CN204588531U - A kind of knuckle hangs - Google Patents
A kind of knuckle hangs Download PDFInfo
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- CN204588531U CN204588531U CN201520037412.2U CN201520037412U CN204588531U CN 204588531 U CN204588531 U CN 204588531U CN 201520037412 U CN201520037412 U CN 201520037412U CN 204588531 U CN204588531 U CN 204588531U
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Abstract
The utility model relates to field of petroleum machinery, particularly a kind of knuckle hangs, it comprises the supporting mechanism be fixedly connected with basis, carry out with described supporting mechanism the bindiny mechanism that is flexibly connected and carry out with described bindiny mechanism the holding device that is flexibly connected, described supporting mechanism comprises pedestal permanent seat, first revolving support and pedestal revolving bed, described bindiny mechanism comprises principal arm, principal arm fluid cylinder, auxiliary, auxiliary fluid cylinder, telescopic boom, telescopic boom fluid cylinder, damping fluid cylinder and bearing pin sensor, described holding device comprises adapter substitute, flexible overcoat, erecting frame, second revolving support, slippage frame, crossbeam, clamping device, slippage actuator and clamping device retarder.The purpose of this utility model is to provide a kind of not by the restriction of drilling tool emission direction, and realize operation automation, the knuckle of increasing work efficiency hangs.
Description
Technical field
The utility model relates to field of petroleum machinery, and particularly a kind of knuckle hangs.
Background technology
At present, land petroleum drilling over-borrowing helps the movement that loop wheel machine and steel rope carry out drilling tool, and adopt movement drilling tool in this way, its movement efficiency is low, and labor intensity of operating staff is large, and there is sizable potential safety hazard.The movement that weight-lifting equipment and drilling tool clamping device carry out drilling tool is helped in the over-borrowing of offshore oil drilling module, and there is following defect during existing most of articulated lifting clamping drilling tool: 1, in order to good for pipe envelope being lived, all there is very large radian in the front end of handgrip, changes hands and be difficult to insert in pipe heap when this makes to grab single.2, fix its support thirdly being lacked by the drilling tool clamped, the cambered surface of holding part usually can only be leaned on to be fixed drilling tool, and when the size of drilling tool differs larger with holding part size, its fixed effect is very unstable, easily causes drilling tool landing; 3, because holding device self can not rotate, when the longitudinal centerline of holding device and drilling tool longitudinal center line exist angle, operation comparatively bothers, and after usual needs manually adjust, then clamp, degree of automation is lower, inefficiency.Although the clamping device 4, adopting certain pawl to coordinate with a pawl can be grabbed single, opening and closing scope is too little, can not meet the requirement of simultaneously grabbing many pipes.
Utility model content
For prior art Problems existing, goal of the invention of the present utility model is to provide a kind of not by the restriction of drilling tool emission direction, and realize operation automation, the knuckle of increasing work efficiency hangs.
To achieve these goals, the technical solution adopted in the utility model is:
A kind of knuckle hangs, and it comprises the supporting mechanism be fixedly connected with basis; Carry out with described supporting mechanism the bindiny mechanism that is flexibly connected and carry out with described bindiny mechanism the holding device that is flexibly connected, it is characterized in that:
Described supporting mechanism comprise to be fixed with basis be connected pedestal permanent seat, with described pedestal permanent seat be fixed be connected the first revolving support, be fixed with described first revolving support the pedestal revolving bed be connected, described supporting mechanism is the fixed base of whole articulated lifting work;
Described bindiny mechanism comprises the principal arm being undertaken by bearing pin with pedestal revolving bed being connected, the principal arm fluid cylinder that is connected is carried out respectively by bearing pin with described principal arm and described pedestal revolving bed, the auxiliary that is connected is carried out by bearing pin with described principal arm, the auxiliary fluid cylinder that is connected is carried out respectively by bearing pin with described auxiliary and described principal arm, with the telescopic boom of described auxiliary sliding block joint, the telescopic boom fluid cylinder be connected with the end winding support of described auxiliary and described telescopic boom respectively in auxiliary, the damping fluid cylinder arranged in the both sides of described telescopic boom and described holding device junction and the bearing pin sensor connecting described telescopic boom and described holding device, described damping fluid cylinder is used for preventing holding device from producing violent swing, described principal arm can rotate together with pedestal revolving bed, also can by the flexible lifting realizing principal arm assembly of described principal arm fluid cylinder, the lifting of described auxiliary is realized by the flexible of described auxiliary fluid cylinder, described telescopic boom realizes the fore and aft motion of described telescopic boom inside described auxiliary by the flexible of described telescopic boom fluid cylinder, by the flexible fine setting can doing adjustable height of described telescopic boom,
Described holding device comprises adapter substitute, the flexible overcoat that is connected is carried out by bearing pin with described adapter substitute, the erecting frame of sliding block joint is carried out with described flexible overcoat, the second revolving support be connected is fixed with described erecting frame, the slippage frame be connected is fixed with described second revolving support, carry out the crossbeam of sliding block joint with described slippage frame and two be fixed with described crossbeam two ends the clamping device be connected, two sliding driving devices driving described slippage frame and described crossbeam to produce relative sliding, described adapter substitute can rotate around bearing pin, when slinging weight to alleviate, to the rigidity injury that bearing pin produces when described holding device rocks, the mode of described erecting frame and described flexible overcoat sliding block joint can cushion the rigid shock when described holding device lifts by crane or put down suspended object, the mode of described slippage frame and described crossbeam sliding block joint is to adjust crawled thing center of gravity, when crawled thing slings crank, the center of gravity of crawled thing can be adjusted by slip slippage frame, prevent from being picked up thing to topple, the two ends of described sliding driving device are fixed with described slippage frame and described fixed mount respectively and are connected, sliding driving device starts when needs adjust crawled thing center of gravity, described slippage frame is driven to slide along described crossbeam.
Preferably, described clamping device comprise symmetrically arranged can folding two gripper clamps, two can drive the clamping actuator of described gripper clamp folding, one keep the synchronous connecting rod of two described gripper clamps, a fixed mount being used for fixing described gripper clamp, described gripper clamp is made up of stay bearing plate and arc plate, described stay bearing plate and described arc plate are fixed connection, and described fixed mount is fixedly connected with described crossbeam.
Preferably, described clamping device also comprises a fixed pedestal be fixedly connected with described gripper clamp, one with the movable support of described fixed pedestal sliding block joint, described arc plate is made up of the curved slab that two sections of bending directions are contrary, described clamping device utilizes two gripper clamps to coordinate and captures, arc plate simultaneously for gripper clamp has carried out special surface blending design, the upper semisection of arc plate is namely mainly used in clamping large diameter pipe near described clamping driver portion, the lower semisection of arc plate namely at first with crawled thing contact portion mainly in order to arrange closely in situation at pipe, convenient from the single pipe of the middle crawl of pipe.
Preferably, described flexible overcoat both sides are respectively arranged with an one-level damping fluid cylinder, the piston rod of described one-level damping fluid cylinder is connected with described adapter substitute and described flexible overcoat respectively by bearing pin with cylinder body, and described one-level damping fluid cylinder is to prevent gripped object to be lifted flexible overcoat described in moving process with the violent swing of lower part.
Preferably, described flexible overcoat is connected with described erecting frame by the first bearing pin, the front and back both sidewalls of described erecting frame offers waist-shaped hole, described first bearing pin is fixed by chuck through described waist-shaped hole and described flexible overcoat, described first bearing pin slides up and down in described waist-shaped hole, rigid shock when being used for cushioning when described holding device lifting or putting down gripped object.
Preferably, the four sides sidewall of described erecting frame is provided with chute straight down, number >=4 of described chute, and chute number >=1 on each sidewall, the position of the corresponding described chute of described flexible overcoat is provided with round slider, described round slider slides up and down in described chute, described round slider is pressed in described chute by smooth block baffle plate, smooth block cover plate and screw, and the structure that described chute coordinates with described round slider ensure that described erecting frame can slide by carrying out smooth-going safely.
Preferably, the two ends of described connecting rod are connected by bearing pin with two gripper clamps respectively, described link tilt is arranged, the setting of connecting rod is herein the synchronization action in order to ensure described two gripper clamps, in order to avoid eccentric when clamping gripped object, connecting rod can only be obliquely installed herein, can not level or vertically arrange.
Preferably, the contact surface of described slippage frame and described crossbeam is half enveloping surface, three faces of described half enveloping surface are all fixed with slide block and do liner, on described slide block all use screw or other modes to be fixed on half enveloping surface that described slippage frame and described crossbeam carry out contacting, each face has one, on described slide block, uniform application has greasing substance, to make the slip of described slippage frame convenient, accessible.
Preferably, described first revolving support comprises internally toothed annulus and outer ring, described internally toothed annulus and described outer ring can relatively rotate, described internally toothed annulus is fixedly connected with described pedestal permanent seat, described outer ring is fixedly connected with described pedestal revolving bed, by being arranged on HM Hydraulic Motor in described pedestal revolving bed and speed reduction gearing drives the described internally toothed annulus of described first revolving support to rotate, described internally toothed annulus is connected by roller with described outer ring, after affiliated internally toothed annulus is driven, described outer ring and described internally toothed annulus produce relative rotation, thus make described pedestal revolving bed drive described bindiny mechanism and described holding device to rotate.
Preferably, described second revolving support comprises inner ring and external toothing, described slippage frame and described external toothing are fixed by screw and are connected, described erecting frame and described inner ring are fixed by screw and are connected, described inner ring and described external toothing can relatively rotate, described second revolving support is provided with clamping device retarder, and described clamping device retarder drives described external toothing to rotate, thus described external toothing and described inner ring produce relative rotation.Described slippage frame can be realized and with the rotation of lower component relative to described erecting frame when described external toothing and described inner ring relatively rotate, connected by roller between described external toothing and described inner ring, when described external toothing rotates under the driving of described clamping device retarder, described external toothing and described inner ring are relatively rotated by roller, in order to reduce described roller and the friction between described external toothing and described inner ring, being equipped with special oil feeding device and roller is lubricated.
Have employed described articulated lifting, when pipe solid matter, during work, gripper clamp can realize the crawl of pipe when not needing manual intervention, from both sides, centre all can realize single crawl, then the location completely of pipe is realized by fixed pedestal and Mobile support device, strong adaptability, the space that energy emissions reduction drilling tool takies.
Compared with prior art, this articulated lifting can adapt to drilling tool and closely discharge, and does not need to realize capturing pipe when manual intervention, from both sides, centre all can realize single crawl, then the location completely of pipe is realized by bracing or strutting arrangement, strong adaptability, the space that energy emissions reduction drilling tool takies.
This articulated lifting utilizes two dynamic gripper clamp and movable support to match, single, double joint can be carried out, the pipe of three captures (when three, pipe diameter is within 5 7/8 ＂) and movement work, different drilling tools in larger external diametrical extent can be clamped simultaneously, the pipe of working ability covering diameter 88.9mm ~ 508mm, and clamping is firm.
This articulated lifting is when carrying out movement revolution or stopping, clamping device inside is provided with damping due to rotation system, when whole articulated lifting rotates or stop, makes clamper inside can not produce larger rocking, increase the safety of clamping pipe, improve the performance of holding device itself simultaneously.
This articulated lifting is provided with oscillation dampening mechanism between holding device and telescopic boom, makes articulated lifting in amplitude changing process, and holding device and clamping pipe can not produce larger rocking, and strengthen the safety of clamping pipe, improve the applicability of articulated lifting itself.
This articulated lifting increases tilt adjusting mechanism in clamping device, when occurring after drilling tool is lifted that center of gravity does not tilt at holding device center, finely tuning, making it be tending towards level, be conducive to the movement of drilling tool by tilt adjusting mechanism to drilling tool center.
accompanying drawing illustrates:
Fig. 1 is the utility model overall structure schematic diagram;
Fig. 2 is the block diagram of the utility model holding device;
Fig. 3 is the front elevation of the utility model holding device;
Fig. 4 is the utility model holding device lateral plan;
Fig. 5 is the utility model holding device A-A cutaway view;
Fig. 6 is the utility model holding device birds-eye view;
Fig. 7 is the utility model holding device X part sectional view;
Fig. 8 is the utility model holding device B-B cutaway view;
Fig. 9 is the utility model holding device first revolving support cutaway view articulated lifting schematic diagram;
Figure 10 is the utility model holding device and telescopic boom junction partial enlarged drawing;
Mark in figure: 1-supporting mechanism, 11-pedestal permanent seat, 12-first revolving support, 13-pedestal revolving bed, 2-bindiny mechanism, 21-principal arm, 22-principal arm fluid cylinder, 23-auxiliary, 24-auxiliary fluid cylinder, 25-telescopic boom, 26-telescopic boom fluid cylinder, 27-damping fluid cylinder, 28-bearing pin sensor, 3-holding device, 31-adapter substitute, 32-stretches overcoat, 321-first bearing pin, 322-smooth block, 323-smooth block baffle plate, 324-smooth block cover plate, 325-one-level damping fluid cylinder, 33-erecting frame, 331-waist-shaped hole, 332-chute, 34-second revolving support, 341-external toothing, 342-inner ring, 35-slippage frame, 351-slide block, 36-crossbeam, 37-clamping device, 371-gripper clamp, 3711-stay bearing plate, 3712-arc plate, 372-clamps actuator, 373-connecting rod, 374-fixed pedestal, 375-movable support, 376-fixed mount, 38-slippage actuator, 39-clamping device retarder.
Detailed description of the invention
Below in conjunction with embodiment and detailed description of the invention, the utility model is described in further detail.But this should be interpreted as that the scope of the above-mentioned theme of the utility model is only limitted to following embodiment, all technology realized based on the utility model content all belong to scope of the present utility model.
As Fig. 1-10, a kind of knuckle hangs, and it is formed primarily of supporting mechanism 1, bindiny mechanism 2 and holding device 3.
See Fig. 1, Fig. 2 and Figure 10, in the present embodiment, supporting mechanism 1 is made up of pedestal permanent seat 11, first revolving support 12 and pedestal revolving bed 13, bindiny mechanism 2 is made up of principal arm 21, principal arm fluid cylinder 22, auxiliary 23, auxiliary fluid cylinder 24, telescopic boom 25, telescopic boom fluid cylinder 26, damping fluid cylinder 27 and bearing pin sensor 28, and holding device 3 is made up of adapter substitute 31, flexible overcoat 32, erecting frame 33, second revolving support 34, slippage frame 35, crossbeam 36, clamping device 37, slippage actuator 38 and clamping device retarder 39.
Pedestal permanent seat 11 is fixed with basis and is connected, first pivoting support 12 is fixed with pedestal permanent seat 11 and is connected, pedestal revolving bed 13 is fixed with the first pivoting support 12 and is connected, first pivoting support 12 is made up of internally toothed annulus and outer ring, internally toothed annulus and outer ring can relatively rotate, internally toothed annulus is fixedly connected with pedestal permanent seat 11, outer ring is fixedly connected with pedestal revolving bed 13, internally toothed annulus is connected by roller with outer ring, the internally toothed annulus of the first revolving support 12 is driven to rotate by the HM Hydraulic Motor and speed reduction gearing being arranged on pedestal revolving bed 13 inside, thus driven and produce relative rotation between internally toothed annulus and inner ring, because outer ring is fixedly connected with pedestal revolving bed 13, therefore the rotating band moving base revolving bed 13 of outer ring rotates, thus pedestal revolving bed 13 drives bindiny mechanism 2 and holding device 3 to rotate, supporting mechanism 1 is the fixed base of whole articulated lifting work.
Principal arm 21 is flexibly connected with pedestal revolving bed 13 and auxiliary 23 respectively by bearing pin, also have by pinned connection the principal arm fluid cylinder 22 realizing principal arm 21 and be elevated in addition between principal arm 21 and pedestal revolving bed 13, the lifting of principal arm 21 by principal arm fluid cylinder 22 flexible come, by also having by pinned connection the auxiliary fluid cylinder 24 realizing auxiliary 23 and be elevated between principal arm 21 and auxiliary 23, the lifting of auxiliary 23 by auxiliary fluid cylinder 24 flexible come, it is inner that telescopic boom 25 is arranged on auxiliary 23, telescopic boom fluid cylinder 26 is had by pinned connection between telescopic boom 25 and auxiliary 23, telescopic boom 25 in auxiliary 23 slide through telescopic boom fluid cylinder 26 flexible come, the flexible fine setting can doing adjustable height of telescopic boom 25.
See Fig. 2 ~ Fig. 9, in the present embodiment, holding device 3 comprises adapter substitute 31, the flexible overcoat 32 that is connected is carried out by bearing pin with adapter substitute 31, the erecting frame 33 of sliding block joint is carried out with flexible overcoat 32, the second revolving support 34 be connected is fixed with erecting frame 33, the slippage frame 35 be connected is fixed with the second revolving support, carry out the crossbeam 36 of sliding block joint with slippage frame 35 and two be fixed with crossbeam 36 two ends the clamping device 37 be connected, two sliding driving devices 38 driving slippage frame 35 and crossbeam 36 to produce relative sliding, in the present embodiment, sliding driving device 38 is fluid cylinder, adapter substitute 31 can rotate around bearing pin, to the rigidity injury that bearing pin produces when when slinging weight to alleviate, holding device 3 rocks, erecting frame 33 can cushion the rigid shock when holding device 3 lifts by crane or put down suspended object with the mode of flexible overcoat 32 sliding block joint, slippage frame 35 is to adjust crawled thing center of gravity with the mode of crossbeam 36 sliding block joint, when crawled thing slings crank, the center of gravity of crawled thing can be adjusted by slip slippage frame 35, topple to prevent being picked up thing, the two ends of sliding driving device 38 are fixed with slippage frame 35 and clamping device 37 respectively and are connected, sliding driving device 38 starts when needs adjust crawled thing center of gravity, slippage frame 35 is driven to slide along crossbeam 36.
In the present embodiment, clamping device 37 comprise symmetrically arranged can two gripper clamps 371 of folding, two clamping actuators 372 that can drive gripper clamp 371 folding, a connecting rod 373 keeping two gripper clamps 371 synchronous, a fixed mount 376 being used for fixing gripper clamp 371, gripper clamp 371 is made up of stay bearing plate 3711 and arc plate 3712, stay bearing plate 3711 and arc plate 3712 are welded to connect, clamping actuator 372 is a fluid cylinder, fixed mount 376 is fixedly connected with crossbeam 36, arc plate 3712 is made up of the curved surface that two sections of bending directions are contrary, clamping device 37 utilizes two gripper clamps 371 to carry out cooperatively interacting to capture, arc plate 3712 simultaneously for gripper clamp 371 has carried out special surface blending design, the upper semisection of arc plate 3712 is mainly used to clamp large diameter pipe, the lower semisection of arc plate 3712 is mainly arranged closely in situation in order to realize at pipe, single pipe is captured easily in the middle of pipe.Clamping device 37 can also comprise the fixed pedestal 374 be fixedly connected with gripper clamp 371, the movable support 375 of sliding block joint is carried out with fixed pedestal 374, after the grasping movement of pipe is completed, movable support 375 firmly acts on crawled pipe, prevent pipe from toppling, fixed pedestal 374 is fixed bases of movable support 375.
See Fig. 2, Fig. 3 and Fig. 6, the both sides of flexible overcoat 32 are provided with an one-level damping fluid cylinder 325 respectively, the piston rod of one-level damping fluid cylinder 325 and cylinder body are flexibly connected with adapter substitute 31 and flexible overcoat 32 respectively by bearing pin, and one-level damping fluid cylinder 325 is to prevent gripped object from being picked up in moving process the overcoat 32 that stretches with the violent swing of lower part.
See Fig. 2, Fig. 3 and Fig. 8, flexible overcoat 32 carries out sliding block joint by the first bearing pin 321 with erecting frame 33, the front and back both sidewalls of erecting frame 33 offers waist-shaped hole 331, first bearing pin 321 is fixed on erecting frame 33 through after waist-shaped hole 331 by chuck and screw, first bearing pin 321 slides up and down in waist-shaped hole 331, thus drive flexible overcoat 32 sliding up and down on erecting frame 33, rigid shock when holding device 3 hoists or puts down gripped object can be cushioned.In addition, stablize to make the slipping smoothness of flexible overcoat 32 on erecting frame 33, on the four sides sidewall of erecting frame 33, be also provided with chute 332 straight down, chute 332 quantity on each sidewall of erecting frame 33 is no less than 1, in order to reach best effect, chute 332 quantity on each sidewall of erecting frame 33 is 2, chute 332 quantity on the four sides sidewall of namely erecting frame 33 is 8 altogether, in order to coordinate the use of chute 332, be provided with in the chute 332 of correspondence at the smooth block 322 that can be free to slide in chute 332, smooth block 322 is through flexible overcoat 32, be pressed in chute 322 by smooth block baffle plate 323 and smooth block cover plate 324.
See Fig. 5, connecting rod 373 is connected with between two gripper clamps 371, the effect of this connecting rod 373 is the synchronous of maintenance two gripper clamps 371, the two ends of connecting rod 373 are connected with gripper clamp 371 respectively by bearing pin, connecting rod 373 can only be obliquely installed, can not level or vertically arrange, if level or be vertically provided with, gripper clamp 371 is with regard to cisco unity malfunction.
See Fig. 7, slippage frame 35 is half enveloping surface with the contact surface of crossbeam 36, three faces of half enveloping surface are all fixed with slide block 351 and do liner, slide block 351 is fixed on slippage frame 35 by welding manner, in order to reduce the friction that crossbeam 36 and slide block 351 produce when sliding, on slide block 351, uniform application has greasing substance, and sliding to make slippage frame 35, it is accessible to facilitate.
See Fig. 1, first revolving support 12 comprises internally toothed annulus and outer ring, internally toothed annulus and outer ring can relatively rotate, internally toothed annulus is fixedly connected with pedestal permanent seat 11, outer ring is fixedly connected with pedestal revolving bed 13, by being arranged on HM Hydraulic Motor in pedestal revolving bed 13 and speed reduction gearing drives the internally toothed annulus of the first revolving support 12 to rotate, internally toothed annulus is connected by roller with outer ring, after internally toothed annulus is driven, outer ring and internally toothed annulus produce relative rotation, thus make pedestal revolving bed 13 drive bindiny mechanism 2 and holding device 3 to rotate.
See Fig. 8, second revolving support 34 comprises inner ring 342 and external toothing 341, slippage frame 35 and external toothing 341 are fixed by screw and are connected, erecting frame 33 and inner ring 342 are fixed by screw and are connected, inner ring 342 and external toothing 341 can relatively rotate, second revolving support 34 is provided with clamping device retarder 39, and clamping device retarder 39 drives external toothing 341 to rotate, thus external toothing 341 and inner ring 342 produce relative rotation.Slippage frame 35 can be realized and with the rotation of lower component relative to erecting frame 33 when external toothing 341 and inner ring 342 relatively rotate, connected by roller between external toothing 341 and inner ring 342, when external toothing 341 rotates under the driving of clamping device retarder 39, external toothing 341 and inner ring 342 are relatively rotated by roller, in order to reduce roller and the friction between external toothing 341 and inner ring 342, being equipped with special oil feeding device and roller is lubricated.
Adopt said structure, can only operate from two sides of pipe discharge when making the holding device 3 of articulated lifting no longer be confined to capture single, it also avoid manual operation, reduce the risk of operation, improve work efficiency.
Operating process of the present utility model is as follows:
To clamp drilling tool, drilling tool multi-layer multi-row is put, when needs capture drilling tool, by the rotation of pedestal revolving bed 13, the lifting of principal arm 21 and auxiliary 23, the flexible of telescopic boom 25 waits sequence of operations holding device 3 can be winched to drilling tool axial centre position, capture the quantity of drilling rod and diameter as required to adjust the openings of sizes of gripper clamp 371, then pass through principal arm 21, the operation of auxiliary 23 and telescopic boom 25 makes holding device 3 press down, when arrival assigned address and when making to enter the opening Inner of gripper clamp 371 wait the drilling tool captured, start clamping actuator 372(is fluid cylinder herein) gripper clamp 371 is closed, carry on holding device 3 a little, after drilling tool being compressed with movable support 375, just movement can be carried out to drilling tool.
If the longitudinal centerline of drilling tool longitudinal center line and holding device 3 is not parallel in horizontal surface, start the clamping device retarder 39 be arranged on the second revolving support 34 drive slippage frame 35 and rotate with lower component, till the longitudinal centerline of crossbeam 6 and the axial centerline parallel of drilling tool; Vertically transfer holding device 3 to appropriate location and make when the drilling tool captured enters the opening Inner of gripper clamp 371, start clamping actuator 372(is fluid cylinder herein) gripper clamp 371 is closed, carry on holding device 3 a little, after being compressed by drilling tool with movable support 375, just can carry out movement to drilling tool.After drilling tool leaves drilling tool stockyard plane, if when crossbeam 36 and drilling tool run-off the straight, start slippage actuator 38(is fluid cylinder herein) finely tune the position of the relative adapter substitute 31 of drilling tool center of gravity, start again to carry out movement after making drilling tool be tending towards level.
Movable support 375 is according to the diameter setting diverse location of drilling tool in the present embodiment, is locked, first place holding device 3 when capturing drilling tool by bearing pin, then drives clamping actuator 372 to clamp.
By controlling principal arm 21 and the lifting of auxiliary 23 and the rotation of pedestal revolving bed 13, holding device 3 and drilling tool are winched to above dynamic catwalk, rotating and clamping device 3 again, the track in crawled pipe and cat road is aligned, then drilling tool is slowly transferred to drilling tool carrying surface, starting clamping actuator 372 drives gripper clamp 371 slowly to unclamp, drilling tool is placed on cat road, by rotating basis revolving bed 13, holding device 3 is removed, complete the movement of drilling tool.
Claims (10)
1. a knuckle hangs, and it comprises the supporting mechanism be fixedly connected with basis; Carry out with described supporting mechanism the bindiny mechanism that is flexibly connected and carry out with described bindiny mechanism the holding device that is flexibly connected, it is characterized in that:
Described supporting mechanism comprise to be fixed with basis be connected pedestal permanent seat, with described pedestal permanent seat be fixed be connected the first revolving support, be fixed with described first revolving support the pedestal revolving bed be connected;
Described bindiny mechanism comprises the principal arm being undertaken by bearing pin with pedestal revolving bed being connected, the principal arm fluid cylinder that is connected is carried out respectively by bearing pin with described principal arm and described pedestal revolving bed, the auxiliary that is connected is carried out by bearing pin with described principal arm, the auxiliary fluid cylinder that is connected is carried out respectively by bearing pin with described auxiliary and described principal arm, with the telescopic boom of described auxiliary sliding block joint, the telescopic boom fluid cylinder be connected with the end winding support of described auxiliary and described telescopic boom respectively in auxiliary, the damping fluid cylinder arranged in the both sides of described telescopic boom and described holding device junction and the bearing pin sensor connecting described telescopic boom and described holding device,
Described holding device comprises adapter substitute, the flexible overcoat that is connected is carried out by bearing pin with described adapter substitute, the erecting frame of sliding block joint is carried out with described flexible overcoat, the second revolving support be connected is fixed with described erecting frame, the slippage frame be connected is fixed with described second revolving support, carry out the crossbeam of sliding block joint with described slippage frame and two be fixed with described crossbeam two ends the clamping device be connected, two sliding driving devices driving described slippage frame and described crossbeam to produce relative sliding.
2. a kind of knuckle according to claim 1 hangs, it is characterized in that: described clamping device comprise symmetrically arranged can folding two gripper clamps, two can drive the clamping actuator of described gripper clamp folding, one keep the synchronous connecting rod of two described gripper clamps, a fixed mount being used for fixing described gripper clamp, described gripper clamp is made up of stay bearing plate and arc plate, described stay bearing plate and described arc plate are fixed connection, and described fixed mount is fixedly connected with described crossbeam.
3. a kind of knuckle according to claim 2 hangs, it is characterized in that: described clamping device also comprises a fixed pedestal be fixedly connected with described gripper clamp, one with the movable support of described fixed pedestal sliding block joint, described arc plate is made up of the curved slab that two sections of bending directions are contrary.
4. a kind of knuckle according to claim 2 hangs, it is characterized in that: described flexible overcoat both sides are respectively arranged with an one-level damping fluid cylinder, the piston rod of described one-level damping fluid cylinder is connected with described adapter substitute and described flexible overcoat respectively by bearing pin with cylinder body.
5. a kind of knuckle according to claim 2 hangs, it is characterized in that: described flexible overcoat is connected with described erecting frame by the first bearing pin, the front and back both sidewalls of described erecting frame offers waist-shaped hole, described first bearing pin is fixed by chuck through described waist-shaped hole and described flexible overcoat, and described first bearing pin slides up and down in described waist-shaped hole.
6. a kind of knuckle according to claim 2 hangs, it is characterized in that: the four sides sidewall of described erecting frame is provided with chute straight down, number >=4 of described chute, and chute number >=1 on each sidewall, the position of the corresponding described chute of described flexible overcoat is provided with round slider, described round slider slides up and down in described chute, and described round slider is pressed in described chute by smooth block baffle plate, smooth block cover plate and screw.
7. a kind of knuckle according to claim 2 hangs, and it is characterized in that: the two ends of described connecting rod are connected by bearing pin with described two gripper clamps respectively, and described link tilt is arranged.
8. a kind of knuckle according to claim 2 hangs, and it is characterized in that: the contact surface of described slippage frame and described crossbeam is half enveloping surface, and three faces of described half enveloping surface are all fixed with slide block and do liner.
9. a kind of knuckle according to claim 1 hangs, it is characterized in that: described second revolving support comprises internally toothed annulus and outer ring, described internally toothed annulus and described outer ring can relatively rotate, described internally toothed annulus is fixedly connected with described pedestal permanent seat, and described outer ring is fixedly connected with described pedestal revolving bed.
10. a kind of knuckle according to claim 1 hangs, it is characterized in that: described first revolving support comprises inner ring and external toothing, described slippage frame is fixedly connected with described external toothing, described erecting frame is fixedly connected with described inner ring, described inner ring and described external toothing can relatively rotate, described first revolving support is provided with clamping device retarder, and described clamping device retarder drives described external toothing to rotate, thus described external toothing and described inner ring produce relative rotation.
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| CN201520037412.2U CN204588531U (en) | 2015-01-20 | 2015-01-20 | A kind of knuckle hangs |
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| CN201520037412.2U CN204588531U (en) | 2015-01-20 | 2015-01-20 | A kind of knuckle hangs |
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| CN109205462A (en) * | 2018-11-29 | 2019-01-15 | 卓弢机器人盐城有限公司 | A kind of plug wire row loop wheel machine structure |
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