machine for fully mechanized excavation of coal mine | |
| CN206233879U (en) | Oil drilling machine quadruple board platform pipe arranging robot tubing string pawl | |
| CN115573670A (en) | Drill rod fixing device of rotary drilling rig | |
| CN209817971U (en) | Telescopic arm type iron roughneck | |
| CN114251062A (en) | Novel automatic calandria system of rig | |
| CN209742789U (en) | Tunnel coring and drilling machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |