CN108005594A - A kind of encircling type manipulator for capturing tubing string in a row - Google Patents
A kind of encircling type manipulator for capturing tubing string in a row Download PDFInfo
- Publication number
- CN108005594A CN108005594A CN201810079870.0A CN201810079870A CN108005594A CN 108005594 A CN108005594 A CN 108005594A CN 201810079870 A CN201810079870 A CN 201810079870A CN 108005594 A CN108005594 A CN 108005594A
- Authority
- CN
- China
- Prior art keywords
- finger
- grooves
- palm
- drive gear
- block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007373 indentation Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 210000003811 finger Anatomy 0.000 description 35
- 238000005553 drilling Methods 0.000 description 18
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003813 thumb Anatomy 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Robotics (AREA)
- Earth Drilling (AREA)
Abstract
A kind of encircling type manipulator for capturing tubing string in a row,There are U grooves in the front portion of palm,The bottom of U grooves is semicircle,Track groove is set on palm,Track groove is arc-shaped,Circular finger is jagged,The bottom surface of finger has track key,The track key of finger is installed in the track groove,Drive gear is installed on palm,Dynamic drive gear is driven by motor to be rotated,Drive gear is in outside the track groove,External tooth on drive gear is engaged with the external tooth on finger,Limited block is installed on palm,The front side edge of the convex block of limited block can block the upper side edge of finger,The back side edge of the convex block of limited block can block the lower side of finger,When drive gear drives the finger rotation to be limited block and block the upper side edge of finger,The opening of U grooves on palm is closed and can lock,Tubing string is crawled to be encircled in the U grooves,It can be crawled,When drive gear drives the finger revolution to be limited block and block lower side,The opening of the U grooves is opened on palm.
Description
Technical field
The invention belongs to the instrument at oil drilling scene, is that drilling platforms Work robot and derrick upper table surface are put
Corollary equipment in column robot, particularly a kind of encircling type manipulator for capturing tubing string in a row.
Background technology
In oilfield drilling, to carry out removing drilling rod work, by drilling rod point after exactly putting forward drilling rod out of well
Drilling rod is moved to well head during tripping in drilling rod by Duan Yizhi to arrangement frame from arrangement frame.Therefore, elapsing drilling rod is passed through in drilling process
The work often occurred.Since passage drilling rod labor intensity is big, work efficiency is low, and also there are security risk, technical staff have developed
Mechanical device replaces manual operation, such as Chinese patent application：201310012602.4《Drilling platforms Work robot》, Yi Jizhong
State's patent application：201420332733.0《Derrick upper table surface puts column robot》It can be achieved with improving work efficiency, mitigate
Labor intensity, the job requirement to eliminate safe hidden trouble.But Chinese patent application:201310012602.4《Drilling platforms working rig
Device people》On manipulator use Chinese patent application：201310394722.5《Manipulator with tiltable thumb web》, drilling rod in a row
Between must there is larger gap to put in mechanical finger pick-and-place drilling rod, therefore the pattern manipulator is suitable only for the brill of the lax arrangement of pick-and-place
Bar, can not in pick-and-place arrangement frame dense arrangement drilling rod, performance is poor.
The content of the invention
The purpose of the present invention is designing a kind of encircling type manipulator for capturing tubing string in a row, above-mentioned ask is overcome
Topic, improves the working performance of drilling platforms Work robot.
The object of the present invention is achieved like this：Including limited block, palm, it is crawled tubing string, finger, drive gear, hand
There are U grooves in the front portion of the palm, and the U grooves can be passed in and out by being crawled tubing string, and the bottom of the U grooves is semicircle, and the U grooves are opened
It is tubaeform at mouthful, track groove is set on palm, the track groove is arc-shaped, the arc-shaped center of circle and the U slot bottoms
The semicircle center of circle in portion is concentric, and circular finger is jagged, and being crawled tubing string can pass in and out from the indentation, there, and described lacks
Mouth width degree is of same size with U grooves described on palm, and the bottom surface of finger has the track key with track groove matching, hand
The track key of finger is installed in the track groove, and finger can rotate in the track groove, makes U grooves described on palm
Opening closed or opened by finger, drive gear is installed on palm, moves drive gear and is driven by motor and rotate, at drive gear
Outside the track groove, there is external tooth on drive gear, there is external tooth in the external arc of finger, external tooth and hand on drive gear
External tooth engagement on finger, drive gear can drive finger to be rotated in the track groove, make U grooves described on palm when rotating
Opening closed or opened by finger, limited block, the front side edge of the convex block of limited block are installed on the outside of the U grooves on palm
The upper side edge of finger can be blocked, the back side edge of the convex block of limited block can block the lower side of finger, the front side of the convex block of limited block
Side bumper stop finger upper side edge when, the opening of the U grooves is closed and can lock on palm, is crawled tubing string in the U
Groove can be crawled, when the back side edge of the convex block of limited block blocks the lower side of finger, the opening quilt of the U grooves on palm
Open, U grooves described on palm can be passed in and out by being crawled tubing string.
The beneficial effects of the invention are as follows：The present invention is logical after Work robot, and drive gear drives finger rotation quilt
When the front side edge of the convex block of limited block blocks the upper side edge of finger, the opening of the U grooves is closed and can lock on palm, quilt
Crawl tubing string is encircled in the U grooves, can be crawled, after drive gear drives finger revolution to be limited the convex block of block
When the lower side of finger is blocked in side, the opening of the U grooves is opened on palm, is crawled encircling for tubing string and unties, can be into
The U grooves sold described in palm, therefore, the present invention in pick-and-place tubing string in a row without there is larger gap between tubing string, being capable of pick-and-place
The drilling rod of dense arrangement in frame is arranged, performance is good.
Brief description of the drawings
Attached drawing 1 is the top view of the present invention.
Embodiment
1 pair of the embodiment of the present invention illustrates below in conjunction with the accompanying drawings.
As seen from Figure 1, the embodiment of the present invention includes limited block 1, palm 5, is crawled tubing string 7, finger 8, driving
There are U grooves 4 in gear 9, the front portion of palm 5, and the U grooves 4 can be passed in and out by being crawled tubing string 7, and the bottom of the U grooves 4 is semicircle,
The opening of the U grooves 4 is tubaeform, and easy to be crawled the disengaging of tubing string 7, track groove 3, the rail are set on palm 5
Road groove 3 is arc-shaped, and the semicircle center of circle in the arc-shaped center of circle and 4 bottom of U grooves is concentric, and circular finger 8 has scarce
Mouthful, being crawled tubing string 7 can pass in and out from the indentation, there, the width phase of the gap width and U grooves 4 described on palm 5
Together, the bottom surface of finger 8 has the track key to match with the track groove 3, and the track key of finger 8 is installed on the track groove
In 3, finger 8 can rotate in the track groove 3, the opening of U grooves 4 described on palm 5 is closed or is beaten by finger 8
Open, drive gear 9 is installed on palm 5, move drive gear 9 and rotation is driven by motor, drive gear 9 is in the track groove 3
Outside, there is external tooth on drive gear 9, there is external tooth in the external arc of finger 8, the external tooth on drive gear 9 and the external tooth on finger 8
Engagement, drive gear 9 can drive finger 8 to be rotated in the track groove 3 when rotating, and make opening for U grooves 4 described on palm 5
Mouth is closed or opened by finger 8, installs limited block 1, the front side of the convex block of limited block 1 on palm 5 on the outside of the U grooves 4
Side can block the upper side edge of finger 8, and the back side edge 2 of the convex block of limited block 1 can block the lower side 6 of finger 8, limited block 1 it is convex
When the front side edge of block blocks the upper side edge of finger 8, the opening of the U grooves 4 is closed and can lock on palm 5, is crawled pipe
Column 7 can be crawled the U grooves 4, when the back side edge 2 of the convex block of limited block 1 blocks the lower side 6 of finger 8, palm 5
The opening of the upper U grooves 4 is opened, and U grooves 4 described on palm 5 can be passed in and out by being crawled tubing string 7.
Case lid is installed on palm 5, makes limited block 1, finger 8, drive gear 9 capped, finger 8, drive gear 9 are in case
Rotated in lid, securely and reliably.
Claims (1)
1. a kind of encircling type manipulator for capturing tubing string in a row, including limited block（1）, palm（5）, be crawled tubing string（7）, hand
Refer to（8）, drive gear（9）, it is characterized in that：Palm（5）Front portion have U grooves（4）, it is crawled tubing string（7）Can the disengaging U grooves
（4）, the U grooves（4）Bottom be semicircle, the U grooves（4）Opening be tubaeform, palm（5）Upper setting track
Groove（3）, the track groove（3）To be arc-shaped, the arc-shaped center of circle and the U grooves（4）The semicircle center of circle of bottom is concentric,
Circular finger（8）It is jagged, it is crawled tubing string（7）It can be passed in and out from the indentation, there, the gap width and palm
（5）The upper U grooves（4）Be of same size, finger（8）Bottom surface have and the track groove（3）The track key of matching, hand
Refer to（8）Track key be installed on the track groove（3）In, finger（8）Can be in the track groove（3）In rotate, make hand
The palm（5）The upper U grooves（4）Opening by finger（8）Close or open, palm（5）Upper installation drive gear（9）, move driving
Gear（9）Driven and rotated by motor, drive gear（9）In the track groove（3）Outside, drive gear（9）On have external tooth,
Finger（8）External arc on have external tooth, drive gear（9）On external tooth and finger（8）On external tooth engagement, drive gear（9）
Finger can be driven during rotation（8）In the track groove（3）In rotate, make palm（5）The upper U grooves（4）Opening by hand
Refer to（8）Close or open, palm（5）The upper U grooves（4）Outside on limited block is installed（1）, limited block（1）Convex block
Front side edge can block finger（8）Upper side edge, limited block（1）Convex block back side edge（2）Finger can be blocked（8）Lower side
（6）, limited block（1）The front side edge of convex block block finger（8）Upper side edge when, palm（5）The upper U grooves（4）Opening
It is closed and can locks, is crawled tubing string（7）In the U grooves（4）Can be crawled, limited block（1）Convex block rear side
Side（2）Block finger（8）Lower side（6）When, palm（5）The upper U grooves（4）Opening be opened, be crawled tubing string（7）
Palm can be passed in and out（5）The upper U grooves（4）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810079870.0A CN108005594A (en) | 2018-01-27 | 2018-01-27 | A kind of encircling type manipulator for capturing tubing string in a row |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810079870.0A CN108005594A (en) | 2018-01-27 | 2018-01-27 | A kind of encircling type manipulator for capturing tubing string in a row |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108005594A true CN108005594A (en) | 2018-05-08 |
Family
ID=62066308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810079870.0A Pending CN108005594A (en) | 2018-01-27 | 2018-01-27 | A kind of encircling type manipulator for capturing tubing string in a row |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108005594A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605416A (en) * | 2019-01-29 | 2019-04-12 | 浙江瑞华康源科技有限公司 | A kind of robot clamping jaw and robot |
| CN110092300A (en) * | 2019-05-10 | 2019-08-06 | 张家港市瑞昌智能机器***有限公司 | I-beam wheel embraces dress manipulator |
| CN111942722A (en) * | 2020-08-17 | 2020-11-17 | 重庆大学 | Flexible clamp for shaft products |
| WO2024084297A1 (en) * | 2022-10-21 | 2024-04-25 | SMART Envisioning and Research Inc. | Apparatus and method for installing equipment at a remote location |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4494424A (en) * | 1983-06-24 | 1985-01-22 | Bates Darrell R | Chain-powered pipe tong device |
| EP0680900A1 (en) * | 1994-05-06 | 1995-11-08 | Marti Technologie Ag | Device and operational instructions to grip a body, preferably a cylindrical body |
| JP2004130488A (en) * | 2002-10-15 | 2004-04-30 | Nke Corp | Manipulator |
| US20050077745A1 (en) * | 2003-10-09 | 2005-04-14 | Oliver Kraft | Tool handling device |
| CN1944000A (en) * | 2006-10-25 | 2007-04-11 | 哈尔滨工程大学 | Impact type automatic catching robot |
| CN103448071A (en) * | 2013-08-30 | 2013-12-18 | 张成功 | Manipulator with tiltable thumb web |
| CN204283259U (en) * | 2014-11-07 | 2015-04-22 | 湖南三一石油科技有限公司 | A kind of pipe-grabbing mechanical arm and automatic-discharging pipe device |
| CN206093403U (en) * | 2016-09-21 | 2017-04-12 | 杭州维圣智能科技有限公司 | A from individual malposed tooth structure for rotating |
| CN207813524U (en) * | 2018-01-27 | 2018-09-04 | 张成功 | A kind of encircling type manipulator of crawl tubing string in a row |
-
2018
- 2018-01-27 CN CN201810079870.0A patent/CN108005594A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4494424A (en) * | 1983-06-24 | 1985-01-22 | Bates Darrell R | Chain-powered pipe tong device |
| EP0680900A1 (en) * | 1994-05-06 | 1995-11-08 | Marti Technologie Ag | Device and operational instructions to grip a body, preferably a cylindrical body |
| JP2004130488A (en) * | 2002-10-15 | 2004-04-30 | Nke Corp | Manipulator |
| US20050077745A1 (en) * | 2003-10-09 | 2005-04-14 | Oliver Kraft | Tool handling device |
| CN1944000A (en) * | 2006-10-25 | 2007-04-11 | 哈尔滨工程大学 | Impact type automatic catching robot |
| CN103448071A (en) * | 2013-08-30 | 2013-12-18 | 张成功 | Manipulator with tiltable thumb web |
| CN204283259U (en) * | 2014-11-07 | 2015-04-22 | 湖南三一石油科技有限公司 | A kind of pipe-grabbing mechanical arm and automatic-discharging pipe device |
| CN206093403U (en) * | 2016-09-21 | 2017-04-12 | 杭州维圣智能科技有限公司 | A from individual malposed tooth structure for rotating |
| CN207813524U (en) * | 2018-01-27 | 2018-09-04 | 张成功 | A kind of encircling type manipulator of crawl tubing string in a row |
Non-Patent Citations (2)
| Title |
|---|
| 孙朝阳;李佳奕;: "基于无人遥控潜水器的水下管道卡箍式连接件安装机具设计", 液压与气动, no. 09, pages 39 - 43 * |
| 马小石;李黔;张成功;: "橇装式钻机钻具排放机械臂设计与仿真", 石油机械, no. 10, pages 30 - 34 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605416A (en) * | 2019-01-29 | 2019-04-12 | 浙江瑞华康源科技有限公司 | A kind of robot clamping jaw and robot |
| CN110092300A (en) * | 2019-05-10 | 2019-08-06 | 张家港市瑞昌智能机器***有限公司 | I-beam wheel embraces dress manipulator |
| CN110092300B (en) * | 2019-05-10 | 2024-04-26 | 张家港市瑞昌智能机器***有限公司 | I-shaped wheel embraces installation manipulator |
| CN111942722A (en) * | 2020-08-17 | 2020-11-17 | 重庆大学 | Flexible clamp for shaft products |
| CN111942722B (en) * | 2020-08-17 | 2023-03-10 | 重庆大学 | Flexible clamp for shaft products |
| WO2024084297A1 (en) * | 2022-10-21 | 2024-04-25 | SMART Envisioning and Research Inc. | Apparatus and method for installing equipment at a remote location |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108005594A (en) | A kind of encircling type manipulator for capturing tubing string in a row | |
| CN207813524U (en) | A kind of encircling type manipulator of crawl tubing string in a row | |
| WO2002046564A3 (en) | Boring apparatus | |
| CA2588745A1 (en) | Top drive unit, pipe gripping device and method of drilling a wellbore | |
| CN104879084B (en) | The flashboard locking device of preventer | |
| CN108848771A (en) | A kind of tealeaves seedling planting equipment | |
| CN206481513U (en) | Glass machine control box | |
| CN107716975A (en) | A kind of five metalworking drilling machines | |
| CN114916861B (en) | Automatic cleaning device for burglary-resisting door and use method | |
| CN204283208U (en) | The clear mud device of rectangular opening rig | |
| CN206913465U (en) | A kind of building wall punches ash handling equipment | |
| CN104453702B (en) | Rectangular opening rig sludge removing device | |
| CN209704217U (en) | A kind of Electric lock | |
| CN207272259U (en) | A kind of hand fastening drill clutch | |
| CN202731420U (en) | Door window handle | |
| CN206174658U (en) | Ware of forcing open door fast | |
| CN205531843U (en) | Air -tight door | |
| CN107550437A (en) | A kind of cup cleaning means | |
| CN206785136U (en) | The push-pull mechanism of lockset | |
| CN112252965A (en) | Ground drilling device for protecting drill bit | |
| CN106077746A (en) | A kind of rig easy to use | |
| CN205387861U (en) | Push type lock and have door of this lock | |
| CN2217682Y (en) | Drilling device for cobble and gravel | |
| CN203924917U (en) | There is the automatic locking of rotation tapered end | |
| CN206785135U (en) | The push-pull mechanism of lockset |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180508 |
|
| WD01 | Invention patent application deemed withdrawn after publication |