CN106121559A - Automatic Code bank of tubes puts one hydraulic leg - Google Patents
Automatic Code bank of tubes puts one hydraulic leg Download PDFInfo
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- CN106121559A CN106121559A CN201610634310.8A CN201610634310A CN106121559A CN 106121559 A CN106121559 A CN 106121559A CN 201610634310 A CN201610634310 A CN 201610634310A CN 106121559 A CN106121559 A CN 106121559A
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- oil pipe
- stinger
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- leading screw
- arm
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- 210000001124 body fluid Anatomy 0.000 claims 1
- 239000010839 body fluid Substances 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000002457 bidirectional effect Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 6
- 230000008676 import Effects 0.000 description 6
- 238000003756 stirring Methods 0.000 description 6
- 239000007788 liquid Substances 0.000 description 5
- 239000003129 oil well Substances 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000009795 derivation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003319 supportive effect Effects 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
- E21B19/146—Carousel systems, i.e. rotating rack systems
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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)
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Abstract
The invention discloses a kind of Automatic Code bank of tubes and put one hydraulic leg, described Automatic Code bank of tubes is put one hydraulic leg and is included a yard pipe mechanical hand, stinger, discharge one hydraulic leg, c-type inner guiding post, leading screw, shift fork, described stinger is at least provided with two, described stinger the inner is hinged on outside c-type inner guiding post, described leading screw coaxial-type is arranged on inside c-type inner guiding post, described shift fork is axially engaging outside leading screw, the most then enter after stretching out the breach of c-type inner guiding post in the groove in one of them direction in the cross allocating slot that described stinger is offered；Described c-type inner guiding post axial end portion drives motor on connecting, leading screw lower end drives motor under connecting, lower driving driven by motor leading screw rotates, and shift fork moves up and down at leading screw, the gathering sill that the cross recess that the breach of c-type inner guiding post and stinger are offered simultaneously moves up and down as shift fork.The present invention greatly reduces artificial labor intensity and adds artificial safety in production.
Description
Technical field
The present invention relates to oil well repairing operation auxiliary equipment, specifically Automatic Code bank of tubes and put one hydraulic leg.
Background technology
During workover rig service to oil well, having the special region storing oil pipe, conventional workover treatment is all manual work,
After elevator unloads oil pipe, workman utilize pipe wrench to clamp oil pipe, decline with elevator and pull oil pipe, oil pipe is set level, sets level oil
After the lower oil pipe of pipe, then by manually removing to the region storing oil pipe, during upper oil pipe, oil pipe need to be removed to equipment from storage area,
Rise with elevator again, oil pipe lower end is placed on well head, time-consuming, laborious, and have the biggest danger.
Summary of the invention
It is an object of the invention to provide Automatic Code bank of tubes and put one hydraulic leg, oil pipe on other equipment is led to by mechanical hand
Coaster and the riser guide of crossing self move horizontally up and down, and stinger rotates simultaneously, it is achieved during trapped fuel pipe, code is arranged from lower to upper, goes out
During oil pipe, capturing from top to bottom, synchronicity is good, and degree of accuracy is high, greatly reduces artificial labor intensity and adds artificial
Safety in production.
In order to reach above-mentioned purpose, present invention employs following technical scheme, Automatic Code bank of tubes puts one hydraulic leg, institute
State Automatic Code bank of tubes put one hydraulic leg include a yard pipe mechanical hand, stinger, discharge one hydraulic leg, c-type inner guiding post, silk
Thick stick, shift fork, described stinger is at least provided with two, and described stinger the inner is hinged on outside c-type inner guiding post, described leading screw coaxial-type
Being arranged on inside c-type inner guiding post, described shift fork is axially engaging outside leading screw, the most then after stretching out the breach of c-type inner guiding post
Enter in the groove in one of them direction in the cross allocating slot that described stinger is offered；Described c-type inner guiding post axial end portion connects
Upper driving motor, leading screw lower end drives motor under connecting, lower driving driven by motor leading screw rotates, and shift fork moves up and down at leading screw,
The gathering sill that the cross recess that the breach of c-type inner guiding post and stinger are offered simultaneously moves up and down as shift fork.
Described code pipe mechanical hand is positioned on yard pipe mechanical hand coaster, and described code pipe mechanical hand coaster is positioned on coaster guide rail,
Coaster guide rail is hinged on discharge one hydraulic leg upper end.
Described discharge one hydraulic leg lower end horizontal direction is hinged on skid chassis by code pipe swing arm.
Compared to prior art, the invention have the advantages that
Automatic Code bank of tubes puts one hydraulic leg, send swing arm to be hinged on skid chassis by the chain of self, Automatic Code pipe
Also including that bracket put by Automatic Code pipe on discharge one hydraulic leg, when storing oil pipe, the mechanical hand of self captures oil pipe, passes through
The pendulum bracket of the bottom is swung in by the pendulous device of self, and mechanical hand is sequentially placed oil pipe, piles up oil pipe from bottom to top with this, when
By when in material storehouse, oil pipe is derived, mechanical hand captures the oil pipe on the pendulum bracket of upper strata, with this top-down derivation oil pipe, changes
Past needs manually to place oil pipe everywhere, pile up confusion, and the present situation of environment difference reduces labor intensity, improves efficiency.Self
Stretch out during hydraulic leg work, to support skid chassis, during transport, pack up, save space, in order to transport.
At whole well workover machine man-hour, oil pipe is put in stinger by oil pipe automatically that unload, when upper oil pipe,
Automatically being derived by linkage by the oil pipe on stinger, assisted the work of upper and lower oil pipe, synchronicity is good, structure letter
Single, compact in design.
Accompanying drawing explanation
Fig. 1 is the duty front view that the present invention is applied in well workover robot；
Fig. 2 is Fig. 1 top view；
Fig. 3 is Fig. 1 right view；
Fig. 4 is that the present invention turns up travel position front view；
Fig. 5 is Fig. 4 top view；
Fig. 6 is skid chassis front view；
Fig. 7 is skid chassis top view；
Fig. 8 is the lower swing guide arm operating schematic diagram of multi-function chain type hydraulic leg；
Fig. 9 is multi-function chain type hydraulic leg front view；
Figure 10 is the left view of Fig. 9；
Figure 11 is the front view that the Automatic Code bank of tubes of the present invention puts one hydraulic leg；
Figure 12 is the left view of Figure 11；
Figure 13 is the top view of Figure 11；
Figure 14 is the partial enlarged drawing of Figure 12；
Figure 15 is the A-A sectional view of Figure 14；
Figure 16 is the front view that sleeve type untethered can turn to elevator；
Figure 17 is Figure 16 top view；
Figure 18 is the front view of multifunction hydraulic slips pipe wrench；
Figure 19 is the top view of Figure 18；
Figure 20 is the left view of Figure 18；
Figure 21 is the front view of oil pipe delivery mechanical hand；
Figure 22 is two largest motion limit state figures of Figure 21；
Figure 23 is Figure 21 right view；
Figure 24 is the extreme sport state diagram of Figure 23；
Figure 25 is that oil pipe is grabbed and sent the front view taking mechanical hand；
Figure 26 is the right view of Figure 25；
Figure 27 is the front view of random telescopic tourist bus flexibility correcting driving means；
Figure 28 is the left view of Figure 27.
Figure 29 is the rearview of Figure 27；
Figure 30 is the right view of Figure 27；
Figure 31 is the longitudinal sectional view of the right view of Figure 27；
Figure 32 be sleeve type untethered can turn within elevator by random telescopic tourist bus flexibility correcting driving means
Steer-drive motion state diagram；
Figure 33 is the front view that pendulum send mechanical hand；
Figure 34 is the left view of Figure 33；
Figure 35 is that pendulum send mechanical hand to transmit the scheme of installation of hydraulic leg at multi-function chain type.
In figure: 1, skid chassis；2, multi-function chain type transmits hydraulic leg；3, Automatic Code bank of tubes puts one hydraulic leg；
4, sleeve type untethered can turn to elevator；5, multifunction hydraulic slips pipe wrench；6, oil pipe delivery mechanical hand；7, oil pipe is grabbed to send and is taken machinery
Hands；8, random telescopic tourist bus flexibility correcting driving means；9, pendulum send mechanical hand；
101, chassis body；102, bracing frame；103, folding and unfolding drives support arm；104, folding and unfolding drives hydraulic cylinder；
201, sprocket wheel；202, chain；203, servomotor；204 chains are secondary；205, hydraulic leg；206, upper oil pipe swings
Guide arm；207, chain send swing arm；208, rocking jaw；209, lower swing guide arm；210, support bar；211, rocking jaw hydraulic stem；
301, code pipe mechanical hand；302, code pipe mechanical hand coaster；303, coaster guide rail；304, stinger；305 discharge one
Hydraulic leg；306, c-type inner guiding post；307, code pipe swing arm；308, leading screw；309, shift fork；
401, elevator side plate；402, asymmetry sliding sleeve arm；403, elevator assembly；404, steer-drive rotation passes
Untie-sell；405, slips；406, bidirectional cam shift fork；
501, hydraulic pipe wrench；502, hydraulic pipe wrench slide；503, hydraulic pipe wrench lifting platform；504, hydraulic pressure pipe slips；505, rise
Fall platform hydraulic cylinder；506, slips jaw；
601, pendulum mass；602, pulley；603, swing arm；604, hydraulic cylinder；605, chain is secondary；606, servomotor；
701, grab and send hands swing arm；702, robot drives bar；703, coaster；704, hydraulic cylinder；705, chain wheel pair；706, watch
Take motor；707, crank throw chain wheel pair；708, hydraulic cylinder；709, mechanical hand；710, connecting lever；
801, correcting drives swing arm；802, flexible guide rope；803, hydraulic cylinder；804, double C-type one shift fork；805, upper elevator
Turn to driving arm；806, self-balancing hydraulic leg；807, driving lever is swung；808, oscillating oil cylinder；809, telescopic arm；810, lower elevator
Turn to driving arm；
901, pendulum send mechanical arm；902, hydraulic stem free bearing；903, support arm；904, pendulum liquor charging depression bar.
Detailed description of the invention
Detailed description for the present invention and technology contents, coordinate accompanying drawing be described as follows, but accompanying drawing only provide with reference to
Purposes of discussion, is not used for being any limitation as the present invention.
According to Fig. 1-35, described Automatic Code bank of tubes is put one hydraulic leg and is arranged two, is respectively hinged at chassis body left
Before and after side near two ends, described Automatic Code bank of tubes is put one hydraulic leg and is included that a yard pipe mechanical hand 301, code pipe mechanical hand are sliding
Car 302, coaster guide rail 303, stinger 304, discharge one hydraulic leg 305, c-type inner guiding post 306, code pipe swing arm 307, leading screw
308, shift fork 309.Described code pipe mechanical hand 301 is positioned on yard pipe mechanical hand coaster 302,302, described code pipe mechanical hand coaster
On coaster guide rail 303, coaster guide rail 303 is hinged on discharge one hydraulic leg 305 lower end, and discharges one hydraulic leg
305 lower end horizontal directions are hinged on skid chassis by code pipe swing arm 307, and described stinger 304 is at least provided with two, described
Stinger 304 the inner is hinged on outside c-type inner guiding post 306, and it is internal that described leading screw 308 coaxial-type is arranged on c-type inner guiding post 306, institute
State shift fork 309 and axially engaging outside leading screw 308, the most then enter described stinger 304 after stretching out the breach of c-type inner guiding post
In the groove in one of them direction in the cross allocating slot offered；Described c-type inner guiding post 306 axial end portion drives motor on connecting,
Leading screw 308 lower end drives motor under connecting, lower driving driven by motor leading screw rotates, and shift fork 309 moves up and down at leading screw, C simultaneously
The gathering sill that the cross recess that the breach of type inner guiding post 306 and stinger 304 are offered moves up and down as shift fork 309, works as motion
In the cross recess that the stinger 304 of required rotation is offered during position, lower driving motor stops, and the work of upper driving motor drives
C-type inner guiding post 306 rotates, and c-type inner guiding post 306 drives shift fork 309 to stir stinger 304 to carry out 90 degree of rotations once, pass through C
The work coordinated between type inner guiding post 306, leading screw 308, shift fork 309, completes the rotation of 304 stingers, to complete to put, take oil pipe
Work, described code pipe swing arm 307 is hinged on skid chassis by hinge, when can complete work when stretching out and transport
Equivalent.
Well workover robot, including skid chassis 1, multi-function chain type transmits hydraulic leg 2, Automatic Code bank of tubes puts one hydraulic pressure
Supporting leg 3, sleeve type untethered can turn to elevator 4, multifunction hydraulic slips pipe wrench 5, oil pipe delivery mechanical hand 6, oil pipe to grab and send the machine of taking
Tool hands 7, random telescopic tourist bus flexibility correcting driving means 8, pendulum send mechanical hand 9；Described random telescopic tourist bus flexibility correcting
Driving means 8 is hinged on the rear end on skid chassis, and described sleeve type untethered can turn to elevator 4 and multifunction hydraulic slips pipe wrench 5
Be installed in random telescopic tourist bus flexibility correcting driving means, multifunction hydraulic slips pipe wrench 5 be positioned at described sleeve type without
Cable can turn between elevator 4 and well head, and the root of described oil pipe delivery mechanical hand 6 hands is hinged on the rear end on skid chassis equally,
Described oil pipe is grabbed to send and is taken mechanical hand 7 and be arranged on the line slideway on skid chassis by the hinge coaster of self, it is achieved straight line is transported
Dynamic, described Automatic Code bank of tubes is put one hydraulic leg 3 and is arranged on by self pivoted arm respectively in the free bearing of side on skid chassis,
Responsible automatic tube-arranging is piled up, imports and derives and stores, and described multi-function chain type is transmitted hydraulic leg 2 and installed by self pivoted arm
In the free bearing of the opposite side on skid chassis, have from outside input, from inside export and with oil pipe delivery mechanical hand and oil
Pipe is grabbed to send and is taken mechanical hand on well head rises, the function of lower oil tube, and it is multi-functional that described pendulum send mechanical hand 9 to be hinged on by support arm
On chain type hydraulic leg, coordinate delivery mechanical hand and grabbing to send and take mechanical hand and multi-function chain type hydraulic leg completes leading of oil pipe
Enter, derive and upper, the function of oil discharge pipe.
Described skid chassis includes chassis body 101, supports the support of random telescopic tourist bus flexibility correcting driving means
Frame 102, random telescopic tourist bus flexibility correcting driving means folding and unfolding drive support arm 103, random telescopic tourist bus flexibility correcting
Driving means folding and unfolding drives hydraulic cylinder 104, and the bracing frame 102 of the random telescopic tourist bus flexibility correcting driving means of described support leads to
Cross free bearing to be connected in chassis body 101, it is possible to when playing transport, erect the effect of support telescopic arm, can pack up during work with
Save space.Described random telescopic tourist bus flexibility correcting driving means folding and unfolding drives support arm 103 to be hinged on the end by free bearing
The rear end of dish body 101, plays the effect of folding and unfolding telescopic arm.Described random telescopic tourist bus flexibility correcting driving means folding and unfolding is driven
Hydrodynamic cylinder pressure 104 is connected on above-mentioned support arm 103 by middle hinge shaft seat, and above-mentioned folding and unfolding drives the hydraulic pressure in hydraulic cylinder 104
Bar lower end is then hinged in the correcting driving means swing arm 801 of described random telescopic tourist bus flexibility correcting driving means 8, passes through
Stretch out and the retraction of hydraulic stem can converting into the driving means of folding and unfolding telescopic arm and folding and unfolding support arm.During travel position, above-mentioned
Folding and unfolding drives hydraulic cylinder 104 to be horizontal positioned, and above-mentioned folding and unfolding drives support arm 103 to be plumbness, and this folding and unfolding drives and supports
Arm 103 has two hinge axis holes, and one of them is by stud connection on skid chassis, and the hinged hydraulic cylinder in another hole 803 is to use
Carrying out locked support arm, when operating, above-mentioned folding and unfolding drives support arm 103 locked in plumbness, and above-mentioned folding and unfolding drives hydraulic pressure
Cylinder 104 works, and hydraulic stem promotes above-mentioned folding and unfolding to drive support arm 103 to rotate around hinge, extend out to plumbness, liquid to telescopic arm
Pressure supporting leg stretches out, and releases support arm locking state, and above-mentioned folding and unfolding drives the hydraulic stem of hydraulic cylinder 104 to regain, and makes hinged above-mentioned receipts
Put and drive the folding and unfolding of hydraulic cylinder 104 to drive support arm 103 to turn to folding and unfolding driving hydraulic cylinder 104 plumbness around self free bearing.
When transport, vertical above-mentioned folding and unfolding drives the hydraulic stem of hydraulic cylinder 104 to stretch out, and promotes folding and unfolding to drive support arm 103 to turn around axle
Moving to plumbness, the most locked folding and unfolding drives support arm 103, and hydraulic stem is regained, and drives the support arm on telescopic arm around self
Free bearing rotates, and regains telescopic arm.
Described random telescopic tourist bus flexibility correcting driving means 8 includes that correcting drives swing arm 801, flexible guide rope 802, liquid
Cylinder pressure 803, double C-type one shift fork 804, upper elevator turn to driving arm 805, self-balancing hydraulic leg 806, swing driving lever 807, pendulum
Dynamic oil cylinder 808, telescopic arm 809, lower elevator turn to driving arm 810；Described correcting drives swing arm 801 one end to be rigidly attached to stretch
Arm bottom, the random telescopic tourist bus flexibility correcting driving means folding and unfolding that the other end is hinged on skid chassis drives support arm
On the skid chassis free bearing at 103 places, described flexible guide rope 802 is fixed on telescopic arm 809, and asymmetry sliding sleeve arm 402 cuts with scissors
It is connected on flexible guide rope, thus realizes the flexible correcting to elevator.Described hydraulic cylinder 803 is positioned at the inside of telescopic arm, passes through liquid
Stretching out of depression bar coordinates with inner chain pair with retracting, it is achieved stretching out and retraction of telescopic arm, described double C-type one shift fork 804,
Upper elevator turns to driving arm 805, and lower elevator turns to driving arm 810 to be respectively positioned on telescopic arm, by respective fluid pressure drive device,
Realize opening and stepping up of elevator, and the turning to of elevator, with realize oil pipe upper, unload purpose.Described self-balancing hydraulic leg 806
Being positioned at correcting and drive in swing arm 801, after swing arm is stretched out, hydraulic leg stretches out support swing arm and telescopic arm.Described swing driving lever
807 coordinate with oscillating oil cylinder 808, make swing driving lever 807 turn an angle by the work of oscillating oil cylinder, thus stir two-way
Cam shift fork 406, it is achieved the slips in elevator steps up and unclamps oil pipe, they are respectively positioned on correcting and drive in swing arm 801.
Described sleeve type untethered can turn to elevator to include elevator side plate 401, asymmetry sliding sleeve arm 402, elevator assembly
403, steer-drive rotation trundle 404, slips 405, bidirectional cam shift fork 406, described asymmetry sliding sleeve arm 402 is solid
Be scheduled on elevator side plate 401, coordinate with flexible guide rope 802 utilize hanging wheel realize oil pipe upper, unload.Described elevator assembly 403
Being hinged on inside elevator side plate 401, steer-drive rotation trundle 404 is arranged on outside elevator side plate 401 and by flat
Key is connected with described elevator assembly 403, and described slips 405, bidirectional cam shift fork 406 are positioned at elevator assembly 403, pass through
Driving lever is stirred shift fork and is realized slips and step up oil pipe and unclamp.Described bidirectional cam shift fork coordinates with the slips in elevator body
Connect.When tourist bus drives elevator to decline, utilize multifunction hydraulic slips pipe wrench, be accurately positioned above oil well and make oil pipe enter 403
In elevator assembly, it is positioned at the upper oscillating oil cylinder 808 of the main body of random telescopic tourist bus flexibility correcting driving means, by swinging
The work of oil cylinder makes swing driving lever 807 turn an angle, thus stirs 406 bidirectional cam shift forks, makes the slips in elevator close
Closing, contain oil pipe, tourist bus is up, drives oil pipe up, and when following oil pipe pipe collar arrives specific bit, to postpone stopping up, tourist bus
When driving oil pipe descending short distance, the slips self-locking in pedestal, adds oil pipe immediately below, prevents following oil pipe from rotating, when hydraulic pressure card
Watt unloading the hinged of two oil pipes, oil pipe is grabbed to send and is taken mechanical hand and driven by the servomotor of self.Lift by crane at whole well workover elevator
During oil pipe, add the accuracy of alignment of elevator and well head, facilitate the connection of elevator and tourist bus, oscillating oil cylinder drive driving lever to dial
Dynamic bidirectional cam shift fork clamping pipe collar, synchronicity is good, simple in construction, compact in design.Achieve the low dirt to oil recovery existing equipment
Dye, efficiency are high, achieve high efficiency operating, and improve safety.
Described multifunction hydraulic slips pipe wrench includes hydraulic pipe wrench 501, hydraulic pipe wrench slide 502, hydraulic pipe wrench lifting platform
503, hydraulic pressure pipe slips 504, lifting platform hydraulic cylinder 505, slips jaw 506；Hydraulic pipe wrench lifting platform 503 is fixed on telescopic arm 809
On, described hydraulic pipe wrench 501 is positioned on hydraulic pipe wrench slide 502, it is achieved horizontal movement, and combinations thereof body is positioned at hydraulic pipe wrench
Realize on lifting platform 503 moving up and down, it is ensured that described sleeve type untethered can turn to the behaviour of the oil pipe operation between elevator and well head
Make.
Described multi-function chain type transmits hydraulic leg and is provided with two, is respectively hinged at before and after chassis body right edge two
Near Duan, described multi-function chain type transmits hydraulic leg and includes sprocket wheel 201, chain 202, servomotor 203, chain pair 204, liquid
Pressure supporting leg 205, upper oil pipe swing guide arm 206, chain send swing arm 207, rocking jaw 208, lower oil pipe to swing guide arm 209, described sprocket wheel
201, chain 202, servomotor 203, chain pair 204 are fixed on hydraulic leg 205, chain pair 204, sprocket wheel 201, chain
202 are driven by servomotor 203 thus are realized importing and the derivation of oil pipe, and described chain send swing arm 207 the inner to be cut with scissors by hinge
It is connected on skid chassis, in the middle of described upper oil pipe swing guide arm 206, is hinged on, by hinge, the support being connected with hydraulic leg 205
On bar 210, it is hinged with the chain rivet of lower end sprocket wheel that described lower oil pipe swings guide arm 209, described chain type swing arm 207 and hydraulic leg
Flange form connects, and coordinates multi-function chain type supporting leg and upper oil pipe swing guide arm to complete oil pipe by stretching out of hydraulic stem with retracting
Import, derive.Described rocking jaw 208 one end is hinged on oil pipe swing guide arm 206, the other end hinged rocking jaw hydraulic stem
211 upper ends, rocking jaw hydraulic stem 211 lower end is hinged on support bar 210, and stretching out of hydraulic stem drives itself and upper oil pipe with retracting
Swing the swing of guide arm.Described lower oil pipe swings guide arm 209 and is positioned at hydraulic leg 205 outer lower end, described upper oil pipe swing guide
Arm 206 is positioned at hydraulic leg 205 inner top side, described chain 202 offers for accommodating the C-shaped channel transporting oil pipe.
Described pendulum send mechanical hand to include, and pendulum send mechanical arm 901, pendulum liquor charging depression bar 904, hydraulic stem free bearing 902, support arm
903.Described pendulum send mechanical arm 901 lower end to be hinged on horizontal support arm 903 outer end, described hydraulic stem free bearing 902 and horizontal support arm 903
Being each attached to support on the support bar 210 of multi-function chain type hydraulic leg, described hydraulic stem free bearing 902 is positioned at horizontal support arm 903
Top, described pendulum liquor charging depression bar 904 the inner is hinged on hydraulic stem free bearing 902, and outer end is then sent with pendulum and cut with scissors in the middle part of mechanical arm 901
Connecing, described pendulum send mechanical arm 901 upper end to offer pendulum and send oil pipe groove.When the pendulum liquor charging depression bar 904 on support bar 210 stretches out and contracting
When returning, pendulum send mechanical hand to swing, and coordinates rocking jaw 208, upper oil pipe swing guide arm 206, oil pipe delivery mechanical hand and oil pipe to grab to send and take
Mechanical hand works together, it is achieved the importing of oil pipe and derivation.
Described oil pipe delivery mechanical hand is hinged near the rear end of chassis body right edge, described oil pipe delivery machinery handbag
Including pendulum mass 601, pulley 602, swing arm 603, hydraulic cylinder 604, chain pair 605, servomotor 606, described pendulum mass 601 passes through hinge
Seat is hinged on skid chassis, and described pulley 602 is positioned at swing arm 603 upper end, plays the effect supporting and importing and exporting oil pipe, institute
Stating hydraulic cylinder 604 one end to be hinged on skid chassis by base, the other end is hinged on the hinged seat of pendulum mass, passes through hydraulic cylinder
The flexible pendulum mass 601 that realizes relative to the swing on chassis body 101 left and right directions, described chain pair 605 be positioned at swing arm 603 with
On the jointed shaft that pendulum mass 601 is hinged, described servomotor 606 is fixed in swing arm 603, drives chain secondary by its action
605, it is achieved swing arm 603 is relative to the swing on chassis body 101 fore-and-aft direction.
Described oil pipe is grabbed to send and is taken mechanical hand and be connected to chassis body right edge by slide formula, and described oil pipe is grabbed to send and taken
Mechanical hand includes grabbing and send hands swing arm 701, robot drives bar 702, coaster 703, hydraulic cylinder 704, chain wheel pair 705, servomotor
706, crank throw chain wheel pair 707, hydraulic cylinder 708；Described grabbing send hands swing arm 701 to be hinged on coaster 703, coaster 703 slide anteroposterior
On the guide rail that chassis body right edge is arranged, and chain wheel pair 705 is hinged on and grabs the hinge sending hands swing arm 701 and coaster to connect
On；Servomotor 706 is arranged on to grab and send in hands swing arm 701, and drives chain wheel pair 705 to rotate, and chain wheel pair 705 drives to grab and send hands to put
Arm 701 swing, described mechanical hand 709 is hinged on connecting lever 710, and described connecting lever one end is hinged on to grab and send in hands swing arm 701
End, the other end connects hydraulic cylinder 708, and described robot drives bar 702 one end connects hydraulic cylinder 708.The other end connects mechanical hand
709 rear ends, it is achieved mechanical hand promptly and unclamp, described crank throw chain wheel pair 707 is arranged on connecting lever, described hydraulic cylinder 704
Send in hands swing arm 701 and hinged with crank throw chain wheel pair 707 in upper grabbing, described hydraulic cylinder 704 crank throw chain wheel pair 707 and connecting lever rotation
Turning, driving mechanical hand-screw turns then, it is achieved turning to of mechanical hand.
This embodiment coordinates existing artificial production rig to use:
The discharge one hydraulic leg 305 in one hydraulic leg 3 and multi-functional chain are put by Automatic Code bank of tubes in skid chassis 1
Formula transmits the hydraulic leg 205 in hydraulic leg 2 and launches to support, hydraulic leg retraction and corresponding stinger and multi-functional conveyer chain
Equivalent, transport space can be dramatically saves on by trailer transportation, code pipe mechanical hand 301 is fixed on a yard pipe mechanical hand coaster 302
On, move horizontally along coaster guide rail 303；Code pipe mechanical hand 301 be prior art, i.e. by drive mechanism driving handgrip open with
Guan Bi carries out capturing oil pipe, repeats no more this.Also include on coaster driving containing with linear gear rack vertical guide rail, up and down motion
Dynamic device, mechanical hand can move up and down along this guide rail, and to capture oil pipe, both sides are furnished with Automatic Code bank of tubes and put one hydraulic pressure and prop up
Lower limb 3 and multi-function chain type transmit hydraulic leg 2, are effectively increased the usage amount of stinger, when there is no oil pipe on stinger,
Multi-function chain type transmits hydraulic leg 2 and is externally introduced oil pipe and can be directly used for emergent, also without during material of stinger during oil pipe
Can be able to pass through during oil discharge pipe, multi-function chain type transmits hydraulic leg 2 and directly oil pipe is exported to the outside of robot, works as stinger
When having oil pipe, mechanical hand captures oil pipe, carries out upper pipe operation, and upper Guan Shixian captures oil pipe from uppermost stinger, works as torr
When in pipe support, oil pipe is finished, this stinger will rotate to be shown, in order to capture oil pipe from next stinger, when oil discharge pipe,
First from lower floor's stinger opening code, after code is full, the stinger of last layer rotates to internal, carries out a yard pipe operation.They are also
Can coordinating operation, can by multi-function chain type transmit hydraulic support device import oil pipe direct code be put on stinger, it is possible to will
Oil pipe on stinger directly transmits hydraulic support device by multi-function chain type and derives.
Automatic Code bank of tubes puts one hydraulic leg 3 entirety can complete storing and upper, the back work of oil discharge pipe of oil pipe.
When storing oil pipe, mechanical hand is firmly grasped oil pipe, is moved to inside according to actual requirement, and now bottom stinger 304 rotates to interior
Portion, mechanical hand puts pipe, rotary code row the most successively after code is full；When taking pipe, mechanical hand firmly grasps oil pipe in relevant position, from
Capturing oil pipe on internal stinger 304, be now to capture in the stinger of upper strata, after taking, this layer of stinger rotates to outside, with
Just gripper of manipulator takes off a layer stinger oil pipe, captures the most successively.After work completes, stinger 304 first pass through with
Discharge one hydraulic leg 305 junction rotates to be turned back, then the hinged block being connected with skid chassis 1 by code pipe swing arm 307 rotates
Turning back, saving space to transport.
Sleeve type untethered can turn to elevator 4 top to be connected with hanging wheel by bearing pin, and asymmetry sliding sleeve arm is passed through in side
402, flexible guide rope 802 flexibly connects in random telescopic tourist bus flexibility correcting driving means.Sleeve type untethered can turn to and hang
Card 4 moves up and down along flexible guide rope, and slips 405, bidirectional cam shift fork 406 match and are positioned on elevator assembly 403, turn to and drive
Dynamic device rotation trundle 404 coordinates with elevator assembly 403 flat key, is connected on elevator side plate 401, when tourist bus drives elevator
Decline, utilize multifunction hydraulic slips pipe wrench 5, be accurately positioned above oil well and make oil pipe enter in elevator assembly, be positioned at random
The upper oscillating oil cylinder 808 of the main body of telescopic tourist bus flexibility correcting driving means, makes swing dial by the work of oscillating oil cylinder 808
Bar 807 turns an angle, thus stirs bidirectional cam shift fork 406, makes the slips in elevator close, contains oil pipe, on tourist bus
OK, driving oil pipe up, when following oil pipe pipe collar arrives specific bit, to postpone stopping up, and tourist bus drives the descending short distance of oil pipe
Time pedestal in slips self-locking, add oil pipe immediately below, prevent following oil pipe from rotating, when hydraulic pressure pipe slips unloads the hinge of two oil pipes
Connecing, oil pipe is grabbed to send and is taken mechanical hand 7 and driven by the servomotor 706 of self；Oil pipe is grabbed to send and is taken grabbing of mechanical hand and send hands swing arm 701
The coaster 703 of self slide along skid chassis while of swing, the gripper of manipulator of self lives in the lower end of oil pipe, oil pipe
Grabbing to send and take mechanical hand 7 right lateral, tourist bus is descending simultaneously, and elevator rotates with oil pipe action, specifies position (to be easy to automatically when elevator arrives
Code bank of tubes is put the mechanical hand on one hydraulic leg 3 and is captured the position of oil pipe), utilize the double C-type one shift fork on telescopic arm
804；Stir sleeve type untethered and can turn to the bidirectional cam shift fork 406 on elevator 4, make the slips in elevator assembly 403 open,
Oil pipe is grabbed to send and is taken mechanical hand 7 and drive oil pipe to extract in elevator assembly 403, and lower elevator turns to driving arm 810 to stretch out, tourist bus band
Dynamic sleeve type untethered can turn to elevator 4 descending, and lower elevator turns to driving arm 810 to drive steer-drive rotation trundle 404,
Making elevator assembly 403 be in plumbness, tourist bus drives sleeve type untethered that the up short distance of elevator 4, lower elevator can be turned to turn
To driving arm 810 to regain, tourist bus drives the descending oil pipe that contains of elevator, repeats the work of oil discharge pipe.During upper oil pipe: tourist bus drives sliding
Shell type untethered can turn to elevator 4 to come downwards to double C-type one shift fork 804 bottom, up, now go up elevator and turns to driving arm 805
Stretch out, block steer-drive rotation trundle 404；Make elevator assembly 403 be horizontal, take machinery by grabbing to send
It is internal that elevator assembly 403 put into by oil pipe by the cooperation of hands and delivery mechanical hand, now utilizes the double C-type one on telescopic arm to dial
Fork 804, stirs the bidirectional cam shift fork 406 on elevator, makes slips 405 close, and tourist bus drives sleeve type untethered can turn to elevator 4
Up, grab with oil pipe send take mechanical hand 7 linkage make the vertical well head of oil pipe.When the screw thread of upper oil pipe and lower oil pipe is twisted by hydraulic pipe wrench
After Jin, elevator 4 can be turned to descending with oil pipe by oil pipe deadweight sleeve type untethered, to relevant position, the elevator in hydraulic pipe wrench adds
Tight oil pipe, bidirectional cam shift fork stirred by the swing driving lever 807 during the elevator jaw opening and closing driving means on telescopic arm drives
406 make sleeve type untethered that the jaw of elevator 4 can be turned to open, and sleeve type untethered can turn to elevator 4 up, to taking machinery by grabbing to send
The position of oil pipe on hands 7, upper elevator turns to driving arm 805 to stretch out, makes elevator assembly 403 go to level, repeat with this
The work of upper oil pipe.
Random telescopic tourist bus flexibility correcting driving means is positioned on the support arm being hinged in chassis body 101.Flexible
Conductor rope 802 one end drives on the pulley of swing arm 801 upper end in correcting, and the other end is fixed on hydraulic pressure pipe slips, asymmetric during work
Property sliding sleeve arm move up and down along conductor rope, double C-type one shift fork 804, upper elevator turn to driving arm 805, lower elevator to turn to driving arm
810 are fixed in main body, are positioned at a yard upper extreme position for pipe mechanical hand 301, and double C-type one shift fork 804, upper elevator turn to driving
Arm 805, lower elevator turn to driving arm 810 to coordinate sleeve type untethered that elevator 4 can be turned to complete the work of oil discharge pipe, hydraulic cylinder
803 inside being positioned at telescopic arm, stretching out and retracting of its hydraulic stem, control stretching out and retracting of telescopic arm, self-balancing liquid with this
Pressure supporting leg 806 is connected, when random telescopic tourist bus flexibility correcting driving means folding and unfolding on the support arm being connected on skid chassis
When driving Driven by Hydraulic Cylinder main body to stretch out, hydraulic leg stretches out, and plays supportive body and the effect on skid chassis.Swing driving lever
807 with oscillating oil cylinder 808 coordination hinge, oscillating oil cylinder 808 is hinged with telescopic arm main body by support arm, when oil discharge pipe, swims
Car drives sleeve type untethered that elevator 4 can be turned to descending, and to oil pipe pipe collar completely on elevator slips, oscillating oil cylinder 808 drives
Swing driving lever 807 thus drive the bidirectional cam shift fork 406 on elevator, make the Guan Bi of the slips in elevator assembly contain oil pipe,
Tourist bus drives sleeve type untethered that elevator 4 can be turned to up, and when upper oil pipe, tourist bus drives the sleeve type untethered containing oil pipe to turn
Coming downwards to specify position to elevator 4, oscillating oil cylinder 808 drives swing driving lever 807 thus drives the bidirectional cam shift fork on elevator
406, make the slips in elevator assembly 403 open, thus unclamp oil pipe.
Multi-function chain type transmits hydraulic leg and drives c-type chain by servomotor 203, secondary 204 cooperatings of chain
Rotate, it is achieved conveying oil pipe, lower swing guide arm 209 is hinged with lower sprocket axle, the telescopic drive of hydraulic stem its turn around lower sprocket axle
Dynamic, it is achieved oil pipe imports c-type chain and derived by c-type chain, described lower oil pipe swings guide arm 209, lower end sprocket wheel
Chain rivet hinged, described chain type swing arm 207 is connected with hydraulic leg flange form, rocking jaw 208 with on upper oil pipe swing guide arm 206
Axle hinged, itself and upper oil pipe swing guide arm 206 utilize hydraulic cylinder works to coordinate and realize oil pipe and import c-type chain and by C
Type chain is derived, and hydraulic leg 205 is positioned at the chain hinged with skid chassis and send in swing arm 207, when hydraulic leg stretches out
Support the effect on skid chassis, when importing oil pipe, drive the hydraulic stem of lower swing guide arm to stretch out.Lower swing guide arm 209 is around chain
Wheel shaft is swung up, and oil pipe rolls in c-type chain along guide arm, and secondary 204 cooperatings of servomotor 203, chain drive c-type
Chain rotate, oil pipe is carried by chain, when oil pipe touch upper oil pipe 206 swing guide arm time.Oil pipe rolls out.Along upper swing arm
Being rolled in rocking jaw 208, the hydraulic stem that driving swings guide arm is retracted, and makes rocking jaw axle in upper swing guide arm rotate,
Make oil pipe import oil pipe delivery mechanical hand 6 and pendulum send on mechanical hand 9, then put the machinery on one hydraulic leg by Automatic Code bank of tubes
Hands captures into stinger, or is grabbed by oil pipe to send and take mechanical hand 7 and capture, and carries out upper oil pipe operation, when oil pipe outbound or oil discharge pipe,
Hydraulic stem in upper swing guide arm stretches out and makes rocking jaw 208 be rotated up oil pipe delivery mechanical hand 6 around axle and pendulum send on mechanical hand 9
Oil pipe hold up, continue to stretch out the axle making swing guide arm on support arm and rotate, oil pipe is imported in c-type chain, watches
Take motor 203, secondary 204 cooperatings of chain drive c-type chain to rotate backward, and are imported to by oil pipe in lower swing guide arm,
This completes the importing of oil pipe and derive work.After hours, hydraulic leg 205 is retracted, and it is entirely through hinged sled
The chain of cartridge chassis send swing arm 207 to retract around hinge, saves space, in order to transport.
The collapsed state of complete machine is travel position, expands into the random telescopic tourist bus flexibility correcting driving means of duty
Under the effect of folding and unfolding driving hydraulic cylinder 104, pendulum mass realizes pendulum mass around the rotation of free bearing axle and large arm connecting end surface realizes vertically and horizontally
State Transferring, is duty during state perpendicular to the ground, is travel position during level, and now telescopic arm is by being hinged on sled
Random telescopic tourist bus flexibility correcting driving means folding and unfolding on cartridge chassis drives support arm 103 to support, random telescopic tourist bus
Flexible correcting driving means folding and unfolding drives support arm 103 to be driven hydraulic pressure by random telescopic tourist bus flexibility correcting driving means folding and unfolding
Cylinder 104 drives and rotates around the hinge being hinged on skid chassis, then drives random telescopic tourist bus flexibility correcting drive type apparatus
On correcting drive swing arm to rotate around handing-over hinge on skid chassis to realize turning between the work of telescopic arm and travel position
Change, Automatic Code bank of tubes put one hydraulic leg and multi-function chain type transmit hydraulic leg under the driving of driving means, himself
Swing arm hinge on skid chassis rotate, the stretching out and retract of the hydraulic leg of self, it is achieved work and travel position
Conversion, when driving means drives Automatic Code bank of tubes to put one hydraulic leg and during chain delivery hydraulic leg travel position, its with
Free bearing on skid chassis is concordant, and the hydraulic leg base anchor of self can be received more than the lowest surfaces of skid chassis, and the most whole auxiliary
Machine meets the overall dimensions requirement of Conventional transport state.
The foregoing is only presently preferred embodiments of the present invention, be not used to limit the scope of the claims of the present invention, other use this
The equivalence change of the patent spirit of invention, all should all belong to the scope of the claims of the present invention.
Claims (3)
1. Automatic Code bank of tubes puts one hydraulic leg, it is characterised in that described Automatic Code bank of tubes is put one hydraulic leg and included code
Pipe mechanical hand, stinger, discharge one hydraulic leg, c-type inner guiding post, leading screw, shift fork, described stinger at least provided with two,
Described stinger the inner is hinged on outside c-type inner guiding post, and described leading screw coaxial-type is arranged on inside c-type inner guiding post, and described shift fork exists
Axially engage outside leading screw, the most then enter after stretching out the breach of c-type inner guiding post in the cross allocating slot that described stinger is offered
One of them direction groove in；Driving motor in the connection of described c-type inner guiding post axial end portion, leading screw lower end drives electricity under connecting
Machine, lower driving driven by motor leading screw rotates, and shift fork moves up and down at leading screw, and breach and the stinger of c-type inner guiding post is opened simultaneously
If the gathering sill that moves up and down as shift fork of cross recess.
Automatic Code bank of tubes the most according to claim 1 puts one hydraulic leg, it is characterised in that described code pipe mechanical hand position
On code pipe mechanical hand coaster, described code pipe mechanical hand coaster is positioned on coaster guide rail, and coaster guide rail is hinged on discharge one body fluid
Pressure supporting leg upper end.
Automatic Code bank of tubes the most according to claim 1 puts one hydraulic leg, it is characterised in that described discharge one hydraulic pressure
Supporting leg lower end horizontal direction is hinged on skid chassis by code pipe swing arm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610634310.8A CN106121559A (en) | 2016-08-04 | 2016-08-04 | Automatic Code bank of tubes puts one hydraulic leg |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610634310.8A CN106121559A (en) | 2016-08-04 | 2016-08-04 | Automatic Code bank of tubes puts one hydraulic leg |
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| CN106121559A true CN106121559A (en) | 2016-11-16 |
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ID=57254661
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610634310.8A Pending CN106121559A (en) | 2016-08-04 | 2016-08-04 | Automatic Code bank of tubes puts one hydraulic leg |
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