Manipulator with mechanical limiting mechanism

Abstract

The utility model belongs to the technical field of mechanical arm rotation, and particularly relates to a manipulator with a mechanical limiting mechanism, which comprises a mechanical arm main body and a mechanical extension arm connected to the lower end of the mechanical arm main body in a sliding manner, a connecting seat is mounted on the surface of the mechanical extension arm, and a driving mechanism is mounted on the surface of the connecting seat. A stretching shaft of the driving mechanism is fixedly connected to the surface of the mechanical arm body through a hinged support, a rotating seat is fixedly connected to the upper end of the mechanical arm body, a first limiting assembly is arranged on one side of the rotating seat, a rotating arm is installed on the surface of the rotating seat, and a paw is installed at the end, away from the rotating seat, of the rotating arm; the angle of the manipulator claw reaching the center of the wellhead can be determined, and the manipulator can reach the set position every time the manipulator rotates.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical arm rotation technical field, concretely relates to a mechanical hand with mechanical positioner. BACKGROUND

[0002] In the oil field workover operation process, the automatic pipe supporting and connecting has the problem of inaccurate positioning, which leads to inaccurate centering of the wellhead when lowering the pipe, and reduces the work efficiency.

[0003] In order to solve this problem, a mechanical hand with mechanical positioner is designed. CONTENT OF THE UTILITY MODEL

[0004] To solve the problems in the background art, the utility model provides a mechanical hand with mechanical positioner, which can determine the angle of the mechanical hand claw reaching the wellhead center and realize that the mechanical hand can reach the set position each time.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a mechanical hand with mechanical positioner, comprising a mechanical arm body and a mechanical stretching arm slidingly connected to the lower end of the mechanical arm body, a connecting seat is installed on the surface of the mechanical stretching arm, a driving mechanism is installed on the surface of the connecting seat, the stretching shaft of the driving mechanism is fixedly connected to the surface of the mechanical arm body through a hinge seat, a rotating seat is fixedly connected to the upper end of the mechanical arm body, a rotating arm is installed on the surface of the rotating seat, and a claw is installed on the end of the rotating arm away from the rotating seat.

[0006] As a preferred mechanical hand with mechanical positioner of the utility model, it further comprises a limiting assembly one arranged on one side of the rotating seat, the limiting assembly one comprises an installation table one fixedly connected to the upper end of the mechanical arm body, an installation seat is fixedly connected to the surface of the installation table one, a rotating limiting seat is rotatably connected to the inner side of the installation seat through bolts, and limiting clamping plates are fixedly connected to the two ends of the rotating limiting seat.

[0007] As a preferred mechanical hand with mechanical positioner of the utility model, a limiting stopper is fixedly connected to the surface of the rotating arm, the limiting stopper is matched with the limiting clamping plate, and a limiting adjusting bolt one is threadedly connected to the surface of the limiting clamping plate.

[0008] As a preferred mechanical hand with mechanical positioner of the utility model, a lifting oil cylinder one is installed on the surface of the mechanical arm body, the stretching shaft of the lifting oil cylinder one penetrates the surface of the installation table one and is fixedly connected to one end of the rotating limiting seat.

[0009] As a kind of mechanical hand with mechanical limiting mechanism preferred of the utility model, it further includes the limiting assembly two being arranged in the one side of rotary seat, the limiting assembly two includes the U-shaped mounting bracket being fixedly connected on the surface of mechanical arm main body, the surface of U-shaped mounting bracket is equipped with lifting cylinder two, the surface of rotary seat is fixedly connected with installation table two, the surface of installation table two is fixedly connected with lifting clamping groove, the inner side of lifting clamping groove is slidably connected with limiting lifting seat, limiting lifting seat and installation table two are slidably connected, the lower end of limiting lifting seat is connected with push plate by bolt, the extension shaft of lifting cylinder two is connected on the surface of push plate by bolt, the surface of rotary seat is fixedly connected with rotary disc.

[0010] As a kind of mechanical hand with mechanical limiting mechanism preferred of the utility model, the surface of rotary disc is fixedly connected with limiting block, the surface of limiting lifting seat is equipped with the limiting slot matched with limiting block.

[0011] As a kind of mechanical hand with mechanical limiting mechanism preferred of the utility model, the surface of lifting clamping groove is threadedly connected with limiting adjusting bolt two.

[0012] Compared with prior art, the utility model has the beneficial effects that:

[0013] 1, join limiting assembly one on the application, can determine the angle of mechanical hand gripper to reach wellhead center, realizes that mechanical hand can reach the set position each time rotates, and for different wellhead, angle is adjusted through limiting adjusting bolt one, realizes the purpose that mechanical hand gripper is centered to wellhead.

[0014] 2, join limiting assembly two on the application, design lifting mechanical hand with mechanical limiting mechanism, lifting is lifted using lifting cylinder two, the relative angle of limiting lifting seat and lifting clamping groove is adjusted, the angle of mechanical hand gripper to reach wellhead center is determined, realizes that mechanical hand can reach the set position each time rotates, limiting lifting seat lifting movement realizes the rotation operation of avoiding rotary disc and rotary arm, limiting adjusting bolt two can be angle adjusted, for different wellhead, the purpose that mechanical hand gripper is centered to wellhead is realized through angle adjustment.

[0015] 3, when lifting cylinder is driven to rise or descend, mechanical hand has limiting effect in the pipe connection position or pipe delivery position of wellhead. DRAWINGS

[0016] The drawings are used to provide further understanding of the utility model, and constitute part of the specification, and with the embodiment of the utility model, for explaining the utility model, and do not constitute the limitation to the utility model.In the drawings:

[0017] Figure 1 It is the whole structure schematic diagram of the utility model.

[0018] Figure 2 It is the structure schematic view of the rotating limiting seat in the utility model;

[0019] Figure 3 It is the structure schematic view of the rotating limiting seat in the utility model; Figure 1 It is the enlarged view of A place;

[0020] Figure 4 It is the structure schematic view of the rotating limiting seat in the utility model; Figure 2 It is the enlarged view of B place;

[0021] Figure 5 It is the structure schematic view of the mounting table two in the utility model;

[0022] Figure 6 It is the structure schematic view of the lifting oil cylinder two in the utility model;

[0023] Figure 7 It is the structure schematic view of the limiting lifting seat in the utility model;

[0024] Figure 8 It is the structure schematic view of the rotating limiting seat in the utility model; Figure 7 It is the enlarged view of C place;

[0025] Figure 9 It is the structure schematic view of the limiting adjusting bolt two in the utility model;

[0026] In the figure:

[0027] 1, mechanical arm main body;2, connecting seat;3, drive mechanism;4, mechanical stretching arm;5, rotating arm;6, paw;7, limiting assembly two;71, U-shaped mounting bracket;72, lifting oil cylinder two;73, push plate;74, limiting lifting seat;75, lifting clamping groove;76, limiting groove;77, rotating disc;78, limiting clamping block;79, limiting adjusting bolt two;710, mounting table two;8, rotating seat;9, limiting assembly one;91, mounting table one;92, lifting oil cylinder one;93, rotating limiting seat;94, limiting clamping plate;95, limiting stopper;96, limiting adjusting bolt one;97, mounting seat. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model. Embodiment 1

[0029] As shown in the figure; Figure 1

[0030] ​A mechanical hand with a mechanical limiting mechanism, comprising a mechanical arm body 1 and a mechanical stretching arm 4 slidingly connected to the lower end of the mechanical arm body 1.

[0031] In this embodiment, during the oilfield workover operation, the automatic pipe supporting and connecting device is not accurately positioned, resulting in inaccurate centering of the wellhead during pipe lowering, and reducing work efficiency. To solve this technical problem, a limiting component one 9 or a limiting component two 7 is added.

[0032] Further,

[0033] As shown in Figures 1 to 4 ,

[0034] In combination with the above, the surface of the mechanical stretching arm 4 is provided with a connecting seat 2, the surface of the connecting seat 2 is provided with a driving mechanism 3, the stretching shaft of the driving mechanism 3 is fixedly connected to the surface of the mechanical arm body 1 through a hinge seat, the upper end of the mechanical arm body 1 is fixedly connected with a rotating seat 8, the surface of the rotating seat 8 is provided with a rotating arm 5, and the end of the rotating arm 5 away from the rotating seat 8 is provided with a gripper 6.

[0035] In this embodiment, because the surface of the mechanical arm body 1 is provided with the rotating seat 8, the worker can push the mechanical arm body 1 to move by starting the driving mechanism 3 installed on the surface of the connecting seat 2 during work, and the mechanical arm body 1 and the mechanical stretching arm 4 slide during this process. When the mechanical arm body 1 reaches the appropriate height, the rotating arm 5 is rotated by controlling the rotating seat 8, thereby driving the gripper 6 to move. With this design, the worker can easily grab the oil pipe or lay the pipe.

[0036] Further,

[0037] In an optional embodiment, a limiting component one 9 is further arranged on one side of the rotating seat 8, the limiting component one 9 comprises a mounting table one 91 fixedly connected to the upper end of the mechanical arm body 1, the surface of the mounting table one 91 is fixedly connected with a mounting seat 97, the inner side of the mounting seat 97 is rotatably connected with a rotating limiting seat 93 through a bolt, and the two ends of the rotating limiting seat 93 are fixedly connected with a limiting clamping plate 94.

[0038] In this embodiment, because the rotating limiting seat 93 is arranged, after the worker controls the rotating seat 8 to rotate the rotating arm 5, the limiting clamping plate 94 connected to the surface of the rotating limiting seat 93 can be used to limit and fix the rotating arm 5. With this design, the gripper 6 can center the wellhead.

[0039] Further,

[0040] In an optional embodiment, the surface of the rotating arm 5 is fixedly connected with a limiting block 95, the limiting block 95 is matched with the limiting clamping plate 94, and the surface of the limiting clamping plate 94 is threadedly connected with a limiting adjusting bolt 96.

[0041] In the embodiment, the limiting block 95 is matched with the limiting clamping plate 94, the angle of the rotating arm 5 can be adjusted by using the limiting adjusting bolt 96, and the accuracy of the wellhead centering by the gripper 6 can be further improved.

[0042] Further,

[0043] In an optional embodiment, the surface of the mechanical arm body 1 is provided with a lifting oil cylinder 92, the extending shaft of the lifting oil cylinder 92 penetrates through the surface of the mounting table 91 and is fixedly connected with one end of the rotating limiting seat 93.

[0044] In the embodiment, the surface of the mechanical arm body 1 is provided with the lifting oil cylinder 92, the limiting block 95 is rotated with the rotating seat 8 and the rotating arm 5, when reaching the specified position, the lifting oil cylinder 92 is retracted, the rotating limiting seat 93 is lifted on one side, and the limiting block 95 connected to the surface of the rotating arm 5 is stopped, thereby realizing mechanical limiting and achieving the purpose of the mechanical hand gripper 6 centering the wellhead. When the rotating arm 5 rotates, the lifting oil cylinder 92 lowers the rotating limiting seat 93 to avoid the limiting block 95, and realizes the normal rotation of the rotating arm 5. By using this design, the rotation operation of the rotating arm 5 is realized.

[0045] Further,

[0046] As shown in Figures 5 to 9

[0047] In an optional embodiment, the surface of the rotating arm 5 is fixedly connected with a limiting block 95, the limiting block 95 is matched with the limiting clamping plate 94, and the surface of the limiting clamping plate 94 is threadedly connected with a limiting adjusting bolt 96.

[0048] ​In the embodiment, the rotary seat 8 is controlled to rotate the rotary arm 5, and then the worker controls the second lifting oil cylinder 72 to push the push plate 73, so that the limiting lifting seat 74 slides on the surface of the second mounting table 710, and the rotary arm 5 is limited and fixed through the cooperation between the limiting lifting seat 74 and the rotary disc 77. In this way, the gripper 6 can be centered on the well mouth.

[0049] Further,

[0050] In an optional embodiment, the surface of the rotary disc 77 is fixedly connected with a limiting block 78, and the surface of the limiting lifting seat 74 is provided with a limiting groove 76 matched with the limiting block 78.

[0051] In the embodiment, the limiting block 78 is matched with the limiting groove 76, so that the rotary arm 5 can be conveniently limited and fixed.

[0052] Further,

[0053] In an optional embodiment, the surface of the lifting groove 75 is screw-connected with a second limiting adjusting bolt 79.

[0054] In the embodiment, the second limiting adjusting bolt 79 is arranged, so that the worker can adjust the angle of the rotary arm 5 by using the second limiting adjusting bolt 79, and the accuracy of the gripper 6 in centering the well mouth can be further improved.

[0055] Working principle: because the surface of the mechanical arm body 1 is provided with rotating seat 8, workers can start the drive mechanism 3 installed on the surface of the connecting seat 2 when working, the extension shaft of the drive mechanism 3 pushes the mechanical arm body 1 to move, in this process, the mechanical arm body 1 and the mechanical extension arm 4 slide, when the mechanical arm body 1 reaches the appropriate height, the rotation of the rotating arm 5 is realized by controlling the rotating seat 8, so as to drive the hand claw 6 to move, by adopting this design, workers can conveniently grab the oil pipe or lay the pipe, because the rotating limiting seat 93 is arranged, after the rotating arm 5 is rotated by the rotating seat 8 in the air, the rotating limiting seat 93 can be limited and fixed on the surface of the limiting clamping plate 94, by adopting this design, the purpose of the hand claw 6 centering on the wellhead can be realized, because the limiting block 95 and the limiting clamping plate 94 are matched, workers can adjust the angle of the rotating arm 5 by using the limiting adjusting bolt one 96, by adopting this design, the accuracy of the hand claw 6 centering on the wellhead can be further increased, because the surface of the mechanical arm body 1 is provided with the lifting cylinder one 92, the limiting block 95 rotates with the rotating arm 5 driven by the rotating seat 8, when reaching the specified position, the lifting cylinder one 92 retracts, one side of the rotating limiting seat 93 is lifted up and presses against the limiting block 95 connected to the surface of the rotating arm 5, thereby realizing mechanical limiting, achieving the purpose of the mechanical hand claw 6 centering on the wellhead, when the rotating arm 5 rotates, the lifting cylinder one 92 drops the rotating limiting seat 93, avoiding the limiting block 95, realizing the normal rotation of the rotating arm 5, by adopting this design, the rotation operation of the rotating arm 5 is realized;

[0056] Because the limiting lifting seat 74 is arranged, after the rotating arm 5 is rotated by controlling the rotating seat 8, workers can control the lifting cylinder two 72, the extension shaft of the lifting cylinder two 72 pushes the push plate 73, thereby making the limiting lifting seat 74 slide on the surface of the mounting table two 710, the rotating arm 5 is limited and fixed through the cooperation between the limiting lifting seat 74 and the rotating disc 77, by adopting this design, the purpose of the hand claw 6 centering on the wellhead can be realized, because the limiting clamping block 78 and the limiting groove 76 are matched, by adopting this design, workers can further conveniently limit and fix the rotating arm 5, because the limiting adjusting bolt two 79 is arranged, by adopting this design, workers can adjust the angle of the rotating arm 5 by using the limiting adjusting bolt two 79, by adopting this design, the accuracy of the hand claw 6 centering on the wellhead can be further increased.

[0057] Finally, it should be pointed out that: the above only for the preferred embodiments of the utility model and does not limit the utility model, although the utility model has been described in detail with reference to the foregoing embodiments, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or make equivalent replacement to part of the technical features. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A mechanical hand with mechanical limiting mechanism, comprising a mechanical arm body (1) and a mechanical stretching arm (4) slidingly connected to the lower end of the mechanical arm body (1), characterized in that: The surface of the mechanical stretching arm (4) is provided with a connecting seat (2), the surface of the connecting seat (2) is provided with a driving mechanism (3), the stretching shaft of the driving mechanism (3) is fixedly connected to the surface of the mechanical arm body (1) through a hinge seat, the upper end of the mechanical arm body (1) is fixedly connected with a rotating seat (8), the surface of the rotating seat (8) is provided with a rotating arm (5), and the end of the rotating arm (5) away from the rotating seat (8) is provided with a gripper (6). Further comprising a limiting assembly one (9) arranged on one side of the rotating seat (8), the limiting assembly one (9) comprises an installation table one (91) fixedly connected to the upper end of the mechanical arm body (1), the surface of the installation table one (91) is fixedly connected with a mounting seat (97), the inner side of the mounting seat (97) is rotatably connected with a rotating limiting seat (93) through a bolt, and the both ends of the rotating limiting seat (93) are fixedly connected with limiting clamping plates (94).

2. The robot with mechanical limit mechanism according to claim 1, characterized in that: The surface of the rotating arm (5) is fixedly connected with a limiting block (95), the limiting block (95) and the limiting clamping plate (94) are matched, and the surface of the limiting clamping plate (94) is threadedly connected with a limiting adjusting bolt one (96).

3. The robot with mechanical limit mechanism according to claim 2, characterized in that: The surface of the mechanical arm body (1) is provided with a lifting oil cylinder one (92), the stretching shaft of the lifting oil cylinder one (92) penetrates the surface of the installation table one (91) and is fixedly connected with one end of the rotating limiting seat (93).

4. The robot with mechanical stop mechanism according to claim 1, wherein: Further comprising a limiting assembly two (7) arranged on one side of the rotating seat (8), the limiting assembly two (7) comprises a U-shaped mounting frame (71) fixedly connected to the surface of the mechanical arm body (1), the surface of the U-shaped mounting frame (71) is provided with a lifting oil cylinder two (72), the surface of the rotating seat (8) is fixedly connected with an installation table two (710), the surface of the installation table two (710) is fixedly connected with a lifting clamping groove (75), the inner side of the lifting clamping groove (75) is slidably connected with a limiting lifting seat (74), the limiting lifting seat (74) and the installation table two (710) are slidably connected, the lower end of the limiting lifting seat (74) is connected with a push plate (73) through a bolt, the stretching shaft of the lifting oil cylinder two (72) is connected to the surface of the push plate (73) through a bolt, and the surface of the rotating seat (8) is fixedly connected with a rotating disc (77).

5. The robot with mechanical limit mechanism according to claim 4, characterized in that: The surface of the rotating disc (77) is fixedly connected with a limiting clamping block (78), and the surface of the limiting lifting seat (74) is provided with a limiting groove (76) matched with the limiting clamping block (78).

6. The robot with mechanical limit mechanism according to claim 5, characterized in that: The surface of the lifting clamping groove (75) is threadedly connected with a limiting adjusting bolt two (79).

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