CN205704241U - A kind of tubing string catching robot - Google Patents
A kind of tubing string catching robot Download PDFInfo
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- CN205704241U CN205704241U CN201620282096.XU CN201620282096U CN205704241U CN 205704241 U CN205704241 U CN 205704241U CN 201620282096 U CN201620282096 U CN 201620282096U CN 205704241 U CN205704241 U CN 205704241U
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- mechanical hand
- tubing string
- hydraulic jack
- gripper clamp
- linking arm
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Abstract
This utility model relates to oil exploration equipment field, a kind of for oil gas field rig or the tubing string catching robot of workover rig tubing string automated processing system；Including clutch end and actuating station, wherein clutch end includes hydraulic jack, actuating station includes mechanical hand, mechanical hand is arranged in mechanical hand shell, being provided with hydraulic jack outside mechanical hand housing top end, hydraulic jack is connected with the rail plate being arranged in mechanical hand shell, and rail plate middle and lower part connects the guiding connecting plate having horizontally set, the two ends guiding connecting plate are fixed with linking arm one end by bearing pin, and wherein the linking arm other end is connected with gripper clamp；This utility model specifically includes advantages below: (1) Mechanization Level is high, reduces labor intensity；(2) automaticity is high, improves work efficiency；(3) people is not directly contacted with tubing string, improves safety；(4) operator reduce, and reduce production cost.
Description
Technical field
This utility model relates to oil exploration equipment field, a kind of for oil gas field rig or the tubing string catching robot of workover rig tubing string automated processing system.
Background technology
Development tubing string automatization is to ensure that rig work safety, reduces operator, the important channel of reduction production cost.Along with the development of China's equipment manufacture, the automaticity of petroleum machinery is had higher requirement.Traditional petroleum drilling workover rig tubing string processing method there is problems in that (1) consumes the total operation time of more than 30%；(2) manual operation, labor intensity is big；(3) multi-person synergy operation is needed；(4) people contacts with tubing string, and safety is low.
Summary of the invention
Replacing to solve above technology room grace, this utility model provides a kind of tubing string catching robot, by the oil circuit break-make of magnet control hydraulic cylinder, and then drives mechanical linkage to complete opening and clamping of mechanical hand, the following is concrete technical scheme:
A kind of tubing string catching robot, including clutch end and actuating station, wherein clutch end includes hydraulic jack, actuating station includes mechanical hand, mechanical hand is arranged in mechanical hand shell, wherein it is provided with hydraulic jack outside mechanical hand housing top end, wherein hydraulic jack is connected with the rail plate being arranged in mechanical hand shell, rail plate middle and lower part connects the guiding connecting plate having horizontally set, the two ends wherein guiding connecting plate are fixed with linking arm one end by bearing pin, and wherein the linking arm other end is connected with gripper clamp.
Further, it is additionally provided with limited block outside both sides, linking arm in mechanical hand shell.
Further, hydraulic jack is connected with mechanical hand shell by hydraulic jack mounting seat, and wherein hydraulic jack is fixed with hydraulic jack mounting seat by bolt.
Further, gripper clamp is L-type structure pincers, is wherein connected by connecting plate between gripper clamp.
Further, between gripper clamp, mechanical hand enclosure lower end is provided with spacing grip block.
Further, the range of movement of gripper clamp is 20 ° ~ 105 °.
Beneficial effect: a kind of tubing string catching robot that this utility model provides, has promoted the development of petroleum drilling workover rig bank of tubes system automation.The robot manipulator structure of the present invention is compact, mechanical linkage is reasonable, simple to operate, meet the demand for development of Technology for Modern Equipment automatization；Specifically include advantages below: (1) Mechanization Level is high, reduces labor intensity；(2) automaticity is high, improves work efficiency；(3) people is not directly contacted with tubing string, improves safety；(4) operator reduce, and reduce production cost.
Accompanying drawing explanation
Fig. 1 is that overall structure two isometric axis of the present invention surveys view；
Fig. 2 is the overall structure full sectional view of the present invention；
Fig. 3 is the overall structure rearview of the present invention；
Wherein: 1, hydraulic jack 2, hydraulic jack mounting seat 3, rail plate 4, limited block 5, linking arm 6, mechanical hand shell 7, guiding connecting plate 8, spacing grip block 9, gripper clamp 10, mechanical hand mounting seat.
Detailed description of the invention
Below in conjunction with Figure of description, the utility model will be further described.
nullA kind of tubing string catching robot，Main by hydraulic jack 1、Hydraulic jack mounting seat 2、Rail plate 3、Limited block 4、Linking arm 5、Mechanical hand shell 6、Guide connecting plate 7、Spacing grip block 8、Gripper clamp 9 and mechanical hand mounting seat 10 form，In wherein mechanical hand is arranged on mechanical hand shell，Wherein it is provided with hydraulic jack 1 outside mechanical hand housing top end，Wherein hydraulic jack 1 is connected with the rail plate 3 being arranged in mechanical hand shell 6，Rail plate 3 middle and lower part connects the guiding connecting plate 7 having horizontally set，The two ends wherein guiding connecting plate 7 are fixed with linking arm 5 one end by bearing pin，Wherein linking arm 5 other end is connected with gripper clamp 9，Both sides in mechanical hand shell 6、Limited block 4 it is additionally provided with outside linking arm 5，Hydraulic jack 1 is connected with mechanical hand shell 6 by hydraulic jack mounting seat 2，Wherein hydraulic jack 1 is fixed with hydraulic jack mounting seat 2 by bolt，Gripper clamp 9 clamps for L-type structure，Wherein it is connected by connecting plate between gripper clamp 9，Between gripper clamp 9、Spacing grip block 8 it is provided with at mechanical hand shell 6 interior lower end，The range of movement of gripper clamp 9 is 20 ° ~ 105 °.
Embodiment 1
When mechanical hand hydraulic oil cylinder rodless cavity leads to hydraulic oil, under the promotion of hydraulic oil, piston rod is overhanging, promote the guiding connecting plate being articulated and connected with piston rod in rail plate slides forwards, guiding connecting plate promotes the linking arm hinged with its both sides otic placode to do plane motion in a symmetrical manner, and then linking arm promotes the most hinged gripper clamp hinging pin shaft on mechanical hand shell to rotate.The opening of two panels gripper clamp gradually magnifies, until the limited grip block of two panels gripper clamp 8 is limited in maximum open state.
When tubing string is delivered between mechanical hand two gripper clamp, hydraulic cylinder rod chamber leads to hydraulic oil, promotion piston rod bounces back, guiding connecting plate is pulled to move horizontally backward on rail plate, guide connecting plate and by bearing pin, pulling force is averagely passed to the linking arm of both sides, linking arm pulls the most hinged gripper clamp hinging pin shaft on mechanical hand shell to rotate by bearing pin, and tubing string is pressed on the spacing grip block on mechanical hand shell by two gripper clamps.Tubing string is clamped by two gripper clamps and a spacing grip block, and tubing string stably caught by mechanical hand.
The angle of two gripper clamps of mechanical hand can change in the range of 20 °～105 °, it is possible to reliable promptly diameter tubing string in the range of 89mm～244mm.
Wherein, guide connecting plate anterior-posterior horizontal in rail plate (upper and lower two panels rail plate is respectively welded on the upper and lower bottom plate being fixed on mechanical hand shell) to slide, make to guide connecting plate and pulling force and thrust averagely can be passed to the linking arm of both sides by hinging pin shaft, equal in magnitude, the direction relative mechanical hands centrage symmetry of two linking arm push-and-pull clamping clamping force, two gripper clamp relative mechanical hands centrage symmetries are made to rotate, mechanical hand firmly grasps after tubing string that tubing string centrage and mechanical hand centrage are in a plane, i.e. tubing string centrage is certain relative to position of manipulator.
Wherein, (now tubing string weight is big for the tubing string of two panels gripper clamp clamping major diameter, required chucking power is big) time, linking arm and gripper clamp angle are at about 90 °, the component that now linking arm pulls gripper clamp to rotate is maximum, gripper clamp chucking power is maximum, makes mechanical hand can reliablely and stablely firmly grasp the tubing string of major diameter.
Hydraulic cylinder rodless cavity is under the driving of hydraulic oil, and piston rod is overhanging, is made the two panels gripper clamp opening of mechanical hand open to maximum by mechanical linkage；When tubing string is delivered in the middle of mechanical hand two panels gripper clamp, hydraulic cylinder rod chamber leads to hydraulic oil, piston rod bounces back, guiding connecting plate is pulled to slide backward on guide rail, guide connecting plate and the pulling force of hydraulic cylinder is averagely allocated to the linking arm of both sides, linking arm pulls gripper clamp hinging pin shaft on mechanical hand housing to rotate, and is pressed on spacing grip block by tubing string.Because the linkage of both sides is full symmetric relative to mechanical hand centrage, so the power size compressing tubing string is identical, two panels gripper clamp is full symmetric relative to the movement locus of mechanical hand centrage.Contact (for increasing friction force, inner surface has tooth) with tubing string at two panels gripper clamp and one piece of spacing grip block three, tubing string is reliably clamped on a robotic arm.
Embodiment 2
During work, first mechanical hand is installed on mechanical arm Qu Guan mechanism crossbeam with four bolts.By A, B hydraulic fluid port of hydraulic system reversal valve, oil inlet and outlet with hydraulic jack 1 is connected respectively.When the rodless cavity of hydraulic jack 1 supplies hydraulic oil, hydraulic cylinder piston rod is overhanging, promotes and guides connecting plate 7 forward slip on rail plate 3.Guiding connecting plate 7 promotes both sides linking arm 4 symmetry to travel forward by bearing pin, linking arm 4 promotes left and right two panels gripper clamp 9 to rotate around bearing pin by bearing pin, two panels gripper clamp opening gradually magnifies, the final limited grip block of two panels gripper clamp 98 is limited in extreme position, now two panels gripper clamp opening is opened to maximum, ready for clamping tubing string.When hydraulic jack 1 rod chamber leads to hydraulic oil, hydraulic cylinder piston rod bounces back, and pulls the level slip backward on rail plate 3 of guiding connecting plate 7.Guide the symmetrical rearward movement of linking arm 4 that connecting plate 7 pulls both sides the most hinged by bearing pin, linking arm 4 pulls the most hinged gripper clamp 9 to rotate around the bearing pin being fixed on mechanical hand housing by bearing pin, two panels gripper clamp 9 opening tapers into, tubing string is pressed on spacing grip block 8 the most at last, realize the clamping of tubing string, reliably catch tubing string.The present invention only need to install two mechanical hands with suitable interval on the mechanical arm Qu Guan mechanism crossbeam of automatization's tubing string processing system, the rod chamber of two mechanical hand hydraulic oil cylinders and rodless cavity intercommunication respectively, being respectively connecting to A mouth and the B mouth of two solenoid directional control valves, solenoid directional control valve power on/off can quickly realize two mechanical hands and unclamp and promptly tubing string.
Claims (6)
1. a tubing string catching robot, including clutch end and actuating station, wherein clutch end includes hydraulic jack, actuating station includes mechanical hand, it is characterized in that, described mechanical hand is arranged in mechanical hand shell, wherein it is provided with hydraulic jack outside mechanical hand housing top end, wherein hydraulic jack is connected with the rail plate being arranged in mechanical hand shell, rail plate middle and lower part connects the guiding connecting plate having horizontally set, the two ends wherein guiding connecting plate are fixed with linking arm one end by bearing pin, and wherein the linking arm other end is connected with gripper clamp.
A kind of tubing string catching robot the most according to claim 1, it is characterised in that be additionally provided with limited block outside both sides, linking arm in described mechanical hand shell.
A kind of tubing string catching robot the most according to claim 1, it is characterised in that described hydraulic jack is connected with mechanical hand shell by hydraulic jack mounting seat, and wherein hydraulic jack is fixed with hydraulic jack mounting seat by bolt.
A kind of tubing string catching robot the most according to claim 1, it is characterised in that described gripper clamp is L-type structure pincers, is wherein connected by connecting plate between gripper clamp.
A kind of tubing string catching robot the most according to claim 1, it is characterised in that between described gripper clamp, mechanical hand enclosure lower end be provided with spacing grip block.
A kind of tubing string catching robot the most according to claim 1, it is characterised in that the range of movement of described gripper clamp is 20 ° ~ 105 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620282096.XU CN205704241U (en) | 2016-04-07 | 2016-04-07 | A kind of tubing string catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620282096.XU CN205704241U (en) | 2016-04-07 | 2016-04-07 | A kind of tubing string catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205704241U true CN205704241U (en) | 2016-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620282096.XU Active CN205704241U (en) | 2016-04-07 | 2016-04-07 | A kind of tubing string catching robot |
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| CN (1) | CN205704241U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111069957A (en) * | 2019-12-23 | 2020-04-28 | 东莞市蓝企信息科技有限公司 | Material clamping robot for three-way pipe joint |
| CN112192602A (en) * | 2020-09-11 | 2021-01-08 | 中国煤炭科工集团太原研究院有限公司 | Manipulator clamping structure |
| CN112267842A (en) * | 2020-10-23 | 2021-01-26 | 中煤科工集团西安研究院有限公司 | Mining high-precision hydraulic permanent magnet drill rod grabbing device |
| CN112815870A (en) * | 2021-02-08 | 2021-05-18 | 中海辉固地学服务（深圳）有限公司 | Underwater laser three-dimensional scanning auxiliary device based on ROV |
| CN112853832A (en) * | 2019-11-26 | 2021-05-28 | 中车沈阳机车车辆有限公司 | Rail anchor clamps and receipts rail car |
-
2016
- 2016-04-07 CN CN201620282096.XU patent/CN205704241U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112853832A (en) * | 2019-11-26 | 2021-05-28 | 中车沈阳机车车辆有限公司 | Rail anchor clamps and receipts rail car |
| CN111069957A (en) * | 2019-12-23 | 2020-04-28 | 东莞市蓝企信息科技有限公司 | Material clamping robot for three-way pipe joint |
| CN111069957B (en) * | 2019-12-23 | 2021-03-19 | 深圳市明战精密科技有限公司 | Material clamping robot for three-way pipe joint |
| CN112192602A (en) * | 2020-09-11 | 2021-01-08 | 中国煤炭科工集团太原研究院有限公司 | Manipulator clamping structure |
| CN112267842A (en) * | 2020-10-23 | 2021-01-26 | 中煤科工集团西安研究院有限公司 | Mining high-precision hydraulic permanent magnet drill rod grabbing device |
| CN112267842B (en) * | 2020-10-23 | 2022-08-19 | 中煤科工集团西安研究院有限公司 | Mining high accuracy permanent magnetism drilling rod grabbing device that surges |
| CN112815870A (en) * | 2021-02-08 | 2021-05-18 | 中海辉固地学服务（深圳）有限公司 | Underwater laser three-dimensional scanning auxiliary device based on ROV |
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