Manipulator with tiltable thumb web

Abstract

The invention relates to a manipulator with a tiltable thumb web. A piston connecting beam is connected with a piston of an action source, and one end of a back finger connecting block is pivoted with the back side of the piston connecting beam, the other end of the back finger connecting block is hinged to the outer side of a back finger tail end, one end of a front finger connecting block is hinged to the front side of the piston connecting beam, the other end of the front finger connecting block is hinged to the outer side of the front finger tail end, the tail end of a support is fixedly arranged on the action source, the back side of the front end of the support is hinged to the inner side of the tail end of a back finger through a back finger pin, the front side of the front end of the support is hinged to the inner side of the tail end of a front finger through a front finger pin, the inner sides of the back finger and the front finger are in arc shapes, ,the action source penetrates through a round hole in a connecting plate of the manipulator, a shifting block is fixedly arranged on the action source, a torsion spring is sleeved on the action source, and the two protruding rods of the torsion spring are arranged at the two sides of the connecting plate and the shifting block. The thumb web formed by the back finger and the front finger can tilt with the rotation of the action source, so that the vibration or drill pipe slipping can be prevented, and the working states of operating robots on a drilling platform can be improved.

Description

technical field [0001] The invention belongs to a tool used on the drilling site of an oil field, and is a supporting device on a drilling platform operation robot, in particular a manipulator with a tiltable jaw. Background technique [0002] In the process of drilling in the oil field, the work of tripping the drill pipe is to take the drill pipe out of the well and move the drill pipe to the array frame in sections, and move the drill pipe from the array frame to the wellhead when the drill pipe is lowered. Therefore, pushing the drill pipe is a frequent work in the drilling process. Due to the high labor intensity, low work efficiency and potential safety hazards of moving the drill pipe, technicians have developed mechanical devices to replace manual operations, such as Chinese patent application: 201310012602.4 "Drilling Platform Operation Robot", which can improve work efficiency and reduce labor intensity. , Eliminate the work requirements of potential safety hazard...

AI Technical Summary

Problems solved by technology

Due to the high labor intensity, low work efficiency and potential safety hazards of moving the drill pipe, technicians have developed mechanical devices to replace manual operations, such as Chinese patent application: 201310012602.4 "Drilling Platform Operation Robot", which can improve work efficiency and reduce labor intensity. , work requirements to eliminate potential safety hazards

However, the Chinese patent application: 201310012602.4 "Drilling Platform Operation Robot" does not allow the manipulator to tilt left and right with the drill pipe. When the pushed drill pipe tilts at a large angle, it is easy to cause torsional damage to the manipulator, and the working condition is poor.

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