CN110273667A - A kind of automatic machinery people water discharge apparatus and control method for oil field - Google Patents
A kind of automatic machinery people water discharge apparatus and control method for oil field Download PDFInfo
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- CN110273667A CN110273667A CN201910709250.5A CN201910709250A CN110273667A CN 110273667 A CN110273667 A CN 110273667A CN 201910709250 A CN201910709250 A CN 201910709250A CN 110273667 A CN110273667 A CN 110273667A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 30
- 210000000245 forearm Anatomy 0.000 claims abstract description 55
- 230000009467 reduction Effects 0.000 claims abstract description 7
- 238000013461 design Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 13
- 238000002347 injection Methods 0.000 abstract description 6
- 239000007924 injection Substances 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000003993 interaction Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 4
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000002332 oil field water Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 241001278112 Populus euphratica Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001473 noxious effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- 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
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/16—Enhanced recovery methods for obtaining hydrocarbons
- E21B43/20—Displacing by water
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Automation & Control Theory (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a kind of automatic machinery people water discharge apparatus and control method for oil field, unload water for oil field water-tank lorry；It is more manually to unload water occupancy personnel, labor intensive financial resources, unsuitable water injection work at this stage；The present invention includes revolving platform, mechanical large arm, mechanical forearm, rotating arm；The revolving platform includes No.1 motor, No. two motors, No.1 hydraulic cylinder, worm type of reduction gearing, support and hold-down support；It all include rail pulley and trackless pulley inside the mechanical large arm, mechanical forearm and rotating arm, and including No. two hydraulic cylinders and No. three hydraulic cylinders；The present invention unloads water system by building telescopic mechanical arm, makes mechanical arm in tank car tip motions, and mobility is higher, conveniently unloads the progress of water conservancy project work.
Description
Technical field
The present invention relates to oilfield machinery technology technical field, be a kind of automatic machinery people water discharge apparatus for oil field and
Control method.
Background technique
Current international oil price continues low level operation, and oil company's production cost pressure is big: the artificial on duty, inspection car in well station
, it is little to propose effect synergy achievement for equal Expenses Cost；Complex geographical environment locating for oily area, some oily areas be located at Populus Euphratica, farmland,
The Environmental sensitive areas such as pasture, waters, risk of environmental pollution are higher；Worker's contact noxious material chance is more, and worker's person is strong
Health is inevitably affected.For this purpose, oil company will increase cost input, such as ensureing production run, environmental protection and duty
The investment of work personal safety etc..Excessively high cost input keeps petroleum industry income little, in order to reduce cost input, section
It is imperative to lower consumption.
The water of satisfactory quality is injected oil reservoir, to keep formation pressure, this mistake from water injection well using water injection equipment
Journey is known as oil-field flooding.At present the water filling device in oil field is largely easy water filling sled, needs artificial on duty to carry out correlation
Pump start and stop and water injection rate statistics.It is more that this mode occupies personnel, labor intensive financial resources, is not suitable for water filling at this stage
Operation.According to water injection well high-pressure process on-site actual situations, using original annotation Water flow-path.It is original unload Water flow-path on the basis of, increase
It is a set of can remote control mechanical arm, replace and original manually unload water operation；Increase a set of wireless system for transmitting data or wireless
Bridge carries out data transmission, instruction issuing, solves manually to unload water in the automation insufficient situation of water injection well pipe network water with this
Demand.
Summary of the invention
The present invention provides a kind of automatic machinery people water discharge apparatus and control method for oil field, and which overcome existing
The deficiency of technology provides a kind of simple process, high mechanization, automates, unloads the convenient and fast oil field water discharge apparatus of water.
The present invention is realized by following technical measures:
A kind of automatic machinery people water discharge apparatus and control method for oil field, including No.1 hydraulic motor, worm and gear subtract
Fast device, support, mechanical large arm, No. two hydraulic cylinders, mechanical forearm, rotating arm, No. three hydraulic cylinders, No.1 hydraulic cylinder, hold-down support,
No. two hydraulic motors, revolving platform, rail pulley, trackless pulley；It is characterized by: the water discharge apparatus includes revolving platform, machinery
Large arm, mechanical forearm, rotating arm；The revolving platform includes No.1 motor, No. two motors, No.1 hydraulic cylinder, worm and gear deceleration
Device, support and hold-down support；The No.1 motor and worm type of reduction gearing are connected and fixed on rear side of revolving platform；Described No. two
Motor is fixed in large arm in support and No.1 hydraulic cylinder middle position using being bolted；Described support one end uses bolt
It is fastened on revolving platform, the other end then passes through pin shaft and connect with mechanical large arm；Described hold-down support one end is connected using bolt
It connects and is fixed on revolving platform, the other end is connected with No.1 hydraulic cylinder.
Here is the further optimization and/or improvement to invention technology described above scheme:
Preferably, described support one end, which is bolted, is fixed on revolving platform, and the other end is mechanical big by pin shaft connection
Arm, pin shaft are fixed by circlip.
Preferably, described hold-down support one end, which is bolted, is fixed on revolving platform, the company that the other end passes through pin shaft
Mode is connect to be connected with No.1 hydraulic cylinder.It all include rail pulley and nothing inside the mechanical large arm, mechanical forearm and rotating arm
Rail pulley；And including No. two hydraulic cylinders and No. three hydraulic cylinders.
Preferably, design has track on the rail pulley, the bottom position being mounted in mechanical arm, the installation of trackless pulley
Apical position in mechanical arm, pulley are fixed in mechanical arm by pin shaft, and pin shaft is by the fixed position of circlip.
Preferably, the mechanical large arm and machinery forearm are connected, and are equipped with No. two hydraulic cylinders between them, mechanical forearm
Fixation is determined by self gravity and No. three hydraulic cylinders；Mechanical forearm is connected with rotating arm by two pin shafts, and pin shaft is fixed by circlip,
It is designed with hold-down support in the lower surface of mechanical forearm and the lower surface of rotating arm, for connecting No. three hydraulic cylinders, connection
Mode is to be connect by pin shaft with fixed bracket, and pin shaft is fixed by circlip.
Preferably, the rail pulley is connected to inside mechanical large arm, mechanical forearm and rotating arm by pin shaft, and trackless is sliding
Wheel is fastened on inside mechanical large arm, mechanical forearm and rotating arm by pin shaft.
Preferably, No. two hydraulic cylinders one end in such a way that pin shaft connects connects mechanical large arm, and the other end connects machine
Tool forearm；Mechanical forearm is attached with rotating arm also by the mode that pin shaft connects, what No. three hydraulic cylinders were connected by pin shaft
Mode one end connects mechanical forearm, and the other end connects rotating arm.
Structure of the invention is reasonable and compact, the present invention provide a kind of simple process, high mechanization, automate, to unload water convenient
Oil field water discharge apparatus, the effective solution complex procedures of the prior art, it is at high cost, backward in technique, unload the problems such as water is inconvenient.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is overall structure rearview of the invention；
Fig. 3 is overall structure top view of the invention；
Fig. 4 is the schematic diagram of trackless pulley in the water discharge apparatus of the invention used；
Fig. 5 is the schematic diagram of rail pulley in the water discharge apparatus of the invention used；
Fig. 6 is the schematic diagram of support in the water discharge apparatus of the invention used；
Fig. 7 is the schematic diagram of base support in the water discharge apparatus of the invention used；
Fig. 8 is the schematic diagram of mechanical forearm in the water discharge apparatus of the invention used；
Fig. 9 is the schematic diagram of mechanical large arm in the water discharge apparatus of the invention used；
Figure 10 is the schematic diagram of rotating arm in the water discharge apparatus of the invention used.
Coding in attached drawing is respectively as follows: 1, No.1 hydraulic motor；2, worm type of reduction gearing；3, support；4, mechanical large arm；
5, No. two hydraulic cylinders；6, mechanical forearm；7, rotating arm；8, No. three hydraulic cylinders；9, No.1 hydraulic cylinder；10, hold-down support；11, two
Number hydraulic motor；12, revolving platform；13, rail pulley；14, trackless pulley.
Specific embodiment
The present invention is not limited by the following example, can be determined according to the technique and scheme of the present invention with actual conditions specific
Embodiment.
In the present invention, for ease of description, the description of the relative positional relationship of each component is according to Figure of description 1
Butut mode row retouch into stating, such as: front, rear, top, and bottom, left and right positional relationship be the Butut according to Figure of description 1
Direction determines.
Below with reference to examples and drawings, the present invention will be further described:
As shown in Fig. 1,2,3,4,5,6,7,8,9,10, a kind of automatic machinery people water discharge apparatus and controlling party for oil field
Method, including No.1 hydraulic motor 1, worm type of reduction gearing 2, support 3,4, No. two hydraulic cylinders 5 of mechanical large arm, mechanical forearm 6, rotation
7, No. three hydraulic cylinders 8 of pivoted arm, No.1 hydraulic cylinder 9,10, No. two hydraulic motors 11 of hold-down support, revolving platform 12, rail pulley 13,
Trackless pulley 14；It is characterized by: the water discharge apparatus includes revolving platform 12, mechanical large arm 4, mechanical forearm 6, rotating arm 7；Institute
Stating revolving platform 12 includes No.1 motor, No. two motors, No.1 hydraulic cylinder 9, worm type of reduction gearing 2, support 3 and hold-down support
10；The No.1 motor and worm type of reduction gearing 2 are connected and fixed to 12 rear side of revolving platform；No. two motors are in support 3
With 9 middle position of No.1 hydraulic cylinder, it is fixed in large arm using being bolted；Described 3 one end of support makes to be joined with bolts
On revolving platform 12, the other end then passes through pin shaft and connect with mechanical large arm 4；10 one end use of hold-down support is bolted solid
It is scheduled on revolving platform 12, the other end is connected with No.1 hydraulic cylinder 9.
It all include rail pulley 13 and trackless pulley 14 inside the mechanical large arm 4, mechanical forearm 6 and rotating arm 7, such as
Shown in Fig. 2, Fig. 3.And including No. two hydraulic cylinders 5 and No. three hydraulic cylinders 8.Design has track on rail pulley 13, the track
Function has: first is that reducing frictional force when drawing water water pipe transmission, second is that having guiding role, such as Fig. 5 when drawing water water pipe movement
Bottom position that is shown, being mounted on inside mechanical arm, trackless pulley 14 are mounted on the apical position inside mechanical arm, have and fix
It draws water the function of water pipe, as shown in Figure 4.Mechanical large arm 4 is connected with mechanical forearm 6 by No. two hydraulic cylinders 5, and mechanical forearm is consolidated
It is fixed to be determined by self gravity and No. three hydraulic cylinders.The upper surface of mechanical large arm and mechanical forearm, which is all designed, to be had for fixed branch
Seat, the lower surface of same machinery large arm, mechanical forearm and rotating arm, which is all designed, to be had for fixed support, for connecting liquid
Cylinder pressure, connection type are to be connect by pin shaft with fixed bracket, and pin shaft is fixed by circlip.The lateral layout of mechanical forearm has peace
Hole is filled, as shown in figure 8, mechanical forearm 6 is connected with rotating arm 7, for rotating arm is connected with mechanical forearm, in rotating arm corresponding positions
Install in respect of mounting hole, as shown in Figure 10, the lower surface of mechanical forearm 6 and the lower surface of rotating arm 7 be connected to No. three it is hydraulic
Cylinder 8.In operation, four freedom degrees respectively correspond the back-and-forth motion of robot, move up and down for Xie Shui robot, move left and right,
The movement of end alignment filling exit.
It is specific as follows that the oil field robot unloads water method:
Control system forms host computer, Siemens S7- using computer and using the human-computer interaction interface that KingView is designed and developed
200PLC and expansion module EM235 composition slave computer to collection in worksite data and can be controlled using DTU as remote transmission device
The movement of joint of robot processed.
Step 1: after water-tank lorry reaches designated place, staff's remote control.PLC is controlled by solenoid directional control valve
The expanding-contracting action of 9, No. two hydraulic cylinders 5 of No.1 hydraulic cylinder processed and No. three hydraulic cylinders 8 is to realize mechanical large arm 4, mechanical forearm 6 and rotation
The movement of pivoted arm 7.The distribution of the address PLC: CPU226CN is as master controller, according to mechanical arm action request, analysis system control
Logical relation writes corresponding control program.It needs to identify interference signal in a program, interference signal is avoided to cause the mistake of mechanical arm
Movement.It has used 13 points above PLC to complete control function, there is the mechanical lifting of large arm 4 of totally 13 output points controls, rotation
Arm 7 is gone up and down, mechanical 6 stretching motion of forearm, and the water pipe that draws water stretches receipts, flexible and overflow valve the on-off of revolving platform 12.
Step 2: when water-tank lorry stop position apart from defined position there are when error, staff passes through remote operation
Human-computer interaction interface adjusts error.Host computer controls the rotation of Xie Shui robot revolving platform 12 by slave computer PLC and drives entire machine
Tool arm is moved, and rotating range is 360 °, can be used to the front and back error for adjusting tank car stop position；It is controlled by slave computer PLC
Mechanical large arm 4 is made to rotate around support 3, it can be achieved that 0 ° ~+15 ° of plane rotation moves, for adjusting the height of 7 end of rotating arm；
Mechanical forearm 6 is controlled by slave computer PLC to move along mechanical 4 ontology of large arm, it can be achieved that -25 ~+25cm by No. two hydraulic cylinders 5
Plane translation movement, for adjust tank car stop left and right error；Rotating arm 7 is controlled along mechanical forearm 6 by slave computer PLC
Rotation, axis are parallel, it can be achieved that 0 ° ~+90 ° of plane rotation moves with mechanical large arm 4.
Step 3: PLC and host computer configuration software pass through DTU as remote transmission device, serial data is converted into IP
Data or by IP data be converted to serial data by wireless communication transmission of network to host computer.On ForceControl interface, energy
Various information are acquired from automation process and equipment, and information is shown in a manner of graphical etc. be more readily understood,
Important information is sent to related personnel with various means, necessary analysis processing and storage are executed to information, control is issued and refers to
It enables.To the instruction that user assigns from human-computer interaction interface, is controlled by slave computer PLC and 7 end of rotating arm is reached into water-tank lorry
Above the filling exit of front, place of the rotating arm 7 apart from tank body upper surface no more than 10 centimetres is determined by sensor, keeps machine
The movement of tool arm.
No.1 hydraulic motor 1 is allowed to drive the water pipe that draws water for being fixed with chain Step 4: user assigns from human-computer interaction interface
Slow downwardly extending instruction collects water level sensor signal by EM235, and sends slave computer PLC to and carry out adopting for waterlevel data
Collection.To realize that will draw water water pipe is transported to lower 50 centimetres of the work of liquid level into water-tank lorry, is then controlled by slave computer PLC
System stops conveying.
Step 5: starting suction pump keeps mechanical large arm 4, mechanical forearm 6 and 7 position of rotating arm not in pump process
It is dynamic, slowly continue to convey the water pipe that draws water by slave computer PLC control, until completing to extract work.
Step 6: user by human-computer interaction interface assign withdrawal draw water water pipe instruct, pass through slave computer PLC control No.1
The water pipe that draws water is withdrawn in the work of hydraulic motor 1, and revolving platform 12 is rotated by 90 ° or 270 degree reset.
It can be run to high efficient and reliable to ensure to fill the water robot, mechanical arm control system has following functions: 1 single step
Operation, i.e. mechanical arm only complete step movement every time;2 have user authority setting, behaviour of the limitation unauthorized personnel to mechanical arm
Make, reduces the probability of happening of maloperation event;3 fault alarms, when system breaks down or maloperation occurs, to user and
When warning message, remind user.
Control method is summarized:
The distribution of the address PLC: CPU226CN is as master controller, according to mechanical arm action request, analysis system control logic relationship,
Write corresponding control program.It needs to identify interference signal in a program, interference signal is avoided to cause the malfunction of mechanical arm.Have
Totally 13 output points control mechanical large arm 4 and go up and down, and rotating arm 7 is gone up and down, and mechanical 6 stretching motion of forearm, the water pipe that draws water stretches receipts, turn round
Flexible and overflow valve the on-off of platform 12.EM235 collects water level sensor signal, and sends slave computer PLC to and carry out water level number
According to acquisition.
PLC and host computer configuration software pass through DTU as remote transmission device, and serial data is converted to IP data or is incited somebody to action
IP data be converted to serial data by wireless communication transmission of network to host computer.It, can be from automation on ForceControl interface
Various information are acquired in process and equipment, and information is shown in a manner of graphical etc. be more readily understood, it will be important
Information is transmitted to related personnel with various means, executes necessary analysis processing and storage to information, issues control instruction.
It can be run to high efficient and reliable to ensure to fill the water robot, mechanical arm control system has following functions: 1 single step
Operation, i.e. mechanical arm only complete step movement every time;2 have user authority setting, behaviour of the limitation unauthorized personnel to mechanical arm
Make, reduces the probability of happening of maloperation event;3 fault alarms, when system breaks down or maloperation occurs, to user and
When warning message, remind user.
Structure of the invention is reasonable and compact, the present invention provide a kind of simple process, high mechanization, automate, to unload water convenient
Oil field water discharge apparatus, the effective solution complex procedures of the prior art, it is at high cost, backward in technique, unload the problems such as water is inconvenient.
It can be according to actual needs to a kind of above-mentioned automatic machinery people water discharge apparatus and control method progress for oil field
Further optimization or/and improvement:
As shown in Figure 1, 2, 3, described 3 one end of support, which is bolted, is fixed on revolving platform 12, and the other end passes through pin shaft
Mechanical large arm 4 is connected, pin shaft is fixed by circlip.
As shown in Figure 1, 2, 3, described 10 one end of hold-down support, which is bolted, is fixed on revolving platform 12, and the other end is logical
The connection type for crossing pin shaft is connected with No.1 hydraulic cylinder 9.It is all wrapped inside the mechanical large arm 4, mechanical forearm 6 and rotating arm 7
Include rail pulley 13 and trackless pulley 14；And including No. two hydraulic cylinders 5 and No. three hydraulic cylinders 8.
As shown in Figure 1, 2, 3, design has track on the rail pulley 13, the bottom position being mounted in mechanical arm, nothing
Rail pulley 14 is mounted on the apical position in mechanical arm, and pulley is fixed in mechanical arm by pin shaft, and pin shaft is by circlip fixed bit
It sets.
As shown in Figure 1, 2, 3, the mechanical large arm 4 and machinery forearm 6 are connected, and are equipped with No. two hydraulic cylinders 5 between them,
The fixation of mechanical forearm 6 is determined by self gravity and No. three hydraulic cylinders 8；Mechanical forearm 6 is connected with rotating arm 7 by two pin shafts,
Pin shaft is fixed by circlip, hold-down support 10 is designed in the lower surface of mechanical forearm 6 and the lower surface of rotating arm 7, for connecting
No. three hydraulic cylinders 8 are connect, connection type is to connect by pin shaft with fixed bracket, and pin shaft is fixed by circlip.
As shown in Figure 1, 2, 3, the rail pulley 13 is connected to mechanical large arm 4, mechanical forearm 6 and rotating arm by pin shaft
Inside 7, trackless pulley 14 is fastened on inside mechanical large arm 4, mechanical forearm 6 and rotating arm 7 by pin shaft.
As shown in Figure 1, 2, 3, No. two hydraulic cylinders 5 one end in such a way that pin shaft connects connects mechanical large arm 4, another
End connects mechanical forearm 6；Mechanical forearm 6 is attached with rotating arm 7 also by the mode that pin shaft connects, and No. three hydraulic cylinders 8 are logical
The mode one end for crossing pin shaft connection connects mechanical forearm 6, and the other end connects rotating arm 7.
The above technical characteristic constitutes the optimal embodiment of the present invention, imitates with stronger adaptability and optimal implementation
Fruit can increase or decrease non-essential technical characteristic, according to actual needs to meet the needs of different.
Claims (7)
1. a kind of automatic machinery people water discharge apparatus and control method for oil field, including No.1 hydraulic motor, worm and gear
Retarder, support, mechanical large arm, No. two hydraulic cylinders, mechanical forearm, rotating arm, No. three hydraulic cylinders, No.1 hydraulic cylinder, fixed branch
Seat, No. two hydraulic motors, revolving platform, rail pulley, trackless pulley；It is characterized by: the water discharge apparatus includes revolving platform, machine
Tool large arm, mechanical forearm, rotating arm；The revolving platform includes that No.1 motor, No. two motors, No.1 hydraulic cylinder, worm and gear subtract
Fast device, support and hold-down support；The No.1 motor and worm type of reduction gearing are connected and fixed on rear side of revolving platform；Described two
Number motor is fixed in large arm in support and No.1 hydraulic cylinder middle position using being bolted；Described support one end uses spiral shell
Bolt is fastened on revolving platform, and the other end then passes through pin shaft and connect with mechanical large arm；Described hold-down support one end uses bolt
It is fastened on revolving platform, the other end is connected with No.1 hydraulic cylinder.
2. a kind of automatic machinery people water discharge apparatus and control method for oil field according to claim 1, feature
Be: described support one end, which is bolted, to be fixed on revolving platform, and the other end connects mechanical large arm, pin shaft by pin shaft
It is fixed by circlip.
3. a kind of automatic machinery people water discharge apparatus and control method for oil field according to claim 1, feature
Be: described hold-down support one end, which is bolted, to be fixed on revolving platform, and the other end passes through the connection type and one of pin shaft
Number hydraulic cylinder is connected；It all include rail pulley and trackless pulley inside the mechanical large arm, mechanical forearm and rotating arm；And
Including No. two hydraulic cylinders and No. three hydraulic cylinders.
4. a kind of automatic machinery people water discharge apparatus and control method for oil field according to claim 1, feature
Be: design has track on the rail pulley, and the bottom position being mounted in mechanical arm, trackless pulley is mounted in mechanical arm
Apical position, pulley is fixed in mechanical arm by pin shaft, and pin shaft is by the fixed position of circlip.
5. a kind of automatic machinery people water discharge apparatus and control method for oil field according to claim 1, feature
Be: the machinery large arm and machinery forearm are connected, and are equipped with No. two hydraulic cylinders between them, the fixation of mechanical forearm is by itself
Gravity and No. three hydraulic cylinders determine；Mechanical forearm is connected with rotating arm by two pin shafts, and pin shaft is fixed by circlip, in mechanical forearm
Lower surface and the lower surface of rotating arm be designed with hold-down support, for connecting No. three hydraulic cylinders, connection type is to pass through
Pin shaft is connect with fixed bracket, and pin shaft is fixed by circlip.
6. a kind of automatic machinery people water discharge apparatus and control method for oil field according to claim 1, feature
Be: the rail pulley is connected to inside mechanical large arm, mechanical forearm and rotating arm by pin shaft, and trackless pulley passes through pin shaft
It is fastened on inside mechanical large arm, mechanical forearm and rotating arm.
7. a kind of automatic machinery people water discharge apparatus and control method for oil field according to claim 1, feature
Be: No. two hydraulic cylinders one end in such a way that pin shaft connects connects mechanical large arm, and the other end connects mechanical forearm；It is mechanical
Forearm is attached with rotating arm also by the mode that pin shaft connects, and No. three hydraulic cylinders connect one end in such a way that pin shaft connects
Mechanical forearm, the other end connect rotating arm.
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| CN201910709250.5A CN110273667A (en) | 2019-08-01 | 2019-08-01 | A kind of automatic machinery people water discharge apparatus and control method for oil field |
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| WO2018090689A1 (en) * | 2016-11-18 | 2018-05-24 | 中国葛洲坝集团三峡建设工程有限公司 | Multifunctional anchor cable drilling machine |
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| CN109026098A (en) * | 2018-08-16 | 2018-12-18 | 陕西陕煤黄陵矿业有限公司 | One kind is hydraulic to move back anchor vehicle |
| CN110054037A (en) * | 2019-04-19 | 2019-07-26 | 岑嘉琪 | A kind of Drought-resistance in Wheat water pipe recyclable device |
| CN210195723U (en) * | 2019-08-01 | 2020-03-27 | 新疆大学 | A automatic robot device of unloading for oil field |
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