Derrick manipulator with pushing and maintaining functions

Abstract

The derrick manipulator with the pushing and maintaining functions comprises a mounting base, the mounting base comprises a mounting base body, the mounting base body is of a rectangular block shape, one end of the mounting base body is hinged to one side of a first connecting base, the other side of the first connecting base is hinged to a derrick, and one end of a cable-stayed beam is hinged to the upper portion of the other end of the mounting base body; a mechanical arm is arranged below the end, hinged to the cable-stayed beam, of the installation base body and comprises a supporting clamp installation plate, the supporting clamp installation plate and the supporting clamp are arranged in a matched mode, a maintenance device installation lug is arranged below the supporting clamp installation plate, and the maintenance device installation lug and the manned maintenance device are arranged in a matched mode. The derrick manipulator with the pushing and maintaining functions is installed on a derrick and does not occupy the space of a drill floor surface, the holding pliers and the manned maintenance device are installed in a replacement mode, the manned maintenance device can move flexibly, and the problems that in the prior art, the occupied space of the drill floor surface is large, the equipment function is single, and high-position maintenance is difficult are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of derrick machinery, and relates to a derrick manipulator device with pushing, supporting and repairing functions. Background Art

[0002] At present, in the process of oil drilling, the drilling floor manipulator of conventional drilling rigs is installed on the drilling floor, and the clamp head needs to be replaced according to the size of the pipe string during use. By analyzing the conventional operation mode, it can be seen that the existing drilling floor pipe string discharge equipment has the following characteristics: 1. It occupies a large space on the drilling floor. Due to the limitations of the drilling rig form, the drilling floor space of the land drilling rig is small, and the layout of each equipment is very compact. In this way, the installation position of the existing drilling floor pipe string discharge equipment is quite limited, and it often interferes with other operations. At this time, in order to ensure the normal drilling operation, the drilling floor pipe string discharge equipment has to be dismantled, which not only affects the operation efficiency but also brings hidden dangers to the continuous and reliable operation of the equipment; 2. The equipment has a single function. Only pipe string processing operations can be carried out, and the clamp head needs to be replaced when handling different types of pipe strings; 3. High-position maintenance is difficult. The maintenance of top drive, traveling crane and other products requires manual climbing to the derrick for high-altitude maintenance, which not only has a limited operating range, but also has great safety hazards. Summary of the invention

[0003] The purpose of the present invention is to provide a derrick manipulator with pushing, supporting and maintenance functions, which solves the problems existing in the prior art of occupying a large drilling floor space, having a single function of the equipment and being difficult to maintain at a high position.

[0004] The technical solution adopted by the present invention is that a derrick manipulator with pushing, supporting and maintenance functions includes a mounting seat, the mounting seat includes a mounting seat body, the mounting seat body structure is in the shape of a rectangular block, one end of the mounting seat body is hinged to one side of a first connecting seat, the other side of the first connecting seat is hinged to the derrick, one end of a cable-stayed beam is hinged above the other end of the mounting seat body, and a mechanical arm is arranged below the one end of the cable-stayed beam hinged to the mounting seat body, the mechanical arm includes a supporting clamp mounting plate, the supporting clamp mounting plate is arranged in coordination with the supporting clamp, a maintenance device mounting ear seat is arranged below the supporting clamp mounting plate, and the maintenance device mounting ear seat is arranged in coordination with the manned maintenance device.

[0005] The present invention is also characterized in that:

[0006] The cable-stayed beam structure is in the shape of a square frame, and the other end of the cable-stayed beam is hinged on the derrick through a second connecting seat. A horizontal rotating device is arranged below one end of the mounting seat body away from the derrick. The horizontal rotating device structure is in the shape of a wheel, and the wheel axle of the horizontal rotating device is fixedly connected to the mounting seat body, and the wheel edge of the horizontal rotating device is fixedly connected to the wheel axle of the vertical rotating device.

[0007] The mechanical arm comprises a vertical rotating device which is in a wheel shape, and one end of the telescopic arm is fixedly connected to the wheel edge of the vertical rotating device.

[0008] The telescopic arm includes a main arm, a jib and an outer cylinder. The jib structure is rod-shaped, and the outer cylinder and the main arm structure are hollow rod-shaped with one end closed. The closed end of the outer cylinder is fixedly connected to the wheel edge of the vertical rotating device, and the closed end of the main arm is inserted into the port of the other end of the outer cylinder. A first telescopic cylinder ear seat is fixedly connected to the side wall of the outer cylinder close to the closed end, and a telescopic cylinder ear plate is fixedly connected to the side wall of the outer cylinder away from the closed end. A second telescopic cylinder ear seat is fixedly connected to the side wall of the main arm close to the open end, and one end of the jib is inserted into the port of the open end of the main arm. A third telescopic cylinder ear seat is fixedly connected to the outer wall of the end of the jib away from the main arm. A groove is provided on the outer wall on the upper side of the end of the jib away from the main arm, and a supporting clamp mounting plate is embedded in the groove of the jib. One side of a maintenance device mounting ear seat is fixedly connected to the end surface of the jib close to the supporting clamp mounting plate, and small holes are provided on the upper and lower sides of the maintenance device mounting ear seat away from the jib.

[0009] The first telescopic cylinder ear seat is fixedly connected to a closed end port of the first telescopic cylinder body, a telescopic cylinder ear plate is fixedly connected to a side wall of an open end of the first telescopic cylinder body, the telescopic cylinder ear plate is fixedly connected to a closed end port of the second telescopic cylinder body, one end port of the first telescopic cylinder rod body is fixedly connected to the second telescopic cylinder ear seat, and one end port of the second telescopic cylinder rod body is fixedly connected to the third telescopic cylinder ear seat.

[0010] The supporting clamp comprises a supporting clamp frame and a supporting clamp bracket, the supporting clamp bracket is fixedly connected below the supporting clamp frame, the supporting clamp bracket is connected to the supporting clamp mounting plate, the supporting clamp frame is hinged with a left clamp claw and a right clamp claw, and the left clamp claw and the right clamp claw are arranged in coordination.

[0011] The manned maintenance device includes a manned maintenance device frame, and the manned maintenance device frame structure is in the shape of a basket with an opening upward. A maintenance device telescopic cylinder is fixedly connected to the bottom of the manned maintenance device frame, and a small hole above the side of the maintenance device mounting ear seat is hinged to the lower end of the maintenance device frame, and a small hole below the side of the maintenance device mounting ear seat is hinged to the maintenance device telescopic cylinder.

[0012] The beneficial effects of the present invention are as follows: the present invention is installed on the derrick, does not occupy the space of the drilling platform, the supporting clamps and the manned maintenance device are replaced and installed, and the manned maintenance device can be flexibly moved, which solves the problems of occupying a large space on the drilling platform, single equipment function, and difficult high-position maintenance in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of a derrick manipulator with pushing, supporting and maintenance functions;

[0014] Figure 2 It is a schematic diagram of the initial working state of the derrick manipulator with pushing, supporting and maintenance functions of the present invention;

[0015] Figure 3It is a schematic diagram of the derrick manipulator with the pushing, supporting and maintenance functions of the present invention avoiding the pipe string conveying through the stand channel through the horizontal rotation function;

[0016] Figure 4 It is a schematic diagram of the supporting clamp structure of the derrick manipulator with pushing, supporting and maintenance functions of the present invention;

[0017] Figure 5 It is a schematic diagram of the fully opened supporting clamp of the derrick manipulator with the pushing, supporting and maintenance functions of the present invention;

[0018] Figure 6 It is a schematic diagram of the fully extended telescopic arm of the derrick manipulator with the pushing, supporting and maintenance functions of the present invention;

[0019] Figure 7 It is a schematic diagram of a derrick manipulator with pushing, supporting and repairing functions of the present invention supporting a single pipe string and discharging the pipe string;

[0020] Figure 8 It is a schematic diagram of manned maintenance of a derrick manipulator with pushing, supporting and maintenance functions of the present invention.

[0021] In the figure, 1. supporting clamp; 101. supporting clamp frame; 102. left clamp claw; 103. right clamp claw; 104. rotary drive device; 105. transmission shaft; 106. first connecting rod; 107. first pin shaft; 108. second connecting rod; 109. intermediate slider; 110. crank; 111. pipe column detection device and roller; 112. second pin shaft; 113. supporting clamp bracket; 114. third connecting rod; 115. third pin shaft; 116. camera; 117. first transmission flange; 118. first connecting ear plate; 2. mechanical arm; 201. telescopic arm; 202. first telescopic cylinder; 203. main arm; 204. auxiliary arm; 205. outer cylinder; 206. connecting flange; 207. vertical rotation Device; 208, first telescopic cylinder ear seat; 209, telescopic cylinder ear plate; 210, second telescopic cylinder ear seat; 211, third telescopic cylinder ear seat; 212, second telescopic cylinder; 213, support clamp mounting plate; 214, maintenance device mounting ear seat; 215, second connecting ear plate; 216, pressure cover; 3, mounting seat; 301, mounting seat body; 302, first connecting seat; 303, horizontal rotation device; 304, inclined beam; 305, second connecting seat; 306, fourth pin shaft; 307, fifth pin shaft; 308, second transmission flange; 4, manned maintenance device; 401, maintenance device frame; 402, maintenance device telescopic cylinder; 5, control system; 6, derrick; 7, drilling table; 8, pipe string. DETAILED DESCRIPTION

[0022] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] The structure of the derrick manipulator with pushing, supporting and maintenance functions, such as Figure 1 , 2 As shown, it includes a supporting clamp 1, a mechanical arm 2, a mounting base 3, and a control system 5. The supporting clamp 1 is mounted on the supporting clamp mounting plate 213 at the upper front end of the mechanical arm 2 through the bottom plate at the lower end of the supporting clamp bracket 113. The mechanical arm 2 is mounted below the horizontal rotation device 303 of the mounting base 3, the mounting base 3 is mounted on the derrick 6, and the control system 5 is located below the mounting base body 301.

[0024] The control system 5 is not limited to full electric drive, and may also adopt hydraulic drive, electro-hydraulic composite drive, etc., and may be designed and implemented based on the present invention according to actual needs.

[0025] like Figure 3 As shown, when the drilling floor transports the pipe string, the horizontal rotating device 303 at the lower end of the mounting seat 3 rotates to drive the mechanical arm 2 to rotate, so the mechanical arm 2 can rotate backward 90° to avoid the pipe string channel without affecting other operations in the channel.

[0026] Combination Figure 4 and Figure 5 As shown, the supporting clamp 1 mainly includes a supporting clamp frame 101 and a supporting clamp bracket 113. The supporting clamp frame 101 is provided with two middle holes at the end away from the clamp claws, and the left clamp claw 102 and the right clamp claw 103 are respectively provided with two connecting holes at the end close to the supporting clamp frame 101. Two first connecting rods 106 and a third connecting rod 114 located inside the supporting clamp frame 101 are respectively provided with connecting holes at both ends, and one connecting hole is respectively provided at one end of the middle slider 109 close to the two first connecting rods 106 and the third connecting rod 114, and one large connecting hole is provided at one end of the crank 110 and a small connecting hole is provided at the other end. Use the first pin 107 to hinge the middle holes on both sides of the supporting clamp frame 101 with the connecting holes on the left jaw 102 and the right jaw 103 closest to the supporting clamp frame 101, and the second connecting holes on the left jaw 102 and the right jaw 103 close to the supporting clamp frame 101 are hinged to the connecting holes at one end of the two first connecting rods 106 through the second pin 112, and the connecting holes at the other ends of the two first connecting rods 106 are hinged to the connecting holes on both sides of the middle slider 109 through the two second pins 112. The remaining connecting hole of the middle slider 109 is hinged to the connecting hole at one end of the third connecting rod 114 through the third pin shaft 115, the connecting hole at the other end of the third connecting rod 114 is hinged to the small connecting hole at one end of the crank 110 through the second pin shaft 112, the large connecting hole at the other end of the crank 110 is hinged to the first transmission flange 117 through the transmission shaft 105 and installed by a key connection, and the lower end of the first transmission flange 117 is hinged to the rotary drive device 104.

[0027] During operation, the rotary drive device 104 on the supporting clamp 1 can drive the transmission shaft 105 to rotate, and the transmission shaft 105 drives the crank 110 to rotate. The crank 110 is hinged by the second pin shaft 112 to drive the third connecting rod 114 to rotate a large angle, and the third connecting rod 114 drives the intermediate slider 109 to slide back and forth, driving the rotation of the first connecting rod 106. Driven by the first connecting rod 106, the left clamp jaw 102 and the right clamp jaw 103 can move over a large range away from the hinge point at one end of the clamp jaw, thereby adjusting the opening size of the left clamp jaw 102 and the right clamp jaw 103, and achieving single support and pipe column discharge of drill pipes, drill collars, and casings within different ranges. During the operation, the openings of the left clamp jaw 102 and the right clamp jaw 103 should always be kept larger than the diameter of the supported pipe column.

[0028] A first connecting ear plate 118 is provided at one end of the supporting clamp frame 101 close to the clamp body, and the pipe column detection device and the roller 111 are fixedly connected to the first connecting ear plate 118 by means of a pin hinge. A sensor for detecting the pipe column is also installed on the supporting clamp frame 101. The lower end of the supporting clamp frame 101 is hinged to one end of the supporting clamp bracket 113 close to the clamp body and three vertical plates on both sides thereof, and the lower base plate of the supporting clamp bracket 113 is hinged to the supporting clamp mounting plate 213 at one end of the robotic arm 2.

[0029] A camera 116 is installed at one end of the supporting clamp bracket 113 close to the mechanical arm 2. The angle of the camera 116 is adjustable, which is convenient for observing the position of the pipe string during work.

[0030] Combination Figure 6 As shown, the main structure of the robot arm 2 is a telescopic arm 201, and the supporting clamp mounting plate 213 at one end of the telescopic arm 201 can be hinged to the supporting clamp 1, or the maintenance device mounting ear seat 214 at one end of the telescopic arm 201 can be hinged to the manned maintenance device 4, the supporting clamp 1 and the manned maintenance device 4 cannot be connected to the robot arm 2 at the same time, and the second connecting ear plate 215 and the connecting flange 206 at the other end of the telescopic arm 201 are hinged to the horizontal rotating device 303 on the mounting seat 3.

[0031] The main structure of the telescopic arm 201 includes a main arm 203, a secondary arm 204 and an outer cylinder 205. The main arm 203 and the outer cylinder 205 are both shell structures.

[0032] A first telescopic cylinder ear seat 208 is installed at the lower part of the outer cylinder 205 near the end of the mounting seat 3, the main arm 203 is installed inside the outer cylinder 205, the main arm 203 is hinged to the telescopic cylinder ear plate 209 by bolts at one end near the outer cylinder 205, the second telescopic cylinder ear seat 210 is provided at the lower part of the other end of the main arm 203, the first telescopic cylinder ear seat 208 is provided at the lower part of the end of the outer cylinder 205 near the mounting seat 3, and the second telescopic cylinder ear seat 210 and the first telescopic cylinder ear seat 208 are pin-hinged to the first telescopic cylinder 202. The extension and retraction of the first telescopic cylinder 202 can drive the extension and retraction of the main arm 203 in the outer cylinder 205, so as to realize the first-level extension and retraction.

[0033] A third telescopic cylinder ear seat 211 is provided at the lower part of the end of the auxiliary arm 204 away from the main arm 203. The third telescopic cylinder ear seat 211 and the telescopic cylinder ear plate 209 are hinged to the second telescopic cylinder 212 through a pin shaft. The extension and contraction of the second telescopic cylinder 212 can drive the auxiliary arm 204 to extend and contract in the main arm 203, thereby realizing two-stage extension and contraction. A supporting clamp mounting plate 213 and a maintenance device mounting ear seat 214 are also provided at the upper part of the end of the auxiliary arm 204 away from the main arm 203. The maintenance device mounting ear seat 214 has two connection holes at the upper and lower parts, respectively. The upper two connection holes are hinged to the maintenance device frame 401, and the lower two connection holes are hinged to the maintenance device telescopic cylinder 402.

[0034] During operation, the horizontal rotating device 303 can drive the telescopic arm 201 to rotate horizontally by rotating. The second connecting ear plate 215 is hinged to the outer shell of the vertical rotating device 207 near one end of the mechanical arm 2 through the connecting flange 206. The internal slewing bearing of the vertical rotating device 207 is hinged to the inner side of the pressure cover 216. The outer side of the pressure cover 216 is connected to the outer arm of the outer tube 205 of the telescopic arm 201. The telescopic arm 201 can rotate in the vertical direction through the vertical rotating device 207.

[0035] The mounting base 3 mainly includes a mounting base body 301, a first connection base 302, a horizontal rotation device 303, a cable-stayed beam 304, a second connection base 305, and a second transmission flange 308. The second transmission flange 308 at the bottom of the mounting base 3 is hinged to the horizontal rotation device 303 using bolts, and the bottom of the horizontal rotation device 303 is hinged to the vertical rotation device 207 using a second connection ear plate 215. The mounting base 3 is connected to the derrick 6 through the first connection base 302 and the second connection base 305.

[0036] One end of the first connecting seat 302 is fixedly connected to the derrick 6, and the other end is hinged on the mounting seat body 301 through the fourth pin shaft 306. The mounting seat body 3 has a connecting hole at one end away from the first connecting seat 302, which is hinged to one end of the inclined beam 304 through the pin shaft. The other end of the inclined beam 304 is hinged to one end of the second connecting seat 305 through the fifth pin shaft 307, so that the other end of the second connecting seat 305 is fixedly connected to the derrick 6.

[0037] like Figure 7As shown, the drilling platform manipulator supports the pipe string to the wellhead or completes the discharge of the pipe string. The horizontal rotating device 303 at the lower end of the mounting seat 3 rotates to drive the mechanical arm 2 to rotate in the horizontal direction. The mechanical arm 2 can complete the secondary extension and retraction of the main arm 203 and the auxiliary arm 204 by utilizing the extension and retraction of the first telescopic cylinder 202 and the second telescopic cylinder 212. The rotary drive device 104 on the supporting clamp 1 drives the supporting clamp 1 to open and close. The mechanical arm 2 and the supporting clamp 1 are always adjusted in conjunction to ensure that the drilling platform manipulator supports the pipe string and discharges the pipe string.

[0038] Combination Figure 8 As shown, the manned maintenance device 4 mainly includes a manned maintenance device frame 401 and a maintenance device telescopic cylinder 402. Two through holes are provided at both ends of the bottom of the manned maintenance device frame 401. One end is hinged to the upper end hole of the maintenance device mounting ear seat 214, and the other end hole is hinged to the lower end hole of the maintenance device mounting ear seat 214 for hingedly connecting the telescopic cylinder 402 of the maintenance device. The manned maintenance device 4 can be moved up and down by using the vertical rotating device 207, and can also be moved horizontally by using the horizontal rotating device 303. The telescopic cylinder 402 of the maintenance device ensures that the manned maintenance device 4 can always maintain a horizontal state.

[0039] The present invention is installed on the derrick 6, and the installation position is higher than 2 meters from the drilling table. During use, it does not occupy the space of the drilling table and is not affected by the existing equipment on the drilling table, which reduces the risk of mechanical collision caused by misoperation and solves the problem of occupying a large space on the drilling table in the prior art; the supporting clamp 1 of the present invention can meet the gripping of pipes of different sizes, and can realize a large opening and closing of the clamp claws without replacing the clamp claws, and the supporting clamp 1 and the manned maintenance device 4 can be replaced with each other, which solves the problem of single equipment function in the prior art; the manned maintenance device 4 can be lifted and lowered in a local range by the mechanical arm 2, which solves the problem of difficult high-position maintenance in the prior art.

[0040] Example 1

[0041] like Figure 1-7As shown, the derrick manipulator with pushing and maintenance functions includes a mounting seat 3, the mounting seat 3 includes a mounting seat body 301, the mounting seat body 301 has a rectangular block structure, one end of the mounting seat body 301 is hinged to one side of a first connecting seat 302, the other side of the first connecting seat 302 is hinged to the derrick 6, one end of the inclined beam 304 is hinged above the other end of the mounting seat body 301, and a mechanical arm 2 is arranged below one end of the inclined beam 304 hinged to the mounting seat body 301, and the mechanical arm 2 includes a supporting clamp mounting plate 213, the supporting clamp mounting plate 213 is arranged in cooperation with the supporting clamp 1, and a maintenance device mounting ear seat 214 is arranged below the supporting clamp mounting plate 213, and the maintenance device mounting ear seat 214 is arranged in cooperation with the manned maintenance device 4. The inclined beam 304 has a square frame structure, and the other end of the inclined beam 304 is hinged to the derrick 6 through a second connecting seat 305. A horizontal rotating device 303 is arranged below the end of the mounting seat body 301 away from the derrick 6. The horizontal rotating device 303 has a wheel-shaped structure, and the wheel axle of the horizontal rotating device 303 is fixedly connected to the mounting seat body 301, and the wheel edge of the horizontal rotating device 303 is fixedly connected to the wheel axle of the vertical rotating device 207.

[0042] Example 2

[0043] like Figure 1-7 As shown, the derrick manipulator with pushing and maintenance functions includes a mounting seat 3, the mounting seat 3 includes a mounting seat body 301, the mounting seat body 301 has a rectangular block structure, one end of the mounting seat body 301 is hinged to one side of a first connecting seat 302, the other side of the first connecting seat 302 is hinged to the derrick 6, one end of the inclined beam 304 is hinged above the other end of the mounting seat body 301, and a mechanical arm 2 is arranged below one end of the inclined beam 304 hinged to the mounting seat body 301, and the mechanical arm 2 includes a supporting clamp mounting plate 213, the supporting clamp mounting plate 213 is arranged in cooperation with the supporting clamp 1, and a maintenance device mounting ear seat 214 is arranged below the supporting clamp mounting plate 213, and the maintenance device mounting ear seat 214 is arranged in cooperation with the manned maintenance device 4. The inclined beam 304 is in a square frame shape, and the other end of the inclined beam 304 is hinged on the derrick 6 through the second connecting seat 305. A horizontal rotating device 303 is arranged below the end of the mounting seat body 301 away from the derrick 6. The horizontal rotating device 303 is in a wheel shape, and the wheel axle of the horizontal rotating device 303 is fixedly connected to the mounting seat body 301, and the wheel edge of the horizontal rotating device 303 is fixedly connected to the wheel axle of the vertical rotating device 207. The mechanical arm 2 includes a vertical rotating device 207, which is in a wheel shape, and one end of the telescopic arm 201 is fixedly connected to the wheel edge of the vertical rotating device 207.

[0044] The telescopic arm 201 includes a main arm 203, a secondary arm 204 and an outer cylinder 205. The secondary arm 204 is in the shape of a rod. The outer cylinder 205 and the main arm 203 are in the shape of a hollow rod with one end closed. The closed end of the outer cylinder 205 is fixedly connected to the wheel edge of the vertical rotating device 207. The other end of the outer cylinder 205 is inserted into the closed end of the main arm 203. The side wall of the outer cylinder 205 close to the closed end is fixedly connected with a first telescopic cylinder ear seat 208. The side wall of the outer cylinder 205 away from the closed end is fixedly connected with a telescopic cylinder ear plate 209. The side wall of the main arm 203 close to the open end is fixedly connected with a first telescopic cylinder ear seat 208. There is a second telescopic cylinder ear seat 210, and one end of the auxiliary arm 204 is inserted into the open end of the main arm 203. A third telescopic cylinder ear seat 211 is fixedly connected to the outer wall of the auxiliary arm 204 away from the end of the main arm 203. A groove is provided on the outer wall of the upper side of the end of the auxiliary arm 204 away from the main arm 203, and a supporting clamp mounting plate 213 is embedded in the groove of the auxiliary arm 204. One side of a maintenance device mounting ear seat 214 is fixedly connected to the end surface of the auxiliary arm 204 close to the supporting clamp mounting plate 213, and small holes are provided on the upper and lower sides of the maintenance device mounting ear seat 214 away from the auxiliary arm 204. The first telescopic cylinder ear seat 208 is fixedly connected to the closed end of the cylinder body of the first telescopic cylinder 202, a telescopic cylinder ear plate 209 is fixedly connected to the side wall of the open end of the cylinder body of the first telescopic cylinder 202, the telescopic cylinder ear plate 209 is fixedly connected to the closed end of the cylinder body of the second telescopic cylinder 212, one end of the rod body of the first telescopic cylinder 202 is fixedly connected to the second telescopic cylinder ear seat 210, and one end of the rod body of the second telescopic cylinder 212 is fixedly connected to the third telescopic cylinder ear seat 211.

[0045] Example 3

[0046] like Figure 1-7As shown, the derrick manipulator with pushing and maintenance functions includes a mounting seat 3, the mounting seat 3 includes a mounting seat body 301, the mounting seat body 301 has a rectangular block structure, one end of the mounting seat body 301 is hinged to one side of a first connecting seat 302, the other side of the first connecting seat 302 is hinged to the derrick 6, one end of the inclined beam 304 is hinged above the other end of the mounting seat body 301, and a mechanical arm 2 is arranged below one end of the inclined beam 304 hinged to the mounting seat body 301, and the mechanical arm 2 includes a supporting clamp mounting plate 213, the supporting clamp mounting plate 213 is arranged in cooperation with the supporting clamp 1, and a maintenance device mounting ear seat 214 is arranged below the supporting clamp mounting plate 213, and the maintenance device mounting ear seat 214 is arranged in cooperation with the manned maintenance device 4. The inclined beam 304 is in a square frame shape, and the other end of the inclined beam 304 is hinged on the derrick 6 through the second connecting seat 305. A horizontal rotating device 303 is arranged below the end of the mounting seat body 301 away from the derrick 6. The horizontal rotating device 303 is in a wheel shape, and the wheel axle of the horizontal rotating device 303 is fixedly connected to the mounting seat body 301, and the wheel edge of the horizontal rotating device 303 is fixedly connected to the wheel axle of the vertical rotating device 207. The mechanical arm 2 includes a vertical rotating device 207, which is in a wheel shape, and one end of the telescopic arm 201 is fixedly connected to the wheel edge of the vertical rotating device 207.

[0047] The telescopic arm 201 includes a main arm 203, a secondary arm 204 and an outer cylinder 205. The secondary arm 204 is in the shape of a rod. The outer cylinder 205 and the main arm 203 are in the shape of a hollow rod with one end closed. The closed end of the outer cylinder 205 is fixedly connected to the wheel edge of the vertical rotating device 207. The other end of the outer cylinder 205 is inserted into the closed end of the main arm 203. The side wall of the outer cylinder 205 close to the closed end is fixedly connected with a first telescopic cylinder ear seat 208. The side wall of the outer cylinder 205 away from the closed end is fixedly connected with a telescopic cylinder ear plate 209. The side wall of the main arm 203 close to the open end is fixedly connected with a first telescopic cylinder ear seat 208. There is a second telescopic cylinder ear seat 210, and one end of the auxiliary arm 204 is inserted into the open end of the main arm 203. A third telescopic cylinder ear seat 211 is fixedly connected to the outer wall of the auxiliary arm 204 away from the end of the main arm 203. A groove is provided on the outer wall of the upper side of the end of the auxiliary arm 204 away from the main arm 203, and a supporting clamp mounting plate 213 is embedded in the groove of the auxiliary arm 204. One side of a maintenance device mounting ear seat 214 is fixedly connected to the end surface of the auxiliary arm 204 close to the supporting clamp mounting plate 213, and small holes are provided on the upper and lower sides of the maintenance device mounting ear seat 214 away from the auxiliary arm 204.

[0048] The first telescopic cylinder ear seat 208 is fixedly connected to the closed end of the cylinder body of the first telescopic cylinder 202. The side wall of the open end of the cylinder body of the first telescopic cylinder 202 is fixedly connected to the telescopic cylinder ear plate 209. The telescopic cylinder ear plate 209 is fixedly connected to the closed end of the cylinder body of the second telescopic cylinder 212. The end of the rod body of the first telescopic cylinder 202 is fixedly connected to the second telescopic cylinder ear seat 210. The end of the rod body of the second telescopic cylinder 212 is fixedly connected to the third telescopic cylinder ear seat 211. The supporting clamp 1 includes a supporting clamp frame 101 and a supporting clamp bracket 113. The supporting clamp bracket 113 is fixedly connected to the bottom of the supporting clamp frame 101. The supporting clamp bracket 113 is connected to the supporting clamp mounting plate 213. The supporting clamp frame 101 is hinged with a left clamp claw 102 and a right clamp claw 103. The left clamp claw 102 and the right clamp claw 103 are arranged in coordination. The manned maintenance device 4 includes a manned maintenance device frame 401. The structure of the manned maintenance device frame 401 is in the shape of a basket with an opening upward. A maintenance device telescopic cylinder 402 is fixedly connected to the bottom of the manned maintenance device frame 401. The small hole above the side of the maintenance device mounting ear seat 214 is hinged to the lower end of the maintenance device frame 401, and the small hole below the side of the maintenance device mounting ear seat 214 is hinged to the maintenance device telescopic cylinder 402.

Claims

1. A derrick manipulator with pushing, supporting and maintenance functions, characterized by: The invention comprises a mounting seat (3), wherein the mounting seat (3) comprises a mounting seat body (301), wherein the mounting seat body (301) is in the shape of a rectangular block, wherein one end of the mounting seat body (301) is hingedly connected to a first connecting seat (302), wherein the first connecting seat (302) is hingedly connected to a derrick (6), wherein one end of a diagonal beam (304) is hingedly connected to the top of the other end of the mounting seat body (301), wherein a mechanical arm (2) is arranged below one end of the diagonal beam (304) hingedly connected to the mounting seat body (301), wherein the mechanical arm (2) comprises a supporting clamp mounting plate (213), wherein the supporting clamp mounting plate (213) is arranged in cooperation with the supporting clamp (1), wherein a maintenance device mounting ear seat (214) is arranged below the supporting clamp mounting plate (213), wherein the maintenance device mounting ear seat (214) is arranged in cooperation with a manned maintenance device (4).

2. The derrick manipulator with pushing, supporting and maintenance functions as claimed in claim 1, characterized in that: The inclined beam (304) has a square frame structure, and the other end of the inclined beam (304) is hinged to the derrick (6) through a second connecting seat (305). A horizontal rotating device (303) is arranged below one end of the mounting seat body (301) away from the derrick (6). The horizontal rotating device (303) has a wheel-shaped structure, and the wheel axle of the horizontal rotating device (303) is fixedly connected to the mounting seat body (301), and the wheel edge of the horizontal rotating device (303) is fixedly connected to the wheel axle of the vertical rotating device (207).

3. The derrick manipulator with pushing, supporting and maintenance functions as claimed in claim 2, characterized in that: The mechanical arm (2) comprises a vertical rotating device (207), the vertical rotating device (207) is wheel-shaped, and a telescopic arm (201) is fixedly connected to the wheel edge of the vertical rotating device (207).

4. The derrick manipulator with pushing, supporting and repairing functions as claimed in claim 3, characterized in that: The telescopic arm (201) comprises a main arm (203), a secondary arm (204) and an outer tube (205); the secondary arm (204) is rod-shaped; the outer tube (205) and the main arm (203) are hollow rod-shaped with one end closed; the closed end of the outer tube (205) is fixedly connected to the wheel edge of the vertical rotating device (207); the other end of the outer tube (205) is inserted into the closed end of the main arm (203); a first telescopic cylinder ear seat (208) is fixedly connected to the side wall of the outer tube (205) close to the closed end; a telescopic cylinder ear plate (209) is fixedly connected to the side wall of the outer tube (205) away from the closed end; and the side wall of the main arm (203) close to the open end is fixedly connected to the telescopic cylinder ear seat (208); and a telescopic cylinder ear plate (209) is fixedly connected to the side wall of the outer tube (205) away from the closed end. A second telescopic cylinder ear seat (210) is fixedly connected to the main arm (203); one end of the auxiliary arm (204) is inserted into the opening end of the main arm (203); a third telescopic cylinder ear seat (211) is fixedly connected to the outer wall of the auxiliary arm (204) away from the main arm (203); a groove is formed on the outer wall of the upper side of the auxiliary arm (204) away from the main arm (203); a supporting clamp mounting plate (213) is embedded in the groove of the auxiliary arm (204); one side of a maintenance device mounting ear seat (214) is fixedly connected to the end surface of the auxiliary arm (204) close to the supporting clamp mounting plate (213); and small holes are formed on the upper and lower sides of the maintenance device mounting ear seat (214) away from the auxiliary arm (204).

5. The derrick manipulator with pushing, supporting and repairing functions as claimed in claim 4, characterized in that: The first telescopic cylinder ear seat (208) is fixedly connected to a closed end port of the cylinder body of the first telescopic cylinder (202); a telescopic cylinder ear plate (209) is fixedly connected to a side wall of an open end of the cylinder body of the first telescopic cylinder (202); the telescopic cylinder ear plate (209) is fixedly connected to a closed end port of the cylinder body of the second telescopic cylinder (212); one end port of the rod body of the first telescopic cylinder (202) is fixedly connected to the second telescopic cylinder ear seat (210); and one end port of the rod body of the second telescopic cylinder (212) is fixedly connected to the third telescopic cylinder ear seat (211).

6. The derrick manipulator with pushing, supporting and repairing functions as claimed in claim 5, characterized in that: The supporting clamp (1) comprises a supporting clamp frame (101) and a supporting clamp bracket (113), wherein the supporting clamp bracket (113) is fixedly connected to the lower side of the supporting clamp frame (101), and the supporting clamp bracket (113) is connected to a supporting clamp mounting plate (213), and a left clamp claw (102) and a right clamp claw (103) are hingedly connected to the supporting clamp frame (101), and the left clamp claw (102) and the right clamp claw (103) are arranged in coordination.

7. The derrick manipulator with pushing, supporting and repairing functions as claimed in claim 5, characterized in that: The manned maintenance device (4) comprises a manned maintenance device frame (401), the structure of the manned maintenance device frame (401) is in the shape of a basket with an opening facing upwards, a maintenance device telescopic cylinder (402) is fixedly connected below the manned maintenance device frame (401), a small hole above the side of the maintenance device mounting ear seat (214) is hinged to the lower end of the maintenance device frame (401), and a small hole below the side of the maintenance device mounting ear seat (214) is hinged to the maintenance device telescopic cylinder (402).

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