CN214944088U - Well drilling racking platform walking type mechanical arm - Google Patents

Abstract

The utility model relates to a well drilling racking platform walking manipulator, including being used for the device in the monkey way on the guide rail groove to can follow the monkey way in guide rail groove straight reciprocating motion's manipulator pulley subassembly, but manipulator pulley subassembly below device has the mechanical arm frame subassembly of horizontal rotation, and the below device of mechanical arm frame subassembly has the pivoted arm subassembly, and the arm subassembly below device has the tongs assembly that can follow its motion. The utility model discloses can effectively solve current well drilling second floor platform and do not have supplementary hoist and mount or clamping tool, realize putting and lifting by crane the work of drilling down of drill pipe through artifical towed mode, work load is big, and inefficiency still has the problem of potential safety hazard simultaneously.

Description

Well drilling racking platform walking type mechanical arm

Technical Field

The utility model relates to a well drilling racking platform walking manipulator.

Background

During drilling, drill rods or sleeves (hereinafter referred to as drill pipes) need to be continuously added, a traditional drilling two-layer platform is not provided with an auxiliary hoisting or clamping tool, when drilling, the drill pipes are hoisted by a winch steel wire rope firstly, three drill pipes are respectively connected into a group by a hydraulic tong and are sequentially placed on two sides of the drilling platform to be used during drilling, when the drill pipes are placed, the drill pipes are hoisted by the winch steel wire rope, an operator climbs the drilling two-layer platform, twines hemp ropes on the drill pipes manually, places the drill pipes in a drill pipe discharge channel of the two-layer platform by using a manual traction mode, loosens the crane steel wire rope, loosens the manual traction hemp ropes, completes placement of the drill pipes once, and when the drill pipes need to be taken out for use, the operator needs to climb the two-layer platform again to fix a hanger on the drill pipes to lift and drill pipes. According to different drilling depths, the work needs to be repeated for hundreds to thousands of times every time one well is drilled, one or more operators need to go up to a two-layer platform to work for several minutes to dozens of minutes every time, the labor intensity is high, potential safety hazards exist, and the drilling efficiency is greatly restricted.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a well drilling racking platform walking manipulator solves current well drilling racking platform and does not have supplementary hoist and mount or clamping tool, realizes putting and lifting by crane the work of drilling down of drill pipe through artifical towed mode, and work load is big, and is inefficient, still has the problem of potential safety hazard simultaneously.

The utility model provides a technical scheme that its technical problem adopted is: a walking manipulator of a drilling racking platform comprises a manipulator pulley assembly which is arranged on a guide rail groove in a monkey way and can linearly reciprocate along the guide rail groove in the monkey way, a mechanical arm frame assembly capable of horizontally rotating is arranged below the manipulator pulley assembly, a rotating mechanical arm assembly is arranged below the mechanical arm frame assembly, and a gripper assembly capable of moving along with the mechanical arm assembly is arranged below the mechanical arm assembly.

Further, robotic arm pulley subassembly includes the dolly fixing base, and dolly fixing base both sides lateral wall is provided with a set of dolly pulley respectively, is equipped with dolly drive servo motor on the dolly fixing base, and dolly drive servo motor is connected with first reduction gear, is connected with the gear on the first reduction gear output.

Further, the mechanical arm frame assembly comprises a mechanical arm frame seat and a first rotary servo motor arranged on the lower end face of the trolley fixing seat, the first rotary servo motor is connected with a second speed reducer, the output end of the second speed reducer is connected with a first rotary speed reducer, and the lower end of the first rotary speed reducer is connected with the upper end face of the mechanical arm frame seat and used for driving the mechanical arm frame seat to rotate; and a second rotary servo motor is arranged on the mechanical arm frame seat, the second rotary servo motor is connected with a third speed reducer, and the output end of the third speed reducer is connected with a second rotary speed reducer.

Further, the mechanical arm assembly comprises a main arm, an auxiliary arm and an execution arm, wherein a first main arm shaft used for being in key connection with a second rotary speed reducer is arranged at the upper end of the main arm, and a second main arm shaft used for being in key connection with the rear end of the execution arm is arranged at the lower end of the main arm; the upper end of the auxiliary arm is provided with a first auxiliary arm shaft for being in key connection with a mechanical arm frame seat, and the lower end of the auxiliary arm is provided with a second auxiliary arm shaft for being in key connection with the rear end of the execution arm; the gripper assembly is provided with a front end of an actuator arm.

Further, be provided with the anticollision buffer board on the dolly fixing base.

Furthermore, the front end and the rear end of the trolley pulley positioned on the left outer side wall and the rear end of the right outer side wall of the trolley fixing seat are respectively provided with one pulley.

The utility model has the advantages that: through mechanical arm pulley subassembly, robotic arm frame subassembly, robotic arm subassembly, tongs assembly mutually support, can realize that the tongs assembly carries out straight reciprocating motion along the monkey way in the slide rail groove to can realize the rotation of level and vertical direction, through the mode of machinery, the automatic transport that realizes the drill pipe, put, transfer etc. and move, in order to satisfy the demand. The problem of current well drilling second floor platform do not have supplementary hoist and mount or clamping tool, realize putting and lifting by crane the work of drilling down of drill pipe through the mode of artifical traction, work load is big, inefficiency, still has the potential safety hazard simultaneously is effectively solved.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of another angle of the present invention.

Detailed Description

In an embodiment, the drilling racking platform walking type manipulator shown in fig. 1 and 2 comprises a manipulator trolley assembly which is arranged on a guide rail groove in a monkey way and can linearly reciprocate along the guide rail groove in the monkey way; a mechanical arm frame assembly capable of horizontally rotating is arranged below the mechanical arm pulley assembly, a rotating mechanical arm assembly is arranged below the mechanical arm frame assembly, and a gripper assembly 20 capable of moving along with the mechanical arm assembly is arranged below the mechanical arm assembly.

In the description of the present invention, it is to be understood that the terms "center", "lateral", "up", "down", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. Furthermore, the term "comprises" and any variations thereof is intended to cover non-exclusive inclusions.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The concept of the present invention is further explained below with reference to fig. 1 and 2.

A walking manipulator of a drilling racking platform comprises a manipulator pulley assembly which is arranged on a guide rail groove in a monkey way and can linearly reciprocate along the guide rail groove in the monkey way, a mechanical arm frame assembly capable of horizontally rotating is arranged below the manipulator pulley assembly, a rotating mechanical arm assembly is arranged below the mechanical arm frame assembly, and a gripper assembly 20 capable of moving along with the mechanical arm assembly is arranged below the mechanical arm assembly.

The mechanical arm pulley assembly comprises a trolley fixing seat 1, a group of trolley pulleys 2 are arranged on the side walls of the two sides of the trolley fixing seat 1 respectively, a trolley driving servo motor 3 is arranged on the trolley fixing seat 1, the trolley driving servo motor 3 is connected with a first speed reducer 4, and a gear 5 is connected to the output end of the first speed reducer 4. The trolley fixing seat 1 is provided with an anti-collision buffer plate 6. The front end and the rear end of the trolley pulley 2 positioned on the left outer side wall and the rear end of the right outer side wall of the trolley fixing seat 1 are respectively provided with one.

The mechanical arm frame assembly comprises a mechanical arm frame seat 7 and a first rotary servo motor 8 arranged on the lower end face of the trolley fixing seat 1, the first rotary servo motor 8 is connected with a second speed reducer 9, the output end of the second speed reducer 9 is connected with a first rotary speed reducer 10, and the lower end of the first rotary speed reducer 10 is connected with the upper end face of the mechanical arm frame seat 7 and used for driving the mechanical arm frame seat 7 to rotate; the mechanical arm frame seat 7 is provided with a second rotary servo motor 11, the second rotary servo motor 11 is connected with a third speed reducer 12, and the output end of the third speed reducer 12 is connected with a second rotary speed reducer 13.

The mechanical arm assembly comprises a main arm 14, an auxiliary arm 15 and an execution arm 16, wherein the upper end of the main arm 14 is provided with a first main arm shaft 17 which is in key connection with the second rotary speed reducer 13, and the lower end of the main arm 14 is provided with a second main arm shaft 22 which is in key connection with the rear end of the execution arm 16; the upper end of the auxiliary arm 15 is provided with a first auxiliary arm shaft 18 which is used for being in key connection with the mechanical arm frame seat 7, and the lower end of the auxiliary arm is provided with a second auxiliary arm shaft 19 which is used for being in key connection with the rear end of the execution arm 16; the gripper assembly 20 is provided with a forward end of the actuator arm 16. A protective cover 21 is provided above the actuator arm 16. The gripper assembly 20 is coupled to a drive structure for the driver to open and grip.

The working principle is as follows: the walking type mechanical arm of the second floor platform of the well drilling is integrally installed in a monkey path of the second floor platform. The trolley pulley in the manipulator trolley assembly is arranged in a guide rail groove in the monkey way, so that the manipulator can linearly reciprocate in the guide rail groove. The power of the part is transmitted to a rack parallel to a track in a monkey way through a trolley driving servo motor through a first speed reducer and a gear, and the forward and reverse rotation of the trolley driving servo motor is controlled to realize the displacement of the manipulator in the direction of the monkey way. The anti-collision buffer plate can effectively protect the mechanical arm and prevent mechanical protection when a control program is out of control.

After the mechanical arm frame assembly is arranged on a first rotary speed reducer, a first rotary servo motor and a second speed reducer which are arranged at the upper end of the mechanical arm frame seat, the mechanical arm frame assembly can be controlled to rotate 360 degrees around the central line of the first rotary speed reducer; the second rotary speed reducer, the third speed reducer and the second rotary servo motor which are arranged in the middle of the mechanical arm frame seat and the main arm are connected with the main arm through the first main arm shaft key in the mechanical arm assembly can control the rotation of the main arm, and the retraction and the expansion of the mechanical arm assembly can be realized when the rotation angle of the main arm is less than 180 degrees. The upper end of a main arm in the mechanical arm component is in key joint with a second rotary speed reducer through a first main arm shaft, and the upper end of an auxiliary arm is in pin joint with a hole at the lower part of a mechanical arm frame seat through a first auxiliary arm shaft; the lower end of the main arm is in pin joint with a hole at the rear end of the executing arm through a second main arm shaft; the lower end of the auxiliary arm is connected with the front end hole of the execution arm through a second auxiliary arm shaft in a pin mode, and therefore the parallelogram four-bar mechanism is formed. The gripper assembly is connected with an execution arm bolt in the mechanical arm assembly, so that the gripper assembly can finish position movement in a horizontal plane, and the purposes of gripping a tubular column, moving the tubular column and placing the tubular column at a specified position in a working range are achieved.

The above embodiments are not to be considered from a limiting point of view, but rather from an illustrative point of view. The scope of the present invention is defined by the scope of the claims, rather than the description, and all differences within the scope and equivalence thereof should be construed as being included in the present invention. Various insubstantial improvements are made by adopting the method conception and the technical proposal of the utility model; or without improvement, the above conception and technical solution of the present invention can be directly applied to other occasions, all within the protection scope of the present invention.

Claims (6)

1. The utility model provides a drilling racking platform walking manipulator which characterized in that: the manipulator trolley assembly is arranged on a guide rail groove in a monkey way and can linearly reciprocate along the guide rail groove in the monkey way; a mechanical arm frame assembly capable of horizontally rotating is arranged below the mechanical arm pulley assembly, a rotating mechanical arm assembly is arranged below the mechanical arm frame assembly, and a gripper assembly capable of moving along with the mechanical arm assembly is arranged below the mechanical arm assembly.

2. The drilling racking board walking robot of claim 1, wherein: the mechanical arm pulley assembly comprises a trolley fixing seat, a group of trolley pulleys are arranged on the side walls of the two sides of the trolley fixing seat respectively, a trolley driving servo motor is arranged on the trolley fixing seat and connected with a first speed reducer, and a gear is connected to the output end of the first speed reducer.

3. The drilling racking board walking robot of claim 1 or 2, wherein: the mechanical arm frame assembly comprises a mechanical arm frame seat and a first rotary servo motor arranged on the lower end face of the trolley fixing seat, the first rotary servo motor is connected with a second speed reducer, the output end of the second speed reducer is connected with a first rotary speed reducer, and the lower end of the first rotary speed reducer is connected with the upper end face of the mechanical arm frame seat and used for driving the mechanical arm frame seat to rotate; and a second rotary servo motor is arranged on the mechanical arm frame seat, the second rotary servo motor is connected with a third speed reducer, and the output end of the third speed reducer is connected with a second rotary speed reducer.

4. The drilling racking board walking robot of claim 3, wherein: the mechanical arm assembly comprises a main arm, an auxiliary arm and an execution arm, wherein the upper end of the main arm is provided with a first main arm shaft connected with a second rotary speed reducer in a key mode, and the lower end of the main arm is provided with a second main arm shaft connected with the rear end of the execution arm in a key mode; the upper end of the auxiliary arm is provided with a first auxiliary arm shaft for being in key connection with a mechanical arm frame seat, and the lower end of the auxiliary arm is provided with a second auxiliary arm shaft for being in key connection with the rear end of the execution arm; the gripper assembly is provided with a front end of an actuator arm.

5. The drilling racking board walking robot of claim 4, wherein: be provided with the anticollision buffer board on the dolly fixing base.

6. The drilling racking board walking robot of claim 5, wherein: the front end and the rear end of the trolley pulley positioned on the left outer side wall and the right outer side wall of the trolley fixing seat are respectively provided with one.

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