CN210289668U

CN210289668U - Automatic calandria manipulator of rig floor plane movable

Info

Publication number: CN210289668U
Application number: CN201921238844.4U
Authority: CN
Inventors: 鲍泽富; 王冲; 党鹏; 陈少成
Original assignee: Xian Shiyou University
Current assignee: Xian Shiyou University
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-04-10
Anticipated expiration: 2029-08-02

Abstract

A drill floor plane movable type automatic pipe arranging manipulator comprises four parts, namely a manipulator, a mechanical arm, a turntable and a movable trolley; the travelling car is located the bottom of whole device for drive whole device and remove, travelling car upper surface mounting have the carousel, the carousel is used for providing the rotation that is on a parallel with the rig floor face direction, the arm is installed to the carousel top, the manipulator that is used for snatching the grudging post is installed at the arm top. The utility model discloses realize automatic calandria on the rig floor plane, put every grudging post in the grudging post box in a flexible way to accurate putting has replaced traditional artifical calandria operation on appointed position, has solved that work efficiency is low, workman intensity of labour is big, the high scheduling problem of operation risk.

Description

Automatic calandria manipulator of rig floor plane movable

Technical Field

The utility model relates to an oil drill rod technical field, in particular to automatic calandria manipulator of rig floor plane movable.

Background

At present, the automation of the domestic drilling operation is greatly improved, but the emission of the stand is mainly manual operation in the tripping operation. Sometimes even two drilling workers are operated by two hands in cooperation. The operation process is low in efficiency and high in working strength, has certain dangerousness, and is easy to cause accidents if the cooperation between people or between people is not good.

Disclosure of Invention

In order to overcome the defects of the prior art, the utility model aims to provide an automatic calandria manipulator of rig floor plane movable, this calandria manipulator can realize automatic calandria on the rig floor plane, puts every grudging post in the grudging post box in a flexible way to accurate putting has replaced traditional artifical calandria operation on appointed position, has solved work efficiency low-speed work, workman intensity of labour is big, the high scheduling problem of operation risk.

In order to realize the purpose, the utility model discloses a technical scheme is:

a drill floor plane movable type automatic pipe arranging manipulator comprises four parts, namely a manipulator, a mechanical arm, a turntable and a movable trolley;

the travelling car is located the bottom of whole device for drive whole device and remove, travelling car upper surface mounting have the carousel, the carousel is used for providing the rotation that is on a parallel with the rig floor face direction, the arm is installed to the carousel top, the manipulator that is used for snatching the grudging post is installed at the arm top.

The manipulator comprises a connecting seat, a movable finger and a palm center are installed on the connecting seat, the movable finger is driven by an electric push rod to drive the movable finger to open or close with the palm center, the movable finger and the palm center form a circular structure during closing, and the connecting seat is connected with machinery.

The mechanical arm comprises a front arm connected with the mechanical arm, a big arm is connected onto the front arm, the front arm and the big arm are hinged to form a four-bar parallel mechanism, and a motor is mounted on the big arm.

And a connecting shaft is arranged at the joint of the front arm and the big arm.

The rotary table comprises a rotary table box, a driving motor, a worm and a worm wheel are arranged on the rotary table box, the driving motor is matched with the worm and the worm wheel to form a worm and worm wheel mechanism, and the worm and worm wheel mechanism provides a rotating torque in a horizontal plane for the mechanical arm.

The movable trolley comprises a trolley body, a driving motor is arranged in the trolley body, four wheels are symmetrically arranged on the lower portion of the trolley body in pairs, the wheels move back and forth along a fixed guide rail which is horizontally arranged, and the driving motor provides power for the wheels.

Two baffles are arranged on two sides of the vehicle body.

The fixed guide rail is an I-shaped guide rail.

The utility model has the advantages that:

the automatic pipe arranging mechanical arm with the plane movable drill floor replaces the traditional manual action in the drilling operation of the oil well, and the vertical root is placed at the position of the specified vertical root box in cooperation with the large elevator, or the specified vertical root in the vertical root box is placed into a well mouth. The device contains the motion of three dimensions vertically, horizontally, front and back, and is more nimble, stable, and the operation of being convenient for.

The device can realize remote control operation under Siemens PLC's control, has greatly improved rig floor plane gang drill efficiency, has also reduced workman's intensity of labour simultaneously, has effectively improved drilling efficiency and rig floor work factor of safety.

Drawings

Fig. 1 is a schematic structural diagram of an automatic pipe arranging manipulator with a movable drill floor.

Fig. 2 is a schematic structural view of the robot.

Fig. 3 is a schematic view of a robot arm structure.

Fig. 4 is a schematic view of the structure of the turntable.

Fig. 5 is a schematic structural view of the mobile trolley.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, a general view of a drill floor level movable automatic pipe-arranging robot is first given, comprising four major parts of a robot 1, a robot arm 2, a turntable 3 and a travelling car 4. The trolley 4 moves to a proper position, and the turntable 3 rotates the mechanical arm 2 and the mechanical arm 1 to a proper angle under the driving of the driving motor 3.1 so as to grab the stand nearby. The driving motor 2.4 of the mechanical arm 2 rotates to extend and retract the big arm 2.3, and the mechanical arm 2 is a four-bar parallel mechanism, so the front arm 2.1 is always kept in a horizontal state. When the manipulator 1 reaches a proper distance from the stand, the movable fingers 1.2 are opened to grab the stand and then closed, and the manipulator 1 grabs the stand and then properly adjusts the position and the angle of the device according to the discharge position so as to discharge the stand to a specified position. The whole action is simple to control, flexible in movement and strong in operability.

Then, the detailed description is further made by referring to the structural diagrams of each part of the automatic pipe arranging mechanical arm with the movable drill floor plane.

Referring to fig. 2, when the manipulator 1 needs to grab a stump, the electric push rod 1.1 contracts to enable the movable finger 1.2 to rotate and open, and when the palm center 1.3 props against the stump, the electric push rod 1.1 pushes out to enable the movable finger 1.2 to rotate and close, so that a stump column is grabbed.

Referring to fig. 3, the front arm 2.1, the connecting shaft 2.2 and the two parallel big arms 2.3 together form a mechanical arm 2 of a four-bar parallel mechanism, and under the action of the rotating motor 2.4, the mechanical arm 2 can rotate in a plane vertical to the surface of the drill floor, so that the mechanical arm 2 extends forwards and retracts backwards and simultaneously drives the mechanical arm 1 to move forwards and backwards.

Referring to fig. 4, the turntable 3, which is flange-connected to the robot arm 2, is mainly a worm and worm gear mechanism. The driving motor 3.1 is installed on the turntable 3.4, the worm gear and worm mechanism is formed by matching the worm 3.2 and the worm wheel 3.3, a rotating torque in a horizontal plane is provided for the mechanical arm 2, the mechanical arm 2 can rotate back and forth in 360-degree directions, and therefore the mechanical arm 1 can grab a stand in different directions and angles.

Referring to fig. 5, the cart 4 for supporting and moving the whole device is provided with four wheels 4.4 under a cart body 4.1, a driving motor 4.5 is provided in the cart body 4.1, and the whole device moves back and forth along a fixed guide rail 4.3 by the driving of the motor 4.5, so that the manipulator 1 can move to a proper position. Two baffles 4.2 are arranged on two sides of the trolley body 4.1 and clamped in the lower edge of the upper plate of the I-shaped guide rail 4.3, so that the possibility of left and right dumping of the trolley is effectively prevented.

The utility model discloses place an automatic manipulator equipment in the middle of the rig floor planar two places grudging post boxes, replace artifical completion automatic grudging post function that discharges, a great deal of drawback when just can solving current tradition and having run the drilling operation improves the emission efficiency and the standardization of grudging post, reduces drilling workman's intensity of labour and well drilling accident rate function. Simultaneously, the roller is added on the equipment, so that the equipment can move on a fixed guide rail, and the tripping operation is more flexible and convenient.

The utility model discloses a theory of operation:

the automatic pipe arranging mechanical arm with the movable drill floor plane comprises four parts of mechanical arms 1, mechanical arms 2, a rotary table 3 and a movable trolley 4. The manipulator 1 is provided with an electric push rod 1.1 which is used for driving the movable finger 1.2 to open and close so as to grab the vertical root column. The mechanical arm 2 is mainly a four-bar parallel mechanism formed by a front arm 2.1 and a big arm 2.3 which are hinged, and a motor 2.4 provides a rotating torque which is vertical to the direction of the drilling platform surface, so that the mechanical arm 2 completes the action of extension and retraction, and the stand grabbed by the mechanical arm 1 can be taken out or put back into a stand box. The mechanical arm fixing seat 2.5 is connected with the turntable 3 through a turntable flange. The rotary table box 3.4 of the rotary table 3 is fixed on the vehicle body 4.1 of the movable trolley 4, the driving motor 3.1 is arranged on the rotary table box 3.4, the worm gear mechanism is formed by matching the worm 3.2 and the worm wheel 3.3, the rotation torque in the horizontal direction is provided for the mechanical arm 2, the mechanical arm 2 can rotate back and forth in the 360-degree direction, and therefore the mechanical arm 1 can grab a stand in different directions and angles. The trolley 4 capable of moving back and forth is provided with four wheels 4.4, and the four wheels move back and forth along the fixed guide rail 4.3 under the driving of the driving motor 4.5, so that the manipulator 1 can move to a proper position to grab and hold the stump nearby. The function of the drill floor plane movable automatic pipe arranging manipulator for storing and taking the stand can be realized.

Claims

1. A movable automatic pipe-arranging manipulator on a drilling floor plane, characterized in that it comprises four major parts: a manipulator (1), a manipulator (2), a turntable (3) and a mobile trolley (4);

The mobile trolley (4) is located at the bottom of the whole device and is used to drive the entire device to move. A turntable (3) is installed on the upper surface of the mobile trolley (4), and the turntable (3) is used to provide rotation parallel to the direction of the drill floor. A robot arm (2) is installed above the turntable (3), and a robot arm (1) for grabbing the standing root is installed on the top of the robot arm (2).

2 . The movable automatic pipe-arranging manipulator according to claim 1 , wherein the manipulator ( 1 ) comprises a connecting seat ( 1.4 ), and a movable finger is installed on the connecting seat ( 1.4 ). 3 . (1.2) and the palm (1.3), the movable finger (1.2) is driven by the electric push rod (1.1) to drive the movable finger (1.2) to open or close, and the movable finger (1.2) and the palm (1.3) are closed when closed. An annular structure is formed inside, and the connecting seat (1.4) is connected with the mechanical arm (2).

3. The movable automatic pipe-arranging manipulator according to claim 1, wherein the manipulator (2) comprises a forearm (2.1) connected with the manipulator (1), the forearm (2.1) ) is connected with a large arm (2.3), a four-bar parallel mechanism formed by the forearm (2.1) and the large arm (2.3) through hinged links, and a motor (2.4) is installed on the large arm (2.3).

4 . The movable automatic pipe-arranging manipulator on a drilling floor plane according to claim 3 , wherein a connecting shaft ( 2.2 ) is provided at the connection between the forearm ( 2.1 ) and the boom ( 2.3 ). 5 .

5. The movable automatic pipe-arranging manipulator according to claim 1, wherein the turntable (3) comprises a turntable case (3.4), and a drive motor (3.4) is installed on the turntable case (3.4). 3.1), the worm (3.2) and the turbine (3.3), the drive motor (3.1) cooperates with the worm (3.2) and the turbine (3.3) to form a turbine-worm mechanism, and the turbine-worm mechanism provides the mechanical arm (2) with a rotational torque in a horizontal plane .

6. A movable automatic pipe-arranging manipulator on a drilling floor plane according to claim 1, characterized in that the mobile trolley (4) comprises a car body (4.1), and a driver is installed in the car body (4.1) The motor (4.5), the lower part of the car body (4.1) are symmetrically equipped with four wheels (4.4), the wheels (4.4) move forward and backward along the horizontal fixed guide rails (4.3), and the driving motor (4.5) is the wheel (4.4) Provide power.

7 . The movable automatic pipe-arranging manipulator on a drilling floor plane according to claim 6 , wherein two baffles ( 4.2 ) are installed on both sides of the vehicle body ( 4.1 ). 8 .

8 . The movable automatic pipe-arranging manipulator on a drill floor plane according to claim 6 , wherein the fixed guide rail ( 4.3 ) is an I-shaped guide rail. 9 .