CN216691001U - Pipe supporting manipulator and workover rig - Google Patents
Pipe supporting manipulator and workover rig Download PDFInfo
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- CN216691001U CN216691001U CN202123029466.9U CN202123029466U CN216691001U CN 216691001 U CN216691001 U CN 216691001U CN 202123029466 U CN202123029466 U CN 202123029466U CN 216691001 U CN216691001 U CN 216691001U
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Abstract
The utility model provides a pipe supporting manipulator and a workover rig, and relates to the technical field of workover equipment, wherein the pipe supporting manipulator comprises a fixed connecting frame, a swinging mechanism and a pipe pusher main body; the fixed connecting frame is connected with a derrick of the workover rig, the swing mechanism is connected with the fixed connecting frame, one end of the swing mechanism, which is far away from the fixed connecting frame, is rotatably connected with the pipe pusher body, and the swing mechanism is used for driving the pipe pusher body to rotate relative to the fixed connecting frame so as to enable the pipe pusher body to swing relative to the derrick of the workover rig; the pipe pusher main body can swing in the horizontal direction of a derrick of the workover rig by utilizing the swing mechanism, so that the pipe pusher main body can accurately push and catch an oil pipe, the arrangement accuracy of a conveying and discharging pipe of the workover rig is improved, and the technical problem that the pipe pusher is single in pipe pushing direction in the prior art is solved.
Description
Technical Field
The utility model relates to the technical field of workover equipment, in particular to a pipe supporting manipulator and a workover rig.
Background
The workover rig is mainly used for the tripping operation of an oil well and a water well, the liquid circulation operation and the rotation operation in the well; the tripping operation comprises the steps of lifting down the oil production equipment and tools such as the oil pipe, the sucker rod, the oil well pump and the like which are in failure or damage, and then tripping into the well after repairing and replacing. The circulation operation in the well comprises sand washing, hot washing and mud circulation and the like. The rotary operation includes reaming, grinding, scraping, casing repair, etc.
A pipe pusher or a push centralizer is one of important devices in a workover rig, the pipe pusher is mainly used for pushing and connecting and centralizing an oil pipe in the operation of pulling and tripping the oil pipe, but the existing pipe pusher can only push or connect the pipe in one direction, so that the placement of the workover rig on a well site is limited, the adaptability and the utilization rate of equipment are reduced, and the requirements of workover operation cannot be met to a great extent.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a pipe supporting manipulator and a workover rig, which are used for relieving the technical problem that a pipe pusher in the prior art is single in pipe pushing direction.
The utility model provides a pipe supporting manipulator which is used for being installed on a workover rig and comprises: the device comprises a fixed connecting frame, a swinging mechanism and a tube pusher main body;
the fixed connection frame is connected with a derrick of the workover rig, the swing mechanism is connected with the fixed connection frame, one end, far away from the fixed connection frame, of the swing mechanism is connected with the pipe pusher body in a rotating mode, and the swing mechanism is used for driving the pipe pusher body to rotate relative to the fixed connection frame, so that the pipe pusher body can move in a swinging mode relative to the derrick of the workover rig.
In a preferred embodiment of the present invention, a fixed seat is disposed on the fixed connection frame, the swing mechanism is located in the fixed seat, one end of the swing mechanism away from the fixed seat is connected to the tube pusher body, and the tube pusher body is perpendicular to the fixed connection frame.
In a preferred embodiment of the present invention, the swing mechanism includes a swing hydraulic cylinder and a slewing reducer;
the swing hydraulic cylinder is located in the fixing seat, the output end of the swing hydraulic cylinder is in transmission connection with the rotary speed reducer, the rotary speed reducer is connected with the pipe pusher body, and the swing hydraulic cylinder is used for driving the pipe pusher body to rotate relative to the fixed connecting frame through the rotary speed reducer.
In a preferred embodiment of the present invention, the tube pusher body comprises a telescoping mechanism, a tube pusher outer sleeve, a tube pusher inner sleeve and a clamping mechanism;
the outer sleeve of the pipe pusher is connected with the rotary speed reducer, the telescopic mechanism, the inner sleeve of the pipe pusher and the clamping mechanism are all positioned inside the outer sleeve of the pipe pusher, the inner sleeve of the pipe pusher is connected with the outer sleeve of the pipe pusher in a sliding manner, the telescopic mechanism is in transmission connection with the inner sleeve of the pipe pusher, and the telescopic mechanism is used for driving the inner sleeve of the pipe pusher to move back and forth along the extension direction of the outer sleeve of the pipe pusher;
the clamping mechanism is connected with one end of the inner sleeve of the pipe pusher, one end of the clamping mechanism, which is far away from the inner sleeve of the pipe pusher, extends out of the outer sleeve of the pipe pusher, the inner sleeve of the pipe pusher is used for driving the clamping mechanism to move back and forth relative to the extending direction of the outer sleeve of the pipe pusher, and the clamping mechanism is used for clamping a pipe column suspended by the workover rig.
In a preferred embodiment of the utility model, the telescopic mechanism comprises a hydraulic motor and a first transmission assembly;
the first transmission assembly is located inside the outer sleeve of the tube pusher, the hydraulic motor is located on the outer side wall of the outer sleeve of the tube pusher, the hydraulic motor penetrates through the side wall of the outer sleeve of the tube pusher and is in transmission connection with the first transmission assembly, the first transmission assembly is in inner sleeve connection with the tube pusher, and the hydraulic motor drives the inner sleeve of the tube pusher to reciprocate relative to the extending direction of the outer sleeve of the tube pusher through the first transmission assembly.
In a preferred embodiment of the utility model, the first transmission assembly comprises a gear and a rack which are engaged with each other;
the rack is arranged along the extending direction of the outer pipe pusher sleeve, the rack is fixedly connected with the side wall of the inner pipe pusher sleeve, the gear is rotatably connected with the inner wall of the outer pipe pusher sleeve and is in transmission connection with the hydraulic motor, and the hydraulic motor is used for driving the gear to rotate relative to the rack so as to drive the inner pipe pusher sleeve to reciprocate along the extending direction of the rack through the gear.
In a preferred embodiment of the present invention, the tube pusher body further comprises a tube pusher press plate, a limiting mechanism and a hydraulic tube drag chain;
an opening is formed in one end, away from the swing mechanism, of the tube pusher outer sleeve, the tube pusher pressing plate is fixedly connected with one side, provided with the opening, of the tube pusher outer sleeve, a limiting groove is formed in the tube pusher pressing plate, and the extending direction of the limiting groove is the same as the extending direction of the tube pusher outer sleeve;
one end of the limiting mechanism extends into the limiting groove, the limiting mechanism is connected with the inner sleeve of the pipe pusher, the other end of the limiting mechanism is connected with one end of the hydraulic pipe drag chain, the other end of the hydraulic pipe drag chain is connected with the outer side wall of the pressing plate of the pipe pusher, the inner sleeve of the pipe pusher is used for driving the limiting mechanism to extend out of or retract from the limiting groove, and the limiting mechanism is used for driving the hydraulic pipe drag chain to extend out of or retract from the limiting groove.
In a preferred embodiment of the utility model, the clamping mechanism comprises a hydraulic cylinder, a second transmission component and a movable paw;
the hydraulic cylinder is connected with the end part of the inner sleeve of the pipe pusher, the driving end of the hydraulic cylinder is in transmission connection with the movable paw through the second transmission assembly, the movable paw is hinged with the outer sleeve of the pipe pusher, and the hydraulic cylinder is used for driving the movable paw to open or close through the second transmission assembly.
In a preferred embodiment of the present invention, the second transmission assembly includes a connection seat, a first hinge lever and a second hinge lever;
the movable paw comprises a first clamping jaw, a second clamping jaw and a rotating shaft; the first clamping jaw is provided with a first through hole, the second clamping jaw is provided with a second through hole, the first clamping jaw and the second clamping jaw are arranged in an overlapped mode, the rotating shaft sequentially penetrates through the first through hole and the second through hole, and two ends of the rotating shaft are connected with the inner wall of the pipe pusher outer sleeve;
the one end of connecting seat with the pneumatic cylinder is connected, the other end of connecting seat respectively with first articulated rod and second articulated rod are articulated, just first articulated rod with first clamping jaw is articulated, the second articulated rod with the second clamping jaw is articulated, first articulated rod with the second articulated rod for the axis of pneumatic cylinder is symmetrical arrangement, the pneumatic cylinder is used for driving respectively through the connecting seat first articulated rod with the second articulated rod removes, in order to pass through first articulated rod drives first clamping jaw for the pivot rotates, the second articulated rod drives the second clamping jaw for the pivot rotates, so that first clamping jaw with the second clamping jaw is to open or closed removal.
The utility model provides a workover rig which comprises the pipe supporting manipulator.
The utility model provides a pipe supporting manipulator which is used for being installed on a workover rig and comprises: the device comprises a fixed connecting frame, a swinging mechanism and a tube pusher main body; the fixed connecting frame is connected with a derrick of the workover rig, the swing mechanism is connected with the fixed connecting frame, one end of the swing mechanism, which is far away from the fixed connecting frame, is rotatably connected with the pipe pusher body, and the swing mechanism is used for driving the pipe pusher body to rotate relative to the fixed connecting frame so as to enable the pipe pusher body to swing relative to the derrick of the workover rig; the pipe pusher main body can swing in the horizontal direction of a derrick of the workover rig by utilizing the swing mechanism, so that the pipe pusher main body can accurately push and catch an oil pipe, the arrangement accuracy of a conveying and discharging pipe of the workover rig is improved, and the technical problem that the pipe pusher is single in pipe pushing direction in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic overall structural diagram of a pipe supporting manipulator according to an embodiment of the present invention;
fig. 2 is a schematic internal structural diagram of a pipe supporting manipulator according to an embodiment of the present invention;
fig. 3 is a schematic partial enlarged structural view of a pipe supporting manipulator according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a movable gripper of a pipe holding manipulator according to an embodiment of the present invention.
Icon: 100-fixed connection frame; 200-a swing mechanism; 201-a swing hydraulic cylinder; 202-a slewing reducer; 203-a fixed seat; 300-a pusher body; 301-a telescoping mechanism; 311-a hydraulic motor; 321-a first transmission assembly; 3211-gear; 3212-rack; 302-pusher jacket; 303-inner sleeve of the pipe pusher; 304-a clamping mechanism; 314-a hydraulic cylinder; 324-a second transmission assembly; 3241-connecting seat; 3242-a first articulation bar; 3243-a second articulation bar; 334-movable paw; 3341-first jaw; 3342-a second jaw; 3343-rotating shaft; 305-a pusher platen; 315-a limiting groove; 306-a limiting mechanism; 307-hydraulic pipe drag chain.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 4, the present embodiment provides a pipe supporting manipulator for being mounted on a workover rig, including: the fixed connecting frame 100, the swing mechanism 200 and the tube pusher body 300; the fixed connecting frame 100 is connected with a derrick of a workover rig, the swing mechanism 200 is connected with the fixed connecting frame 100, one end of the swing mechanism 200, which is far away from the fixed connecting frame 100, is rotatably connected with the pipe pusher body 300, and the swing mechanism 200 is used for driving the pipe pusher body 300 to rotate relative to the fixed connecting frame 100, so that the pipe pusher body 300 can swing and move relative to the derrick of the workover rig.
It should be noted that the pipe supporting manipulator provided by this embodiment can be installed on a derrick of a workover rig, where the fixed connection frame 100 can be fixedly connected to the derrick of the workover rig, optionally, the fixed connection frame 100 can be fixed on the derrick of the workover rig by welding or bolting, the swing mechanism 200 is installed on the fixed connection frame 100, and a swing direction of the swing mechanism 200 can swing along a horizontal direction, a swing radius of the swing mechanism 200 can swing within a range of 180 ° with a center line of the fixed connection frame 100, the pipe pusher body 300 is used as a structure for clamping an oil pipe, the pipe pusher body 300 can swing along with the swing mechanism 200 in the horizontal direction, and the pipe pusher body 300 can clamp the vertically suspended oil pipe, so as to push or receive the oil pipe, and increase an action area of the pipe pusher body 300, the requirement of well repair operation in a wider range can be met.
The utility model provides a pipe supporting manipulator for install on workover rig, include: the fixed connecting frame 100, the swing mechanism 200 and the tube pusher body 300; the fixed connecting frame 100 is connected with a derrick of a workover rig, the swing mechanism 200 is connected with the fixed connecting frame 100, one end of the swing mechanism 200, which is far away from the fixed connecting frame 100, is rotatably connected with the pipe pusher body 300, and the swing mechanism 200 is used for driving the pipe pusher body 300 to rotate relative to the fixed connecting frame 100 so as to enable the pipe pusher body 300 to swing and move relative to the derrick of the workover rig; the tube pusher main body 300 can swing in the horizontal direction of a derrick of the workover rig by utilizing the swing mechanism 200, so that the tube pusher main body 300 can accurately push and catch an oil pipe, the arrangement accuracy of a conveying and discharging tube of the workover rig is improved, and the technical problem that the tube pusher is single in tube pushing direction in the prior art is solved.
Based on the above embodiments, further, in a preferred embodiment of the present invention, the fixed connection frame 100 is provided with a fixing seat 203, the swing mechanism 200 is located in the fixing seat 203, one end of the swing mechanism 200 away from the fixing seat 203 is connected to the tube pusher main body 300, and the tube pusher main body 300 is perpendicular to the fixed connection frame 100.
In this embodiment, the fixing base 203 may adopt a bearing seat, that is, the fixing base 203 is fixedly connected to the surface of the fixed connection frame 100, so that a fixing groove can be formed between the fixing base 203 and the surface of the fixed connection frame 100, the swing mechanism 200 is installed inside the fixing groove, and the swing mechanism 200 is connected to the fixing base 203, the swing mechanism 200 can horizontally swing along the opening direction of the fixing groove, and one end of the swing mechanism 200 extending out of the fixing groove is in transmission connection with the tube pusher main body 300, so as to drive the tube pusher main body 300 to swing back and forth in the horizontal direction.
In the preferred embodiment of the present invention, the swing mechanism 200 includes a swing hydraulic cylinder 201 and a slewing reducer 202; the swing hydraulic cylinder 201 is located in the fixing seat 203, an output end of the swing hydraulic cylinder 201 is in transmission connection with the rotary speed reducer 202, the rotary speed reducer 202 is connected with the tube pusher main body 300, and the swing hydraulic cylinder 201 is used for driving the tube pusher main body 300 to rotate relative to the fixed connecting frame 100 through the rotary speed reducer 202.
In this embodiment, the swing hydraulic cylinder 201 can swing in the circumferential direction along the horizontal direction, the swing hydraulic cylinder 201 is connected to the tube pusher main body 300 through the rotation reducer 202, when the swing hydraulic cylinder 201 drives the rotation reducer 202 to rotate, the rotation reducer 202 drives the tube pusher main body 300 to swing in a rotation manner according to a preset rotation ratio, and the rotation of the swing hydraulic cylinder 201 and the rotation reducer 202 can drive the tube pusher main body 300 to swing in a rotation manner in the horizontal direction within a range of 180 °.
In the preferred embodiment of the present invention, the pusher body 300 comprises a telescoping mechanism 301, a pusher outer housing 302, a pusher inner housing 303, and a gripping mechanism 304; the outer tube pusher sleeve 302 is connected with the rotary speed reducer 202, the telescopic mechanism 301, the inner tube pusher sleeve 303 and the clamping mechanism 304 are all located inside the outer tube pusher sleeve 302, the inner tube pusher sleeve 303 is connected with the outer tube pusher sleeve 302 in a sliding mode, the telescopic mechanism 301 is in transmission connection with the inner tube pusher sleeve 303, and the telescopic mechanism 301 is used for driving the inner tube pusher sleeve 303 to move back and forth along the extending direction of the outer tube pusher sleeve 302; the clamping mechanism 304 is connected with one end of the inner casing 303 of the pipe pusher, one end of the clamping mechanism 304, which is far away from the inner casing 303 of the pipe pusher, extends out of the outer casing 302 of the pipe pusher, the inner casing 303 of the pipe pusher is used for driving the clamping mechanism 304 to move back and forth relative to the extending direction of the outer casing 302 of the pipe pusher, and the clamping mechanism 304 is used for clamping a pipe column suspended by the workover rig.
In this embodiment, the inner tube pusher sleeve 303 is located inside the outer tube pusher sleeve 302, and the inner tube pusher sleeve 303 is slidably connected to the outer tube pusher sleeve 302, the telescopic mechanism 301 can drive the inner tube pusher sleeve 303 to reciprocate along a path defined by the outer tube pusher sleeve 302, and one end of the inner tube pusher sleeve 303 is connected to the clamping mechanism 304, that is, the telescopic mechanism 301 can drive the clamping mechanism 304 to reciprocate through the inner tube pusher sleeve 303, and the telescopic mechanism 301 can ensure that the clamping mechanism 304 can perform telescopic movement in a linear direction, so that the requirement for adjusting the front and rear positions of a straight line by the clamping mechanism 304 is met, and the clamping mechanism 304 can clamp a vertically suspended oil pipe.
In the preferred embodiment of the present invention, the telescoping mechanism 301 includes a hydraulic motor 311 and a first transmission assembly 321; the first transmission assembly 321 is located inside the outer tube pusher jacket 302, the hydraulic motor 311 is located on the outer side wall of the outer tube pusher jacket 302, the hydraulic motor 311 penetrates through the side wall of the outer tube pusher jacket 302 to be in transmission connection with the first transmission assembly 321, the first transmission assembly 321 is connected with the inner tube pusher jacket 303, and the hydraulic motor 311 drives the inner tube pusher jacket 303 to reciprocate relative to the extending direction of the outer tube pusher jacket 302 through the first transmission assembly 321.
In the preferred embodiment of the present invention, the first transmission assembly 321 includes a gear 3211 and a rack 3212 that are engaged with each other; the rack 3212 is arranged along the extending direction of the outer casing 302 of the tube pusher, the rack 3212 is fixedly connected with the side wall of the inner casing 303 of the tube pusher, the gear 3211 is rotatably connected with the inner wall of the outer casing 302 of the tube pusher, the gear 3211 is in transmission connection with the hydraulic motor 311, and the hydraulic motor 311 is configured to drive the gear 3211 to rotate relative to the rack 3212, so as to drive the inner casing 303 of the tube pusher to reciprocate along the extending direction of the rack 3212 through the gear 3211.
In this embodiment, the hydraulic motor 311 may be located at an outer side wall of the tube pusher outer housing 302, and a driving end of the hydraulic motor 311 may extend into the tube pusher outer housing 302, the hydraulic motor 311 is in transmission connection with the gear 3211, the gear 3211 may be located at a fixed position through the hydraulic motor 311, that is, when the hydraulic motor 311 drives the gear 3211 to rotate, the rack 3212 may perform linear movement in a horizontal linear direction under a rotation action of the gear 3211, and since the rack 3212 is fixedly connected to a side wall of the tube pusher inner housing 303, and an extending direction of the rack 3212 is an extending direction of the tube pusher outer housing 302, that is, by controlling forward and reverse rotation of the gear 311, the rack 3212 may drive the tube pusher inner housing 303 to reciprocate along a direction defined by the tube pusher outer housing 302.
In the preferred embodiment of the present invention, the pusher body 300 further comprises a pusher press plate 305, a stop mechanism 306, and a hydraulic tube drag chain 307; an opening is formed in one end, away from the swing mechanism 200, of the tube pusher outer sleeve 302, the tube pusher pressing plate 305 is fixedly connected with one side, provided with the opening, of the tube pusher outer sleeve 302, a limiting groove 315 is formed in the tube pusher pressing plate 305, and the extending direction of the limiting groove 315 is the same as the extending direction of the tube pusher outer sleeve 302; one end of the limiting mechanism 306 extends into the limiting groove 315, the limiting mechanism 306 is connected with the inner sleeve 303 of the tube pusher, the other end of the limiting mechanism 306 is connected with one end of the hydraulic tube drag chain 307, the other end of the hydraulic tube drag chain 307 is connected with the outer side wall of the tube pusher press plate 305, the inner sleeve 303 of the tube pusher is used for driving the limiting mechanism 306 to extend out or retract along the limiting groove 315, and the limiting mechanism 306 is used for driving the hydraulic tube drag chain 307 to extend out or retract.
In this embodiment, the tube pusher press plate 305 can be fixedly connected with the tube pusher outer sleeve 302, and the tube pusher press plate 305 can be used as a mounting base of the hydraulic tube drag chain 307, the limiting mechanism 306 can adopt a limiting stop lever, one end of the limiting stop lever is connected with the tube pusher inner sleeve 303, the other end of the limiting stop lever is connected with the hydraulic tube drag chain 307, when the tube pusher outer sleeve 302 reciprocates along a path defined by the tube pusher outer sleeve 302, the limiting stop lever can reciprocate along the limiting groove 315 of the tube pusher press plate 305 at this time, and then the hydraulic tube drag chain 307 can be driven to extend or be recovered, so that the overall design is more perfect.
In the preferred embodiment of the present invention, the gripping mechanism 304 includes a hydraulic cylinder 314, a second transmission assembly 324, and a movable gripper 334; the hydraulic cylinder 314 is connected with the end part of the inner pipe pusher sleeve 303, the driving end of the hydraulic cylinder 314 is in transmission connection with a movable claw 334 through a second transmission assembly 324, the movable claw 334 is hinged with the outer pipe pusher sleeve 302, and the hydraulic cylinder 314 is used for driving the movable claw 334 to open or close through the second transmission assembly 324.
As shown in fig. 4, in the preferred embodiment of the present invention, second transmission assembly 324 includes a connecting block 3241, a first hinge rod 3242, and a second hinge rod 3243; the movable gripper 334 comprises a first gripping jaw 3341, a second gripping jaw 3342 and a rotating shaft 3343; the first clamping jaw 3341 is provided with a first through hole, the second clamping jaw 3342 is provided with a second through hole, the first clamping jaw 3341 and the second clamping jaw 3342 are arranged in an overlapped mode, the rotating shaft 3343 sequentially penetrates through the first through hole and the second through hole, and two ends of the rotating shaft 3343 are connected with the inner wall of the tube pusher outer sleeve 302; one end of the connecting seat 3241 is connected to the hydraulic cylinder 314, the other end of the connecting seat 3241 is hinged to the first hinge rod 3242 and the second hinge rod 3243, the first hinge rod 3242 is hinged to the first jaw 3341, the second hinge rod 3243 is hinged to the second jaw 3342, the first hinge rod 3242 and the second hinge rod 3243 are symmetrically arranged with respect to the axis of the hydraulic cylinder 314, the hydraulic cylinder 314 is configured to drive the first hinge rod 3242 and the second hinge rod 3243 to move through the connecting seat 3241, so as to drive the first jaw 3341 to rotate with respect to the rotating shaft 3343 through the first hinge rod 3242, and the second hinge rod 3243 drives the second jaw 3342 to rotate with respect to the rotating shaft 3343, so as to open or close the first jaw 3341 and the second jaw 3342.
In this embodiment, the cylinder body of the hydraulic rod is fixedly connected to the end of the inner tube 303 of the tube pusher, and the hydraulic rod of the hydraulic cylinder 314 can be connected to the connecting seat 3241 by a bolt, one end of the connecting seat 3241, which is far away from the hydraulic cylinder 314, has two connecting holes symmetrically arranged, wherein one end of the first hinge rod 3242 is hinged to one of the connecting holes, one end of the second hinge rod 3243 is hinged to the other connecting hole, the other end of the first hinge rod 3242 is hinged to the end of the first clamping jaw 3341, the other end of the second hinge rod 3243 is hinged to the end of the second clamping jaw 3342, the first hinge rod 3242 and the second hinge rod 3243 have an included angle with respect to the center line of the connecting seat 3241, the first clamping jaw 3341 and the second clamping jaw 3342 are placed in an overlapping manner, the first clamping jaw 3341 and the second clamping jaw 3342 can be rotatably connected to the inner wall of the outer tube pusher housing 302 by the rotating shaft 3343, specifically, when the hydraulic cylinder 314 drives the connecting seat 3241 to move in the extending direction, the first hinged rod 3242 and the second hinged rod 3243 respectively apply a squeezing force to the first clamping jaw 3341 and the second clamping jaw 3342, so that the first clamping jaw 3341 and the second clamping jaw 3342 can be rotated and opened along the opposite opening direction; similarly, when the hydraulic cylinder 314 moves the connecting seat 3241 in the retracting direction, the first hinge rod 3242 and the second hinge rod 3243 respectively apply a pulling force to the first jaw 3341 and the second jaw 3342, so that the first jaw 3341 and the second jaw 3342 can be rotated to close in the relative closing direction.
Optionally, the hydraulic rod of the hydraulic cylinder 314 and the connecting seat 3241 may be arranged with a spring, and the spring has an elastic tendency to retract the connecting seat 3241, that is, the spring can ensure the acting force of closing the first clamping jaw 3341 and the second clamping jaw 3342 when the hydraulic cylinder 314 does not act, so that when the first clamping jaw 3341 and the second clamping jaw 3342 clamp an oil pipe, the clamping stability of the clamped oil pipe is ensured, and the design is more complete.
The workover rig provided by the embodiment comprises the pipe supporting manipulator; since the technical effect of the workover rig provided in this embodiment is the same as that of the pipe supporting manipulator provided in the above embodiment, details thereof are not described here.
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; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a pipe supporting manipulator for install on workover rig, its characterized in that includes: the device comprises a fixed connecting frame, a swinging mechanism and a tube pusher main body;
the fixed connection frame is connected with a derrick of the workover rig, the swing mechanism is connected with the fixed connection frame, one end, far away from the fixed connection frame, of the swing mechanism is connected with the pipe pusher body in a rotating mode, and the swing mechanism is used for driving the pipe pusher body to rotate relative to the fixed connection frame, so that the pipe pusher body can move in a swinging mode relative to the derrick of the workover rig.
2. The pipe supporting manipulator according to claim 1, wherein a fixed seat is provided on the fixed connection frame, the swing mechanism is located in the fixed seat, an end of the swing mechanism away from the fixed seat is connected to the pipe pusher body, and the pipe pusher body is perpendicular to the fixed connection frame.
3. The pipe supporting manipulator according to claim 2, wherein the swing mechanism includes a swing hydraulic cylinder and a slewing reducer;
the swing hydraulic cylinder is located in the fixing seat, the output end of the swing hydraulic cylinder is in transmission connection with the rotary speed reducer, the rotary speed reducer is connected with the pipe pusher body, and the swing hydraulic cylinder is used for driving the pipe pusher body to rotate relative to the fixed connecting frame through the rotary speed reducer.
4. The pipe pushing manipulator according to claim 3, wherein the tube pusher body comprises a telescoping mechanism, an outer tube pusher sleeve, an inner tube pusher sleeve, and a gripping mechanism;
the outer sleeve of the pipe pusher is connected with the rotary speed reducer, the telescopic mechanism, the inner sleeve of the pipe pusher and the clamping mechanism are all positioned inside the outer sleeve of the pipe pusher, the inner sleeve of the pipe pusher is connected with the outer sleeve of the pipe pusher in a sliding manner, the telescopic mechanism is in transmission connection with the inner sleeve of the pipe pusher, and the telescopic mechanism is used for driving the inner sleeve of the pipe pusher to move back and forth along the extension direction of the outer sleeve of the pipe pusher;
the clamping mechanism is connected with one end of the inner sleeve of the pipe pusher, one end of the clamping mechanism, which is far away from the inner sleeve of the pipe pusher, extends out of the outer sleeve of the pipe pusher, the inner sleeve of the pipe pusher is used for driving the clamping mechanism to move back and forth relative to the extending direction of the outer sleeve of the pipe pusher, and the clamping mechanism is used for clamping a pipe column suspended by the workover rig.
5. A pipe jacking manipulator according to claim 4, wherein the telescopic mechanism comprises a hydraulic motor and a first transmission assembly;
the first transmission assembly is located inside the pipe pusher outer sleeve, the hydraulic motor is located on the outer side wall of the pipe pusher outer sleeve, the hydraulic motor penetrates through the side wall of the pipe pusher outer sleeve and is in transmission connection with the first transmission assembly, the first transmission assembly is connected with the pipe pusher inner sleeve, and the hydraulic motor drives the pipe pusher inner sleeve to move in a reciprocating mode relative to the extending direction of the pipe pusher outer sleeve through the first transmission assembly.
6. A pipe jacking manipulator according to claim 5, wherein the first transmission assembly comprises an intermeshing gear and rack;
the rack is arranged along the extending direction of the outer pipe pusher sleeve, the rack is fixedly connected with the side wall of the inner pipe pusher sleeve, the gear is rotatably connected with the inner wall of the outer pipe pusher sleeve, the gear is in transmission connection with the hydraulic motor, and the hydraulic motor is used for driving the gear to rotate relative to the rack so as to drive the inner pipe pusher sleeve to reciprocate along the extending direction of the rack through the gear.
7. The pipe racking manipulator of claim 6, wherein said pusher body further comprises a pusher platen, a stop mechanism, and a hydraulic pipe drag chain;
an opening is formed in one end, away from the swing mechanism, of the tube pusher outer sleeve, the tube pusher pressing plate is fixedly connected with one side, provided with the opening, of the tube pusher outer sleeve, a limiting groove is formed in the tube pusher pressing plate, and the extending direction of the limiting groove is the same as the extending direction of the tube pusher outer sleeve;
one end of the limiting mechanism extends into the limiting groove, the limiting mechanism is connected with the inner sleeve of the pipe pusher, the other end of the limiting mechanism is connected with one end of the hydraulic pipe drag chain, the other end of the hydraulic pipe drag chain is connected with the outer side wall of the pressing plate of the pipe pusher, the inner sleeve of the pipe pusher is used for driving the limiting mechanism to extend out of or retract from the limiting groove, and the limiting mechanism is used for driving the hydraulic pipe drag chain to extend out of or retract from the limiting groove.
8. A pipe handling manipulator according to any of claims 4 to 7, wherein the gripping mechanism comprises a hydraulic cylinder, a second transmission assembly and a movable gripper;
the hydraulic cylinder is connected with the end part of the inner sleeve of the pipe pusher, the driving end of the hydraulic cylinder is in transmission connection with the movable paw through the second transmission assembly, the movable paw is hinged with the outer sleeve of the pipe pusher, and the hydraulic cylinder is used for driving the movable paw to open or close through the second transmission assembly.
9. A pipe jacking manipulator according to claim 8, wherein the second transmission assembly comprises a connecting socket, a first hinge lever and a second hinge lever;
the movable paw comprises a first clamping jaw, a second clamping jaw and a rotating shaft; the first clamping jaw is provided with a first through hole, the second clamping jaw is provided with a second through hole, the first clamping jaw and the second clamping jaw are arranged in an overlapped mode, the rotating shaft sequentially penetrates through the first through hole and the second through hole, and two ends of the rotating shaft are connected with the inner wall of the pipe pusher outer sleeve;
the one end of connecting seat with the pneumatic cylinder is connected, the other end of connecting seat respectively with first articulated rod and second articulated rod are articulated, just first articulated rod with first clamping jaw is articulated, the second articulated rod with the second clamping jaw is articulated, first articulated rod with the second articulated rod for the axis of pneumatic cylinder is symmetrical arrangement, the pneumatic cylinder is used for driving respectively through the connecting seat first articulated rod with the second articulated rod removes, in order to pass through first articulated rod drives first clamping jaw for the pivot rotates, the second articulated rod drives the second clamping jaw for the pivot rotates, so that first clamping jaw with the second clamping jaw is to open or closed removal.
10. A workover rig comprising a pipe handling manipulator according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123029466.9U CN216691001U (en) | 2021-12-03 | 2021-12-03 | Pipe supporting manipulator and workover rig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123029466.9U CN216691001U (en) | 2021-12-03 | 2021-12-03 | Pipe supporting manipulator and workover rig |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216691001U true CN216691001U (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123029466.9U Active CN216691001U (en) | 2021-12-03 | 2021-12-03 | Pipe supporting manipulator and workover rig |
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| Country | Link |
|---|---|
| CN (1) | CN216691001U (en) |
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2021
- 2021-12-03 CN CN202123029466.9U patent/CN216691001U/en active Active
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Inventor after: Zhang Jiaojiao Inventor after: Liu Chao Inventor after: Huang Haijun Inventor after: Qu Xiaowen Inventor after: Zhao Liwen Inventor after: Ma Junsheng Inventor after: Zhang Zhenjun Inventor after: Lv Hailong Inventor after: Zhao Changzeng Inventor after: Wei Wenke Inventor after: Wan Li Inventor before: Zhang Jiaojiao Inventor before: Liu Chao Inventor before: Huang Haijun Inventor before: Zhai Xiaowen Inventor before: Zhao Liwen Inventor before: Ma Junsheng Inventor before: Zhang Zhenjun Inventor before: Lv Hailong Inventor before: Zhao Changzeng Inventor before: Wei Wenke Inventor before: Wan Li |