CN204457502U - A kind of tubing string clamping device and automatic tube-arranging device - Google Patents
A kind of tubing string clamping device and automatic tube-arranging device Download PDFInfo
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- CN204457502U CN204457502U CN201520003812.1U CN201520003812U CN204457502U CN 204457502 U CN204457502 U CN 204457502U CN 201520003812 U CN201520003812 U CN 201520003812U CN 204457502 U CN204457502 U CN 204457502U
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Abstract
The utility model discloses a kind of tubing string clamping device and automatic tube-arranging device.A kind of tubing string clamping device, comprise clamping body, clamping body is provided with the first clamping limb and the second clamping limb, first clamping limb and the second clamping limb coordinate formation gripping channel, also comprise at least one grip block, the first end of grip block is articulated with the close gripping channel open at one end of the first clamping limb or the second clamping limb, the second end of grip block and linkage hinged, linkage is connected with drive rod.The utility model structure is simple, and grip block is located at the front end of clamping limb simultaneously, and Movement transmit is direct, ensure that clamping dynamics; Its clamping limb is without the need to opening and closing, and operation takes up room fixing, can not be formed interfere adjacent tubes post.
Description
Technical field
The utility model relates to oil equipment field, specifically relates to a kind of tubing string clamping device, and is provided with the automatic tube-arranging device of this tubing string clamping device.
Background technology
Well head automation, unmanned be the developing direction of petroleum equipment.Automatic tube-arranging device (also claiming comb manipulator) is a kind of main well head automated arm, for clamping between well head and pipe rack and carrying drilling rod or oil pipe.
Automatic tube-arranging device generally comprises pipe rack (being commonly called as quadruple board platform), mechanical arm and tubing string clamping device, pipe rack is established usually by oil well, pipe rack is formed many positions for vertically placing drilling rod or oil pipe, mechanical arm is movably arranged on pipe rack; When drilling rod or oil pipe are placed on pipe rack by needs, mechanical arm clamps drilling rod or oil pipe, then under the control of the controller drilling rod or oil pipe is positioned over the precalculated position on pipe rack; When needs take out drilling rod or oil pipe from pipe rack, manipulator motion, is then driven to precalculated position to appropriate location also by tubing string gripper mechanism grips drilling rod or oil pipe.
Tubing string clamping device (also claiming handgrip) is the direct effect part of clamping tubing string, is generally positioned at the end of the mechanical arm of multifreedom motion.When head pipe post clamping device generally adopts arc clamping limb, by clamping limb open and gathering realizes tubing string pick-and-place, this structural clamp arm rotating fulcrum is located at rear portion, and cantilever is longer, easily causes chucking power not enough, insufficient strength.And clamping limb is in the process of opening, spatially to the expansion of direction, tubing string both sides, operation certainly will be caused to take up room comparatively large, be unfavorable for narrow space operation between quadruple board platform fingerboard, tubing string that is easy and adjacent discharge causes interference, and impact normally works.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of tubing string clamping device, chucking power not enough, the easy problem such as interference when can solve prior art operation.
Tubing string clamping device of the present utility model, comprise clamping body, described clamping body is provided with the first clamping limb and the second clamping limb, described first clamping limb and described second clamping limb coordinate formation gripping channel, also comprise at least one grip block, the first end of described grip block is articulated with the close gripping channel open at one end of the first clamping limb or the second clamping limb, the second end of described grip block and linkage hinged, described linkage is connected with drive rod.
Further, the quantity of described grip block is two, comprise the first grip block and the second grip block, described linkage comprises first connecting rod and second connecting rod, the first end of described first grip block is articulated with the close gripping channel open at one end of the first clamping limb, the hinged first connecting rod of second end of described first grip block, the first end of described second grip block is articulated with the close gripping channel open at one end of the second clamping limb, the hinged second connecting rod of second end, described first connecting rod is connected with drive rod by third connecting rod with second connecting rod.
Further, described first connecting rod and second connecting rod are curved rod.
Further, the quantity of described grip block is two, comprise the first grip block and the second grip block, described linkage comprises the double leval jib and the 5th connecting rod that are hinged, and the six-bar linkage be hinged and seven-link assembly, described double leval jib and described first grip block hinged, the first end of described 5th connecting rod and described third connecting rod is hinged, described six-bar linkage and described second grip block hinged, the second end of described seven-link assembly and described third connecting rod is hinged.
Further, also comprise push rod, the first end of described push rod connects described third connecting rod, and the second end of described push rod extends in described gripping channel.
Further, described drive rod connecting drive device, described drive unit is the one in hydraulic cylinder, cylinder, turbine and worm mechanism, pinion and rack, leading screw and nut mechanism.
Further, described clamping body comprises cramping body and lower cramping body, and described grip block, linkage, drive rod are all located between cramping body and lower cramping body.
Another aspect of the present utility model, also provides a kind of automatic tube-arranging device, comprises pipe rack and is arranged at the mechanical arm on described pipe rack, described mechanical arm is provided with the tubing string clamping device described in aforementioned any one.
Further, described mechanical arm comprises frame, principal arm, auxiliary and pull bar, one end of described principal arm and pull bar is all hinged in frame, the other end of described principal arm and pull bar is all hinged with the first end of auxiliary, described frame, principal arm, auxiliary and pull bar form parallel-crank mechanism, and described tubing string clamping device is located at the second end of auxiliary.
Further, the pivoting support that described frame comprises fixed bearing and can rotate relative to described fixed bearing, described principal arm and pull bar are arranged on described pivoting support, and described pipe rack is provided with slideway, and described fixed bearing can slide along described slideway; Described principal arm connects the first drive unit; Described pivoting support connects the second drive unit.
The utility model tubing string clamping device, comprise clamping body, clamping body is provided with the first clamping limb and the second clamping limb, first clamping limb and the second clamping limb coordinate formation gripping channel, also comprise at least one grip block, the first end of grip block is articulated with the close gripping channel open at one end of the first clamping limb or the second clamping limb, the second end of grip block and linkage hinged, linkage is connected with drive rod.The utility model structure is simple, and grip block is located at the front end of clamping limb simultaneously, and Movement transmit is direct, ensure that clamping dynamics; Its clamping limb is without the need to opening and closing, and operation takes up room fixing, can not be formed interfere adjacent tubes post.
In addition, in another embodiment of the utility model, in comb operation process, the locking of grip block is realized by frame for movement completely, participate in without the need to drive unit, largely simplify the control of drive unit, improve the response speed of tubing string clamping device, improve operating efficiency.
Accompanying drawing explanation
The accompanying drawing forming a part of the present utility model is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structural representation of the tubing string clamping device of the utility model one embodiment;
Fig. 2 is the structural representation of the clamping device of tubing string shown in Fig. 1 when clamping operation;
Fig. 3 is the structural representation of the tubing string clamping device of another embodiment of the utility model;
Fig. 4 is the structural representation of the clamping device of tubing string shown in Fig. 3 when clamping operation;
Fig. 5 is the structural representation of the automatic-discharging pipe device of the utility model one embodiment.
Description of reference numerals:
1, body is clamped; 11, the first clamping limb; 12, the second clamping limb; 13, gripping channel; 21, the first grip block; 22, the second grip block; 31, first connecting rod; 311, double leval jib; 312, the 5th connecting rod; 32, second connecting rod; 321, six-bar linkage; 322, seven-link assembly; 33, third connecting rod; 4, drive rod; 5, push rod; 601, fixed bearing; 602, pivoting support; 61, principal arm; 62, auxiliary; 63, pull bar.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the utility model and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the utility model in detail in conjunction with the embodiments.
In the utility model, the orientation of use as "left", "right" all with the view shown in Fig. 1 for benchmark.Term " first ", " second " are mainly used in distinguishing different parts, but specifically do not limit parts.
Be the structural representation of the tubing string clamping device of the utility model one embodiment shown in Fig. 1, Fig. 2, being wherein the state diagram that grip block was in initially or put pipe operation shown in Fig. 1, is the state diagram that grip block is in comb operation shown in Fig. 2.The major function of the tubing string clamping device of this embodiment is clamping and mobile tubing string, to be moved between well head and pipe rack by tubing string.It will be apparent to those skilled in the art that " tubing string " of the present utility model refers to drilling rod, thribble (three connected drilling rod), oil pipe etc.
The tubing string clamping device of the present embodiment, comprise clamping body 1, clamping body 1 is provided with the first clamping limb 11 and the second clamping limb 12, first clamping limb 11 and the second clamping limb 12 coordinate formation gripping channel 13, tubing string clamping device also comprises at least one grip block, grip block first end is hinged on the close gripping channel open at one end of the first clamping limb 11 or the second clamping limb 12, and the second end is hinged with linkage, and linkage connects drive rod 4.
In the present embodiment, the quantity of grip block is preferably two, be specially the first grip block 21, second grip block 22, linkage correspondence is provided with first connecting rod 31 and second connecting rod 32, the first end of the first grip block 21 is articulated with the close gripping channel open at one end of the first clamping limb 11, the hinged first connecting rod 31 of second end, the first end of the second grip block 22 is articulated with the close gripping channel open at one end of the second clamping limb 12, the hinged second connecting rod 32 of second end, first connecting rod 31 is connected with drive rod 4 by third connecting rod 33 with second connecting rod 32.Should be clear, the quantity of grip block can also be that more possible other are, and all can realize technique effect of the present utility model, the utility model is not limited to this.In addition, first connecting rod 31 and second connecting rod 32 preferentially select curved rod, certainly also can select the connecting rod of other shapes, as long as can realize the utility model technique effect.
Drive rod 4 connecting drive device, drive unit can be hydraulic cylinder, cylinder, also can be other mechanisms, as turbine and worm mechanism, pinion and rack, leading screw and nut mechanism etc.Should be clear, drive rod 4 also can not connecting drive device, directly pulls drive rod 4, also can regulate the state of grip block by drivening rod, reach same object.
In the present embodiment, for ease of assembling and easy to maintenance, clamping body 1 preferably upper and lower assembled structure, comprise cramping body and lower cramping body, grip block, connecting rod, drive rod are all accommodated between cramping body and lower cramping body.
Before clamping operation, grip block is in the original state shown in Fig. 1, and namely the first grip block 21 and the second grip block 22 are accommodated in clamping body 1; When needing comb operation, the present embodiment tubing string clamping device is moved close to tubing string to be held, after tubing string 9 to be held enters gripping channel 13, drive unit startup work, promote third connecting rod 33 by drive rod 4 to be moved to the left, then drive first connecting rod 31 and second connecting rod 32, promotes the first grip block 21 and the second grip block 22 stretches out clamping body 1 (as shown in Figure 2), is locked in gripping channel 13 by tubing string 9 and is transported to target location again; After arriving target location, drive unit drives third connecting rod 33 to move right by drive rod 4, the first grip block 21 and the second grip block 22 is driven to reset to state shown in Fig. 1 by first connecting rod 31 and second connecting rod 32 again, remove the locking to tubing string 9, tubing string 9 can be spun off from gripping channel 13, complete and put pipe.
The utility model structure is simple, and grip block is located at the front end of clamping limb simultaneously, and Movement transmit is direct, ensure that clamping dynamics; Its clamping limb is without the need to opening and closing, and operation takes up room fixing, can not be formed interfere adjacent tubes post.
Fig. 3, Fig. 4 are the structural representations of the tubing string clamping device of another embodiment of the utility model, the main distinction of the relative previous embodiment of this embodiment is that the structure of linkage is different, specifically comprise the double leval jib 311 and the 5th connecting rod 312 that are hinged, and the six-bar linkage 321 be hinged and seven-link assembly 322, double leval jib 311 and the first grip block 21 hinged, 5th connecting rod 312 is hinged with the first end of third connecting rod 33, six-bar linkage 321 and the second grip block 22 hinged, seven-link assembly 322 is hinged with the second end of third connecting rod 33.
In addition, in the aforementioned embodiment, comb and put pipe two operation process and all need have been driven by drive unit, thus the control of drive unit need arrange to obtain relative complex.For simplifying control as far as possible, the present embodiment preferably on third connecting rod 33 connect push rod 5 is set, second end of push rod 5 extend out in gripping channel 13, when comb operation, after tubing string enters gripping channel 13, collide push rod 5, thus promotion third connecting rod 33 moves right, drivening rod mechanism makes grip block stretch out clamping body 1, by column lock in gripping channel 13.In the present embodiment, in comb operation process, the locking of grip block is realized by frame for movement completely, participates in, largely simplify the control of drive unit, improve the response speed of tubing string clamping device, improve operating efficiency without the need to drive unit.
The course of work of the present embodiment is as follows: before clamping operation, and grip block is in the original state shown in Fig. 3, and namely the first grip block 21 and the second grip block 22 are accommodated in clamping body 1; When needing comb operation, the present embodiment tubing string clamping device is moved close to tubing string to be held, after tubing string 9 to be held enters gripping channel 13, collide push rod 5, thus promotion third connecting rod 33 moves right, drive double leval jib 311, the 5th connecting rod 312, six-bar linkage 321 and seven-link assembly 322 to make the first grip block 21 and the second grip block 22 stretch out clamping body 1, tubing string 9 is locked in gripping channel 13 interior (as shown in Figure 4) and is transported to target location again; After arriving target location, drive unit drives third connecting rod 33 to be moved to the left by drive rod 4, the first grip block 21 and the second grip block 22 is driven to reset to state shown in Fig. 3 by double leval jib 311, the 5th connecting rod 312, six-bar linkage 321 and seven-link assembly 322 again, remove the locking to tubing string 9, tubing string 9 can be spun off from gripping channel 13, complete and put pipe.
Another aspect of the present utility model, also provides a kind of automatic tube-arranging device, and this automatic tube-arranging device is provided with the tubing string clamping device of previous embodiment, so that make tubing string move between well head and pipe rack.Tubing string clamping device generally can be positioned at the end of mechanical arm.Aforementioned automatic tube-arranging device can be used for as on the oil equipment such as rig, workover rig.
Fig. 5 is the structural representation of the automatic tube-arranging device of the utility model one embodiment, the mechanical arm of this automatic tube-arranging device at least comprises frame, principal arm 61, auxiliary 62 and pull bar 63, principal arm 61 is all hinged in frame with one end of pull bar 63, principal arm 61 is all hinged with the first end of auxiliary 62 with the other end of pull bar 63, frame, principal arm 61, auxiliary 62 and pull bar 63 form parallel-crank mechanism, and tubing string clamping device is arranged on the second end of auxiliary 62.
Second end of preferred auxiliary 62 is horizontally disposed with.Under the effect of parallel-crank mechanism, when principal arm 61 rotates, auxiliary 62 carries out translational motion.This mechanical arm not only can realize the basic function of delivery pipe, and has simple and compact for structure, the advantage such as component are few, easy maintenance, effectively can improve the reliability and maintainability of automatic tube-arranging device.
Further, the pivoting support 602 that preferred frame comprises fixed bearing 601 and can rotate relative to fixed bearing 601, principal arm 61 and pull bar 63 are arranged on pivoting support 602, pipe rack is provided with slideway, fixed bearing 601 can slide along slideway, the needs of multifreedom motion when can realize comb and put pipe, and there is the advantage that action is succinct, operating efficiency is high.
Aforementioned principal arm 61 and pivoting support 602 can adopt multiple possible mode to drive it to rotate, and preferred principal arm 61 connects the first drive unit; Pivoting support 602 connects the second drive unit, and overall structure is simply compact, be easy to space layout.By the co-operating of principal arm 61, pivoting support 602 and tubing string clamping device, can realize comb efficiently and put pipe operation, movable requisite space is minimum, is especially applicable to narrow space operation.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a tubing string clamping device, comprise clamping body (1), described clamping body (1) is provided with the first clamping limb (11) and the second clamping limb (12), described first clamping limb (11) and described second clamping limb (12) coordinate formation gripping channel (13), it is characterized in that: also comprise at least one grip block, the first end of described grip block is articulated with the close gripping channel open at one end of the first clamping limb (11) or the second clamping limb (12), second end of described grip block and linkage hinged, described linkage is connected with drive rod (4).
2. tubing string clamping device according to claim 1, it is characterized in that: the quantity of described grip block is two, comprise the first grip block (21) and the second grip block (22), described linkage comprises first connecting rod (31) and second connecting rod (32), the first end of described first grip block (21) is articulated with the close gripping channel open at one end of the first clamping limb (11), the hinged first connecting rod of second end (31) of described first grip block (21), the first end of described second grip block (22) is articulated with the close gripping channel open at one end of the second clamping limb (12), the hinged second connecting rod of second end (32), described first connecting rod (31) is connected with drive rod (4) by third connecting rod (33) with second connecting rod (32).
3. tubing string clamping device according to claim 2, is characterized in that: described first connecting rod (31) and second connecting rod (32) are curved rod.
4. tubing string clamping device according to claim 1, it is characterized in that: the quantity of described grip block is two, comprise the first grip block (21) and the second grip block (22), described linkage comprises the double leval jib (311) and the 5th connecting rod (312) that are hinged, and the six-bar linkage (321) be hinged and seven-link assembly (322), described double leval jib (311) is hinged with described first grip block (21), described 5th connecting rod (312) is hinged with the first end of described third connecting rod (33), described six-bar linkage (321) is hinged with described second grip block (22), described seven-link assembly (322) is hinged with the second end of described third connecting rod (33).
5. tubing string clamping device according to claim 4, it is characterized in that: also comprise push rod (5), the first end of described push rod (5) connects described third connecting rod (33), and the second end of described push rod (5) extends in described gripping channel (13).
6. the tubing string clamping device according to any one of claim 1-5, it is characterized in that: described drive rod (4) connecting drive device, described drive unit is the one in hydraulic cylinder, cylinder, turbine and worm mechanism, pinion and rack, leading screw and nut mechanism.
7. the tubing string clamping device according to any one of claim 1-5, is characterized in that: described clamping body comprises cramping body and lower cramping body, and described grip block, linkage, drive rod are all located between cramping body and lower cramping body.
8. an automatic tube-arranging device, comprises pipe rack and is arranged at the mechanical arm on described pipe rack, it is characterized in that: described mechanical arm is provided with the tubing string clamping device described in any one of claim 1-7.
9. automatic tube-arranging device according to claim 8, it is characterized in that: described mechanical arm comprises frame, principal arm (61), auxiliary (62) and pull bar (63), described principal arm (61) is all hinged in frame with one end of pull bar (63), described principal arm (61) is all hinged with the first end of auxiliary (62) with the other end of pull bar (63), described frame, principal arm (61), auxiliary (62) and pull bar (63) form parallel-crank mechanism, and described tubing string clamping device is located at the second end of auxiliary (62).
10. automatic tube-arranging device according to claim 9, it is characterized in that: the pivoting support (602) that described frame comprises fixed bearing (601) and can rotate relative to described fixed bearing (601), described principal arm (61) and pull bar (63) are arranged on described pivoting support (602), described pipe rack is provided with slideway, and described fixed bearing (601) can slide along described slideway; Described principal arm (61) connects the first drive unit; Described pivoting support (602) connects the second drive unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520003812.1U CN204457502U (en) | 2015-01-05 | 2015-01-05 | A kind of tubing string clamping device and automatic tube-arranging device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520003812.1U CN204457502U (en) | 2015-01-05 | 2015-01-05 | A kind of tubing string clamping device and automatic tube-arranging device |
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| CN204457502U true CN204457502U (en) | 2015-07-08 |
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| CN201520003812.1U Active CN204457502U (en) | 2015-01-05 | 2015-01-05 | A kind of tubing string clamping device and automatic tube-arranging device |
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| CN105370226A (en) * | 2015-11-02 | 2016-03-02 | 湖南三一石油科技有限公司 | Petroleum drilling and production equipment, drilling table surface manipulator and pipe column support mechanism |
| CN105401897A (en) * | 2015-11-02 | 2016-03-16 | 湖南三一石油科技有限公司 | Petroleum drill and exploitation equipment, drill floor face mechanical hand and mechanical arm |
| CN105401896A (en) * | 2015-11-02 | 2016-03-16 | 湖南三一石油科技有限公司 | Petroleum drilling and production device, drilling stand face mechanical arm and pulley mechanism |
| CN105443050A (en) * | 2015-12-25 | 2016-03-30 | 湖南三一石油科技有限公司 | Petroleum drilling and exploitation device, automatic pipe discharging device and tubular column supporting mechanism |
| CN106194068A (en) * | 2016-09-22 | 2016-12-07 | 东营市仨兴智能机械有限公司 | A kind of movable drillstring discharge machine of oil field drilling well workover |
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| CN112059592A (en) * | 2020-08-31 | 2020-12-11 | 重庆宗申吕田机械制造有限公司 | Automatic seat ring press fitting production line of loading |
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| CN105401896B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and pulley mechanism |
| CN105401897A (en) * | 2015-11-02 | 2016-03-16 | 湖南三一石油科技有限公司 | Petroleum drill and exploitation equipment, drill floor face mechanical hand and mechanical arm |
| CN105401896A (en) * | 2015-11-02 | 2016-03-16 | 湖南三一石油科技有限公司 | Petroleum drilling and production device, drilling stand face mechanical arm and pulley mechanism |
| CN105370226A (en) * | 2015-11-02 | 2016-03-02 | 湖南三一石油科技有限公司 | Petroleum drilling and production equipment, drilling table surface manipulator and pipe column support mechanism |
| CN105401897B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and mechanical arm |
| CN105370226B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism |
| CN105443050A (en) * | 2015-12-25 | 2016-03-30 | 湖南三一石油科技有限公司 | Petroleum drilling and exploitation device, automatic pipe discharging device and tubular column supporting mechanism |
| CN106194068A (en) * | 2016-09-22 | 2016-12-07 | 东营市仨兴智能机械有限公司 | A kind of movable drillstring discharge machine of oil field drilling well workover |
| CN106194068B (en) * | 2016-09-22 | 2018-04-24 | 张成功 | A kind of movable drillstring discharge machine of oil field drilling and repairing well |
| CN106881552A (en) * | 2017-04-12 | 2017-06-23 | 广州创研自动化设备有限公司 | A kind of detent mechanism for the welding of smoke exhaust ventilator air channel |
| CN111206887A (en) * | 2020-01-15 | 2020-05-29 | 宝鸡石油机械有限责任公司 | Single-drive double-action holding forceps |
| CN111206887B (en) * | 2020-01-15 | 2021-10-15 | 宝鸡石油机械有限责任公司 | Single-drive double-action holding forceps |
| CN112059592A (en) * | 2020-08-31 | 2020-12-11 | 重庆宗申吕田机械制造有限公司 | Automatic seat ring press fitting production line of loading |
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| CN112372209A (en) * | 2020-11-09 | 2021-02-19 | 马鞍山市盛远管道有限公司 | Cast tube mouth processing equipment |
| CN112922541A (en) * | 2021-01-28 | 2021-06-08 | 任惠林 | Drill rod replacing mechanism for drill rod equipment |
| CN112922541B (en) * | 2021-01-28 | 2022-07-22 | 佛山市云昇金属科技有限公司 | Drill rod replacing mechanism for drill rod equipment |
| CN112983315A (en) * | 2021-05-19 | 2021-06-18 | 胜利油田胜机石油装备有限公司 | Quick assembling and disassembling method for well repairing operation faucet and suspension pushing manipulator |
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