CN206722777U - A kind of petroleum well workover Work robot stacking mechanism - Google Patents
A kind of petroleum well workover Work robot stacking mechanism Download PDFInfo
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- CN206722777U CN206722777U CN201720296713.6U CN201720296713U CN206722777U CN 206722777 U CN206722777 U CN 206722777U CN 201720296713 U CN201720296713 U CN 201720296713U CN 206722777 U CN206722777 U CN 206722777U
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Abstract
The utility model discloses a kind of petroleum well workover Work robot stacking mechanism, including chassis, column, fixed saddle, guide frame for moving, manipulator support, manipulator, fixed tubing rack, flank tubing rack, conveying device and hydraulic control system.The utility model receives and sent out automatically oil pipe, human assistance places tubing rack during oil pipe is stored, palletizing mechanical arm automatic oil draining pipe, automation degree of equipment is high, operating personnel are not needed to put and transport oil pipe, solve the defects of personnel labor intensity is big, well head site safety is poor, low production efficiency, high energy consumption, operability are poor, pollution environment, while there are more people's muscle power manipulation types to switch to the keeping an eye on property of 12 people and operate, realize that the automatic numerical control of production process monitors.The utility model is simple and reasonable for structure, reliable, saves substantial amounts of human and material resources, improves pitch time.
Description
Technical field
A kind of petroleum well workover Work robot stacking mechanism is the utility model is related to, belongs to petroleum well workover equipment and technology neck
Domain.
Background technology
In oilfield process, some oil wells or equipment fault can often occur, cause the underproduction or even stop production.It is in order that oily
Well returns to normal production, it is necessary to takes appropriate measures, fixes a breakdown.In addition, the condition of oil well changes, it is necessary to according to new
Situation takes appropriate production technology measure, for example, flowing well turns pumpingh well, changes oil well pump depth of setting, model etc..These
Work all needs well workover machine equipment to complete.Original shaft mouth operation machine technical background is that per tour scene will be at least made up of 4-5 people, its
In a people drive winch, the people's blocked operation hydraulic pressure pipe slips of well head two and upper and lower oil pipe change elevator, tubing on-site hand stowage 1-2 people,
Labor intensity is big, and working environment is severe, and well head site safety is poor, low production efficiency, high energy consumption, easily causes pollution environment.
The content of the invention
Technical problem to be solved in the utility model is the defects of presence for prior art, there is provided a kind of petroleum well workover
Work robot stacking mechanism.
To solve this technical problem, the utility model provides a kind of petroleum well workover Work robot stacking mechanism, bag
Include chassis, column, fixed saddle, guide frame for moving, manipulator support, manipulator, fixed tubing rack, flank tubing rack, conveying dress
Put and hydraulic control system, the chassis bottom are provided with hydraulic leg, fixed tubing rack, flank tubing rack are provided with above chassis
It is hinged on chassis both sides, can be flipped up by hydraulic cylinder effect around jointed shaft；The chassis rear end is welded with vertically disposed
Column, fixed saddle are horizontally fixed on column by bolt, are provided with guide frame for moving in the lower section of fixed saddle, guide frame for moving leads to
Crossing rack pinion can be along fixed saddle X1 to moving；The outside of guide frame for moving two is provided with rack two, and its front end is provided with tooth
Wheel two, the manipulator support are square frame-shaped, and two inner sides are provided with rack three, and its bottom is provided with gear three, manipulator support both sides
Gear three engages with the rack two of guide frame for moving both sides, and manipulator support can be along guide frame for moving X2 to moving；Manipulator support two
Side rack three engages with the gear two of guide frame for moving both sides, and manipulator support can move along guide frame for moving Z-direction；The manipulator is set
Put in one end end of mechanical arm, the other end of mechanical arm is hinged on the down either side of manipulator support and can be around be hinged
Axle horizontally rotates；Oil pipe is transported in conveying device by manipulator.
The conveying device includes fixed guide rail and both sides flyer rail, both sides flyer rail and is respectively hinged at the two of fixed guide rail
End, fixed guide rail and both sides the flyer rail top are provided with multigroup conveying roller, and fixed guide rail is fixed on the front end of chassis, in chassis
Hydraulic motor is provided with, hydraulic motor drives conveying roller to rotate by chain drive.
The hydraulic control system includes the fixed saddle X1 in control guide frame for moving edge to the X1 hydraulic motors moved and displacement
Sensor, two control machinery hand supports control along guide frame for moving X2 to the X2 hydraulic motors and displacement transducer moved, two
The Z hydraulic motors and displacement transducer and the hydraulic motor of control conveying roller that manipulator support moves along guide frame for moving Z-direction；
PLC+ encoders control hydraulic motor realizes positioning.
The fixed tubing rack and flank tubing rack are provided with continuously arranged U-lag, and oil pipe is piled up in the U-lag.
Cant beam is provided between the column and fixed saddle to support.
The mechanical arm, both sides flyer rail and flank tubing rack hinged place are respectively equipped with hydraulic cylinder and can be in hydraulic pressure
Folded under cylinder effect along hinge；Mechanical arm, both sides flyer rail and flank tubing rack are folded into travel position.
Beneficial effect：The utility model is simple and reasonable for structure, reliable, automatic to receive and send out oil pipe, in storage oil pipe
During human assistance place tubing rack, palletizing mechanical arm automatic oil draining pipe, automation degree of equipment is high, it is not necessary to operating personnel
Oil pipe is put and transported, solves that personnel labor intensity is big, well head site safety is poor, low production efficiency, high energy consumption, operability
The defects of difference, pollution environment, while the keeping an eye on property operation for there are more people's muscle power manipulation types to switch to 1-2 people, realize production process oneself
Dynamic numerical control monitoring.Substantial amounts of human and material resources are saved, improve pitch time.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is structural representation front view of the present utility model；
Fig. 3 is structural representation top view of the present utility model；
Fig. 4 is the structural representation of the utility model conveying device.
In figure：Saddle, 4 guide frame for moving, 5 manipulator supports, 6 manipulators, 7 mechanical arms, 8 are fixed in 1 chassis, 2 columns, 3
Guide rail, 12 flank guide rails, 13 conveying rollers, 14 chains, 15 oil are fixed in fixed tubing rack, 9 flank tubing racks, 10 conveying devices, 11
Pipe, 16U shapes groove, 17 cant beams.
Embodiment
Below in conjunction with the accompanying drawings and embodiment specifically describes to the utility model.
Fig. 1 show structural representation of the present utility model.
Fig. 2 show structural representation front view of the present utility model.
Fig. 3 show structural representation top view of the present utility model.
The utility model includes chassis 1, column 2, fixed saddle 3, guide frame for moving 4, manipulator support 5, manipulator 6, solid
Stand oil pipe support 8, flank tubing rack 9, conveying device 10 and hydraulic control system.
The bottom of chassis 1 is provided with hydraulic leg, and fixed tubing rack 8 is provided with above chassis 1, and flank tubing rack 9 is be hinged
It can be flipped up in the both sides of chassis 1, by hydraulic cylinder effect around jointed shaft.
The rear end of chassis 1 is welded with vertically disposed column 2, and fixed saddle 3 is horizontally fixed on column 2 by bolt
On, be provided with guide frame for moving 4 in the lower section of fixed saddle 3, guide frame for moving 4 by rack pinion can along fixation saddle 3X1 to
It is mobile.
Described 4 liang of outsides of guide frame for moving are provided with rack two, and its front end is provided with gear two.
The manipulator support 5 is square frame-shaped, and two inner sides are provided with rack three, and its bottom is provided with gear three.
5 liang of side gears three of manipulator support engage with the rack two of the both sides of guide frame for moving 4, and manipulator support 5 can be along moving
Saddle 4X2 is to movement.
The both sides rack three of manipulator support 5 engages with the gear two of the both sides of guide frame for moving 4, and manipulator support 5 can be along moving
Saddle 4Z is to movement.
The manipulator 6 is arranged on one end end of mechanical arm 7, and the other end of mechanical arm 7 is hinged on manipulator branch
The down either side of frame 5 can simultaneously horizontally rotate around jointed shaft；Oil pipe 15 is transported in conveying device 10 by manipulator 6.
Fig. 4 show the structural representation of the utility model conveying device.
The conveying device 10 includes fixed guide rail 11 and both sides flyer rail 12, both sides flyer rail 12 and is respectively hinged at fixation
The both ends of guide rail 11, the top of fixed guide rail 11 and both sides flyer rail 12 are provided with multigroup conveying roller 13, and fixed guide rail 11 is fixed
In the front end of chassis 1, motor is provided with frame 1, motor drives conveying roller 13 to rotate by chain drive 14.
The hydraulic control system include control guide frame for moving 4 along fixed saddle 3 along X1 to the X1 hydraulic motors moved and
Displacement transducer, two control machinery hand supports 5 along guide frame for moving 4 along X2 to the X2 hydraulic motors and displacement transducer moved,
The Z hydraulic motors and displacement transducer and control conveying roller that two control machinery hand supports 5 move along guide frame for moving 4 along Z-direction
13 hydraulic motor；PLC+ encoders control hydraulic motor realizes positioning.
The fixed tubing rack 8 and flank tubing rack 9 are provided with continuously arranged U-lag 16, and oil pipe 15 is piled up in the U
In shape groove 16.
Supported between the column 2 and fixed saddle 3 provided with cant beam 17.
The bottom of chassis 1 is additionally provided with four hydraulic cylinders, chassis 1 can be increased to above engineering chassis, convenient fortune
It is defeated；Transport vehicle reach the spot installation when, four hydraulic cylinders stretch out land first, hydraulic cylinder continue rise until transport vehicle withdraw from,
Now, hydraulic cylinder bounces back, and hydraulic leg stretches out, the support underframe 1 until hydraulic leg lands.
The utility model is working condition when deploying, coverage long 5500mm, wide 7205mm, high 2490mm.
The mechanical arm 7, both sides flyer rail 12 and the hinged place of flank tubing rack 9 are respectively equipped with hydraulic cylinder and can be
Folded under hydraulic cylinder effect along hinge；Mechanical arm 7, both sides flyer rail 12 and flank tubing rack 9 are travel position when folding；
Travel position size is long 5040mm, wide 2120mm, high 2490mm；Overall weight about 10900KG.
The utility model main function is storage oil pipe, coordinates well workover main frame to use：When main frame is to workover, it is necessary to
Oil pipe is first gone out conveying from well and carries out stacking, palletizing apparatus is arranged the oil pipe of reception in order by automatic mechanical hand
Row；Oil pipe is conveyed to by manipulator by main frame completion decentralization again after completing workover treatment.
Used as to of the present utility model expand, it can also be used as separate storage oil pipe.
The utility model is simple and reasonable for structure, reliable, automatic to receive and send out oil pipe, the people during oil pipe is stored
Work auxiliary places tubing rack, palletizing mechanical arm automatic oil draining pipe, automation degree of equipment height, it is not necessary to which operating personnel put and transported
Petroleum pipeline, solves that personnel labor intensity is big, well head site safety is poor, low production efficiency, high energy consumption, operability is poor, pollutes
The defects of environment, while the keeping an eye on property operation for there are more people's muscle power manipulation types to switch to 1-2 people, realize the automatic numerical control prison of production process
Control.Substantial amounts of human and material resources are saved, improve pitch time.
The utility model the embodiment above, is merely illustrative, be not it is only, it is all in the scope of the utility model
Or the change in equivalent the scope of the utility model is surrounded by the utility model.
Claims (6)
- A kind of 1. petroleum well workover Work robot stacking mechanism, it is characterised in that：Including chassis (1), column (2), fixed saddle (3), guide frame for moving (4), manipulator support (5), manipulator (6), fixed tubing rack (8), flank tubing rack (9), conveying device (10) hydraulic leg is provided with, fixed tubing rack is provided with above chassis (1) with hydraulic control system, chassis (1) bottom (8), flank tubing rack (9) is hinged on chassis (1) both sides, can be flipped up by hydraulic cylinder effect around jointed shaft；The chassis (1) rear end is welded with vertically disposed column (2), and fixed saddle (3) is horizontally fixed on column (2) by bolt, in fixation The lower section of saddle (3) is provided with guide frame for moving (4), and guide frame for moving (4) can be along fixed saddle (3) X1 to shifting by rack pinion It is dynamic；The outside of guide frame for moving (4) two is provided with rack two, and its front end is provided with gear two, and the manipulator support (5) is square frame Shape, two inner sides are provided with rack three, and its bottom is provided with gear three, the side gear three of manipulator support (5) two and guide frame for moving (4) both sides Rack two engage, manipulator support (5) can be along guide frame for moving (4) X2 to movement；Manipulator support (5) both sides rack three is with moving The gear two of dynamic saddle (4) both sides engages, and manipulator support (5) can move along guide frame for moving (4) Z-direction；The manipulator (6) sets Put in one end end of mechanical arm (7), the other end of mechanical arm (7) is hinged on the down either side of manipulator support (5), simultaneously It can horizontally rotate around jointed shaft；Oil pipe (15) is transported in conveying device (10) by manipulator (6).
- 2. petroleum well workover Work robot stacking mechanism according to claim 1, it is characterised in that：The conveying device (10) include fixed guide rail (11) and both sides flyer rail (12), both sides flyer rail (12) are respectively hinged at the two of fixed guide rail (11) Multigroup conveying roller (13) is provided with above end, the fixed guide rail (11) and both sides flyer rail (12), fixed guide rail (11) is fixed on The front end of chassis (1), is provided with hydraulic motor on chassis (1), and hydraulic motor is driven by chain (14) and drives conveying roller (13) Rotate.
- 3. petroleum well workover Work robot stacking mechanism according to claim 1, it is characterised in that：The hydraulic control system System includes controlling guide frame for moving (4) along fixation saddle (3) X1 to mobile X1 hydraulic motors and displacement transducer, two control machines Tool hand support (5) is along guide frame for moving (4) X2 to mobile X2 hydraulic motors and displacement transducer, two control machinery hand supports (5) the Z hydraulic motors and displacement transducer and the hydraulic motor of control conveying roller (13) moved along guide frame for moving (4) Z-direction； PLC+ encoders control hydraulic motor realizes positioning.
- 4. petroleum well workover Work robot stacking mechanism according to claim 1, it is characterised in that：The fixed tubing rack (8) and flank tubing rack (9) is provided with continuously arranged U-lag (16), and oil pipe (15) is piled up in the U-lag (16).
- 5. petroleum well workover Work robot stacking mechanism according to claim 1, it is characterised in that：The column (2) with Cant beam (17) is provided between fixed saddle (3) to support.
- 6. the petroleum well workover Work robot stacking mechanism according to claim any one of 1-5, it is characterised in that：The machine Tool arm (7), both sides flyer rail (12) and flank tubing rack (9) hinged place are respectively equipped with hydraulic cylinder and can made in hydraulic cylinder Folded with lower along hinge；Mechanical arm (7), both sides flyer rail (12) and flank tubing rack (9) are travel position when folding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720296713.6U CN206722777U (en) | 2017-03-24 | 2017-03-24 | A kind of petroleum well workover Work robot stacking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720296713.6U CN206722777U (en) | 2017-03-24 | 2017-03-24 | A kind of petroleum well workover Work robot stacking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206722777U true CN206722777U (en) | 2017-12-08 |
Family
ID=60501393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720296713.6U Active CN206722777U (en) | 2017-03-24 | 2017-03-24 | A kind of petroleum well workover Work robot stacking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206722777U (en) |
-
2017
- 2017-03-24 CN CN201720296713.6U patent/CN206722777U/en active Active
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Effective date of registration: 20200922 Granted publication date: 20171208 |
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Effective date of registration: 20220922 Granted publication date: 20171208 |
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Date of cancellation: 20220922 Granted publication date: 20171208 |
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