CN215889987U - Two-layer platform system for automatic pipe arranging manipulator - Google Patents
Two-layer platform system for automatic pipe arranging manipulator Download PDFInfo
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- CN215889987U CN215889987U CN202220140574.9U CN202220140574U CN215889987U CN 215889987 U CN215889987 U CN 215889987U CN 202220140574 U CN202220140574 U CN 202220140574U CN 215889987 U CN215889987 U CN 215889987U
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Abstract
The utility model relates to the technical field of petroleum equipment, in particular to a racking platform system for an automatic pipe arranging manipulator, which comprises a racking platform main body, wherein the racking platform main body is provided with the pipe arranging manipulator; the double-layer table main body comprises a monkey table, a movable guardrail and a frame body, wherein a hollow inner cavity is formed in the frame body, and a distribution box communicated with the hollow inner cavity of the frame body is installed on the frame body; be equipped with a set of parallel arrangement's fingerboard in the framework, the fingerboard is hollow structure, be equipped with the through wires hole of intercommunication in fingerboard and the framework, automatic baffle mechanism is installed to the outer fringe department of fingerboard, the power supply line of automatic baffle mechanism gets into in the distribution box by the inner chamber of fingerboard through the inner chamber of framework. The monkey platform includes base and girder, the girder is rectangle tubular structure, the girder is two to the fixed connection of symmetry is in the both sides of base. The structure of the utility model has high stability, and the power supply line of the automatic baffle mechanism is more reasonable in wiring.
Description
Technical Field
The utility model relates to the technical field of petroleum equipment, in particular to a racking platform system for an automatic pipe arranging manipulator.
Background
In oil drilling and production, in order to conveniently take and transfer the pipe fittings, a racking platform is arranged on one side of a derrick, and the pipe fittings are discharged by utilizing the racking platform.
Chinese utility model patent, patent No. CN201720045188.0 discloses a derrick racking platform calandria device, which specifically includes:
the mechanical hand is used for driving the monkey stand to move up and down, and the mechanical hand is used for driving the monkey stand to move up and down;
a plurality of first finger beam pipes and a plurality of second finger beam pipes are arranged in the pipe arrangement area, and a first pipe arrangement groove is formed between any two adjacent first finger beam pipes;
a second row of pipe grooves are formed between every two adjacent second finger beam pipes; the monkey stand body is positioned on one side of the calandria area and is fixed with the main body stand, and a linear sliding rail is arranged on the monkey stand body;
the manipulator is installed on the linear slide rail and is driven by the first driving mechanism to move on the linear slide rail, and the manipulator is driven by the second driving mechanism to freely rotate between the areas where the first pipe arranging groove and the second pipe arranging groove are located.
The tip in first calandria groove and second calandria groove all is equipped with locking mechanism, and locking mechanism installs the spring bolt on the lock seat including installing the lock seat and the rotation at fingerboard tip, utilizes locking mechanism to blockade the port in calandria groove to block the tubular column in the calandria groove from calandria inslot roll-off.
When the electric locking mechanism is used, an electric locking mechanism is generally selected, when power supply lines are distributed, the electric lines are fixed on the outer side of the fingerboard by the locking mechanism, and the oil pipe is easy to rub the power supply lines after entering the pipe discharging groove, so that the electric lines are damaged.
In addition, traditional monkey platform is bent by a monoblock steel sheet and is made, and the slide rail is installed at the top of steel sheet, and the monkey platform of this kind of structure atress back is out of shape easily, and the slide rail of monkey platform top installation twists thereupon, and this actuating mechanism that will lead to the manipulator moves is obstructed.
Disclosure of Invention
The utility model aims to overcome the defects in the prior art and provides a racking platform system for an automatic pipe arranging manipulator, which is higher in structural stability and more reasonable in wiring of power supply lines.
The technical scheme of the utility model is as follows:
a racking platform system for an automatic pipe arranging manipulator comprises a racking platform main body, wherein the racking platform main body is provided with the pipe arranging manipulator;
the two-layer table main body comprises a monkey table, movable guardrails and frame bodies, the movable guardrails are vertically arranged at the rear end of the monkey table, the frame bodies are divided into two groups and symmetrically arranged at two sides of the monkey table, fences connected with the movable guardrails are vertically arranged on the frame bodies, hollow inner cavities are arranged on the frame bodies, and distribution boxes communicated with the hollow inner cavities of the frame bodies are arranged on the frame bodies;
a group of fingerboards which are arranged in parallel are arranged on one side of the frame body close to the monkey board, a pipe arranging space is formed by gaps between adjacent fingerboards, the fingerboards are of hollow structures, the inner cavities of the fingerboards are communicated with the inner cavity of the frame body, an automatic baffle mechanism is arranged at the outer edge of each fingerboard, and a power supply line of the automatic baffle mechanism enters the distribution box from the inner cavity of the fingerboard through the inner cavity of the frame body;
the monkey table comprises a base and two main beams, wherein the main beams are of rectangular tubular structures and are symmetrically and fixedly connected to two sides of the base, rails are symmetrically arranged on the opposite end surfaces of the two main beams, two ends of each rail are respectively provided with a vertically arranged limiting stop pin, and the upper end of the base is also provided with a rack which is arranged in parallel to the rails;
the pipe arranging manipulator comprises a pulley which is installed on a track and matched with a rack, a rotary mechanism is arranged at the top of the pulley, a pushing mechanism is arranged on the rotating end of the rotary mechanism, and a clamping jaw mechanism is installed at the free end of the pushing mechanism.
Preferably, the coaster includes the automobile body, the walking wheel is installed to the automobile body bottom, the track roll connection of walking wheel and monkey platform upper end, install the walking motor on the automobile body, install the driving gear on the walking motor, driving gear and monkey platform top rack toothing.
Preferably, the movable guardrail comprises a herringbone support and a group of F-shaped supports symmetrically connected to two sides of the herringbone support, and the bottom of the herringbone support is connected with a transverse support rod.
Preferably, the middle part of the herringbone support is connected with a group of reinforcing chains.
Preferably, the automatic baffle mechanism comprises a mounting seat, a turnover motor and a baffle, the turnover motor is mounted on the mounting seat, a motor shaft of the turnover motor penetrates through the mounting seat and then is connected with the baffle, and the mounting seat is mounted at the end part of the finger beam and forms end face sealing with the finger beam.
Preferably, a sealing gasket is padded at the sealing position of the end face of the mounting seat and the finger beam.
Preferably, the clamping jaw mechanism comprises a driving jaw body and a clamping jaw arranged at the front end of the driving jaw body.
Preferably, the driving pliers body is provided with a pipe fitting detection mechanism for detecting the interior of the clamping jaw;
the pipe fitting detection mechanism comprises a shaft seat and a shaft core which is connected to the shaft seat in a sliding mode, a push rod is vertically connected to the front end of the shaft core, a spring is connected between the push rod and the shaft seat and sleeved on the shaft core, and a displacement sensor used for detecting the position of the shaft core is arranged at the rear end of the shaft seat.
Preferably, push mechanism includes fixed arm and support arm, support arm sliding connection is at the top of fixed arm, install electric putter on the fixed arm, electric putter's support end and support arm are connected.
Compared with the prior art, the utility model has the following advantages:
through with framework and finger for use hollow tubular structure to and install the block terminal with framework inner chamber intercommunication in the framework, can arrange the power supply line of automatic baffle mechanism in tubular structure's inside, and guide and lay in the block terminal, such design can avoid the power supply line to drench with rain or produce the friction with other devices, thereby play the guard action to the power supply line.
Through with the monkey platform by the integral type steel sheet structure of buckling, change into base and girder welded design, have higher structural stability, prevent that the monkey platform from taking place deformation when the atress, lead to the obstructed problem of coaster operation, rectangle steel pipe can be chooseed for use to girder and base in addition, has higher structural strength.
Form end face seal's design between mount pad and fingerboard, sealed effectual, stability is high, can have better rain-proof effect to upset motor and power supply line.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a racking platform body;
FIG. 3 is a schematic view of the assembly of the frame and the monkey board;
FIG. 4 is a schematic diagram of a monkey stand;
FIG. 5 is a schematic structural view of a pipe-arranging robot;
FIG. 6 is a front view of the pulley;
FIG. 7 is a right side view of the pulley;
FIG. 8 is a schematic view of the movable rail;
FIG. 9 is a schematic structural view of an automatic shutter mechanism;
FIG. 10 is a schematic view of the jaw mechanism;
FIG. 11 is a schematic structural view of a pushing mechanism;
in the figure: 1. the device comprises a racking platform main body, 2, a pipe arranging manipulator, 3, a movable guardrail, 4, a monkey board, 5, a frame body, 6, a distribution box, 7, a finger beam, 8, an automatic baffle mechanism, 9 and a fence;
10. the device comprises a main beam, 11, a base, 12, a limit stop pin, 13, a track, 14, a rack, 15, a pulley, 16, a swing mechanism, 17, a pushing mechanism, 18, a clamping jaw mechanism, 19 and a vehicle body;
20. the device comprises a traveling wheel 21, a traveling motor 22, a driving gear 23, a herringbone support 24, a reinforcing chain 25, an F-shaped support 26, a transverse stay bar 27, an end face seal 28, a mounting seat 29 and a turnover motor;
30. the device comprises a baffle plate 31, a clamping jaw 32, a driving clamp body 33, a push rod 34, a shaft core 35, a spring 36, a shaft seat 37, a displacement sensor 38, a pipe fitting detection mechanism 39 and a supporting arm;
40. a fixed arm 41 and an electric push rod.
Detailed Description
The utility model is further illustrated below with reference to the figures and examples.
Example 1
Referring to fig. 1 to 3, a racking system for an automatic pipe arranging robot includes a racking main body 1, and a pipe arranging robot 2 is mounted on the racking main body 1.
The racking board main body 1 includes a monkey board 4, a movable fence 3, and a frame body 5.
The movable guardrail 3 is vertically arranged at the rear end of the monkey board 4, and the frame bodies 5 are symmetrically arranged at two sides of the monkey board 4.
The frame body 5 is vertically provided with a fence 9 connected with the movable guardrail 3, the frame body 5 is provided with a hollow inner cavity, and the frame body 5 is provided with a distribution box 6 communicated with the hollow inner cavity of the frame body 5.
A group of fingerboards 7 arranged in parallel are arranged on one side of the frame body 5 close to the monkey board 4, and a row space is formed by the gaps between the adjacent fingerboards 7.
Wherein, the fingerboard 7 is hollow structure, and the inner chamber of fingerboard 7 and the inner chamber of framework 5 communicate, and the outer fringe department of fingerboard 7 installs automatic baffle mechanism 8.
The power supply line of the automatic baffle mechanism 8 enters the distribution box 6 from the inner cavity of the finger beam 7 through the inner cavity of the frame 5 to take power.
Referring to fig. 4, the monkey board 4 includes a base 11 and two main beams 10, the main beams 10 are rectangular tubular structures, and the two main beams 10 are symmetrically welded on two sides of the base 11.
The two opposite end surfaces of the two main beams 10 are symmetrically provided with rails 13, and two ends of the rails 13 are respectively provided with a limit stop pin 12 which is vertically arranged.
The upper end of the base 11 is also provided with a rack 14 arranged in parallel opposite to the rail 13.
Referring to fig. 5 to 7, the pipe-discharging robot 2 includes a trolley 15 mounted on a rail 13 and engaged with a rack 14, and the trolley 15 is limited in moving distance by a limit stopper pin 12.
The top of the pulley 15 is provided with a rotary mechanism 16, the rotating end of the rotary mechanism 16 is provided with a pushing mechanism 17, and the free end of the pushing mechanism 17 is provided with a clamping jaw mechanism 18.
When the pipe arranging device is used, the pipe arranging device is arranged on a derrick, a clamping jaw mechanism 18 is used for clamping and fixing a pipe or a drilling tool, then the clamped pipe or the drilling tool is placed in a pipe arranging space between two adjacent fingerboards 7 through the movable matching of a rotary mechanism 16, a pushing mechanism 17 and a pulley 15, and finally an automatic baffle mechanism 8 is controlled to plug an opening of the pipe arranging space.
Through the working steps, the pipe fittings can be arranged and placed, and meanwhile, the pipe fittings arranged in the pipe arranging space can be clamped and transferred to an installation area in sequence by utilizing the device.
By adopting the hollow tubular structure for the frame body 5 and the fingerboards 7 and installing the distribution box 6 communicated with the inner cavity of the frame body 5 on the frame body 5, the power supply wires of the automatic baffle mechanism 8 can be arranged inside the tubular structure and guided and laid in the distribution box 6, and the design can prevent the power supply wires from being drenched or rubbed with other devices, thereby protecting the power supply wires.
Through the integral type steel sheet structure with monkey platform 4 by the bending, the base 11 and the girder 10 welded design that change into have higher structural stability, prevent that monkey platform 4 from taking place deformation when the atress, lead to 15 obstructed problems of operations of coaster, and rectangle steel pipe can be chooseed for use to girder 10 and base 11 in addition, has higher structural strength.
Example 2
The embodiment is further optimized on the basis of the above embodiment, and specifically includes:
referring to fig. 5 to 7, the pulley 15 comprises a trolley body 19, a walking wheel 20 is mounted at the bottom of the trolley body 19, the walking wheel 20 is in rolling connection with a track 13 at the upper end of the monkey platform 4, and the walking wheel 20 is limited by a limit stop pin 12;
a walking motor 21 is installed on the vehicle body 19, a driving gear 22 is installed on the walking motor 21, and the driving gear 22 is meshed with the rack 14 on the top of the monkey board 4.
The carriage 15 can be driven to move along the rail 13 by the driving gear 22 being driven to rotate by the traveling motor 21 and by the meshing of the driving gear 22 and the rack 14.
Referring to fig. 10, the jaw mechanism 18 includes a driving jaw body 32 and a jaw 31 mounted on a front end of the driving jaw body 32.
The driving clamp body 32 can be a pneumatic clamp body or an electric clamp body which is used at present, and the opening and closing of the clamping jaw 31 are controlled by the driving clamp body 32.
Referring to fig. 11, the pushing mechanism 17 includes a fixing arm 40 and a supporting arm 39, the supporting arm 39 is slidably connected to the top of the fixing arm 40, an electric push rod 41 is mounted on the fixing arm 40, and the supporting end of the electric push rod 41 is connected to the supporting arm 39.
The electric push rod 41 is of a worm gear structure, and replaces the design of the matching drive of a gear and a rack 14 in the traditional pushing mechanism, so that the space for installing a gear box is saved, the structure is more compact, and the electric push rod is more convenient to assemble on the utility model.
Example 3
The embodiment is further optimized on the basis of the above embodiment, and specifically includes:
referring to fig. 8, the movable fence 3 comprises a herringbone bracket 23 and a group of F-shaped brackets 25 symmetrically connected to both sides of the herringbone bracket 23.
The bottom of the herringbone bracket 23 is connected with a transverse stay 26, and the middle of the herringbone bracket 23 is connected with a group of reinforcing chains 24.
The overall structural strength of the movable fence 3 is further improved by adding the transverse stay 26 and the reinforcing chain 24 to the movable fence 3.
Example 4
The embodiment is further optimized on the basis of the above embodiment, and specifically includes:
referring to fig. 9, the automatic shutter mechanism 8 includes a mounting seat 28, a flipping motor 29 and a shutter 30, the flipping motor 29 is mounted on the mounting seat 28, and a motor shaft of the flipping motor 29 passes through the mounting seat 28 and is connected to the shutter 30.
The tip of finger 7 begins to have the slot with mount pad 28 adaptation, and in the slot was inserted to mount pad 28, the rethread bolt was installed on finger 7, and upset motor 29 was located inside the finger 7, and the power supply line of upset motor 29 directly gets the electricity in getting into block terminal 6 through the inner chamber of rectangular tube structure.
Meanwhile, an end face seal 27 is formed between the mounting seat 28 and the finger beam 7, and a sealing gasket can be padded at the end face seal 27 between the mounting seat 28 and the finger beam 7 to improve the sealing effect;
the end face sealing design has the advantages of better sealing effect, high reliability and better rainproof effect on the overturning motor 29 and the power supply line.
Example 5
The embodiment is further optimized on the basis of the above embodiment, and specifically includes:
referring to fig. 10, a tubular detection mechanism 38 is mounted on the driving tong body 32.
The pipe detecting mechanism 38 includes a shaft seat 36 and a shaft core 34 slidably connected to the shaft seat 36, and a push rod 33 is vertically connected to a front end of the shaft core 34.
A spring 35 is connected between the push rod 33 and the shaft seat 36, the spring 35 is sleeved on the shaft core 34, and two ends of the spring 35 can be fixedly connected with the push rod 33 and the shaft seat 36 to prevent the shaft core 34 from being separated from the shaft seat 36.
The rear end of the shaft seat 36 is provided with a displacement sensor 37 for detecting the position of the shaft core 34.
In use, when a pipe enters the clamping jaw 31, the pipe pushes the push rod 33 to move, the spring 35 is compressed, the push rod 33 drives the shaft core 34 to move, and the displacement sensor 37 can detect a signal of the movement of the shaft core 34.
When the pipe is disengaged from the jaws 31, the compressed spring 35 resiliently returns the push rod 33 to the home position.
The present invention is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention, and the contents of the changes still fall within the scope of the present invention.
Claims (9)
1. The utility model provides a racking platform system for automatic calandria manipulator, includes racking platform main part, its characterized in that: the racking platform main body is provided with a pipe arranging mechanical arm;
the two-layer table main body comprises a monkey table, movable guardrails and frame bodies, the movable guardrails are vertically arranged at the rear end of the monkey table, the frame bodies are divided into two groups and symmetrically arranged at two sides of the monkey table, fences connected with the movable guardrails are vertically arranged on the frame bodies, hollow inner cavities are arranged on the frame bodies, and distribution boxes communicated with the hollow inner cavities of the frame bodies are arranged on the frame bodies;
a group of fingerboards which are arranged in parallel are arranged on one side of the frame body close to the monkey board, a pipe arranging space is formed by gaps between adjacent fingerboards, the fingerboards are of hollow structures, the inner cavities of the fingerboards are communicated with the inner cavity of the frame body, an automatic baffle mechanism is arranged at the outer edge of each fingerboard, and a power supply line of the automatic baffle mechanism enters the distribution box from the inner cavity of the fingerboard through the inner cavity of the frame body;
the monkey table comprises a base and two main beams, wherein the main beams are of rectangular tubular structures and are symmetrically and fixedly connected to two sides of the base, rails are symmetrically arranged on the opposite end surfaces of the two main beams, two ends of each rail are respectively provided with a vertically arranged limiting stop pin, and the upper end of the base is also provided with a rack which is arranged in parallel to the rails;
the pipe arranging manipulator comprises a pulley which is installed on a track and matched with a rack, a rotary mechanism is arranged at the top of the pulley, a pushing mechanism is arranged on the rotating end of the rotary mechanism, and a clamping jaw mechanism is installed at the free end of the pushing mechanism.
2. The racking system for an automatic pipe racking robot as set forth in claim 1, wherein: the coaster includes the automobile body, the walking wheel is installed to the automobile body bottom, the track roll connection of walking wheel and monkey platform upper end, install the walking motor on the automobile body, install the driving gear on the walking motor, driving gear and monkey platform top rack toothing.
3. The racking system for an automatic pipe racking robot as set forth in claim 1, wherein: the movable guardrail comprises a herringbone support and a group of F-shaped supports symmetrically connected to two sides of the herringbone support, and the bottom of the herringbone support is connected with a transverse support rod.
4. The racking system for an automatic pipe racking robot according to claim 3, wherein: the middle part of the herringbone support is connected with a group of reinforcing chains.
5. The racking system for an automatic pipe racking robot as set forth in claim 1, wherein: the automatic baffle mechanism comprises a mounting seat, a turnover motor and a baffle, the turnover motor is mounted on the mounting seat, a motor shaft of the turnover motor penetrates through the mounting seat and then is connected with the baffle, and the mounting seat is mounted at the end part of the finger beam and forms end face sealing with the finger beam.
6. The racking system for an automatic pipe racking robot as set forth in claim 5, wherein: and a sealing gasket is padded at the sealing position of the end faces of the mounting seat and the finger beam.
7. The racking system for an automatic pipe racking robot as set forth in claim 1, wherein: the clamping jaw mechanism comprises a driving clamp body and a clamping jaw arranged at the front end of the driving clamp body.
8. The racking system for an automatic pipe racking robot as claimed in claim 7, wherein: the driving clamp body is provided with a pipe fitting detection mechanism for detecting the interior of the clamping jaw;
the pipe fitting detection mechanism comprises a shaft seat and a shaft core which is connected to the shaft seat in a sliding mode, a push rod is vertically connected to the front end of the shaft core, a spring is connected between the push rod and the shaft seat and sleeved on the shaft core, and a displacement sensor used for detecting the position of the shaft core is arranged at the rear end of the shaft seat.
9. The racking system for an automatic pipe racking robot as set forth in claim 1, wherein: the pushing mechanism comprises a fixed arm and a supporting arm, the supporting arm is connected to the top of the fixed arm in a sliding mode, an electric push rod is installed on the fixed arm, and the supporting end of the electric push rod is connected with the supporting arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220140574.9U CN215889987U (en) | 2022-01-19 | 2022-01-19 | Two-layer platform system for automatic pipe arranging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220140574.9U CN215889987U (en) | 2022-01-19 | 2022-01-19 | Two-layer platform system for automatic pipe arranging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215889987U true CN215889987U (en) | 2022-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220140574.9U Active CN215889987U (en) | 2022-01-19 | 2022-01-19 | Two-layer platform system for automatic pipe arranging manipulator |
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| CN (1) | CN215889987U (en) |
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- 2022-01-19 CN CN202220140574.9U patent/CN215889987U/en active Active
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