CN105401897A - Petroleum drill and exploitation equipment, drill floor face mechanical hand and mechanical arm - Google Patents
Petroleum drill and exploitation equipment, drill floor face mechanical hand and mechanical arm Download PDFInfo
- Publication number
- CN105401897A CN105401897A CN201510814268.3A CN201510814268A CN105401897A CN 105401897 A CN105401897 A CN 105401897A CN 201510814268 A CN201510814268 A CN 201510814268A CN 105401897 A CN105401897 A CN 105401897A
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- hinged
- bar
- dolly
- track
- connecting rod
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- 239000003208 petroleum Substances 0.000 title description 2
- 238000005553 drilling Methods 0.000 claims description 44
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 239000002828 fuel tank Substances 0.000 claims description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm. The mechanical arm comprises a rotary table, a main arm body, a hinge frame, an auxiliary arm body and a mounting seat. The rotary table is hinged to the first end of the main arm body. The second end of the main arm body is hinged to the hinge frame. A first oil cylinder is hinged between the rotary table and the main arm body. The first end of the auxiliary arm body is hinged to the hinge frame. The second end of the auxiliary arm body is hinged to the mounting seat. A first pull rod and a second pull rod are further hinged between the rotary table and the hinge frame and arranged on the two sides of the main arm body respectively. A third pull rod and a fourth pull rod are further hinged between the hinge frame and the mounting seat and arranged on the two sides of the auxiliary arm body respectively. A synchronization oil cylinder is hinged between the main arm body and the auxiliary arm body. The mechanical arm is simple in structure, and the pull rods for forming a double-parallelogram mechanism occupy the space in the lateral direction of the mechanical arm not the space in the telescopic direction of the mechanical arm, so that the size is smaller when the mechanical arm retracts, and the structure is more compact.
Description
Technical field
The present invention relates to oil equipment field, specifically relate to a kind of mechanical arm, and be provided with drilling floor surface manipulator and the oil drilling and extracting equipment of this mechanical arm.
Background technology
Well head automation, unmanned be the developing direction of petroleum equipment.Drilling floor surface manipulator is a kind of main well head automated arm, it coordinates with two-deck table mechanical arm usually, drilling floor surface operator is replaced to complete the carrying of tubing string between well head and pipe rack, centering operation when iron driller also can be assisted in drilling process to complete tubing string make-up.
Drilling floor surface manipulator generally comprises pulley mechanism, mechanical arm and tubing string and helps mechanism, and pulley mechanism is installed on rig floor, is arranged on pulley mechanism bottom mechanical arm; Tubing string helps mechanism to be hinged on the end of mechanical arm, when needs will carry tubing string, pulley mechanism works, driving mechanical arm and tubing string help mechanism to tubing string position place, mechanical arm launches, drive tubing string to help mechanism shift near and finally clamp tubing string, and then tubing string is driven to precalculated position.
For meeting comb and putting the needs of pipe, mechanical arm must multifreedom motion; Although existing mechanical arm can realize multifreedom motion, but structure is comparatively complicated, compact not, reliability is not high enough, separately, in order to ensure that the tubing string of mechanical arm tail end helps mechanism to move in the horizontal direction all the time, mechanical arm arranges two parallel-crank mechanism usually, in existing machinery arm, each arm of the two parallel-crank mechanism of composition is generally arranged in the direction of extension of mechanical arm, and need take larger extending space, volume when mechanical arm is retracted is larger, occupy larger drilling floor surface space, be unfavorable for that space is arranged.
Summary of the invention
In view of this, the object of the present invention is to provide that a kind of structure is simple, compact in design, retraction time volume less, take up room less mechanical arm, and adopts drilling floor surface manipulator and the oil drilling and extracting equipment of this mechanical arm.
A first aspect of the present invention, provide a kind of mechanical arm, comprise turntable, principal arm, body cradle, auxiliary arm and mount pad, the first end of described turntable and principal arm is hinged, second end of described principal arm is hinged on described body cradle, the first oil cylinder is hinged with between described turntable and principal arm, the first end of described auxiliary arm is hinged on described body cradle, second end and the described mount pad of described auxiliary arm are hinged, the first pull bar and the second pull bar is also hinged with between described turntable and described body cradle, described first pull bar and the second pull bar are arranged in described principal arm both sides, described turntable, body cradle, first pull bar and the second pull bar composition parallel-crank mechanism, also be hinged with the 3rd pull bar and four-pull-rod between described body cradle and described mount pad, described 3rd pull bar and four-pull-rod are arranged in described auxiliary arm both sides, described body cradle, mount pad, the 3rd pull bar and four-pull-rod composition parallel-crank mechanism, synchronous fuel tank is hinged with between described principal arm and described auxiliary arm.
A second aspect of the present invention, additionally provides a kind of drilling floor surface manipulator, comprises pulley mechanism and above-mentioned mechanical arm, is located on described pulley mechanism bottom described mechanical arm, and described mechanical arm tail end is hinged with tubing string and helps mechanism.
Further, described pulley mechanism comprises the first track and the first dolly, described first dolly can slide along described first track, the second track is provided with described first traces cross, described first dolly is also provided with the second dolly, telescopic oil cylinder is provided with between described second dolly and described first dolly, described telescopic oil cylinder two ends are hinged on described first dolly and described second dolly respectively, one in described second track and described second dolly is provided with guide rail, and the another one in described second track and described second dolly is provided with the chute coordinated with guide rail.
Further, described second dolly arranges guide rail, described second track arranges the first chute coordinated with guide rail, and described first dolly is also provided with the second chute coordinated with guide rail, and described second chute connects with described first chute.
Further, described second dolly arranges chute, described second track arranges the first guide rail coordinated with chute, and described first dolly is also provided with the second guide rail coordinated with chute, and described second guide rail connects with described first guide rail.
Further, described tubing string is helped mechanism to comprise first and is grabbed bar, second grabs bar and telescopic drive part, first connecting rod is hinged with between described first first end of grabbing bar and described telescopic drive part, second connecting rod, third connecting rod is hinged with between described second first end of grabbing bar and described telescopic drive part, double leval jib, the 5th connecting rod is hinged with between described first second end of grabbing bar and described telescopic drive part, six-bar linkage is hinged with between described second second end of grabbing bar and described telescopic drive part, described first grabs bar, first connecting rod, second connecting rod and telescopic drive part composition parallel-crank mechanism, described second grabs bar, third connecting rod, double leval jib and telescopic drive part composition parallel-crank mechanism.
Further, described first connecting rod and described third connecting rod are arranged on described first and grab the first surface that bar grabbed by bar and second, and described second connecting rod and described double leval jib are arranged on described first and grab second that bar grabbed by bar and second.
Further, described first the second end of grabbing bar is hinged with the first block, and described second the second end of grabbing bar is hinged with the second block.
A third aspect of the present invention, additionally provides a kind of oil drilling and extracting equipment, comprises rig floor, and described rig floor is provided with the drilling floor surface manipulator described in above-mentioned any one.
Further, described first track and the second track installation are on described rig floor.
Structure of the present invention is simple, by arranging two parallel-crank mechanism, makes the tubing string of mechanical arm tail end help mechanism can move in the horizontal direction all the time, has ensured that tubing string helps mechanism to grab accuracy and the agility of pipe location; Simultaneously by arranging synchronous fuel tank, principal arm and auxiliary arm can remain and be synchronized with the movement.
In addition, first pull bar and second pull bar of composition parallel-crank mechanism are arranged in principal arm both sides, 3rd pull bar and the four-pull-rod of composition parallel-crank mechanism are arranged in auxiliary arm both sides, in this structure, the lateral space of what pull bar took is mechanical arm, instead of taking the space of its telescopic direction, when thus mechanical arm shrinks, volume is less, and structure is more compact.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation in a mechanical arm direction of the present invention;
Fig. 2 is the structural representation in the another direction of mechanical arm of the present invention;
Fig. 3 is the structural representation of drilling floor surface manipulator first operating position of the present invention;
Fig. 4 is the structural representation of drilling floor surface manipulator second operating position of the present invention;
Fig. 5 is the structural representation that tubing string of the present invention helps mechanism's first direction;
Fig. 6 is the structural representation that tubing string of the present invention helps mechanism's second direction;
Fig. 7 is the structural representation that tubing string of the present invention helps mechanism's third direction.
Description of reference numerals:
1, tubing string helps mechanism; 101, first bar is grabbed; 102, second bar is grabbed; 11, telescopic drive part; 121, first connecting rod; 122, third connecting rod; 131, second connecting rod; 132, double leval jib; 141, the 5th connecting rod; 142, six-bar linkage; 151, the first block; 152, the second block;
2, mechanical arm; 21, turntable; 22, principal arm; 221, the first pull bar; 222, the second pull bar; 23, body cradle; 24, auxiliary arm; 241, the 3rd pull bar; 242, four-pull-rod; 25, mount pad; 26, the first oil cylinder; 27, synchronous fuel tank;
301, the first track; 302, the second track; 3021, the first chute; 311, the first dolly; 3111, the second chute; 312, the second dolly; 32, telescopic oil cylinder.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
In the present invention, term " first ", " second " are mainly used in distinguishing different parts or direction, but specifically do not limit parts and direction.
Fig. 1, Figure 2 shows that the structural representation of mechanical arm in the present embodiment drilling floor surface manipulator, wherein Fig. 1 is the structural representation in a mechanical arm direction, and Fig. 2 is the structural representation of manipulator other direction.The major function of the mechanical arm of this embodiment drives tubing string to help the support tubing string of mechanism to move, to be moved between the position such as well head and pipe rack by tubing string.It will be apparent to those skilled in the art that " tubing string " of the present invention refers to drilling rod, thribble (three connected drilling rod), oil pipe etc.
As Fig. 1, shown in 2, mechanical arm 2 comprises turntable 21, principal arm 22, body cradle 23, auxiliary arm 24 and mount pad 25, turntable 21 is hinged with the first end of principal arm 22, second end of principal arm 22 is hinged on body cradle 23, the first oil cylinder 26 is hinged with between turntable 21 and principal arm 22, the first end of auxiliary arm 24 is hinged on body cradle 23, second end and the mount pad 25 of auxiliary arm 24 are hinged, the first pull bar 221 and the second pull bar 222 is also hinged with between turntable 21 and body cradle 23, first pull bar 221 and the second pull bar 222 are arranged in principal arm 22 both sides, turntable 21, body cradle 23, first pull bar 221 and the second pull bar 222 form parallel-crank mechanism, the 3rd pull bar 241 and four-pull-rod 242 is also hinged with between body cradle 23 and mount pad 25,3rd pull bar 241 and four-pull-rod 242 are arranged in auxiliary arm 24 both sides, body cradle 23, mount pad 25, the 3rd pull bar 241 and four-pull-rod 242 form parallel-crank mechanism, are hinged with synchronous fuel tank 27 between principal arm 22 and auxiliary arm 24.
In the present embodiment, first pull bar 221 and the second pull bar 222 are arranged in principal arm 22 both sides, 3rd pull bar 241 and four-pull-rod 242 are arranged in auxiliary arm 24 both sides, in this structure, pull bar is all the lateral space taking mechanical arm, instead of taking the space of its telescopic direction, when thus mechanical arm shrinks, volume is less, and structure is more compact.
Meanwhile, the setting of two parallel-crank mechanism, makes the tubing string of mechanical arm tail end help mechanism can move in the horizontal direction all the time, has ensured that tubing string helps mechanism to grab accuracy and the agility of pipe location; By arranging synchronous fuel tank 27, principal arm 22 and auxiliary arm 24 can remain and be synchronized with the movement.
On the basis of the mechanical arm of above-described embodiment, present invention also offers a kind of drilling floor surface manipulator, it is the structural representation of drilling floor surface manipulator of the present invention shown in Fig. 3, Fig. 4, being wherein the structural representation of drilling floor surface manipulator in the first operating position shown in Fig. 3, is the structural representation of drilling floor surface manipulator in the second operating position shown in Fig. 4; Another Fig. 5-Fig. 7 illustrates the structure that tubing string of the present invention helps mechanism from different directions, it is wherein the structural representation that tubing string helps mechanism's first direction shown in Fig. 5, being the structural representation that tubing string helps mechanism's second direction shown in Fig. 6, is the structural representation that tubing string helps mechanism's third direction shown in Fig. 7.
As shown in Figure 3,4, a kind of drilling floor surface manipulator, comprise mechanical arm 2 and pulley mechanism, pulley mechanism is installed on rig floor, be located at bottom mechanical arm 2 on pulley mechanism, mechanical arm 2 end is hinged with aforesaid tubing string and helps mechanism 1, owing to adopting above-mentioned mechanical arm 2, has all advantages of aforementioned mechanical arm 2.
For making drilling floor surface robot work scope larger, usually pulley mechanism is set bottom mechanical arm 2, specifically as shown in Figure 3,4, in the present embodiment, pulley mechanism comprises the first track 301 and the first dolly 311, first dolly 311 can slide along the first track 301, thus can driving mechanical arm mobile certain limit on drilling floor surface.
Due to the rig floor general work of drilling floor surface manipulator normally between well head and pipe rack, its first track 301 is preferably arranged near well head, this just brings a trouble, namely when drilling floor surface manipulator does not work, mechanical arm is parked on the first track 301, occupy the expensive real estate near well head, thus to other constructing operation on drilling floor surface as caused interference by the upper and lower rig floor of dynamic catwalk conveying tubing string etc., affect it normally to work, therefore, for reducing this interference as far as possible, in the present embodiment, return mutually with the first track 301 and be provided with the second track 302, first dolly 311 is also provided with the second dolly 312, telescopic oil cylinder 32 is provided with between second dolly 312 and the first dolly 311, telescopic oil cylinder 32 two ends are hinged on the first dolly 311 and the second dolly 312 respectively, one in second track 302 and the second dolly 312 is provided with guide rail, another one in second track 302 and the second dolly 312 is provided with the chute coordinated with guide rail, specifically in the present embodiment, second dolly 312 is provided with guide rail 3121, second track 302 is provided with the first chute 3021 coordinated with guide rail 3121.Certainly, also conversely, the second dolly can arrange chute, the second track is arranged the guide rail coordinated with chute, the present invention is not limited to this.
When other constructing operation need be carried out, for avoiding drilling floor surface manipulator of the present invention, interference is caused to it, start telescopic oil cylinder 32 to stretch out, second dolly 312 is pushed away the first dolly 311 and the first track 301, enter the second track 302, make it away from well head, abdicate the well head space taken, when needs drilling floor surface robot work, start telescopic oil cylinder 32 and retract, the mechanical arm on the second dolly 312 and top thereof is got back on the first track 301.The present embodiment, by the double-layer trolley structure arranging two-rail and can automatically combine and depart from, does not need dismounting, does not need manual intervention, conveniently manipulator can be withdrawn well head.
In the present embodiment, for making the slip between the first dolly 311 and the second dolly 312 more flexible, the first dolly 311 being provided with the second chute 3111, second chute 3111 coordinated with the guide rail 3121 of the second dolly 312 and connecting with the first chute 3021.
As illustrated in figs. 5-7, the tubing string of the present embodiment helps mechanism, comprise first to grab bar 101, second and grab bar 102 and telescopic drive part 11, first connecting rod 121, second connecting rod 131 is hinged with between first first end of grabbing bar 101 and telescopic drive part 11, third connecting rod 122, double leval jib 132 is hinged with between second first end of grabbing bar 102 and telescopic drive part 11, first grabs and to be hinged with the 5th connecting rod 141, the second between bar 101 and the second end of telescopic drive part 11 and to grab between bar 102 and the second end of telescopic drive part 11 and be hinged with six-bar linkage 142.
In the present embodiment, first grabs bar 101, first connecting rod 121, second connecting rod 131 and telescopic drive part 11 forms parallel-crank mechanism, and second grabs bar 102, third connecting rod 122, double leval jib 132 and telescopic drive part 11 forms parallel-crank mechanism.The setting of two parallel-crank mechanism, makes first to grab bar 101 and second and grabs bar 102 and can move in the horizontal direction all the time, when grabbing pipe location more accurately, quick.
In the present embodiment, telescopic drive part 11 is preferably telescopic oil cylinder, then the first end of telescopic drive part 11 and the second end can be understood as is tailpiece of the piston rod and the cylinder barrel end of telescopic oil cylinder respectively, and can certainly be that other can the driving mechanism of rectilinear motion, the present invention be not limited to this.
In the present embodiment, control first by the 5th connecting rod 141, six-bar linkage 142 and grab bar 101 and second and grab folding amplitude between bar 102.Folding amplitude that bar 101 and second grabs bar 102 can freely adjust to make first to grab, and is applicable to the tubing string of various different tube diameters, applied widely.
Preferably, in order to better structure space layout, in the present embodiment, first connecting rod 121 and third connecting rod 122 are arranged on first and grab the first surface that bar 102 grabbed by bar 101 and second, and second connecting rod 131 and double leval jib 132 are arranged on first and grab second that bar 102 grabbed by bar 101 and second.
Preferably, first the second end of grabbing bar 101 is hinged with the first block 151, second the second end of grabbing bar 102 is hinged with the second block 152, first block 151 and the second block 152 are oppositely arranged, tubing string is made to help mechanism in moving process, be clamped in first to grab the tubing string that bar 101 and second grabs between bar 102 and can not skid off, make safety obtain guarantee.
When needing to carry out grabbing pipe operation, first mechanical arm 2 slides into target tubing string by pulley mechanism and deposits a little, unwinder mechanical arm 2, mechanism is helped by tubing string to move to target tubing string, make target tubing string enter into first through the first block 151 and the second block 152 to grab bar 101 and second and grab after bar 102, start telescopic drive part 11 to extend, drive first to grab bar 101 and second by the 5th connecting rod 141 and six-bar linkage 142 to grab bar 102 and close, thus clamp target tubing string, moving tubing string again helps after target tubing string is transported to precalculated position by mechanism, telescopic drive part 11 is retracted, drive first to grab bar 101 and second by the 5th connecting rod 141 and six-bar linkage 142 to grab bar 102 and open, unclamp target tubing string and remove.The present embodiment tubing string support mechanism structure is simple, space layout is compact, and functional reliability is good.
A third aspect of the present invention, additionally provides a kind of oil drilling and extracting equipment, comprises rig floor, and aforementioned drilling floor surface manipulator is arranged on rig floor, and specifically, the first track 301 of drilling floor surface manipulator and the second track 302 are arranged on the position near well head on rig floor.This has all advantages of aforementioned mechanical arm and aforementioned drilling floor surface manipulator, does not repeat them here.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a mechanical arm, comprise turntable (21), principal arm (22), body cradle (23), auxiliary arm (24) and mount pad (25), described turntable (21) is hinged with the first end of principal arm (22), second end of described principal arm (22) is hinged on described body cradle (23), the first oil cylinder (26) is hinged with between described turntable (21) and principal arm (22), the first end of described auxiliary arm (24) is hinged on described body cradle (23), second end and the described mount pad (25) of described auxiliary arm (24) are hinged, it is characterized in that: between described turntable (21) and described body cradle (23), be also hinged with the first pull bar (221) and the second pull bar (222), described first pull bar (221) and the second pull bar (222) are arranged in described principal arm (22) both sides, described turntable (21), body cradle (23), first pull bar (221) and the second pull bar (222) composition parallel-crank mechanism, the 3rd pull bar (241) and four-pull-rod (242) is also hinged with between described body cradle (23) and described mount pad (25), described 3rd pull bar (241) and four-pull-rod (242) are arranged in described auxiliary arm (24) both sides, described body cradle (23), mount pad (25), the 3rd pull bar (241) and four-pull-rod (242) composition parallel-crank mechanism, synchronous fuel tank (27) is hinged with between described principal arm (22) and described auxiliary arm (24).
2. a drilling floor surface manipulator, it is characterized in that: comprise pulley mechanism and mechanical arm according to claim 1 (2), described mechanical arm (2) bottom is located on described pulley mechanism, and described mechanical arm (2) end is hinged with tubing string and helps mechanism (1).
3. according to the drilling floor surface manipulator described in claim 2, it is characterized in that: described pulley mechanism comprises the first track (301) and the first dolly (311), described first dolly (311) can be slided along described first track (301), crossingly with described first track (301) be provided with the second track (302), described first dolly (311) is also provided with the second dolly (312), telescopic oil cylinder (32) is provided with between described second dolly (312) and described first dolly (311), described telescopic oil cylinder (32) two ends are hinged on described first dolly (311) and described second dolly (312) respectively, one in described second track (302) and described second dolly (312) is provided with guide rail, another one in described second track (302) and described second dolly (312) is provided with the chute coordinated with guide rail.
4. drilling floor surface manipulator according to claim 3, it is characterized in that: described second dolly (312) arranges guide rail, the first chute (3021) that the setting of described second track (302) coordinates with guide rail, described first dolly (311) is also provided with the second chute (3111) coordinated with guide rail, and described second chute (3111) connects with described first chute (3021).
5. drilling floor surface manipulator according to claim 3, it is characterized in that: described second dolly (312) arranges chute, the first guide rail that the setting of described second track (302) coordinates with chute, described first dolly (311) is also provided with the second guide rail coordinated with chute, and described second guide rail connects with described first guide rail.
6. the drilling floor surface manipulator according to any one of claim 2-5, it is characterized in that: described tubing string is helped mechanism (1) to comprise first and grabbed bar (101), second grabs bar (102) and telescopic drive part (11), first connecting rod (121) is hinged with between described first first end of grabbing bar (101) and described telescopic drive part (11), second connecting rod (131), third connecting rod (122) is hinged with between described second first end of grabbing bar (102) and described telescopic drive part (11), double leval jib (132), the 5th connecting rod (141) is hinged with between described first second end of grabbing bar (101) and described telescopic drive part (11), six-bar linkage (142) is hinged with between described second second end of grabbing bar (102) and described telescopic drive part (11), described first grabs bar (101), first connecting rod (121), second connecting rod (131) and telescopic drive part (11) composition parallel-crank mechanism, described second grabs bar (102), third connecting rod (122), double leval jib (132) and telescopic drive part (11) composition parallel-crank mechanism.
7. drilling floor surface manipulator according to claim 6, it is characterized in that: described first connecting rod (121) and described third connecting rod (122) are arranged on described first and grab the first surface that bar (102) grabbed by bar (101) and second, and described second connecting rod (131) and described double leval jib (132) are arranged on described first and grab second that bar (102) grabbed by bar (101) and second.
8. the tubing string according to claim 6 or 7 helps mechanism, it is characterized in that: the described first the second end of grabbing bar (101) is hinged with the first block (151), the described second the second end of grabbing bar (102) is hinged with the second block (152).
9. an oil drilling and extracting equipment, comprises rig floor, it is characterized in that: described rig floor is provided with the drilling floor surface manipulator described in any one of claim 2-8.
10. oil drilling and extracting equipment according to claim 9, is characterized in that: described first track (301) and the second track (302) are installed on described rig floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510814268.3A CN105401897B (en) | 2015-11-02 | 2015-11-19 | Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520865711 | 2015-11-02 | ||
| CN2015208657115 | 2015-11-02 | ||
| CN201510814268.3A CN105401897B (en) | 2015-11-02 | 2015-11-19 | Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105401897A true CN105401897A (en) | 2016-03-16 |
| CN105401897B CN105401897B (en) | 2017-12-08 |
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| CN201510814268.3A Active CN105401897B (en) | 2015-11-02 | 2015-11-19 | Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm |
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| CN105370226A (en) * | 2015-11-02 | 2016-03-02 | 湖南三一石油科技有限公司 | Petroleum drilling and production equipment, drilling table surface manipulator and pipe column support mechanism |
| CN105401896A (en) * | 2015-11-02 | 2016-03-16 | 湖南三一石油科技有限公司 | Petroleum drilling and production device, drilling stand face mechanical arm and pulley mechanism |
| CN108397144A (en) * | 2018-03-06 | 2018-08-14 | 常州大学 | A kind of support robot device of drilling rod automatic discharge system |
| CN108756957A (en) * | 2018-04-19 | 2018-11-06 | 陕西道智能科技有限公司 | A kind of special hydraulic clamp assembly for tunnel arch installation |
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| CN105370226A (en) * | 2015-11-02 | 2016-03-02 | 湖南三一石油科技有限公司 | Petroleum drilling and production equipment, drilling table surface manipulator and pipe column support mechanism |
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| CN105370226B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism |
| CN105401896B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and pulley mechanism |
| CN108397144A (en) * | 2018-03-06 | 2018-08-14 | 常州大学 | A kind of support robot device of drilling rod automatic discharge system |
| CN108756957A (en) * | 2018-04-19 | 2018-11-06 | 陕西道智能科技有限公司 | A kind of special hydraulic clamp assembly for tunnel arch installation |
| CN108756957B (en) * | 2018-04-19 | 2020-04-07 | 陕西道一智能科技有限公司 | Special hydraulic clamp assembly for tunnel arch center installation |
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