CN213269814U - Hydraulic drill rod conveying manipulator - Google Patents
Hydraulic drill rod conveying manipulator Download PDFInfo
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- CN213269814U CN213269814U CN202021959404.0U CN202021959404U CN213269814U CN 213269814 U CN213269814 U CN 213269814U CN 202021959404 U CN202021959404 U CN 202021959404U CN 213269814 U CN213269814 U CN 213269814U
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- drill rod
- hydraulic cylinder
- manipulator
- hydraulic
- mechanical arm
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Abstract
The invention discloses a hydraulic drill rod conveying manipulator, which relates to the technical field of petroleum drilling and production mechanical equipment and is matched with an automatic drill rod box, the drill rod manipulator, the drill rod storage frame and the drill rod conveying frame are used for storing, discharging and conveying drill rods, all actions of the drill rod manipulator are hydraulically driven, the drill rod manipulator is controlled and integrated in an automatic drill rod box PLC electric control liquid system, a sensor acquires signals, a control system issues instructions, a rotary motor drives a pulley, the manipulator is moved above the drill rod storage frame, a liquid cylinder is started, after the manipulator grabs the drill rods from the drill rod storage frame, the pulley moves along a rack, the drill rods are placed on the conveying frame through the liquid cylinder, the hydraulic drill rod box is driven by hydraulic pressure, a sensor collects nodes and is controlled by electric control liquid, the whole-process integrated automatic operation of the hydraulic drill rod box and the drill rod box is realized, the operation is accurate, and the operation is easy.
Description
Technical Field
The invention relates to the technical field of petroleum drilling and production mechanical equipment, in particular to a hydraulic drill rod conveying manipulator.
Background
During the oil-well rig operation, to the storage and the emission of drilling rod, among the prior art, adopt the bank of tubes frame, through the three grabbing rod that colludes of hydraulic cylinder upset, collude and get the drilling rod and roll to catwalk V-arrangement groove in, can only collude from fixed position at every turn and get the drilling rod, can not realize automatic storage and emission drilling rod, can not realize whole modularization transportation. Along with the development of the technology, the drilling machine is required to realize the automatic integration of drilling equipment, the drilling efficiency is improved, the labor intensity is reduced, an automatic catwalk is adopted for conveying drill rods, an automatic drill rod box is adopted for storing and discharging the drill rods, the catwalk and the drill rod box adopt a mechanical arm to convey the drill rods, and all action systems are subjected to centralized instruction control.
Disclosure of Invention
In order to realize full automation of drill rod discharge and conveying of a drill rod box, the invention provides a hydraulic drill rod conveying manipulator which is matched with an automatic drill rod box and consists of a support, an up-and-down moving guide rail, a stroke hydraulic cylinder, a pulley, a turnover hydraulic cylinder, a mechanical arm, a manipulator, a coupler, a connecting frame, a rotary motor, a transmission shaft and a balance beam, wherein the hydraulic drill rod conveying manipulator is driven by hydraulic pressure, controls a PLC (programmable logic controller) electric control hydraulic system integrated on the drill rod box, a sensor acquires signals, the rotary motor drives the pulley to move forwards and backwards, the stroke hydraulic cylinder conveys up and down, the manipulator grabs a drill rod, the support is connected with a base, an adjusting screw rod is installed on a drill rod baffle, a rack is installed on a moving track at the upper part of the support, safety stoppers are installed at two ends of the rack, the gear is meshed with the rack, the roller is internally provided with a self-aligning bearing, the connecting frame is connected with two sets of pulleys, the rotating motor is arranged on the connecting frame, is directly connected with the gear box, the output end of the rotary motor is connected with the chain driving device, the two transmission shafts and the transmission shaft are connected with the pulley by adopting a coupling, one end of the mechanical arm is connected with the turning hydraulic cylinder, the other end of the mechanical arm is connected with the stroke hydraulic cylinder sleeve and the movable guide rail sleeve, a piston rod of the hydraulic cylinder and the movable guide rail mandrel are connected with the balance beam, the two ends of the balance beam are provided with manipulator bodies, the fixed end of the turning hydraulic cylinder is connected on the lug seat of the connecting frame, the manipulator body and a hydraulic cylinder piston rod are connected through a flange, a grasping hydraulic cylinder is installed inside the manipulator body, the end portion of a cylinder sleeve is fixed on the manipulator body through flange connection, the piston rod is connected with a gripper through a pin shaft, and adjusting bolts are installed on two sides of the manipulator body.
Preferably, the coupler is made of nylon.
Preferably, the racks are connected by hinges.
Preferably, the drill rod conveying manipulator is integrated in the drill rod box module, before transportation, the stroke hydraulic cylinder and the grasping hydraulic cylinder are retracted, the trolley moves backwards to a designated position, the overturning hydraulic cylinder extends out of the rotating mechanical arm, and the manipulator rotates 90 degrees to the top. And (4) removing the upper pin shaft connected with the rack hinge, and vertically placing and fixing the suspended section of the rack along the hinge.
The invention has the beneficial effects that: full hydraulic drive and electric control liquid control are adopted, full-automatic operation is realized after the automatic drilling rod box is integrated, the nodes are collected by sensors, the operation is accurate, the efficiency is high, and the operation is convenient.
Drawings
Fig. 1 is a schematic view of a drill rod conveying robot.
Fig. 2 is a left side view schematic diagram of the drill rod conveying manipulator.
Fig. 3 is a schematic top view of the drill rod conveying manipulator.
Fig. 4 is an enlarged schematic view of the drill rod conveying manipulator a.
Fig. 5 is a schematic view of the drill rod conveying manipulator in transportation.
Fig. 6 is a schematic view of a stent.
Fig. 7 is a schematic view of a robot.
Fig. 8 is a schematic view of the pulley structure.
In the figure, 1, a support, 2, a moving guide rail, 3, a stroke hydraulic cylinder, 4, a pulley, 5, a turnover hydraulic cylinder, 6, a mechanical arm, 7, a mechanical arm, 8, a coupler, 9, a connecting frame, 10 rotating motors, 11, a transmission shaft, 12, a balance beam, 13, a rack, 14, a drill rod baffle, 15, an upright post and 16 are screws. 17. The manipulator comprises a baffle guide rail, 18 a manipulator body, 19 a gripper, 20 an adjusting bolt and 21 a grasping hydraulic cylinder.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 8, the drill rod conveying manipulator of the present embodiment is composed of a support 1, a moving guide rail 2, a stroke hydraulic cylinder 3, a tackle 4, a turning hydraulic cylinder 5, a mechanical arm 6, a manipulator 7, a coupler 8, a connecting frame 9, a rotating motor 10, a transmission shaft 11, and a balance beam 12, and the assembly is installed on a base.
In the embodiment, a support 1 is connected with a base, a drill rod baffle 14 is installed on the support 1, an adjusting screw 20 is installed on the drill rod baffle 14, a rack 13 is installed on a moving track 2 on the upper portion of the support 1, safety stop blocks are installed at two ends of the rack 13, a pulley 4 is installed on the rack 13, a gear and six rollers are installed in the pulley 4, the gear is meshed with the rack 13, a self-aligning bearing is installed in each roller, a connecting frame 9 is connected with two sets of pulleys 4, a rotary motor 10 is installed on the connecting frame 9 and is directly connected with the pulley 4, the output end of the rotary motor 10 is connected with a chain driving device, the chain driving device adopts two transmission shafts 11 to be connected with a gear box in the pulley 4, the two transmission shafts 11 and the transmission shafts 11 are connected with the pulley 4 by adopting a coupler 8, one end of a mechanical arm 6 is connected with an overturning hydraulic cylinder 5, the mechanical arm body 18 is installed at two ends of the balance beam, the fixed end of the turning hydraulic cylinder 5 is connected to the connecting frame 9, the mechanical arm body 18 is connected with a hydraulic cylinder piston rod through a flange, the hydraulic cylinder 21 is tightly clamped inside the mechanical arm body 18, the cylinder sleeve is fixed on the mechanical arm body 18, the piston rod is connected with the gripper 19 through a pin shaft, and the adjusting bolts 20 are installed on two sides of the mechanical arm body.
In the embodiment, two sections of racks 13 are connected through hinges, the racks are unfolded during working, pin shafts on the hinges are detached during transportation, the spiral arm sections are fixed along the hinges in a hanging mode, one support 1 is respectively installed at two ends of a base, and a screw 16 is adjusted according to the length of a drill rod, so that a drill rod baffle 17 moves back and forth on a baffle guide rail 17 to fix the drill rod.
In this embodiment, the gripper 19 is a double-link crank arm, and the hydraulic cylinder is clamped when extended and loosened when retracted.
In this embodiment, the rack 13 is installed in the middle of the pulley moving track, the two sides are moving surfaces of the pulley 4, and the four rollers are arranged on the upper part of the track, and the two rollers are arranged on the lower part of the track in a central symmetry manner.
In this embodiment, the coupler 8 is made of nylon.
In this embodiment, the main installation steps before the drill rod conveying manipulator is used on site are as follows:
1. and checking that all pipelines, control systems and all sensor positioning systems are normal, and starting the hydraulic station.
2. The suspended rack 13 is fixed on the hinge shaft in a rotating mode, the turning hydraulic cylinder 5 contracts, the mechanical arm 6 is turned to the position and locked by the hinge shaft, the pulley 4 moves to a designated position, and the adjusting bolt 20 on the mechanical arm 7 is adjusted to meet the requirement that the gripper 19 can grasp a drill rod.
3. And connecting the other set of drill rod box racks with the first set.
In this embodiment, the working process of the drill rod conveying manipulator is as follows: the tackle 4 moves the mechanical arm 6 to the position above a first drill rod of the drill rod storage rack, the grasping hydraulic cylinder 21 contracts to open the grasping hand 19, the stroke hydraulic cylinder 3 is started to lower the mechanical arm 6, when the grasping hand 19 grasps the drill rod, the grasping hydraulic cylinder 21 extends to grasp the drill rod, the stroke hydraulic cylinder 3 contracts to lift the drill rod, the tackle 4 moves along the rack 13, when the drill rod reaches the position right above a drill rod seat on the drill rod conveying rack, the stroke hydraulic cylinder 3 is started to lower again, after the drill rod is placed on the drill rod seat, the grasping hydraulic cylinder 21 contracts to release the drill rod, the stroke hydraulic cylinder 3 is retracted, and the drill rod conveying mechanical arm returns to the position above a second drill rod of the drill rod storage rack according to the original route in.
In the embodiment, the drill rod conveying manipulator, the drill rod storage frame and the drill rod conveying frame complete the whole process of drill rod discharging and conveying, all actions are driven by hydraulic pressure when the drill rod conveying manipulator works, a PLC electric control liquid system integrated in an automatic drill rod box is controlled, the control system is composed of a hydraulic station, a hydraulic valve and a PLC control system, panel operation is carried out, sensor signals are collected or combined and then transmitted to the control system, a start button is pressed manually before work at each time, the work and stop actions of the system are completed automatically, and the control system has the functions of emergency stop and manual reset.
In the embodiment, the drill rod conveying manipulator is integrated in the drill rod box module, before transportation, the stroke hydraulic cylinder 3 and the grasping hydraulic cylinder 21 are retracted, the pulley 4 moves backwards to a designated position, the overturning hydraulic cylinder 5 extends out of the rotary mechanical arm, the manipulator 7 integrally rotates anticlockwise by 90 degrees to the top, an upper pin shaft connected with the hinge of the rack 13 is removed, and the suspended rack 13 is vertically placed and fixed along the hinge.
This example is illustrated as follows: when the two stroke hydraulic cylinders work, synchronous operation is met, and when multiple sets of rod boxes are connected in series, only one set of drill rod conveying manipulator needs to be configured.
Claims (4)
1. A hydraulic drill rod conveying manipulator is matched with an automatic drill rod box and used for conveying drill rods and is characterized by comprising a support, an up-and-down moving guide rail, a stroke hydraulic cylinder, a pulley, a turnover hydraulic cylinder, a mechanical arm, a coupler, a connecting frame, a rotary motor, a transmission shaft and a balance beam, wherein the hydraulic drill rod conveying manipulator is hydraulically driven, a PLC (programmable logic controller) electric control hydraulic system integrated in the drill rod box is controlled, a sensor acquires signals, the rotary motor drives the pulley to move back and forth, the stroke hydraulic cylinder conveys up and down, the mechanical arm grabs the drill rods, the support is connected with a base, an adjusting screw is arranged on a drill rod baffle, a moving track on the upper portion of the support is provided with a rack, safety stop blocks are arranged at two ends of the rack, the pulley is arranged on the rack, a gear and six rollers are arranged, the connecting frame is connected with two sets of pulleys, the rotary motor is installed on the connecting frame and is directly connected with the gear box, the output end of the rotary motor is connected with the chain driving device, two transmission shafts and the transmission shafts are connected with the pulleys through couplings, one end of the mechanical arm is connected with the turnover hydraulic cylinder, the other end of the mechanical arm is connected with the stroke hydraulic cylinder sleeve and the movable guide rail sleeve, the piston rod of the hydraulic cylinder and the movable guide rail mandrel are connected with the balance beam, the mechanical arm body is installed at two ends of the balance beam, the fixed end of the turnover hydraulic cylinder is connected onto the lug seat of the connecting frame, the mechanical arm body and the piston rod of the hydraulic cylinder are connected through flanges, the hydraulic cylinder is tightly clamped inside the mechanical arm body, the end part of the cylinder sleeve is.
2. The hydraulic drill rod conveying manipulator as claimed in claim 1, wherein the gripper is of a double-connecting-rod crank arm structure.
3. The hydraulic drill rod conveying manipulator as claimed in claim 1, wherein the coupler is made of nylon.
4. The hydraulic drill rod conveying manipulator as claimed in claim 1, wherein the racks are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021959404.0U CN213269814U (en) | 2020-09-09 | 2020-09-09 | Hydraulic drill rod conveying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021959404.0U CN213269814U (en) | 2020-09-09 | 2020-09-09 | Hydraulic drill rod conveying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213269814U true CN213269814U (en) | 2021-05-25 |
Family
ID=75940747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021959404.0U Active CN213269814U (en) | 2020-09-09 | 2020-09-09 | Hydraulic drill rod conveying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213269814U (en) |
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2020
- 2020-09-09 CN CN202021959404.0U patent/CN213269814U/en active Active
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