CN104369177B - With the upper and lower oil pipe mechanical manipulator of car folding type - Google Patents
With the upper and lower oil pipe mechanical manipulator of car folding type Download PDFInfo
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- CN104369177B CN104369177B CN201410583972.8A CN201410583972A CN104369177B CN 104369177 B CN104369177 B CN 104369177B CN 201410583972 A CN201410583972 A CN 201410583972A CN 104369177 B CN104369177 B CN 104369177B
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- hand
- connecting rod
- manipulator
- pawl
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- 239000003921 oil Substances 0.000 claims description 51
- 238000004804 winding Methods 0.000 claims description 4
- 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
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Abstract
The present invention discloses a kind of with the upper and lower oil pipe mechanical manipulator of car folding type, comprises pendulum mass, swings mechanical manipulator, flexible manipulator. Swinging mechanical manipulator is fixed on pendulum mass, and swing machinery handspring can be turned and lock by pendulum mass, and flexible manipulator is fixed on and swings machinery on hand, swings the dynamic flexible manipulator upset of machinery hand strap, and flexible manipulator captures oil pipe, it is achieved the upper and lower oil pipe of oil well. Upper and lower oil pipe when the present invention is applicable to mechanize well servicing rig operation, reduce staff labor intensity, it is to increase production efficiency and security.
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 mechanical manipulator of car folding type.
Background technology
In oil well well workover process, major part workover treatment is all complete by hand by well workover personnel, wherein the conversion of well pipe between vertical state and horizontality is that workover treatment process labour intensity is maximum, and work repetition rate, in one of the highest link, is also link the most dangerous in well workover process. Along with oil field and society to the attention of safety in production and people to improving constantly that Working environment requires, it is badly in need of improvement by operation state manually for a long time for this kind.
Summary of the invention
The present invention is based on the basis of prior art, invent a kind of with the upper and lower oil pipe mechanical manipulator of car folding type, it is achieved that mechanize, the automatization of the upper and lower oil pipe of well servicing rig, decrease operator, 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 mechanical manipulator of car folding type, comprise pendulum mass, swing mechanical manipulator, flexible manipulator, described pendulum mass is divided into pendulum block, swing seat, oscillating oil cylinder and locking cylinder, described swing seat is fixed on end disc assembly, and pendulum block is hinged on swing seat, and pendulum block is driven by oscillating oil cylinder and rotated around swing seat by axle; Swing mechanical manipulator to be connected with pendulum mass by balance staff, balance staff there is main chain take turns, install one in swing mechanical manipulator inside and pull oil cylinder, one-level inner sprocket, by pulling the chain on hydraulic oil cylinder driving main chain wheel and one-level inner sprocket to make swing machinery winding by hand pendulum mass rotate;Described flexible manipulator is hinged on the axle swinging place, mechanical manipulator top and the axle head of this axle arranges sprocket wheel outside one-level, two-stage chain is had to take turns on flexible manipulator top, outside one-level, sprocket wheel, two-stage chain wheel are connected by two-stage chain bar, the two-stage chain bar taken turns by two-stage chain drives flexible manipulator to rotate with swing mechanical manipulator around axle, and the corner realizing two mechanical manipulators by teeth number of sprocket differs from 90 ��.
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 mechanical manipulator, is locked by swing mechanical manipulator.
The arm of described swing mechanical manipulator is provided with chain tension device, can to chain tension.
Described flexible mechanical is connected with fixed link on hand, fixed link is hinged with four hand pawls, flexible mechanical also arranges the hand pawl oil cylinder and a tooth bar that are connected on hand, described tooth bar is connected with four hand pawls simultaneously, described four hand pawls by rack drives, can ensure the synchronism of four hand pawls by hand pawl oil cylinder.
Described flexible manipulator is equipped with a lifting oil cylinder, and lifting oil cylinder is connected with described fixed link by lifting sleeve combination, and when hand pawl catches oil pipe, lifting oil cylinder heads on lifting sleeve combination can opponent's pawl and oil pipe lifting.
Described hand pawl is divided into right-hand side pawl and interior hand pawl, right-hand side pawl is first connecting rod, interior hand pawl is the 5th connecting rod, linkage assembly is formed by the first to the 5th connecting rod, tooth bar is helical rack, being provided with 2 connecting rods hinged successively between right-hand side pawl and tooth bar is first connecting rod and second connecting rod respectively, arranges interior hand pawl and hinged double leval jib between the two inside right-hand side pawl; Side first connecting rod flank engagement after tooth bar and right-hand side pawl, first connecting rod is connected by bearing pin and second connecting rod, second connecting rod is connected with right-hand side pawl and third connecting rod by bearing pin, third connecting rod is fixed on fixed link, third connecting rod rear end is connected with double leval jib by bearing pin, and double leval jib is connected with the interior hand pawl being fixed on another side fixed link of tooth bar i.e. the 5th connecting rod by bearing pin.
Compared to prior art, the present invention has following useful effect:
Flexible manipulator captures oil pipe, swings the dynamic flexible manipulator of machinery hand strap and rotates, swings machinery winding by hand pendulum mass upset, and pendulum mass locking cylinder can to swing mechanical manipulator locking.
Pendulum mass is connected with swing mechanical manipulator, and swing machinery handspring is turned by overturning oil cylinder, and swing mechanical manipulator is placed in work and collapsed state, and the locking cylinder on pendulum mass can to swing mechanical manipulator locking.
Swing mechanical manipulator and connect pendulum mass and flexible manipulator, swinging mechanical 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 by chain two-stage chain wheel drive flexible manipulator by large arm two-stage chain wheel centered by with large arm reverse rotation, large arm and flexible manipulator action simultaneously realize corner by teeth number of sprocket and differ from 90 ��, swing mechanical manipulator and chain tension device is housed, can to chain tension.
Flexible manipulator hand pawl is synchronized with the movement crawl oil pipe by the four of rack drives hand pawls by an oil cylinder, and flexible manipulator rotates with swing mechanical manipulator, and lift cylinders can the lifting of opponent's pawl, it is achieved the flexible docking of pipe wire button and pipe hoop.
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 the front view of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the front view of the pendulum mass of the present invention;
Fig. 4 is the vertical view of Fig. 3;
Fig. 5 is the left view of Fig. 3;
Fig. 6 is the front view of the swing mechanical manipulator of the present invention;
Fig. 7 is the left view of Fig. 6;
Fig. 8 is the front view of the flexible manipulator of the present invention;
Fig. 9 is the left view of Fig. 8;
Figure 10 is the vertical view of Fig. 8;
In figure: 1, pendulum mass; 2, mechanical manipulator is swung; 3, flexible manipulator.
Embodiment
Detailed explanation 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 the present invention being limited.
According to Fig. 1-10, described with the upper and lower oil pipe mechanical manipulator of car folding type comprise pendulum mass 1, swing mechanical manipulator 2, flexible manipulator 3, described pendulum mass is divided into pendulum block 1.1, swing seat 1.2, oscillating oil cylinder 1.3 and locking cylinder 1.4, described swing seat is fixed on end disc assembly, pendulum block is hinged on swing seat, pendulum block is driven by oscillating oil cylinder and is rotated around swing seat by axle, it is achieved overall folding is put, convenient transport, a locking cylinder is equipped with in the side of pendulum mass, and swing mechanical manipulator is locked by locking cylinder, swing mechanical manipulator to be connected with pendulum mass by balance staff, balance staff there is main chain take turns, install one in swing mechanical manipulator inside and pull oil cylinder 2.1, one-level inner sprocket 2.3, by pulling the chain on hydraulic oil cylinder driving main chain wheel and one-level inner sprocket to make swing machinery winding by hand pendulum mass rotate, swing and the arm of mechanical manipulator is provided with chain tension device 2.5, can to chain tension, described flexible manipulator 3 is hinged on the axle swinging place, mechanical manipulator 2 top and the axle head of this axle arranges sprocket wheel 2.41 outside one-level, two-stage chain wheel 2.42 is had on flexible manipulator top, outside one-level, sprocket wheel, two-stage chain wheel are connected by two-stage chain bar, the two-stage chain bar taken turns by two-stage chain drives flexible manipulator to rotate with swing mechanical manipulator around axle, and the corner realizing two mechanical manipulators by teeth number of sprocket differs from 90 ��, described flexible mechanical is connected with fixed link on hand, and fixed link is hinged with four hand pawls, and flexible mechanical also arranges the hand pawl oil cylinder and a tooth bar that are connected on hand, and described tooth bar is connected with four hand pawls simultaneously. hand pawl is divided into right-hand side pawl 3.1(third connecting rod) and interior hand pawl 3.7(the 5th connecting rod), linkage assembly is formed by the first to the 5th connecting rod, tooth bar 3.2 is helical rack, being provided with 2 connecting rods hinged successively between right-hand side pawl and tooth bar is first connecting rod 3.4 and second connecting rod 3.5 respectively, arranges interior hand pawl 3.7 and hinged double leval jib 3.6 between the two inside right-hand side pawl. side first connecting rod flank engagement after tooth bar and right-hand side pawl, first connecting rod is connected by bearing pin and second connecting rod, second connecting rod is connected with right-hand side pawl and third connecting rod by bearing pin, third connecting rod is fixed on fixed link, third connecting rod rear end is connected with double leval jib by bearing pin, double leval jib is connected with the interior hand pawl being fixed on another side fixed link of tooth bar i.e. the 5th connecting rod by bearing pin, oil cylinder pushing tooth bar (tooth bar is helical teeth face) vertically in moving process owing to tooth bar has angle, so displacement can be produced in the process of tooth bar axial motion in the horizontal direction, 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 interior hand pawl, right-hand side pawl to the clamping of hand pawl medial center and are unclamped, it is achieved in one group of both sides, oil pipe is firmly grasped by four points of right-hand side pawl.
Swing mechanical manipulator 2 to be connected with pendulum mass 1 by axle, install one in swing mechanical manipulator 2 inside and pull oil cylinder 2.1, by pulling oil cylinder 2.1 to pull chain to make swing mechanical manipulator 2 rotate around pendulum mass 1, the large arm 2.2 swinging mechanical manipulator 2 rotates with one-level inner sprocket 2.3, and by chain two-stage chain wheel 2.42 drive flexible manipulators 3 in large arm centered by axle with large arm 2.2 reverse rotation, large arm 2.2 and flexible manipulator 3 action simultaneously, realize corner by teeth number of sprocket and differ from 90 ��; Swing and the large arm 2.2 of mechanical manipulator 2 is provided with chain tension device 2.5, can to chain tension.
Flexible manipulator 3 is arranged on and swings mechanical manipulator 2 top, is connected by axle, and by chain two-stage chain wheel 2.4 drive around axle with swing mechanical manipulator 2 reverse rotation, realizes corner by teeth number of sprocket and differ from 90 ��; Four hand pawls 3.1 of flexible manipulator 3 by rack drives, can ensure the synchronism of four hand pawls 3.1 by hand pawl oil cylinder; Flexible manipulator 3 is equipped with a lifting oil cylinder 3.3, when hand pawl 3.1 catches oil pipe, lifting oil cylinder 3.3 can opponent's pawl and oil pipe lifting, it is achieved the flexible docking of pipe wire button and pipe hoop.
The foregoing is only the better embodiment of the present invention, be not used to limit the patent scope of the present invention, other use the equivalence change of the patent spirit of the present invention, all should all belong to the patent scope of the present invention.
Claims (5)
1. with the upper and lower oil pipe mechanical manipulator of car folding type, it is characterized in that, comprise pendulum mass, swing mechanical manipulator, flexible manipulator, described pendulum mass is divided into pendulum block, swing seat, oscillating oil cylinder and locking cylinder, described swing seat is fixed on end disc assembly, pendulum block is hinged on swing seat, and pendulum block is driven by oscillating oil cylinder and rotated around swing seat by axle; Swing mechanical manipulator to be connected with pendulum mass by balance staff, balance staff there is main chain take turns, install one in swing mechanical manipulator inside and pull oil cylinder, one-level inner sprocket, by pulling the chain on hydraulic oil cylinder driving main chain wheel and one-level inner sprocket to make swing machinery winding by hand pendulum mass rotate; Described flexible manipulator is hinged on the axle swinging place, mechanical manipulator top and the axle head of this axle arranges sprocket wheel outside one-level, two-stage chain is had to take turns on flexible manipulator top, outside one-level, sprocket wheel, two-stage chain wheel are connected by two-stage chain bar, the two-stage chain bar taken turns by two-stage chain drives flexible manipulator to rotate with swing mechanical manipulator around axle, and the corner realizing two mechanical manipulators by teeth number of sprocket differs from 90 ��; Described flexible mechanical is connected with fixed link on hand, fixed link is hinged with four hand pawls, flexible mechanical also arranges the hand pawl oil cylinder and a tooth bar that are connected on hand, described tooth bar is connected with four hand pawls simultaneously, described four hand pawls by rack drives, can ensure the synchronism of four hand pawls by hand pawl oil cylinder.
2. according to claim 1 with the upper and lower oil pipe mechanical manipulator of car folding type, it is characterised in that, 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 mechanical manipulator, is locked by swing mechanical manipulator.
3. according to claim 1 with the upper and lower oil pipe mechanical manipulator of car folding type, it is characterised in that, the arm of described swing mechanical manipulator is provided with chain tension device, can to chain tension.
4. according to claim 1 with the upper and lower oil pipe mechanical manipulator of car folding type, it is characterized in that, described flexible manipulator is equipped with a lifting oil cylinder, lifting oil cylinder is connected with fixed link by lifting sleeve combination, when hand pawl catches oil pipe, lifting oil cylinder heads on lifting sleeve combination can opponent's pawl and oil pipe lifting.
5. according to claim 1 with the upper and lower oil pipe mechanical manipulator of car folding type, it is characterized in that, described hand pawl is divided into right-hand side pawl and interior hand pawl, right-hand side pawl is third connecting rod, interior hand pawl is the 5th connecting rod, forms linkage assembly by the first to the 5th connecting rod, and tooth bar is helical rack, being provided with 2 connecting rods hinged successively between right-hand side pawl and tooth bar is first connecting rod and second connecting rod respectively, arranges interior hand pawl and hinged double leval jib between the two inside right-hand side pawl;Side first connecting rod flank engagement after tooth bar and right-hand side pawl, first connecting rod is connected by bearing pin and second connecting rod, second connecting rod is connected with right-hand side pawl and third connecting rod by bearing pin, third connecting rod is fixed on fixed link, third connecting rod rear end is connected with double leval jib by bearing pin, and double leval jib is connected with the interior hand pawl being fixed on another side fixed link of tooth bar i.e. the 5th connecting rod by bearing pin.
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410583972.8A CN104369177B (en) | 2014-10-27 | 2014-10-27 | With the upper and lower oil pipe mechanical manipulator of car folding type |
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| CN104369177A CN104369177A (en) | 2015-02-25 |
| CN104369177B true CN104369177B (en) | 2016-06-08 |
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| CN201410583972.8A Active CN104369177B (en) | 2014-10-27 | 2014-10-27 | With the upper and lower oil pipe mechanical manipulator of car folding type |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
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| CN104369177A (en) | 2015-02-25 |
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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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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 |