CN216372183U - Buffering manipulator - Google Patents

Abstract

The utility model discloses a buffer manipulator, which comprises a fixed frame fixedly arranged on a derrick cross beam; the tong head frame is arranged on one side of the fixing frame, which is far away from the derrick cross beam, and the tong head frame is used for clamping a drilling tool; the arm supporting assembly is arranged between the fixing frame and the tong head frame and is used for controlling the position of the tong head frame; the control box is fixed on one side surface of the fixed frame facing the derrick cross beam; the self-resetting spring displacement switch is electrically connected with the tong head frame and used for controlling the tong head frame to carry out clamping operation. The spring self-resetting displacement switch is arranged on the tong head frame, and the drilling tool can compress the spring self-resetting displacement switch when entering a clamping range, so that a signal is sent to the tong head frame to control the tong head frame to start clamping operation, the sensing distance is long, and the large impact force caused by the collision of the drilling tool with the tong head frame is avoided.

Description

Buffering manipulator

Technical Field

The utility model relates to the technical field of petroleum drilling equipment, in particular to a buffer manipulator.

Background

On the oil drilling platform, single and stand roots need to be frequently transferred and transferred among well heads, rat holes and ramp gates. When the drilling tool is transferred, the stability of the drilling tool during the transfer needs to be ensured, and the drilling tool is prevented from generating large impact force on a wellhead.

The traditional oil drilling platform generally adopts a manual rope pulling mode to buffer the drilling tool, the manual labor intensity is high, and potential safety hazards exist. Therefore, in the prior art, a special buffer manipulator is used for supporting and buffering the drilling tool.

However, the existing buffer manipulator has the following problems in actual operation:

1. when in operation, the drilling tool needs to be transferred into a clamping range of the buffer manipulator, and the existing buffer manipulator cannot sense in advance that the drilling tool reaches the clamping range and clamps the drilling tool, so that the drilling tool collides with the buffer manipulator when being transferred, and larger impact force is caused;

2. the existing buffer manipulator cannot be matched with the supporting operation of drilling tools with different inclination angles.

Therefore, it is necessary to develop a new type of buffer robot.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a buffer manipulator, which solves the technical problem that the buffer manipulator in the prior art cannot sense that a drilling tool reaches a clamping range in advance and clamps the drilling tool, so that the drilling tool collides with the buffer manipulator when being transferred, and a large impact force is caused.

In order to achieve the purpose, the technical scheme of the utility model is as follows:

a buffer robot, comprising:

the fixing frame is fixedly arranged on the derrick cross beam;

the tong head frame is arranged on one side of the fixing frame, which is far away from the derrick cross beam, and the tong head frame is used for clamping a drilling tool;

the arm supporting assembly is arranged between the fixing frame and the tong head frame and is used for controlling the position of the tong head frame;

the control box is fixed on one side surface of the fixed frame, which faces the derrick cross beam;

the clamp head frame is provided with a spring self-resetting displacement switch for sensing a drilling tool, and the spring self-resetting displacement switch is electrically connected with the clamp head frame to control the clamp head frame to carry out clamping operation.

Compared with the prior art, the utility model has the beneficial effects that:

according to the utility model, the spring self-resetting displacement switch is arranged on the tong head frame, and the spring self-resetting displacement switch is compressed when the drilling tool enters a clamping range, so that a signal is sent to the tong head frame to control the tong head frame to start clamping operation, the sensing distance is long, and the phenomenon that the drilling tool collides with the tong head frame to cause large impact force is avoided.

On the basis of the technical scheme, the utility model can be further improved as follows:

further, the binding clip frame includes the end plate that a pair of interval set up and sets up the flat board between a pair of end plate, the end plate with the arm subassembly is connected, each the surface of end plate is kept away from the articulated door plant that is connected with in mount one side, the end plate surface is still installed and is used for the drive to correspond the side the rotatory telescopic machanism that supports of door plant, install the door frame gyro wheel on the door plant, it is a pair of be equipped with main gyro wheel between the end plate, main gyro wheel and door frame gyro wheel cooperation centre gripping drilling tool.

Through adopting above-mentioned scheme, a pair of door frame gyro wheel and main gyro wheel paste tightly with the drilling tool, are guaranteeing the drilling tool level to spacing simultaneously, can realize that the drilling tool is vertical to removing, guarantee the mild of drilling tool and support the removal.

Furthermore, the door frame idler wheel on one side is arranged on the top surface of the door panel on the corresponding side, and the door frame idler wheel on the other side is arranged on the bottom surface of the door panel on the corresponding side.

Through adopting above-mentioned scheme, can realize the centre gripping direction operation of slope drilling tool, can adjust the angle that a pair of door frame gyro wheel formed through the interval of adjusting a pair of door plant to adjust the drilling tool at the different inclinations of adaptation.

Furthermore, a mounting column is further arranged between the pair of end plates, the spring is fixed on the mounting column from the reset displacement switch, and the action end of the spring extends towards the direction far away from one side of the fixing frame from the reset displacement switch.

By adopting the scheme, the drilling tool extrudes the spring self-resetting displacement switch in the clamping range, and the spring self-resetting displacement switch automatically resets under the action of the spring force after the operation is finished.

Further, the control box includes:

the pair of side plates are fixed on one side surface of the fixed frame facing the derrick cross beam;

a top plate disposed between a pair of the side plate tops;

a bottom plate disposed between the bottoms of the pair of side plates;

and the explosion-proof electrical box is fixed in an area formed by matching the side plate, the top plate and the bottom plate.

Further, curb plate bottom is extended towards the below and is stretched out the bottom plate sets up, and is equipped with the mounting panel that the level set up between the bottom of a pair of curb plate, the mounting panel with the mount is fixed, and the mounting panel top surface be equipped with be used for with the top drive the fixed strip of guide rail fixed arm, be equipped with the opening that supplies the top to drive the guide rail fixed arm and pass on the mount.

Through adopting above-mentioned scheme, add the mounting panel to be equipped with on the mounting panel and be used for driving the fixed strip of guide rail fixed arm with the top, the guide rail can be directly fixed with buffering manipulator to the top is driven, avoids among the prior art top to drive the guide rail need be connected with fixed arm and anti-torsion connecting piece and reversal roof beam simultaneously, causes the unchangeable problem of installation, is convenient for drive the installation of guide rail fixed arm on the top.

Further, the arm rest assembly comprises:

the pair of forearms are symmetrically arranged at two sides of the forceps head frame, and the top ends of the forearms are hinged with the fixing frame;

a front mounting shaft disposed between the bottom ends of the pair of forearms, the front mounting shaft disposed through the pair of end plates;

the pair of rear arms are symmetrically arranged on two sides of the forceps head frame, the top ends of the rear arms are hinged with the fixing frame, and the rear arms are arranged in parallel with the front arms;

the rear mounting shaft is arranged between the bottom ends of the pair of rear arms and penetrates through the pair of end plates;

the rotary telescopic mechanism is arranged between the front arm and the fixed frame and is used for driving the front arm and the rear arm to rotate;

the front mounting shaft and the rear mounting shaft are provided with fixing clamps for clamping and limiting the forceps head frame.

By adopting the scheme, the front arm, the rear arm, the end plate and the fixing frame form a parallelogram connecting rod structure, and the position of the forceps head frame can be stably adjusted under the control action of the rotary telescopic mechanism.

Furthermore, the supporting telescopic mechanism and the rotating telescopic mechanism are both electric cylinders.

By adopting the scheme, the electric motor is driven by pure electricity, and the electric motor is simple in structure, high in positioning accuracy and convenient to install.

Drawings

In order to more clearly illustrate the detailed description of the utility model or the technical solutions in the prior art, the drawings that are needed in the detailed description of the utility model or 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 structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic top view of the structure of fig. 1.

Fig. 3 is a schematic perspective view of the embodiment of the utility model with the support telescoping mechanism removed.

Fig. 4 is a schematic perspective view of a control box according to an embodiment of the present invention.

Shown in the figure:

1. a fixed mount; 101. an opening;

2. a forceps head frame; 201. an end plate; 202. a flat plate; 203. a door panel; 204. a door frame roller; 205. a main roller; 206. mounting a column; 207. a supporting telescopic mechanism;

3. a boom support assembly; 301. a forearm; 302. a front mounting shaft; 303. a rear arm; 304. a rear mounting shaft; 305. a rotary telescoping mechanism; 306. fixing the card;

4. a control box; 401. a side plate; 402. a top plate; 403. a base plate; 404. an explosion-proof electrical box; 405. mounting a plate; 406. a fixing strip;

5. the spring is from the displacement switch that restores to throne.

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 utility model pertains.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model 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 therefore not to be considered limiting of the utility model.

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 meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

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 4, the present embodiment provides a buffer manipulator, including: the fixed mount 1 is fixedly arranged on a derrick cross beam; the tong head frame 2 is arranged on one side of the fixing frame 1, which is far away from the cross beam of the derrick, and the tong head frame 2 is used for clamping a drilling tool; the arm supporting component 3 is arranged between the fixing frame 1 and the tong head frame 2, and the arm supporting component 3 is used for controlling the position of the tong head frame 2; the control box 4 is fixed on one side of the fixed mount 1 facing the cross beam of the derrick.

The forceps head frame 2 comprises a pair of end plates 201 arranged at intervals and a flat plate 202 arranged between the pair of end plates 201, the end plates 201 are connected with the arm supporting assembly 3, one side, away from the fixed frame 1, of the outer surface of each end plate 201 is hinged with a door plate 203, and the outer surface of each end plate 201 is further provided with a supporting telescopic mechanism 207 used for driving the corresponding door plate 203 to rotate. In this embodiment, the supporting telescopic mechanism 207 is an electric cylinder.

The door plate 203 is provided with a door frame roller 204, a main roller 205 is arranged between the pair of end plates 201, and the main roller 205 and the door frame roller 204 are matched to clamp a drilling tool.

A pair of door frame gyro wheel 204 and main gyro wheel 205 are pasted tightly with the drilling tool, are guaranteeing the drilling tool level to spacing simultaneously, can realize that the drilling tool is vertical to removing, guarantee the mild support of drilling tool and remove.

One side door frame roller 204 is installed on the top surface of the corresponding side door panel 203, and the other side door frame roller 204 is installed on the bottom surface of the corresponding side door panel 203, so that the clamping and guiding operation of the inclined drilling tool can be realized, and the angle formed by the pair of door frame rollers 204 can be adjusted by adjusting the distance between the pair of door panels 203, so that the drilling tool adaptive to different inclination angles can be adjusted.

A mounting column 206 is further arranged between the pair of end plates 201, and a spring self-resetting displacement switch 5 for an induction drilling tool is fixed on the mounting column 206, and the action end of the spring self-resetting displacement switch 5 extends towards the direction of one side far away from the fixed frame 1. The specific model of the spring self-resetting displacement switch 5 is SIN-D-010-C-L01M, and the spring self-resetting displacement switch 5 is electrically connected with the supporting telescopic mechanism 207 to control the forceps head frame 2 to carry out clamping operation.

The drilling tool extrudes the spring self-resetting displacement switch 5 in the clamping range, and the spring self-resetting displacement switch 5 automatically resets under the action of spring force after the operation is finished.

The control box 4 includes: a pair of side plates 401 are fixed on one side of the fixed frame 1 facing the cross beam of the derrick; a top plate 402 is disposed between the tops of the pair of side plates 401; a bottom plate 403 is disposed between the bottoms of the pair of side plates 401; the explosion-proof electrical box 404 is fixed in the area formed by the cooperation of the side plate 401, the top plate 402 and the bottom plate 403.

The bottom end of the side plate 401 extends downwards to extend out of the bottom plate 403, a horizontally arranged mounting plate 405 is arranged between the bottom ends of the side plates 401, the mounting plate 405 is fixed to the fixing frame 1, a fixing strip 406 for fixing the top drive guide rail fixing arm is arranged on the top surface of the mounting plate 405, and an opening 101 for the top drive guide rail fixing arm to pass through is formed in the fixing frame 1.

Mounting panel 405 is add to this embodiment to be equipped with on mounting panel 405 and be used for driving the fixed strip 406 of guide rail fixed arm with the top, the guide rail can be directly fixed with buffering manipulator to the top, avoids among the prior art top to drive the guide rail need be connected with fixed arm and anti-torsion connecting piece and reversal roof beam simultaneously, causes the unchangeable problem of installation, is convenient for drive the installation of guide rail fixed arm on the top.

The armrest assembly 3 includes: the pair of front arms 301 are symmetrically arranged at two sides of the forceps head frame 2, and the top ends of the front arms 301 are hinged with the fixing frame 1; a front mounting shaft 302 is disposed between the bottom ends of the pair of forearms 301, the front mounting shaft 302 being disposed through the pair of end plates 201; the pair of rear arms 303 are symmetrically arranged at two sides of the forceps head frame 2, the top ends of the rear arms 303 are hinged with the fixed frame 1, and the rear arms 303 are arranged in parallel with the front arms 301; a rear mounting shaft 304 is provided between the bottom ends of the pair of rear arms 303, the rear mounting shaft 304 being provided through the pair of end plates 201; the rotary telescopic mechanism 305 is arranged between the front arm 301 and the fixed frame 1, the rotary telescopic mechanism 305 is in the form of an electric cylinder in the embodiment, and the rotary telescopic mechanism 305 is used for driving the front arm 301 and the rear arm 303 to rotate; wherein, the front mounting shaft 302 and the rear mounting shaft 304 are provided with fixing clips 306 for clipping the limiting forceps head frame 2.

The front arm 301, the rear arm 303, the end plate 201 and the fixing frame 1 form a parallelogram link structure, and the stable position adjustment of the forceps head frame 2 can be realized under the control of the rotary telescopic mechanism 305.

In the embodiment, the spring self-resetting displacement switch 5 is arranged on the tong head frame 2, and the drilling tool can compress the spring self-resetting displacement switch 5 when entering a clamping range, so that a signal is sent to the tong head frame 2 to control the tong head frame 2 to start clamping operation, and the drilling tool is prevented from colliding with the tong head frame 2 to cause large impact force.

The embodiment adopts pure electric drive, and has simple structure, high positioning precision and convenient installation.

In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the utility model 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 utility model. 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; while the utility model has been described in detail and with reference to the foregoing embodiments, it will 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 depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (8)

1. A buffer manipulator, its characterized in that includes:

the fixing frame is fixedly arranged on the derrick cross beam;

the tong head frame is arranged on one side of the fixing frame, which is far away from the derrick cross beam, and the tong head frame is used for clamping a drilling tool;

the arm supporting assembly is arranged between the fixing frame and the tong head frame and is used for controlling the position of the tong head frame;

the control box is fixed on one side surface of the fixed frame, which faces the derrick cross beam;

the clamp head frame is provided with a spring self-resetting displacement switch for sensing a drilling tool, and the spring self-resetting displacement switch is electrically connected with the clamp head frame to control the clamp head frame to carry out clamping operation.

2. The buffer manipulator as claimed in claim 1, wherein the binding clip frame includes a pair of spaced end plates and a flat plate disposed between the pair of end plates, the end plates are connected to the arm assembly, a door plate is hinged to a side of each of the end plates, which is away from the fixed frame, the outer surface of each of the end plates is further provided with a support telescopic mechanism for driving the door plate to rotate, the door plate is provided with a door frame roller, a main roller is disposed between the pair of end plates, and the main roller and the door frame roller cooperate to clamp the drilling tool.

3. The buffer manipulator according to claim 2, wherein the door frame roller is installed on the top surface of the door plate on one side, and the door frame roller is installed on the bottom surface of the door plate on the other side.

4. The buffer manipulator as claimed in claim 2, wherein a mounting post is further disposed between the pair of end plates, the spring self-resetting displacement switch is fixed on the mounting post, and an active end of the spring self-resetting displacement switch extends in a direction away from the side of the fixing frame.

5. The buffer manipulator according to claim 1, wherein the control box includes:

the pair of side plates are fixed on one side surface of the fixed frame facing the derrick cross beam;

a top plate disposed between a pair of the side plate tops;

a bottom plate disposed between the bottoms of the pair of side plates;

and the explosion-proof electrical box is fixed in an area formed by matching the side plate, the top plate and the bottom plate.

6. The buffer manipulator according to claim 5, wherein the bottom ends of the side plates extend downward to extend out of the bottom plate, a horizontally arranged mounting plate is arranged between the bottom ends of the pair of side plates, the mounting plate is fixed to the fixing frame, a fixing strip for fixing the top drive guide rail fixing arm is arranged on the top surface of the mounting plate, and an opening for the top drive guide rail fixing arm to pass through is formed in the fixing frame.

7. The buffer manipulator according to claim 2, wherein the arm rest assembly comprises:

the pair of forearms are symmetrically arranged at two sides of the forceps head frame, and the top ends of the forearms are hinged with the fixing frame;

a front mounting shaft disposed between the bottom ends of the pair of forearms, the front mounting shaft disposed through the pair of end plates;

the pair of rear arms are symmetrically arranged on two sides of the forceps head frame, the top ends of the rear arms are hinged with the fixing frame, and the rear arms are arranged in parallel with the front arms;

the rear mounting shaft is arranged between the bottom ends of the pair of rear arms and penetrates through the pair of end plates;

the rotary telescopic mechanism is arranged between the front arm and the fixed frame and is used for driving the front arm and the rear arm to rotate;

the front mounting shaft and the rear mounting shaft are provided with fixing clamps for clamping and limiting the forceps head frame.

8. The buffer manipulator of claim 7, wherein the support telescoping mechanism and the rotary telescoping mechanism are both electric cylinders.

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