CN117868711A - Turnover pipe grabbing machine manipulator and method - Google Patents

Abstract

The invention discloses a turnover pipe grabbing manipulator and a turnover pipe grabbing method, and relates to the technical field of petroleum equipment, and the turnover pipe grabbing manipulator comprises a mounting seat, wherein an upper connecting rod and a lower connecting rod are respectively and rotatably connected to the upper end and the lower end of the mounting seat, a gesture rod is rotatably connected to the other end of the upper connecting rod, the gesture rod is rotatably connected to the lower connecting rod, a lifting oil cylinder is rotatably connected to the middle part of the upper connecting rod, the lifting oil cylinder is rotatably connected to the other end of the upper connecting rod, a turnover frame is rotatably connected to one end, close to the gesture rod, of the upper connecting rod, and a turnover oil cylinder is rotatably connected to the middle part of the turnover frame; according to the turnover pipe grabbing machine manipulator, a drilling tool processing mode combining lifting and turnover is adopted, so that automatic drilling tool processing equipment is effectively reduced, the operation flow is simplified, and the problem of improving the tripping efficiency is solved.

Description

Turnover pipe grabbing machine manipulator and method

Technical Field

The invention relates to the technical field of petroleum equipment, in particular to a turnover pipe grabbing manipulator and a turnover pipe grabbing method.

Background

At present, when an oilfield is subjected to automatic drilling operation, a walking beam type catwalk is used for conveying a drill rod to a table top, and then the top drive is used for lifting the drill rod to a rat hole or a borehole center through a lifting ring and a hydraulic elevator for drilling or erecting; the operation mode needs the auxiliary mechanical arm of the table top, the righting arm, the racking platform calandria machine and the top drive to assist in completing the operation flow of the lifting and the tripping of the drilling tool or the drilling of the drilling machine, the number of automatic tools involved in the operation is large, the number of the operation joint points is large, the lifting and the tripping time of each column of drilling tool is generally more than or equal to 3 minutes, the lifting and the tripping efficiency is low, and the potential safety hazard of overturning exists in a walking beam type catwalk in a high position, so that the turnover pipe grabbing mechanical arm and the turnover pipe machine mechanical arm are provided, and the turnover pipe grabbing mechanical arm and the turnover pipe grabbing mechanical method are used for solving the problems.

Disclosure of Invention

The invention provides a turnover pipe grabbing manipulator and a turnover pipe grabbing method, and solves the technical problems.

In order to solve the technical problems, the invention provides a turnover pipe gripping manipulator and a turnover method, the turnover pipe gripping manipulator comprises a mounting seat, an upper connecting rod and a lower connecting rod are respectively connected at the upper end and the lower end of the mounting seat in a rotating way, a gesture rod is respectively connected at the other end of the upper connecting rod opposite to the mounting seat in a rotating way, a lower connecting rod is respectively connected at the other end of the gesture rod opposite to the gesture rod in a rotating way, a lifting cylinder is respectively connected at the middle part of the lifting cylinder opposite to the other end of the upper connecting rod in a rotating way, a turnover frame is respectively connected at one end of the upper connecting rod, which is close to the gesture rod, a turnover cylinder is respectively connected with the gesture rod at the other end of the turnover frame, a fixed arm is fixed at the lower end of the turnover frame, telescopic arms are respectively connected at two sides of the fixed arms in a sliding way, an upper clamping clamp and a lower clamping clamp are respectively fixed at the other end of the telescopic cylinder opposite to the telescopic cylinder and the floating cylinder, a lower clamping clamp is respectively connected at the middle part of the fixed arm, and the telescopic cylinder and the other end of the floating cylinder is respectively opposite to the lower clamping clamp and the telescopic clamp is connected with a fixed at the bottom of the fixed arm.

Preferably, the upper clamping pliers comprise pliers frames, the side edges of the pliers frames are rotationally connected with clamping oil cylinders, the other ends of the clamping oil cylinders, which are opposite to the pliers frames, are rotationally connected with clamping arms, the middle parts of the clamping arms are rotationally connected with the pliers frames, detection mechanisms are fixed in the pliers frames, and pliers tooth seats are fixed at the bottoms of the pliers frames.

Preferably, the mounting seat is connected with the upper connecting rod through an upper left pin shaft and an upper right pin shaft, and the mounting seat is connected with the lower connecting rod through a lower right pin shaft and a lower left pin shaft.

Preferably, two ends of the lifting oil cylinder are respectively connected with the mounting seat and the upper connecting rod through an oil cylinder bottom pin shaft and an oil cylinder top pin shaft.

Preferably, the gesture rod is connected with the upper connecting rod through a left positioning pin shaft and a right positioning pin shaft, and the gesture rod is connected with the lower connecting rod through a right connecting pin shaft and a left connecting pin shaft.

Compared with the related art, the turnover pipe grabbing mechanical hand and the turnover pipe grabbing mechanical hand method have the following beneficial effects:

1. according to the turnover pipe grabbing machine manipulator, a drilling tool processing mode combining lifting and turnover is adopted, so that automatic drilling tool processing equipment is effectively reduced, the operation flow is simplified, and the problem of improving the tripping efficiency is solved.

2. The turnover type pipe grabbing machine manipulator only needs to be matched with a low-position horizontal conveying catwalk machine, a conventional beam type catwalk lifting machine is omitted, and the potential safety hazards of overturning and the operation risk that the pipe falls from the catwalk when the beam type catwalk is in a high position are avoided.

Drawings

FIG. 1 is a main block diagram of the present invention;

FIG. 2 is a side elevational view of the present invention;

FIG. 3 is a block diagram of a mounting base according to the present invention;

FIG. 4 is a block diagram of a posture lever in the present invention;

FIG. 5 is a structural view of the roll-over stand in the present invention;

FIG. 6 is a block diagram of a clamping jaw apparatus according to the present invention;

fig. 7 is a structural view of the upper clamping jaw of the present invention.

Reference numerals in the drawings: 1. a mounting base; 11. the left pin shaft is arranged on the upper part; 12. a right pin shaft is arranged on the upper part; 13. a lower right pin shaft; 14. a lower left pin shaft; 2. lifting the oil cylinder; 21. the bottom pin shaft of the oil cylinder; 22. the pin shaft is arranged at the top of the oil cylinder; 3. an upper connecting rod; 4. a posture lever; 41. a left positioning pin shaft; 42. a right positioning pin shaft; 43. a right connecting pin shaft; 44. a left connecting pin shaft; 5. a turnover oil cylinder; 6. a roll-over stand; 61. a pin shaft; 7. a clamping jaw device; 71. a fixed arm; 72. a telescoping arm; 73. an upper clamping jaw; 731. clamping an oil cylinder; 732. a clamp frame; 733. a clamping arm; 734. a clamp tooth seat; 735. a detection mechanism; 74. a lower clamping jaw; 75. a telescopic oil cylinder; 76. a floating oil cylinder; 77. a positioning device; 8. and a lower connecting rod.

Detailed Description

The embodiment is given by fig. 1-7, the invention comprises a turnover pipe grabbing manipulator and a turnover method, the turnover pipe grabbing manipulator comprises a mounting seat 1, an upper connecting rod 3 and a lower connecting rod 8 are respectively connected at the upper end and the lower end of the mounting seat 1 in a rotating mode, a gesture rod 4 is respectively connected at the two sides of the upper connecting rod 3 relative to the other end of the mounting seat 1 in a rotating mode, a lower connecting rod 8 is respectively connected at the other end of the gesture rod 4 relative to the upper connecting rod 3 in a rotating mode, a lifting oil cylinder 2 is respectively connected at the middle part of the upper connecting rod 3 relative to the other end of the upper connecting rod 3 in a rotating mode, a turnover frame 6 is respectively connected at one end of the upper connecting rod 3 close to the gesture rod 4 in a rotating mode, a turnover oil cylinder 5 is respectively connected with the gesture rod 4 at the other end of the turnover frame 6 in a rotating mode, a fixed arm 71 is respectively connected at two sides of the fixed arm 71 in a sliding mode, a telescopic arm 72 is respectively fixed at the other end of the telescopic arm 72 relative to the fixed arm 71, an upper clamping pliers 73 and a lower clamping pliers 74, a telescopic oil cylinder 75 and a floating oil cylinder 76 are respectively connected at the middle part of the fixed arm 71, a telescopic arm 75 and a floating oil cylinder 76 are respectively, a positioning device 77 is respectively fixed at the bottom of the telescopic arm 75 and the floating pliers 74 are respectively, and the fixed at the lower clamping arms 71 are respectively.

The upper clamping pliers 73 comprise a pliers frame 732, a clamping oil cylinder 731 is rotationally connected to the side edge of the pliers frame 732, a clamping arm 733 is rotationally connected to the other end of the clamping oil cylinder 731 opposite to the pliers frame 732, the middle part of the clamping arm 733 is rotationally connected with the pliers frame 732, a detection mechanism 735 is fixed in the pliers frame 732, and a pliers tooth seat 734 is fixed at the bottom of the pliers frame 732.

The mounting seat 1 is connected with the upper connecting rod 3 through an upper left pin 11 and an upper right pin 12, and the mounting seat 1 is connected with the lower connecting rod 8 through a lower right pin 13 and a lower left pin 14.

The two ends of the lifting oil cylinder 2 are respectively connected with the mounting seat 1 and the upper connecting rod 3 through an oil cylinder bottom pin shaft 21 and an oil cylinder top pin shaft 22.

The gesture lever 4 is connected with the upper connecting rod 3 through a left positioning pin 41 and a right positioning pin 42, and the gesture lever 4 is connected with the lower connecting rod 8 through a right connecting pin 43 and a left connecting pin 44.

The clamping pincers device 7 clamps the drilling tool through the front clamping pincers 73 and the rear clamping pincers 74, the clamping oil cylinder 731 stretches, then the clamping arm 733 clamps the drilling tool in the middle, the lifting oil cylinder 2 stretches to drive the upper connecting rod 3 to rotate upwards, the posture rod 4 keeps unchanged relative posture with the ground, after the lifting oil cylinder 2 reaches a certain height, the overturning oil cylinder 5 stretches, the overturning frame 6 drives the clamping pincers device 7 to change from a horizontal posture to a vertical posture, after a drilling rod enters an elevator opening, the elevator can be closed, then the telescopic oil cylinder 75 acts to enable the drilling tool to be lowered to a certain height, the drilling rod is completely delivered to a top drive or the elevator, and the whole tubular column lifting operation is completed.

Claims (6)

1. The utility model provides a turnover pipe grabbing machine manipulator, includes mount pad (1), its characterized in that, the upper and lower both ends of mount pad (1) are rotated respectively and are connected with upper connecting rod (3) and lower connecting rod (8), the other end rotation of upper connecting rod (3) relative mount pad (1) is connected with gesture pole (4), the other end rotation of gesture pole (4) relative upper connecting rod (3) is connected with lower connecting rod (8), the middle part rotation of upper connecting rod (3) is connected with lift cylinder (2), the other end and mount pad (1) rotation of lift cylinder (2) relative upper connecting rod (3) are connected, the one end rotation that upper connecting rod (3) is close to gesture pole (4) is connected with upset hydro-cylinder (5), the other end and gesture pole (4) of upset hydro-cylinder (5) are connected, the lower extreme of upset hydro-cylinder (6) is fixed with fixed arm (71), the both sides of fixed arm (71) are connected with respectively sliding, the flexible arm (72) is fixed with relative clamping arm (72) and flexible clamp (73) down respectively, the middle part of fixed arm (71) is connected with flexible hydro-cylinder (75) and floating hydro-cylinder (76) and flexible hydro-cylinder (75) and floating hydro-cylinder (76) are in opposite directions, the other end of flexible hydro-cylinder (75) and floating hydro-cylinder (76) is connected with lower centre gripping pincers (74) and flexible arm (72) respectively, the bottom of fixed arm (71) is fixed with positioner (77).

2. The turnover pipe grabbing mechanical hand according to claim 1, wherein the upper clamping pliers (73) comprise pliers frames (732), clamping oil cylinders (731) are rotatably connected to the sides of the pliers frames (732), clamping arms (733) are rotatably connected to the other ends of the clamping oil cylinders (731) opposite to the pliers frames (732), the middle portions of the clamping arms (733) are rotatably connected with the pliers frames (732), detection mechanisms (735) are fixed inside the pliers frames (732), and pliers tooth seats (734) are fixed to the bottoms of the pliers frames (732).

3. The turnover pipe grabbing manipulator according to claim 1, wherein the mounting base (1) and the upper connecting rod (3) are connected through an upper left pin shaft (11) and an upper right pin shaft (12), and the mounting base (1) and the lower connecting rod (8) are connected through a lower right pin shaft (13) and a lower left pin shaft (14).

4. The turnover pipe grabbing manipulator as claimed in claim 1, wherein two ends of the lifting oil cylinder (2) are respectively connected with the mounting base (1) and the upper connecting rod (3) through an oil cylinder bottom pin shaft (21) and an oil cylinder top pin shaft (22).

5. The overturning pipe grabbing manipulator according to claim 1, wherein the gesture rod (4) is connected with the upper connecting rod (3) through a left locating pin shaft (41) and a right locating pin shaft (42), and the gesture rod (4) is connected with the lower connecting rod (8) through a right connecting pin shaft (43) and a left connecting pin shaft (44).

6. The method of claim 1-5, wherein the drill pipe is lifted by a flip-top gripper:

the clamping pincers device (7) clamps a drilling tool through the front clamping pincers (73) and the rear clamping pincers (74), the clamping oil cylinder (731) stretches, the clamping arm (733) clamps the drilling tool in the middle, the lifting oil cylinder (2) stretches to drive the upper connecting rod (3) to rotate upwards, the posture rod (4) keeps unchanged relative posture with the ground, after the lifting oil cylinder (2) reaches a certain height, the overturning oil cylinder (5) starts stretching, the overturning frame (6) drives the clamping pincers device (7) to change from a horizontal posture to a vertical posture, when the drilling rod enters an elevator opening, the elevator can be closed, then the telescopic oil cylinder (75) acts to lower the drilling tool to a certain height, and the drilling rod is completely delivered to the top drive or the elevator, so that the whole tubular column lifting operation is completed.