CN104369177A - Oil pipe ascending and descending mechanical arm folded and placed onboard - Google Patents
Oil pipe ascending and descending mechanical arm folded and placed onboard Download PDFInfo
- Publication number
- CN104369177A CN104369177A CN201410583972.8A CN201410583972A CN104369177A CN 104369177 A CN104369177 A CN 104369177A CN 201410583972 A CN201410583972 A CN 201410583972A CN 104369177 A CN104369177 A CN 104369177A
- Authority
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- China
- Prior art keywords
- manipulator
- paw
- connecting rod
- swing
- oil pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000001174 ascending effect Effects 0.000 title abstract 5
- 239000003921 oil Substances 0.000 claims description 43
- 238000004804 winding Methods 0.000 claims description 7
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 239000003129 oil well Substances 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Abstract
The invention discloses an oil pipe ascending and descending mechanical arm folded and placed onboard. The oil pipe ascending and descending mechanical arm comprises a swinging body, a swinging mechanical arm body and a flexible mechanical arm body. The swinging mechanical arm body is fixed to the swinging body. The swinging mechanical arm body can be turned and locked through the swinging body. The flexible mechanical arm body is fixed to the swinging mechanical arm body. The swinging mechanical arm body drives the flexible mechanical arm body to turn. The flexible mechanical arm body grabs an oil pipe so that the oil pipe can be ascended and descended in an oil well. The oil pipe ascending and descending mechanical arm is suitable for ascending and descending the oil pipe in the mechanical workover rig operation, the labor intensity of staff is lowered, and the production efficiency and safety are improved.
Description
Technical field
The present invention relates to the workover rig of oil well, specifically a kind of with the upper and lower oil pipe manipulator of car folding type.
Background technology
In oil well well workover process, major part workover treatment is all completed by hand by well workover personnel, wherein the conversion of well casing between plumbness and level is that workover treatment process labour intensity is maximum, and work repetitive rate, in one of the highest link, is also link the most dangerous in well workover process.Along with oil field and society are to the attention of safety in production and people's improving constantly operating environment requirements, this long-term by job state urgent need improvement manually.
Summary of the invention
The present invention is based on the basis of prior art, invent one with the upper and lower oil pipe manipulator of car folding type, achieved the mechanization of the upper and lower oil pipe of workover rig, automation, decrease operating personnel, reduce staff labor intensity, improve production efficiency and security.
In order to reach above-mentioned purpose, present invention employs following technical scheme, a kind of with the upper and lower oil pipe manipulator of car folding type, comprise pendulum mass, swing manipulator, flexible manipulator, described pendulum mass is divided into centering block, swing seat, oscillating oil cylinder and locking cylinder, described swing seat is fixed in chassis assembly, and centering block is hinged on swing seat, and centering block is driven by oscillating oil cylinder and rotated around swing seat by axle; Swing manipulator to be connected with pendulum mass by balance staff, balance staff there is head sprocket, installing one in swing manipulator inside and pull sprocket wheel inside oil cylinder, one-level, by pulling the chain inside hydraulic oil cylinder driving head sprocket and one-level on sprocket wheel, swing machinery winding by hand pendulum mass being rotated; Described flexible manipulator be hinged on swing place, manipulator top axle on and the axle head of this axle arranges sprocket wheel outside one-level, secondary sprocket wheel is had on flexible manipulator top, outside one-level, sprocket wheel, secondary sprocket wheel are connected by secondary chain, rotated with swing manipulator by the secondary chain-driving flexible mechanical winding by hand axle on secondary sprocket wheel, realized the outer corner difference 90 ° of two manipulators by teeth number of sprocket
A locking cylinder is equipped with in the side of pendulum mass, and locking cylinder one end connects swing seat, and one end connects swing manipulator, locks swing manipulator.
The arm of described swing manipulator is provided with chain stretching device, can to chain tension.
Described flexible mechanical is connected with fixed bar on hand, fixed bar is hinged with four paws, flexible mechanical also arranges the paw oil cylinder and a tooth bar that are connected on hand, described tooth bar is connected with four paws simultaneously, described four paws by rack drives, can ensure the synchronism of four paws by paw oil cylinder.
Described flexible manipulator is equipped with a hoist cylinder, and hoist cylinder is connected with described fixed bar by lifting sleeve combination, and when paw catches oil pipe, hoist cylinder heads on lifting sleeve combination can to paw and oil pipe lifting.
Described paw is divided into outer paw and interior paw, outer paw is first connecting rod, interior paw is the 5th connecting rod, linkage is formed by the first to the 5th connecting rod, tooth bar is helical rack, being provided with 2 hinged successively connecting rods outside between paw and tooth bar is first connecting rod and second connecting rod respectively, arranges interior paw and hinged double leval jib between the two inside outer paw; First connecting rod flank engagement on rear side of tooth bar and outer paw, first connecting rod is connected with second connecting rod by bearing pin, second connecting rod is connected with outer paw and third connecting rod by bearing pin, third connecting rod is fixed on fixed bar, third connecting rod rear end is connected with double leval jib by bearing pin, double leval jib by bearing pin be fixed on paw i.e. the 5th connecting rod on tooth bar opposite side fixed bar and be connected.
Compared to prior art, the present invention has following beneficial effect:
Flexible manipulator captures oil pipe, swings mechanical hand-motion flexible manipulator and rotates, and swings the upset of mechanical winding by hand pendulum mass, and pendulum mass locking cylinder can to the locking of swing manipulator.
Pendulum mass is connected with swing manipulator, and overturning oil cylinder turns the mechanical handspring of swing, and swing manipulator is placed in work and collapsed state, and the locking cylinder on pendulum mass can to the locking of swing manipulator.
Swing manipulator and connect pendulum mass and flexible manipulator, swinging manipulator pulls chain one-level sprocket wheel to rotate around pendulum mass by the oil cylinder in arm, large arm rotates with one-level sprocket wheel, and drive flexible manipulator to reversely rotate with large arm centered by large arm secondary sprocket wheel by chain two-stage chain wheel, large arm and flexible manipulator action simultaneously realize outer corner difference 90 ° by teeth number of sprocket, swing manipulator and chain stretching device is housed, can to chain tension.
Flexible manipulator paw to be synchronized with the movement crawl oil pipe by four paws of rack drives by an oil cylinder, and flexible manipulator turns with the mechanical hand-screw of swing, and lift cylinders can be elevated paw, realizes the flexible docking of oil pipe thread and pipe collar.
The present invention is automatic numerical control by the upper oil discharge pipe process implementation of whole well workover, decreases pollution, reduces staff labor intensity, improves production efficiency and security.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the front view of pendulum mass of the present invention;
Fig. 4 is the top view of Fig. 3;
Fig. 5 is the left view of Fig. 3;
Fig. 6 is the front view of swing manipulator of the present invention;
Fig. 7 is the left view of Fig. 6;
Fig. 8 is the front view of flexible manipulator of the present invention;
Fig. 9 is the left view of Fig. 8;
Figure 10 is the top view of Fig. 8;
In figure: 1, pendulum mass; 2, manipulator is swung; 3, flexible manipulator.
Detailed description of the invention
Detailed description for the present invention and technology contents, coordinate accompanying drawing to be described as follows, but accompanying drawing only provides with reference to the use with explanation, is not used for being limited the present invention.
According to Fig. 1-10, described with the upper and lower oil pipe manipulator of car folding type comprise pendulum mass 1, swing manipulator 2, flexible manipulator 3, described pendulum mass is divided into centering block 1.1, swing seat 1.2, oscillating oil cylinder 1.3 and locking cylinder 1.4, described swing seat is fixed in chassis assembly, centering block is hinged on swing seat, centering block is driven by oscillating oil cylinder and is rotated around swing seat by axle, realizes overall folding and puts, convenient transport; A locking cylinder is equipped with in the side of pendulum mass, and locking cylinder is locked swing manipulator; Swing manipulator to be connected with pendulum mass by balance staff, balance staff there is head sprocket, installing one in swing manipulator inside and pull sprocket wheel 2.3 inside oil cylinder 2.1, one-level, by pulling the chain inside hydraulic oil cylinder driving head sprocket and one-level on sprocket wheel, swing machinery winding by hand pendulum mass being rotated; The arm of swing manipulator is provided with chain stretching device 2.5, can to chain tension; Described flexible manipulator 3 be hinged on swing place, manipulator 2 top axle on and the axle head of this axle arranges sprocket wheel 2.41 outside one-level, secondary sprocket wheel 2.42 is had on flexible manipulator top, outside one-level, sprocket wheel, secondary sprocket wheel are connected by secondary chain, rotated with swing manipulator by the secondary chain-driving flexible mechanical winding by hand axle on secondary sprocket wheel, realized the outer corner difference 90 ° of two manipulators by teeth number of sprocket; Described flexible mechanical is connected with fixed bar on hand, fixed bar is hinged with four paws, and flexible mechanical also arranges the paw oil cylinder and a tooth bar that are connected on hand, and described tooth bar is connected with four paws simultaneously.Paw is divided into outer paw 3.1 (third connecting rod) and interior paw 3.7 (the 5th connecting rod), linkage is formed by the first to the 5th connecting rod, tooth bar 3.2 is helical rack, being provided with 2 hinged successively connecting rods outside between paw and tooth bar is first connecting rod 3.4 and second connecting rod 3.5 respectively, arranges interior paw 3.7 and hinged double leval jib 3.6 between the two inside outer paw.First connecting rod flank engagement on rear side of tooth bar and outer paw, first connecting rod is connected with second connecting rod by bearing pin, second connecting rod is connected with outer paw and third connecting rod by bearing pin, third connecting rod is fixed on fixed bar, third connecting rod rear end is connected with double leval jib by bearing pin, double leval jib by bearing pin be fixed on paw i.e. the 5th connecting rod on tooth bar opposite side fixed bar and be connected, oil cylinder pushing tooth bar (tooth bar is pitch face) vertically in motion process because tooth bar has angle, so can displacement be produced in the horizontal direction in the process of tooth bar axially-movable, thus make first connecting rod promote third connecting rod by second connecting rod, the direction of motion that the 5th connecting rod that the rear side of third connecting rod is connected by double leval jib is contrary with third connecting rod direction.Thus make interior paw, outer paw to the clamping of paw medial center and unclamp, four points realizing paw inside and outside one group of both sides are firmly grasped oil pipe.
Swing manipulator 2 to be connected with pendulum mass 1 by axle, in swing manipulator 2 inside, an actuator cylinder 2.1 is installed, pull chain that swing manipulator 2 is rotated around pendulum mass 1 by actuator cylinder 2.1, the large arm 2.2 swinging manipulator 2 rotates with sprocket wheel inside one-level 2.3, and drive flexible manipulator 3 to reversely rotate with large arm 2.2 centered by axle in large arm by chain secondary sprocket wheel 2.42, large arm 2.2 and flexible manipulator 3 action simultaneously, realize outer corner difference 90 ° by teeth number of sprocket; The large arm 2.2 of swing manipulator 2 is provided with chain stretching device 2.5, can to chain tension.
Flexible manipulator 3 be arranged on swing manipulator 2 top, connected by axle, and by chain secondary sprocket wheel 2.4 drive around axle with swing manipulator 2 reversely rotate, realize outer corner difference 90 ° by teeth number of sprocket; Four paws 3.1 of flexible manipulator 3 by rack drives, can ensure the synchronism of four paws 3.1 by a clamping cylinder 3.2; Flexible manipulator 3 is equipped with a hoist cylinder 3.3, and when paw 3.1 catches oil pipe, hoist cylinder 3.3 to paw and oil pipe lifting, can realize the flexible docking of oil pipe thread and pipe collar.
The foregoing is only preferred embodiment of the present invention, be not used to limit the scope of the claims of the present invention, other use the equivalence of patent spirit of the present invention to change, and all should all belong to the scope of the claims of the present invention.
Claims (6)
1. with the upper and lower oil pipe manipulator of car folding type, it is characterized in that, comprise pendulum mass, swing manipulator, flexible manipulator, described pendulum mass is divided into centering block, swing seat, oscillating oil cylinder and locking cylinder, described swing seat is fixed in chassis assembly, centering block is hinged on swing seat, and centering block is driven by oscillating oil cylinder and rotated around swing seat by axle; Swing manipulator to be connected with pendulum mass by balance staff, balance staff there is head sprocket, installing one in swing manipulator inside and pull sprocket wheel inside oil cylinder, one-level, by pulling the chain inside hydraulic oil cylinder driving head sprocket and one-level on sprocket wheel, swing machinery winding by hand pendulum mass being rotated; Described flexible manipulator be hinged on swing place, manipulator top axle on and the axle head of this axle arranges sprocket wheel outside one-level, secondary sprocket wheel is had on flexible manipulator top, outside one-level, sprocket wheel, secondary sprocket wheel are connected by secondary chain, rotated with swing manipulator by the secondary chain-driving flexible mechanical winding by hand axle on secondary sprocket wheel, realized the outer corner difference 90 ° of two manipulators by teeth number of sprocket.
2. according to claim 1ly it is characterized in that with the upper and lower oil pipe manipulator of car folding type, a locking cylinder is equipped with in the side of pendulum mass, and locking cylinder one end connects swing seat, and one end connects and swings manipulator, locks swing manipulator.
3. according to claim 1ly to it is characterized in that with the upper and lower oil pipe manipulator of car folding type, the arm of described swing manipulator is provided with chain stretching device, can to chain tension.
4. according to claim 1 with the upper and lower oil pipe manipulator of car folding type, it is characterized in that, described flexible mechanical is connected with fixed bar on hand, fixed bar is hinged with four paws, flexible mechanical also arranges the paw oil cylinder and a tooth bar that are connected on hand, described tooth bar is connected with four paws simultaneously, and described four paws by rack drives, can ensure the synchronism of four paws by paw oil cylinder.
5. according to claim 1 with the upper and lower oil pipe manipulator of car folding type, it is characterized in that, described flexible manipulator is equipped with a hoist cylinder, hoist cylinder is connected with described fixed bar by lifting sleeve combination, when paw catches oil pipe, hoist cylinder heads on lifting sleeve combination can to paw and oil pipe lifting.
6. according to claim 4 with the upper and lower oil pipe manipulator of car folding type, it is characterized in that, described paw is divided into outer paw and interior paw, outer paw is first connecting rod, interior paw is the 5th connecting rod, and form linkage by the first to the 5th connecting rod, tooth bar is helical rack, being provided with 2 hinged successively connecting rods outside between paw and tooth bar is first connecting rod and second connecting rod respectively, arranges interior paw and hinged double leval jib between the two inside outer paw; First connecting rod flank engagement on rear side of tooth bar and outer paw, first connecting rod is connected with second connecting rod by bearing pin, second connecting rod is connected with outer paw and third connecting rod by bearing pin, third connecting rod is fixed on fixed bar, third connecting rod rear end is connected with double leval jib by bearing pin, double leval jib by bearing pin be fixed on paw i.e. the 5th connecting rod on tooth bar opposite side fixed bar and be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410583972.8A CN104369177B (en) | 2014-10-27 | 2014-10-27 | With the upper and lower oil pipe mechanical manipulator of car folding type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410583972.8A CN104369177B (en) | 2014-10-27 | 2014-10-27 | With the upper and lower oil pipe mechanical manipulator of car folding type |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104369177A true CN104369177A (en) | 2015-02-25 |
| CN104369177B CN104369177B (en) | 2016-06-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410583972.8A Active CN104369177B (en) | 2014-10-27 | 2014-10-27 | With the upper and lower oil pipe mechanical manipulator of car folding type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104369177B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109594938A (en) * | 2019-01-25 | 2019-04-09 | 济南芯乐智能设备有限公司 | A kind of offshore platform automation workover rig base device |
| CN110116900A (en) * | 2019-04-23 | 2019-08-13 | 美好建筑装配科技有限公司 | A kind of the side mode grabbing device and method of concrete prefabricated element |
| CN115949353A (en) * | 2023-03-13 | 2023-04-11 | 胜利油田康贝石油工程装备有限公司 | Workover operation system and method with vertical guiding lateral lifting follow-up manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109594938A (en) * | 2019-01-25 | 2019-04-09 | 济南芯乐智能设备有限公司 | A kind of offshore platform automation workover rig base device |
| CN110116900A (en) * | 2019-04-23 | 2019-08-13 | 美好建筑装配科技有限公司 | A kind of the side mode grabbing device and method of concrete prefabricated element |
| CN115949353A (en) * | 2023-03-13 | 2023-04-11 | 胜利油田康贝石油工程装备有限公司 | Workover operation system and method with vertical guiding lateral lifting follow-up manipulator |
| CN115949353B (en) * | 2023-03-13 | 2023-05-05 | 胜利油田康贝石油工程装备有限公司 | Workover system and method with vertical guide lateral lifting follow-up manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104369177B (en) | 2016-06-08 |
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| CB03 | Change of inventor or designer information |
Inventor after: Tian Shuyin Inventor after: Zhao Hongjie Inventor after: Zhao Chongzhen Inventor after: Cai Tongxin Inventor after: Yuanyuquan Inventor after: Li Xiangfu Inventor after: Li Xiangpeng Inventor before: Tian Shuyin Inventor before: Zhao Hongjie Inventor before: Zhao Zongzhen Inventor before: Cai Tongxin Inventor before: Yuanyuquan Inventor before: Li Xiangfu Inventor before: Li Xiangpeng |
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Free format text: CORRECT: INVENTOR; FROM: TIAN SHUYIN ZHAO HONGJIE ZHAO ZONGZHEN CAI TONGXIN YUAN YUQUAN LI XIANGFU LI XIANGPENG TO: TIAN SHUYIN ZHAO HONGJIE ZHAO CHONGZHEN CAI TONGXIN YUAN YUQUAN LI XIANGFU LI XIANGPENG |
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Effective date of registration: 20170122 Address after: 250013 Qianfo Hill South Road, Ji'nan District, Shandong, No. 2 Patentee after: JINAN TONGRI INDUSTRIAL ROBOT TECHNOLOGY CO.,LTD. Address before: Wande town of Changqing District of Ji'nan City, Shandong province 250309 million South Village Industrial Park, NC on the same day Patentee before: JINAN TONGRI NUMERICAL CONTROL EQUIPMENT Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
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Address after: Central Qianfo Hill road Ji'nan city Shandong province 250014 No. 2 Patentee after: Ji'nan robot industrial robot technology Co.,Ltd. Address before: 250013 Qianfo Hill South Road, Ji'nan District, Shandong, No. 2 Patentee before: JINAN TONGRI INDUSTRIAL ROBOT TECHNOLOGY CO.,LTD. |
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Date of cancellation: 20220922 Granted publication date: 20160608 |