CN110092186A - Rod piece or pipe fitting clamping manipulator - Google Patents
Rod piece or pipe fitting clamping manipulator Download PDFInfo
- Publication number
- CN110092186A CN110092186A CN201910440662.3A CN201910440662A CN110092186A CN 110092186 A CN110092186 A CN 110092186A CN 201910440662 A CN201910440662 A CN 201910440662A CN 110092186 A CN110092186 A CN 110092186A
- Authority
- CN
- China
- Prior art keywords
- gripper
- pipe fitting
- rod
- piston rod
- cylinder body
- 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
- 238000005192 partition Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 31
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 239000003129 oil well Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0217—Elongated
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to workover apparatus field more particularly to a kind of rod pieces or pipe fitting clamping manipulator, can both carry out clamping transport to rod piece or pipe fitting, at the same can also auxiliary bar or pipe fitting helped during rotation.A kind of rod piece or pipe fitting clamping manipulator, including gripper and drive cylinder；The gripper is arranged in pairs, and each pair of gripper mirror settings, the gripper are connect with drive cylinder；The drive cylinder includes the first cylinder body and piston rod, and first cylinder body is fixedly connected with manipulator ontology, and the piston rod is connect with gripper, and the drive cylinder is equipped with limiting device.Oil cylinder drives gripper to realize holding action, limiting device can control the stroke of piston rod, when piston rod movement opens gripper, make piston rod stop motion in advance, gripper can only open a lesser opening at this time, the no longer complete clamp bar of gripper or pipe fitting at this time, while can also continue to play a supporting role to rod piece or pipe fitting.
Description
Technical field
The present invention relates to workover apparatus field more particularly to a kind of rod pieces or pipe fitting clamping manipulator.
Background technique
Sucker rod is the slender rod piece of rod-pumped well, connects polished rod on it, under connect the effect that oil pumping pumps up transmitting power.Right
It when oil well repairs, needs upwards to sling the sucker rod in oil well, one section one of sucker rod is saved land and is removed, after completing maintenance
It needs further to save sucker rod into one to save land and install in oil return well.Sucker rod end be it is threadedly interconnected, therefore
When dismantling sucker rod, needs the sucker rod that will be sling first to rotate, separate threaded connection place, be then transported to one
Side is temporary, after needing that sucker rod is first grabbed installation site when installing sucker rod, then is rotated, connects threaded connection place
It closes.It since sucker rod not only needs to rotate, but also needs to grab, single equipment is difficult to meet the requirements, when sucker rod is clamped Shi Zewu
Method rotation.Therefore it is difficult to realize automate in the disassembly process of sucker rod, cause under disassembly efficiency.
Oil pick-up tube is located on the outside of sucker rod, is equally that one section of a section is attached, needs to carry out respectively in disassembly process
It removes and installs, installation process is similar to sucker rod.
The China of Publication No. CN203867495U, the entitled automatic workover rig oil pipe catching robot of novel hydraulic are practical
New patent；Publication No. CN205704241U, a kind of entitled Chinese utility model patent of tubing string catching robot；It is open
It number is CN203003893U, a kind of entitled Chinese utility model patent of manipulator discloses the machinery that can grab pipe fitting
Hand.
Technical solution disclosed in above-mentioned patent formula can only solve the problems, such as rod piece or pipe fitting crawl, for sucker rod
Or rotation of the sucker rod in disassembly process is still not applicable, cannot be helped in sucker rod or sucker rod disassembly process.
Summary of the invention
For the above-mentioned deficiency of the prior art, the present invention provides a kind of rod piece or pipe fitting clamping manipulator, both can be to bar
Part or pipe fitting carry out clamping transport, at the same can also auxiliary bar or pipe fitting helped during rotation.
It is as follows that the present invention provides scheme:
A kind of rod piece or pipe fitting clamping manipulator, including gripper and drive cylinder；
The gripper is arranged in pairs, and each pair of gripper mirror settings, the gripper are connect with drive cylinder；
The drive cylinder includes the first cylinder body and piston rod, and first cylinder body is fixedly connected with manipulator ontology, institute
It states piston rod to connect with gripper, the drive cylinder is equipped with limiting device.
Oil cylinder drives gripper to realize holding action, and limiting device can control the stroke of piston rod, when piston rod movement makes
When gripper opens, make piston rod stop motion in advance, gripper can only open a lesser opening at this time, and gripper is no longer complete at this time
It is complete to clamp sucker rod or oil pick-up tube, while can also continue to play a supporting role.
Preferably, the gripper includes clamp arm and connecting rod, and the clamp arm is rotatably coupled with manipulator ontology, the company
Bar both ends are pivotally connected to clamp arm and piston rod respectively.Clamp arm and connecting rod are all made of the mode of symmetric design, may be implemented
Synchronous on-off.
Preferably, it is rotatably coupled in the middle part of the clamp arm with manipulator ontology, clamp arm one end rotationally connects with connecting rod
It connects, the inside of the other end is equipped with the crawl section with arc surface.The crawl section of arc surface may be implemented to sucker rod or oil pick-up tube
Complete clamping, in addition, cooperation limiting device work when, lesser opening is only opened in crawl section, is no longer on complete folder at this time
Tight state, and sucker rod or oil pick-up tube are not easy to leak out from the gap between two crawl sections.
Preferably, the limiting device includes locating oil cylinder, and the locating oil cylinder is arranged in drive cylinder tail end.Limit oil
Cylinder is located at drive cylinder tail portion, for limiting the stroke of drive cylinder piston rod.
Preferably, the locating oil cylinder includes the second cylinder body and limiting piston, and the limiting piston is arranged in the second cylinder body
It is interior, partition is equipped between second cylinder body and the first cylinder body, the partition has the through-hole of connection the first cylinder body and the second cylinder body,
The piston rod can slide in through-hole, and be tightly connected with through-hole.When limiting piston is retracted to bottom, the work of drive cylinder
Stopper rod can normal stretching motion；When needing the aperture to gripper to limit, make piston rod fully extended first, gripper is
Complete clamped condition moves limiting piston to piston rod direction, at this time when piston rod bounces back, cannot retract to
Position stops when reaching limiting piston position, and gripper at this time only opens a lesser opening.When sucker rod or oil pick-up tube are torn open
It is vertical state when dress, sucker rod or oil pick-up tube are not clamped completely, can be freely rotated in opening, and have arc surface
Crawl section still may be implemented to play a supporting role to the sucker rod or oil pick-up tube of vertical direction, prevent sucker rod or oil pick-up tube
Topple over.
Preferably, the limiting piston is equipped with the groove that can accommodate piston rod end towards the side of piston rod.It is limiting
Groove is arranged in position piston side, and when limiting piston work, limiting piston can be directly pushed into top, and groove is to live at this time
The movement of stopper rod provides space, so that piston rod is allowed so and can bounce back, since the position of limiting piston does not need accurately to control, only
Need to be pushed into top can be realized position-limiting action, keep control process simpler.
Preferably, the piston rod is equipped with piston ring, and the piston ring connect with the first cylinder body inner seal, and with first
Spring is set between the tail end of cylinder body.Using the elastic force of spring as one of driving force of piston rod, on the one hand can reduce pair
The oil pressure requirement of hydraulic oil, on the other hand, this manipulator operation height is higher, farther out apart from hydraulic station distance, even if when hydraulic
System goes wrong when cannot maintain pressure, and spring Ren Ranneng piston rod provides driving force.The spring is multiple coaxial arrangements
Disc spring.
Preferably, the side of the manipulator ontology is equipped with guiding device, and the guiding device includes symmetrical two
A guide plate, and the trigger device being arranged between two guide plates.Guiding device is convenient when grabbing sucker rod or oil pick-up tube,
It is exactly into sucker rod or oil pick-up tube between two grippers.
Preferably, the trigger device includes sliding block and trigger switch, and the glide direction of the sliding block and the driving are oily
The telescopic direction of cylinder is parallel, and the trigger switch is located at one end in slide block movement range close to drive cylinder.When crawl is pumped
When bar or oil pick-up tube, sucker rod or oil pick-up tube are moved to gripper direction, and push sliding block, when sliding block makes trigger switch be triggered
When, then illustrate the position of sucker rod or oil pick-up tube in place.
A kind of rod piece or pipe fitting clamping manipulator assembly, including above-mentioned rod piece or pipe fitting clamping manipulator, the assembly is also
Including mounting rack, the manipulator is two, is separately positioned on the both ends of the mounting rack, and the gripper of two manipulators
The plane of movement at place is parallel to each other.Since sucker rod or oil pumping length of tube are longer, and diameter is smaller, therefore uses two machinery
Both ends clamping may be implemented in hand, keeps sucker rod or oil pick-up tube more stable when being clamped or helping.
The invention has the following advantages:
1. Quick-clamped and release to oil pick-up tube may be implemented by oil cylinder driving in manipulator；
2. limiting device can control the stroke of piston rod, when sucker rod or oil pick-up tube need to be rotated around own axes
When, the stroke of drive cylinder piston rod is limited by the second cylinder body, and gripper is made to reach piston rod most when opening smaller opening
Big retraction stroke prevents from causing gripper that cannot catch sucker rod or oil pick-up tube because of piston rod hypersystole；
3. guiding device can both increase the accuracy of gripper crawl sucker rod or oil pick-up tube, at the same can also in sucker rod or
Oil pick-up tube sends signal when reaching clip position.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without creative efforts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is schematic diagram of internal structure under gripper closed state；
Fig. 2 is external structure schematic diagram of the present invention；
Fig. 3 is use state diagram of the present invention；
Fig. 4 is schematic diagram of internal structure under gripper opening state；
Fig. 5 is schematic diagram of internal structure under gripper half opened condition；
In figure, 1- manipulator ontology, 2- gripper, 3- drive cylinder, 4- guiding device, 5- mounting rack, 6- sucker rod, 21-
Connecting rod, 22- clamp arm, the crawl section 23-, the first cylinder body of 31-, 32- piston rod, the second cylinder body of 33-, 34- limiting piston, 35- partition,
36- groove, 37- piston ring, 38- spring, 41- guide plate, 42- sliding block, 43- trigger switch.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
A kind of rod piece or pipe fitting clamping manipulator are provided as shown in Fig. 1 Fig. 2, in the present embodiment, 1 sets on manipulator ontology
It is equipped with gripper 2 and drive cylinder 3, gripper 2 includes connecting rod 21 and clamp arm 22, and drive cylinder 3 includes the first cylinder body 31 and piston rod
32.21 both ends of connecting rod are rotatably coupled with clamp arm 22 and piston rod 32 respectively, are installed in rotation on machine in the middle part of clamp arm 22
On tool hand ontology 1, one end is connect with connecting rod 21, and the other end is equipped with the crawl section 23 with arc surface.First cylinder body 31 and machine
Tool hand ontology 1 is fixedly connected, and 32 one end of piston rod is located in the first cylinder body 31, and the other end is connect with connecting rod 21.Gripper 2 is set in pairs
It sets, and is symmetrical set on manipulator ontology 1.
First cylinder body, 31 tail end is equipped with the second cylinder body 33, is equipped with limiting piston 34 in the second cylinder body 33.First cylinder body 31 with
Partition 35 is equipped between second cylinder body 33, partition 35 is equipped with through-hole, and piston rod 32 runs through through-hole, and is tightly connected with through-hole.
Limiting piston 34 and piston rod 32 are coaxially disposed, and limiting piston 34 is equipped in the side in face of piston rod 32 can accommodate piston
The groove 36 that bar 32 is inserted into.32 periphery of piston rod is equipped with piston ring 37, and piston ring 37 and the sealing of 31 inner wall of the first cylinder body connect
It connects, and is connect by spring 38 with 31 tail end of the first cylinder body, multiple groups disc spring can be used in spring 38.
1 side of manipulator ontology is equipped with guiding device 4.Guiding device 4 includes symmetrically arranged two guide plates 41, guiding
41 outer end of plate is equipped with flaring.Guiding device 4 further includes sliding block 42 and trigger switch 43, sliding block 42 between two guide plates 41,
Trigger switch 43 is located at one end in 42 sliding scale of sliding block close to drive cylinder 3.The plane of symmetry of guide plate 41 and pair of gripper 2
Title face is generally aligned in the same plane.
As shown in figure 3, a kind of rod piece or pipe fitting clamping manipulator assembly, including mounting rack 5,5 both ends of mounting rack are set respectively
Set an above-mentioned clamping manipulator.
Working principle of the invention is as follows:
As shown in Figure 1, Fig. 1 state is the state that gripper 2 is closed completely, at this time piston rod 32 for clamping sucker rod 6
To external fully extended, the promotion connecting rod 21 of piston rod 32, the promotion rotation of clamp arm 22 of connecting rod 21 is closed crawl section 23 inwardly,
Realize the clamping to sucker rod 6.
As shown in figure 4, state is the completely open state of gripper 2 in Fig. 4, the second cylinder body 34 is located at caudal end at this time, no
When piston rod 32 is fully retracted gripper 2 can realize and clamp antipodal movement, realize for the movement for influencing piston rod 32
Release to sucker rod 6.
As shown in figure 5, state is 2 half opened condition of gripper in Fig. 5.When sucker rod 6 needs to rotate in disassembly process,
Originally gripper 2 is the closed state in Fig. 1, limiting piston 34 travels forward at this time, and then piston rod 32 bounces back.Piston rod 32
Retraction should realize the release to sucker rod 6 originally, but due to the change in location of limiting piston 34, cause piston rod 32 cannot
It is fully retracted, reaches and stop at limiting piston 34, piston rod 32 can only retract the distance of very little at this time.Gripper under this state
2 only slightly open, and no longer clamp completely to sucker rod 6, but smaller due to opening amplitude, also not up to complete to sucker rod 6
The state discharged entirely.In 6 rotation process of sucker rod, gripper 2 can still play a supporting role, and prevent sucker rod 6 from toppling over.
In clamping manipulator assembly, to realize clamping workpiece stabilization, firm, two manipulators set distance on mounting rack
Farther out.It is realized when manipulator clamping, grabbing workpiece by the disk spring of pretightning force is added, at this time piston rod 32 and limiting piston
34 do not work, and open manipulator paw 2 and are completed by the pressurization of piston rod 32, limiting piston 34 does not work.Center to workpiece and
When righting, limiting piston 34 can control the stroke of piston rod 32, before the movement of piston rod 32 opens gripper, limiting piston 34
Extreme position stopping is moved to, when the retraction of piston rod 32 opens gripper 2, piston rod 32 is only capable of retracting a slight distance；Or
Under 2 opening state of gripper, limiting piston 34 shifts to piston rod 32, so that it is driven in the wrong direction (anti-clamping direction) until limiting piston 34 moves
Extremely limit stops, and such gripper 2 can equally open a little distance, and under the incomplete open configuration of gripper 2, workpiece can be upper
It is freely rotated when shackle.
The course of work for clamping oil pick-up tube is approximate with the clamping course of work of sucker rod 6.
Although by reference to attached drawing and combining the mode of preferred embodiment to the present invention have been described in detail, the present invention
It is not limited to this.Without departing from the spirit and substance of the premise in the present invention, anyone skilled in the art exists
The invention discloses technical scope in, can easily think of the change or the replacement, should be covered by the protection scope of the present invention.Cause
This, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. rod piece or pipe fitting clamping manipulator, including gripper (2) and drive cylinder (3), it is characterised in that:
The gripper (2) is arranged in pairs, and each pair of gripper (2) mirror settings, and the gripper (2) connect with drive cylinder (3)；
The drive cylinder (3) includes the first cylinder body (31) and piston rod (32), first cylinder body (31) and manipulator ontology
(1) it is fixedly connected, the piston rod (32) connect with gripper (2), and the drive cylinder (3) is equipped with limiting device.
2. rod piece according to claim 1 or pipe fitting clamping manipulator, it is characterised in that: the gripper (2) includes clamp arm
(22) it is rotatably coupled with connecting rod (21), the clamp arm (22) with manipulator ontology (1), connecting rod (21) both ends respectively can
It is rotationally coupled to clamp arm (22) and piston rod (32).
3. rod piece according to claim 2 or pipe fitting clamping manipulator, it is characterised in that: clamp arm (22) middle part and machine
Tool hand ontology (1) is rotatably coupled, and clamp arm (22) one end is rotatably coupled with connecting rod (21), and the inside of the other end is equipped with tool
There is the crawl section (23) of arc surface.
4. rod piece according to claim 1 or pipe fitting clamping manipulator, it is characterised in that: the limiting device includes limit
Oil cylinder, the locating oil cylinder are arranged in drive cylinder (3) tail end.
5. rod piece according to claim 4 or pipe fitting clamping manipulator, it is characterised in that: the locating oil cylinder includes second
Cylinder body (33) and limiting piston (34), limiting piston (34) setting is in the second cylinder body (33), second cylinder body (33)
Partition (35) are equipped between the first cylinder body (31), the partition (35) has connection the first cylinder body (31) and the second cylinder body (33)
Through-hole, the piston rod (31) can be slided in through-hole, and be tightly connected with through-hole.
6. rod piece according to claim 5 or pipe fitting clamping manipulator, it is characterised in that: the limiting piston (34) towards
The side of piston rod (31) is equipped with the groove (36) that can accommodate piston rod (31) end.
7. rod piece according to claim 1 or pipe fitting clamping manipulator, it is characterised in that: the piston rod (31), which is equipped with, to be lived
Plug ring (37), the piston ring (37) connect with the first cylinder body (31) inner seal, and between the tail end of the first cylinder body (31)
It is arranged spring (38).
8. rod piece according to any claim from 1 to 6 or pipe fitting clamping manipulator, it is characterised in that: the machine
The side of tool hand ontology (1) is equipped with guiding device (4), and the guiding device (4) includes symmetrical two guide plates (41),
And the trigger device being arranged between two guide plates (41).
9. rod piece according to claim 8 or pipe fitting clamping manipulator, it is characterised in that: the trigger device includes sliding block
(42) with trigger switch (43), the glide direction of the sliding block (42) is parallel with the telescopic direction of the drive cylinder (3), described
Trigger switch (43) is located at one end in sliding block (42) motion range close to drive cylinder (3).
10. rod piece or pipe fitting clamping manipulator assembly, it is characterised in that: including as claim in any one of claims 1 to 9
Rod piece or pipe fitting clamping manipulator, which further includes mounting rack (5), and the manipulator is two, is separately positioned on described
The both ends of mounting rack (5), and the plane of movement where the gripper (2) of two manipulators is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910440662.3A CN110092186A (en) | 2019-05-24 | 2019-05-24 | Rod piece or pipe fitting clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910440662.3A CN110092186A (en) | 2019-05-24 | 2019-05-24 | Rod piece or pipe fitting clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110092186A true CN110092186A (en) | 2019-08-06 |
Family
ID=67449169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910440662.3A Pending CN110092186A (en) | 2019-05-24 | 2019-05-24 | Rod piece or pipe fitting clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110092186A (en) |
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|---|---|---|---|---|
| CN111070710A (en) * | 2020-01-10 | 2020-04-28 | 曾永宏 | Automobile suspension pull rod bushing forming equipment |
| CN111822969A (en) * | 2020-08-17 | 2020-10-27 | 广西科技大学鹿山学院 | Hydraulic oil cylinder through hole identification and adjustment device and method and automatic assembly system |
| CN112853832A (en) * | 2019-11-26 | 2021-05-28 | 中车沈阳机车车辆有限公司 | Rail anchor clamps and receipts rail car |
| CN113954113A (en) * | 2021-11-19 | 2022-01-21 | 重庆江东机械有限责任公司 | Multifunctional online axial and radial precision forming manipulator |
| CN117246764A (en) * | 2023-11-16 | 2023-12-19 | 山东豪迈机械制造有限公司 | Grabbing device of reinforcing bar |
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| CN207495529U (en) * | 2017-11-07 | 2018-06-15 | 深圳市中基自动化有限公司 | A kind of Pneumatic clamping jaw structure for lithium battery gripping |
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