Manipulator for lifting and lowering pipe tool

Abstract

The invention belongs to the technical field of oil and gas drilling equipment, and discloses a mechanical arm for lifting a pipe, which comprises a mechanical arm and a horizontal catwalk, the mechanical arm comprises a lifting mechanism, the lifting mechanism is arranged on the horizontal catwalk, the lifting mechanism is provided with a swing mechanism, the swing mechanism is provided with a luffing mechanism, the luffing mechanism is provided with a telescopic mechanism, and the telescopic mechanism is arranged on the horizontal catwalk. A righting mechanism is arranged in the middle of the telescopic mechanism, clamping mechanisms are arranged at the two ends of the telescopic mechanism, all the clamping mechanisms are used for clamping the upper position and the lower position of a pipe, and the righting mechanism is used for righting the pipe. Synchronous operation of the horizontal catwalk, the mechanical arm and the power head can be achieved, automatic telescopic buckling or releasing of the wellhead coupling can be achieved, and the operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to a robotic arm for lifting and lowering pipe tools, belonging to the technical field of oil and gas drilling equipment. Background Technology

[0002] In the field of oil and gas drilling equipment, robotic arms for pulling and lowering pipe tools are key equipment for achieving efficient and safe operations. As the industry continues to expand into deeper, ultra-deeper seabeds and complex marine environments, higher demands are being placed on the performance and functionality of these robotic arms. Currently, this type of equipment is developing towards intelligence, efficiency, and environmental friendliness, but it also faces technological bottlenecks and numerous challenges.

[0003] The applicant's research revealed the following problems with the robotic arm during operation:

[0004] 1. Currently, during the process of lifting and lowering the pipe tool, the robotic arm can only proceed to the next step after the horizontal catwalk hands the pipe tool to the clamping mechanism. At the same time, the robotic arm can only proceed to the next step after handing the pipe tool to the drilling power head. In this process, the horizontal catwalk, robotic arm, and drilling power head operate sequentially, interlocking and waiting for each other, and cannot be carried out synchronously, resulting in low work efficiency.

[0005] 2. When the robotic arm delivers the pipe to the center of the wellhead for coupling, due to the accumulation of long-term operational errors and ground settlement, misalignment or failure to couple may easily occur. In this case, it is impossible to quickly adjust the equipment forward or backward or left or right, which seriously affects the work efficiency.

[0006] 3. The clamping mechanism of traditional robotic arms has a single clamping pipe specification and limited size, and cannot clamp the full range of drill pipes, drill collars and casings. If clamping is required, different clamping mechanisms need to be changed. At the same time, the clamping mechanism cannot achieve synchronous clamping, so the clamping position of the pipe is not centered, which affects the fastening accuracy.

[0007] 4. The traditional coupling method involves the robotic arm first handing the pipe to the power head, and then the power head coupling the pipe to the wellhead coupling. At this time, manual assistance is required for coupling, which results in low work efficiency and safety hazards. The traditional method does not have the lifting function of the robotic arm and cannot realize the automatic extension and retraction coupling or disengagement of the wellhead coupling.

[0008] 5. Traditional horizontal catwalks are simply upper and lower pipes, requiring manual adjustment of the pipes' front and back positions, and manual measurement of the pipes' length and quantity. They cannot achieve automatic and accurate positioning, length measurement, and counting functions for the pipes; the degree of automation is low, and the manual labor intensity is high. Summary of the Invention

[0009] The technical problem this invention aims to solve is to overcome the shortcomings of existing technologies and provide a robotic arm for retrieving and lowering pipe tools, capable of achieving synchronous operation of a horizontal catwalk, robotic arm, and power head, as well as automatic extension and retraction of wellhead couplings for engagement or disengagement, thereby improving operational efficiency. Furthermore, the invention provides a robotic arm for retrieving and lowering pipe tools capable of precise coupling of pipe tools. Even further, the invention provides a robotic arm for retrieving and lowering pipe tools capable of centering and clamping a full range of pipe tools, increasing the clamping range. Still further, the invention provides a robotic arm for retrieving and lowering pipe tools capable of automatic and precise positioning, length measurement, and counting functions, reducing the intensity of manual labor.

[0010] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0011] A robotic arm for lifting and lowering pipe fixtures includes a robotic arm and a horizontal catwalk. The robotic arm includes a lifting mechanism disposed on the horizontal catwalk. The lifting mechanism is equipped with a slewing mechanism, the slewing mechanism is equipped with a luffing mechanism, the luffing mechanism is equipped with a telescopic mechanism, the telescopic mechanism is equipped with a straightening mechanism at its middle section, and clamping mechanisms are provided at both ends. Each clamping mechanism is used to clamp the vertical position of the pipe fixture, and the straightening mechanism is used to straighten the pipe fixture.

[0012] The lifting mechanism includes a base, a support part rotatably connected to the base, a displacement sensor between the base and the support part, a double lifting cylinder between the base and the support part, and a horizontal limit plate and a vertical limit plate respectively provided on the base at the 0-degree and 90-degree rotation positions of the support part.

[0013] The rotary mechanism includes a worm gear rotary reducer, which is mounted on the support. One end of the worm gear rotary reducer is driven by a hydraulic motor, and the other end is equipped with an encoder. Mechanical limit switches are provided on the support at the 0-degree and 180-degree rotation positions of the worm gear rotary reducer.

[0014] The luffing mechanism includes a parallelogram linkage mechanism, which is driven by a luffing cylinder.

[0015] The telescopic mechanism includes an inner square tube and an outer square tube assembly structure. The outer square tube is connected to the quadrilateral linkage mechanism. The relative position between the inner square tube and the outer square tube is driven by a telescopic hydraulic cylinder. A friction plate is provided on the outer square tube. A nylon block on the inner side of the friction plate extends into an opening on the outer square tube and contacts the outer wall of the inner square tube.

[0016] The straightening mechanism includes a straightening main body, which is installed on the outer square tube. A middle straightening wheel is provided in the middle of the straightening main body, and outer straightening wheels are provided on both sides, which are driven to rotate by a straightening cylinder. The middle straightening wheel and the outer straightening wheels cooperate with the straightening pipe tool.

[0017] The clamping mechanism includes a clamping main body, which is driven to shift left and right by a left and right adjustment cylinder. The left and right adjustment cylinder is fixed to the end of the inner square tube. The front two ends of the clamping main body are respectively provided with grippers that are driven to rotate by the clamping cylinder. Two meshing gears are installed at the rear of the clamping mechanism. The gears are fixedly connected to one end of a hinge rod, and the other end of the hinge rod is rotatably connected to the grippers. A linkage mechanism is rotatably provided on the upper part of the clamping main body. A pipe detection roller that contacts the pipe is provided at the front of the linkage mechanism. A linkage proximity switch for sensing the position of the linkage mechanism is provided on the side of the clamping main body.

[0018] The horizontal catwalk includes a catwalk base, a lifting mechanism is mounted on the catwalk base, hydraulic outriggers are connected to the catwalk base, a tube V-groove is arranged opposite each other along the length direction on the catwalk base, a positioning mechanism and a length measuring mechanism are slidably mounted at both ends of the tube V-groove, and an in-groove mechanism and an out-groove mechanism are arranged on the catwalk base between the positioning mechanism and the length measuring mechanism.

[0019] The positioning mechanism includes a positioning trolley, a positioning cylinder, and a first folding track frame. The positioning cylinder and the first folding track frame are mounted on the catwalk base. The positioning cylinder is connected to the positioning trolley to drive the positioning trolley to move. The positioning cylinder has a built-in displacement sensor. The side of the positioning trolley is provided with a first horizontal roller and a first lateral roller that cooperate with the first folding track frame for guidance. The upper part of the positioning trolley is provided with a first pipe telescopic baffle, which has a built-in spring reset mechanism. The rear of the positioning trolley is provided with a first pipe proximity switch.

[0020] The length measuring mechanism includes a length measuring trolley, a rack, and a second folding track frame. The rack and the second folding track frame are mounted on the catwalk base. The length measuring trolley moves by a motor driving a gear that engages with the rack. A rotary encoder measuring the rotation of the motor is mounted on the length measuring trolley. A second horizontal roller and a second lateral roller that engage with the second folding track frame are mounted on the side of the length measuring trolley. A second pipe telescopic baffle is mounted on the upper part of the length measuring trolley, and the second pipe telescopic baffle has a built-in spring reset mechanism. A second pipe proximity switch is mounted on the rear of the length measuring trolley.

[0021] The beneficial effects of this invention are:

[0022] The present invention relates to a robotic arm comprising a lifting mechanism and a rotating mechanism. The lifting mechanism enables flipping, and the rotating mechanism enables rotation. Through the cooperation of the lifting and rotating mechanisms, the robotic arm can achieve two waiting positions: a horizontal waiting position and a vertical waiting position. This enables synchronous operation of the horizontal catwalk, the robotic arm, and the power head, improving work efficiency and solving the problem that in the current process of raising and lowering pipe tools, the horizontal catwalk, the robotic arm, and the drilling power head operate sequentially, waiting for each other, resulting in low work efficiency. In addition, the telescopic mechanism enables automatic extension and retraction of the wellhead coupling for engagement or disengagement, improving work efficiency and avoiding safety risks. This solves the problem of traditional engagement methods, which require manual assistance for engagement, resulting in low work efficiency and safety hazards.

[0023] This invention achieves precise alignment by adjusting the front and rear horizontal position through a luffing mechanism, adjusting the front and rear tilt angle through a lifting mechanism, and adjusting the left and right horizontal position and tilt angle through a clamping mechanism. This improves work efficiency and solves the problem of inability to align caused by long-term accumulated work errors and ground subsidence.

[0024] The clamping mechanism of this invention adopts a synchronous clamping method of gears and connecting rods, driven by a clamping cylinder, to achieve synchronous clamping of all sizes of pipe fittings, increase the clamping range, improve the clamping accuracy, and solve the problems of traditional robotic arm clamping mechanisms, which have limited pipe fitting specifications and sizes, require replacement, and are not centered during clamping.

[0025] This invention achieves automatic and precise positioning, length measurement, and counting of pipes through a positioning mechanism and a length measuring mechanism, reducing manual labor intensity and solving the problem of traditional horizontal catwalks that require manual adjustment of the front and rear positions of pipes and manual measurement of the length and quantity of pipes. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of a robotic arm for lifting pipes according to the present invention;

[0027] Figure 2 This is a schematic diagram of the lifting mechanism of the robotic arm of the present invention;

[0028] Figure 3 This is a schematic diagram of the rotation mechanism, amplitude changing mechanism and telescopic mechanism of the robotic arm of the present invention;

[0029] Figure 4 This is a schematic diagram of the straightening mechanism of the robotic arm of the present invention;

[0030] Figure 5 This is a schematic diagram of the clamping mechanism of the robotic arm of the present invention;

[0031] Figure 6 This is a schematic diagram of the horizontal cat walkway of the present invention;

[0032] Figure 7 This is a schematic diagram of the positioning mechanism of the horizontal cat walkway of the present invention;

[0033] Figure 8 This is a schematic diagram of the length measuring mechanism of the horizontal catwalk of the present invention;

[0034] Figure 9 This is a schematic diagram of the length measuring trolley in the length measuring mechanism of the horizontal catwalk of the present invention;

[0035] Figure 10 This is a schematic diagram of the robotic arm of the present invention in a horizontal waiting position;

[0036] Figure 11 This is a schematic diagram of the structure of the robotic arm of the present invention in a vertical waiting position;

[0037] Figure 12 This is a schematic diagram of the structure for adjusting the front and rear horizontal position of the robotic arm of a robotic hand for lifting pipes according to the present invention;

[0038] Figure 13 This is a schematic diagram of the structure for adjusting the tilt angle of the robotic arm of the present invention;

[0039] Figure 14 This is a schematic diagram of the left-right adjustment structure of the robotic arm of the present invention;

[0040] Figure 15 This is a schematic diagram of the clamping mechanism of the robotic arm of the present invention, which clamps all series of pipes in the center.

[0041] Figure 16 This is a schematic diagram of the telescopic structure of the robotic arm of the present invention, showing the engagement or disengagement mechanism.

[0042] Figure 17 This is a schematic diagram of the positioning and length measurement structure of the horizontal catwalk of the present invention;

[0043] The attached diagram is labeled as follows: 1-robotic arm; 2-horizontal catwalk; 11-lifting mechanism; 12-slewing mechanism; 13-luffing mechanism; 14-telescopic mechanism; 15-straightening mechanism; 16-clamping mechanism; 21-catwalk base; 22-hydraulic outrigger; 23-entry mechanism; 24-exit mechanism; 25-positioning mechanism; 26-length measuring mechanism; 111-lifting cylinder; 112-displacement sensor; 113-horizontal limit plate; 114-vertical limit plate; 121-hydraulic motor; 122-worm gear reducer; 123-encoder; 131-luffing cylinder; 132-parallelogram linkage mechanism; 141-inner square tube; 142-outer square tube; 143-friction plate; 144-telescopic cylinder; 161-gear; 151 152-Straightening cylinder; 153-Outer straightening wheel; 154-Middle straightening wheel; 165-Hinged rod; 166-Clamping cylinder; 167-Left and right adjustment cylinder; 168-Pipe detection roller; 169-Linkage mechanism; 160-Linkage proximity switch; 251-Positioning trolley; 252-Positioning cylinder; 2511-First horizontal roller; 2512-First lateral roller; 2513-First telescopic baffle; 2514-First pipe proximity switch; 261-Length measuring trolley; 262-Rack; 263-Folding track frame; 2611-Motor; 2612-Gear; 2613-Encoder; 2614-Second horizontal roller; 2615-Second lateral roller; 2617-Second telescopic baffle; 2618-Second pipe proximity switch. Detailed Implementation

[0044] Example 1

[0045] like Figure 1 As shown, this invention discloses a robotic arm for lifting pipes, including a robotic arm 1 and a horizontal catwalk 2. The robotic arm 1 includes a lifting mechanism 11, which is disposed on the horizontal catwalk 2. A slewing mechanism 12 is disposed on the lifting mechanism 11, a luffing mechanism 13 is disposed on the slewing mechanism 12, a telescopic mechanism 14 is disposed on the luffing mechanism 13, a straightening mechanism 15 is disposed in the middle of the telescopic mechanism 14, and clamping mechanisms 16 are disposed at both ends. Each clamping mechanism 16 is used to clamp the upper and lower positions of the pipe, and the straightening mechanism 15 is used to straighten the pipe.

[0046] In the robotic arm 1 of this invention, the lifting mechanism 11 achieves flipping, and the rotating mechanism 12 achieves rotation. Through the cooperation of the lifting mechanism 11 and the rotating mechanism 12, the robotic arm can achieve two waiting positions, including a horizontal waiting position and a vertical waiting position. The horizontal waiting position is as follows: Figure 10 As shown, the vertical waiting position is as follows Figure 11 As shown, this enables synchronized operation of the horizontal catwalk, robotic arm, and power head, improving work efficiency. Furthermore, the telescopic mechanism 14 in robotic arm 1 enables automatic extension and retraction of the wellhead coupling for engagement or disengagement, improving work efficiency and avoiding safety risks.

[0047] Example 2

[0048] like Figure 1 As shown, this invention discloses a robotic arm for lifting pipe fixtures, comprising a robotic arm 1 and a horizontal catwalk 2. The robotic arm 1 includes a lifting mechanism 11, which is mounted on the horizontal catwalk 2. A rotating mechanism 12 is mounted on the lifting mechanism 11, a luffing mechanism 13 is mounted on the rotating mechanism 12, a telescopic mechanism 14 is mounted on the luffing mechanism 13, a straightening mechanism 15 is mounted in the middle of the telescopic mechanism 14, and clamping mechanisms 16 are mounted at both ends. Each clamping mechanism 16 is used to clamp the vertical position of the pipe fixture, and the straightening mechanism 15 is used to straighten the pipe fixture. (See Figures 1 and 2). Figure 6 As shown, the horizontal catwalk 2 includes a catwalk base 21, a lifting mechanism 11 mounted on the catwalk base 21, hydraulic outriggers 22 connected to the catwalk base 21, and V-shaped grooves for pipes arranged opposite each other along the length direction on the catwalk base 21. A positioning mechanism 25 and a length measuring mechanism 26 are slidably mounted at both ends of the V-shaped grooves, respectively. An inlet mechanism 23 and an outlet mechanism 24 are located on the catwalk base 21 between the positioning mechanism 25 and the length measuring mechanism 26. This invention achieves automatic and precise positioning, length measurement, and counting functions for pipes through the positioning and length measuring mechanisms, reducing manual labor intensity.

[0049] The pipe-running operation process in this invention is as follows: The hydraulic outriggers 22 on the horizontal catwalk 2 are raised, and the pipe rolls along the outrigger ramp to the slotting mechanism 23. The slotting mechanism 23 tilts up, rolling the pipe to the V-shaped slot in the middle of the catwalk base 21. The positioning mechanism 25 extends and retracts to position one end of the pipe, and the length measuring mechanism 26 extends and retracts to contact the other end of the pipe to measure its length. At this time, the robotic arm 1 is already in the horizontal waiting position. The luffing mechanism 13 extends to the pipe in the V-shaped slot, and the clamping mechanism 16 and the straightening mechanism 15 respectively hold the pipe tightly. The luffing mechanism 13 retracts, and the lifting mechanism 11 extends to lift the robotic arm 1 to the vertical waiting position. The slewing mechanism 12 rotates 180° to face the wellhead. The luffing mechanism 13 extends and sends the pipe to the center of the wellhead. The height of the pipe is adjusted by the telescopic mechanism 14, and the clamping mechanism 16 and the straightening mechanism 15 are released. Finally, the pipe is handed over to the drilling head. The pipe lifting operation process is the reverse of the pipe lowering operation process.

[0050] Example 3

[0051] This embodiment is a further improvement on embodiment 2.

[0052] like Figure 2As shown, the lifting mechanism 11 includes a base, a support rotatably connected to the base, a displacement sensor 112 between the base and the support, and a double lifting cylinder 111 between the base and the support. The lifting mechanism 11 uses the double lifting cylinders 111 for synchronous lifting. The lifting angle is measured by the displacement sensor 112, and the double lifting cylinders 111 are controlled by a PLC controller to adjust the lifting angle. A horizontal limit plate 113 and a vertical limit plate 114 are respectively provided on the base at 0 degrees and 90 degrees of rotation of the support, serving as safety protection. Simultaneously, this invention can also fine-tune the forward and backward tilt angle of the drill string at the wellhead centerline using the lifting mechanism 11, such as... Figure 13 As shown.

[0053] like Figure 3 As shown, the rotary mechanism 12 includes a worm gear rotary reducer 122 with a self-locking function. The worm gear rotary reducer 122 is mounted on the support. One end of the worm gear rotary reducer 122 is driven by a hydraulic motor 121, and the other end is equipped with an encoder 123. The encoder 123 works in conjunction with a PLC controller to measure and control the rotation angle. Mechanical limit switches are installed on the support at the 0-degree and 180-degree rotation positions of the worm gear rotary reducer 122, respectively, to provide safety protection.

[0054] like Figure 3 As shown, the luffing mechanism 13 includes a parallelogram linkage mechanism 132, driven by the luffing cylinder 131. It can move the drill string without affecting its tilt angle. The luffing distance is measured and controlled via a displacement sensor built into the cylinder in conjunction with a PLC controller. Simultaneously, the luffing mechanism 13 can fine-tune the horizontal distance of the drill string at the wellhead centerline. Figure 12 As shown.

[0055] like Figure 3 As shown, the telescopic mechanism 14 includes an inner square tube 141 and an outer square tube 142. The outer square tube 142 is connected to a quadrilateral linkage mechanism 132. The relative position between the inner square tube 141 and the outer square tube 142 is driven by a telescopic cylinder 144, realizing automatic engagement and disengagement of the pipe fitting and the wellhead coupling. Figure 16 As shown. The hydraulic cylinder has a built-in displacement sensor that can measure and control the extension distance. A friction plate 143 is provided on the outer square tube 142. The nylon block on the inner side of the friction plate 143 extends into the opening on the outer square tube 142 and contacts the outer wall of the inner square tube 141, which facilitates the relative sliding between the outer square tube 142 and the inner square tube 141.

[0056] like Figure 4As shown, the straightening mechanism 15 includes a straightening main body, which is installed on the outer square tube 142. A middle straightening wheel 153 is provided in the middle of the straightening main body, and outer straightening wheels 152 are provided on both sides, which are driven to rotate by the straightening cylinder 151. The middle straightening wheel 153 and the outer straightening wheels 152 cooperate to straighten the pipe when the telescopic mechanism 14 extends and retracts with the pipe.

[0057] like Figure 5 As shown, the clamping mechanism 16 includes a clamping main body, which is driven to shift left and right by a left-right adjusting cylinder 164. The left-right adjusting cylinder 164 is fixed to the end of the inner square tube 141. At the front ends of the clamping main body are clamps that are driven to rotate by clamping cylinders 163. Two meshing gears 161 are installed at the rear of the clamping mechanism 16. One end of the gear 161 is fixedly connected to a hinge rod 162, and the other end of the hinge rod 162 is rotatably connected to the clamps. This invention uses a synchronous clamping method of gears 161 and hinge rods 162, driven by clamping cylinders 163, to achieve synchronous clamping of all pipe sizes, such as... Figure 15 As shown; simultaneously, adjusting the hydraulic cylinder 164 left and right can adjust the tilt angle and displacement of the pipe in the left and right directions, such as... Figure 14 As shown, a linkage mechanism 166 is rotatably mounted on the upper part of the clamping main body. A pipe detection roller 165 is provided at the front of the linkage mechanism 166 to contact the pipe. A linkage proximity switch 167 is provided on the side of the clamping main body to sense the position of the linkage mechanism 166. The pipe is detected by sensing the position of the linkage mechanism 166 and the proximity switch 167.

[0058] like Figure 7 As shown, the positioning mechanism 25 includes a positioning trolley 251, a positioning cylinder 252, and a first folding track frame. The positioning cylinder 252 and the first folding track frame are mounted on the catwalk base 21. The positioning cylinder 252 is connected to the positioning trolley 251 to drive the positioning trolley 251 to move. The positioning cylinder 252 has a built-in displacement sensor, which can cooperate with the PLC controller to measure and control the position of the positioning trolley. The side of the positioning trolley 251 is provided with a first horizontal roller 2511 and a first lateral roller 2512 that cooperate with the first folding track frame to guide the positioning trolley 251, enabling the positioning trolley 251 to move. The upper part of the positioning trolley 251 is provided with a first pipe telescopic baffle 2513, which has a built-in spring return mechanism. The rear of the positioning trolley 251 is provided with a first pipe proximity switch 2514, which can detect the clamping status of the pipe.

[0059] like Figure 8 and Figure 9As shown, the length measuring mechanism 26 includes a length measuring carriage 261, a rack 262, and a second folding track frame 263. The rack 262 and the second folding track frame 263 are mounted on the catwalk base 21. The length measuring carriage 261 moves by a motor 2611 driving a gear 2612 that engages with the rack 262. A rotary encoder 2613 is installed on the length measuring carriage 261 to measure the rotation of the motor 2611, which can work with a PLC controller to measure and control the position of the carriage 261 via the motor 2611. The side of the length measuring carriage 261 has a second horizontal roller 2614 and a second lateral roller 2615 that engage with the second folding track frame 263, enabling the carriage 261 to move. A second pipe telescopic baffle 2617 is installed on the upper part of the length measuring carriage 261, with a built-in spring return mechanism. A second pipe proximity switch 2618 is installed at the rear of the length measuring carriage 261. This invention calculates the travel distance of the positioning trolley 251 and the length measuring trolley 261 by measuring the values ​​of the positioning cylinder 252 and the rotary encoder 2613, and finally obtains the length of the pipe and counts it, as detailed below. Figure 17 As shown.

[0060] In summary, to address the problem of low efficiency in the current process of raising and lowering pipe tools, where the horizontal catwalk, robotic arm, and drilling power head operate sequentially and wait for each other, this invention achieves synchronous operation of the three components by using two waiting positions on the robotic arm, thereby improving operational efficiency.

[0061] To address the problem of misalignment caused by accumulated operational errors and ground subsidence over long periods, this invention utilizes a luffing mechanism to adjust the front and rear horizontal positions, a lifting mechanism to adjust the front and rear tilt angles, and a clamping mechanism to adjust the left and right horizontal positions and tilt angles, thereby achieving precise misalignment and improving operational efficiency.

[0062] Addressing the issues of traditional robotic arm clamping mechanisms, such as limited clamping tube specifications, finite dimensions, need for replacement, and non-centered clamping, this invention enables centered clamping of all types of tubes through a clamping mechanism, increasing the clamping range and improving alignment accuracy.

[0063] Traditional coupling methods require manual assistance, resulting in low efficiency and safety hazards. This invention addresses these issues by using a robotic arm's lifting function to automatically extend and retract the wellhead coupling for coupling or disengagement, thereby improving efficiency and mitigating safety risks.

[0064] Traditional horizontal catwalks require manual adjustment of the pipe positions and manual measurement of the pipe length and quantity. This invention achieves automatic and precise positioning, length measurement, and counting of the pipes through a positioning and length measuring mechanism, reducing the intensity of manual labor.

[0065] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A robotic arm for lifting pipe fixtures, characterized in that: The system includes a robotic arm (1) and a horizontal catwalk (2). The robotic arm (1) includes a lifting mechanism (11) which is mounted on the horizontal catwalk (2). The lifting mechanism (11) is equipped with a slewing mechanism (12), the slewing mechanism (12) is equipped with a luffing mechanism (13), the luffing mechanism (13) is equipped with a telescopic mechanism (14), the telescopic mechanism (14) is equipped with a straightening mechanism (15) in the middle and clamping mechanisms (16) at both ends. Each clamping mechanism (16) is used to clamp the upper and lower positions of the pipe, and the straightening mechanism (15) is used to straighten the pipe.

2. The robotic arm for lifting and lowering pipes according to claim 1, characterized in that: The lifting mechanism (11) includes a base, a support part is rotatably connected to the base, a displacement sensor (112) is provided between the base and the support part, a double lifting cylinder (111) is provided between the base and the support part, and a horizontal limiting plate (113) and a vertical limiting plate (114) are respectively provided on the base at the positions of 0 degrees and 90 degrees of rotation of the support part.

3. The robotic arm for lifting and lowering pipes according to claim 2, characterized in that: The rotary mechanism (12) includes a worm gear rotary reducer (122), which is mounted on the support. One end of the worm gear rotary reducer (122) is driven by a hydraulic motor (121), and the other end is equipped with an encoder (123). Mechanical limit switches are provided on the support at the 0-degree and 180-degree rotation positions of the worm gear rotary reducer (122).

4. The robotic arm for lifting and lowering pipes according to claim 1, characterized in that: The luffing mechanism (13) includes a parallelogram linkage mechanism (132), which is driven by a luffing cylinder (131).

5. The robotic arm for lifting and lowering pipes according to claim 4, characterized in that: The telescopic mechanism (14) includes an inner square tube (141) and an outer square tube (142) assembly structure. The outer square tube (142) is connected to the quadrilateral linkage mechanism (132). The relative position between the inner square tube (141) and the outer square tube (142) is driven by a telescopic cylinder (144). A friction plate (143) is provided on the outer square tube (142). The nylon block on the inner side of the friction plate (143) extends into the opening on the outer square tube (142) and contacts the outer wall of the inner square tube (141).

6. The robotic arm for lifting and lowering pipes according to claim 5, characterized in that: The straightening mechanism (15) includes a straightening main body, which is installed on the outer square tube (142). A middle straightening wheel (153) is provided in the middle of the straightening main body, and outer straightening wheels (152) are provided on both sides, which are driven to rotate by the straightening cylinder (151). The middle straightening wheel (153) and the outer straightening wheel (152) cooperate to straighten the tube.

7. The robotic arm for lifting and lowering pipes according to claim 6, characterized in that: The clamping mechanism (16) includes a clamping main body, which is driven to shift left and right by a left and right adjustment cylinder (164). The left and right adjustment cylinder (164) is fixed to the end of the inner square tube (141). The front two ends of the clamping main body are respectively provided with grippers that are driven to rotate by the clamping cylinder (163). The rear part of the clamping mechanism (16) is equipped with two meshing gears (161). The gears (161) are fixedly connected to one end of the hinge rod (162). The other end of the hinge rod (162) is rotatably connected to the grippers. The upper part of the clamping main body is rotatably provided with a linkage mechanism (166). The front part of the linkage mechanism (166) is provided with a pipe detection roller (165) that contacts the pipe. The side of the clamping main body is provided with a linkage proximity switch (167) for sensing the position of the linkage mechanism (166).

8. The robotic arm for lifting and lowering pipes according to claim 1, characterized in that: The horizontal catwalk (2) includes a catwalk base (21), a lifting mechanism (11) is mounted on the catwalk base (21), a hydraulic outrigger (22) is connected to the catwalk base (21), a pipe V-groove is provided on the catwalk base (21) along the length direction, a positioning mechanism (25) and a length measuring mechanism (26) are slidably mounted on both ends of the pipe V-groove, and an inlet mechanism (23) and an outlet mechanism (24) are provided on the catwalk base (21) between the positioning mechanism (25) and the length measuring mechanism (26).

9. The robotic arm for lifting and lowering pipes according to claim 8, characterized in that: The positioning mechanism (25) includes a positioning trolley (251), a positioning cylinder (252), and a first folding track frame. The positioning cylinder (252) and the first folding track frame are mounted on the cat walkway base (21). The positioning cylinder (252) is connected to the positioning trolley (251) to drive the positioning trolley (251) to move. The positioning cylinder (252) has a built-in displacement sensor. The side of the positioning trolley (251) is provided with a first horizontal roller (2511) and a first lateral roller (2512) that cooperate with the first folding track frame for guidance. The upper part of the positioning trolley (251) is provided with a first pipe telescopic baffle (2513). The first pipe telescopic baffle (2513) has a built-in spring reset mechanism. The rear part of the positioning trolley (251) is provided with a first pipe proximity switch (2514).

10. The robotic arm for lifting and lowering pipes according to claim 8, characterized in that: The length measuring mechanism (26) includes a length measuring trolley (261), a rack (262), and a second folding track frame (263). The rack (262) and the second folding track frame (263) are mounted on the cat walk base (21). The length measuring trolley (261) moves by a motor (2611) driving a gear (2612) to cooperate with the rack (262). The length measuring trolley (261) is equipped with a rotary encoder (2613) that measures the rotation of the motor (2611). The side of the length measuring trolley (261) is equipped with a second horizontal roller (2614) and a second lateral roller (2615) that cooperate with the second folding track frame (263). The upper part of the length measuring trolley (261) is equipped with a second pipe telescopic baffle (2617). The second pipe telescopic baffle (2617) has a built-in spring reset mechanism. The rear part of the length measuring trolley (261) is equipped with a second pipe proximity switch (2618).

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