Drilling floor pipe racking manipulator

Abstract

The present invention provides a pipe handling manipulator for a drill floor, which relates to the technical field of drilling and workover operation equipment. The pipe handling manipulator for a drill floor provided by the present invention includes a trolley feeding mechanism, a base, a slewing mechanism, a boom mechanism, a jaw mechanism and a first driving member. Among them, the trolley feeding mechanism is slidably connected to the base. The base includes a first base and a second base, and the first base and the second base are detachably connected. The first driving member is connected to the first base and is in transmission connection with the trolley feeding mechanism. The bottom end of the slewing mechanism is connected to the trolley feeding mechanism, and the top end of the slewing mechanism is in transmission connection with the boom mechanism. The free end of the boom mechanism is connected with the jaw mechanism. This invention alleviates the technical problem that manual pipe handling cannot be carried out when mechanical equipment fails, and ensures the smooth progress of workover operations.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling and workover equipment, and in particular to a pipe racking manipulator for a drill floor. Background Art

[0002] Pipe racking on the drill floor is a simple and most frequent operation in workover operations. At present, the method of pipe racking on the drill floor has changed from traditional manual pipe racking to highly automated mechanical pipe racking, which improves the efficiency of workover operations. However, compared with manual pipe racking, while achieving high automation, mechanical pipe racking also has problems such as large equipment volume and cumbersome disassembly during faults. When manual pipe racking is required in certain special processes or when the equipment fails, due to the equipment occupying the path through which the pipes pass, there are safety hazards underfoot for manual pipe racking, making it impossible to perform manual pipe racking, which seriously affects the progress of workover operations. Summary of the Invention

[0003] The purpose of the present invention is to provide a pipe racking manipulator for a drill floor to alleviate the technical problem that manual pipe racking cannot be performed when a mechanical pipe racking device in related technologies fails.

[0004] To solve the above technical problems, the technical means adopted by the present invention are as follows:

[0005] A pipe racking manipulator for a drill floor provided by the present invention includes: a trolley feeding mechanism, a base, a slewing mechanism, a boom mechanism, a jaw mechanism, and a first driving member;

[0006] The trolley feeding mechanism is slidably connected to the base. The base includes a first base and a second base, and the first base and the second base are detachably connected. The first driving member is connected to the first base and is in transmission connection with the trolley feeding mechanism;

[0007] The bottom end of the slewing mechanism is connected to the trolley feeding mechanism, the top end of the slewing mechanism is in transmission connection with the boom mechanism, and the free end of the boom mechanism is connected with the jaw mechanism.

[0008] As a further technical solution, the first base is provided with a first clamping member, the second base is provided with a second clamping member adapted to the first clamping member, and the first base and the second base are connected by bolts.

[0009] As a further technical solution, a track is provided on the base, and limit members are provided at both ends of the track for limiting the sliding range of the trolley feeding mechanism.

[0010] As a further technical solution, the first driving member adopts a hydraulic cylinder. The cylinder body of the hydraulic cylinder is hinged to the first base, and the driving end of the hydraulic cylinder is hinged to the trolley feeding mechanism.

[0011] As a further technical solution, the jaw mechanism includes a second driving member, a first connecting rod, a second connecting rod, two third connecting rods, and two curved rods. The curved rods are bent, and the openings of the two curved rods are arranged opposite to each other.

[0012] The second driving member is installed on the boom mechanism and is in transmission connection with the first connecting rod. Two ends of the first connecting rod are respectively hinged to one ends of the two third connecting rods. The other ends of the two third connecting rods are respectively and correspondingly hinged to the bent portions of the two curved rods. The second connecting rod is connected to the boom mechanism. Two ends of the second connecting rod are respectively hinged to one ends of the two curved rods close to the first connecting rod. The other ends of the two curved rods approach or move away from each other under the drive of the third connecting rods, so that the other ends of the two curved rods are in a fully open state, a semi-open and closed state, or a fully closed state.

[0013] As a further technical solution, a plurality of rollers are provided on the curved rods. When the curved rods clamp a pipe string, the plurality of rollers are in rolling cooperation with the pipe string.

[0014] As a further technical solution, the boom mechanism includes a support boom, a telescopic boom, and a third driving member;

[0015] One end of the support boom is connected to the slewing mechanism, and the other end is hinged to the first end of the telescopic boom. The second end of the telescopic boom is connected to the jaw mechanism. The third driving member is hinged to the support boom and is in transmission connection with the telescopic boom.

[0016] As a further technical solution, a buffer mechanism is provided at the second end of the telescopic boom. The buffer mechanism includes a buffer rod, a support rod, a support seat, and a buffer spring;

[0017] The buffer rod is connected to one end of the support rod. The support rod is slidably connected to the support seat. The support seat is connected to the telescopic boom. The buffer spring is sleeved on the support rod, and two ends of the buffer spring respectively abut against the buffer rod and the support seat. When the jaw mechanism clamps a pipe string, the buffer rod is impacted by the pipe string, and the buffer spring has a tendency to move the pipe string away from the telescopic boom.

[0018] As a further technical solution, an induction rod is connected to the support rod, and a proximity switch is provided on the telescopic boom. When the buffer rod is impacted by the pipe string, the proximity switch contacts the induction rod and is triggered.

[0019] As a further technical solution, the slewing mechanism includes a slewing base, a slewing assembly, a reducer, and a fourth driving member;

[0020] The slewing base is installed on the trolley feeding mechanism and is rotatably connected to the slewing assembly. The slewing assembly is connected to the boom mechanism and is in transmission connection with the speed reducer. The speed reducer is connected to the slewing base and is in transmission connection with the fourth driving member.

[0021] Compared with the prior art, the technical advantages of a drill floor pipe handling manipulator provided by the present invention are as follows:

[0022] The drill floor pipe handling manipulator provided by the present invention includes a trolley feeding mechanism, a base, a slewing mechanism, a boom mechanism, a jaw mechanism, and a first driving member. Among them, the trolley feeding mechanism is slidably connected to the base. The base includes a first base and a second base, and the first base and the second base are detachably connected. The first driving member is connected to the first base and is in transmission connection with the trolley feeding mechanism. The bottom end of the slewing mechanism is connected to the trolley feeding mechanism, the top end of the slewing mechanism is in transmission connection with the boom mechanism, and the free end of the boom mechanism is connected with the jaw mechanism.

[0023] The advantages of the drill floor pipe handling manipulator provided by the present invention are:

[0024] In this application, when the drill floor pipe handling manipulator works in the operation area, the first driving member is started to drive the trolley feeding mechanism to slide on the first base and the second base. The trolley feeding mechanism synchronously drives the slewing mechanism, the boom mechanism, and the jaw mechanism to move. The slewing mechanism drives the jaw mechanism to rotate through the boom mechanism. Thus, with the cooperation of the first driving member and the slewing mechanism, the jaw mechanism can move to the position where the pipe string is located, and then the pipe string can be grabbed or released through the jaw mechanism. When the drill floor pipe handling manipulator fails, the first driving member can be used to drive the trolley feeding mechanism to slide to the first base, and then the second base can be removed from the first base, thereby reducing the occupied space of the drill floor pipe handling manipulator in the operation area, providing a path for manual pipe handling, and at the same time eliminating the safety hazard under the feet during manual pipe handling, so that manual pipe handling can still be carried out when the drill floor pipe handling manipulator fails, ensuring the normal progress of the workover operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the related art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic structural diagram of the drill floor pipe handling manipulator provided by the embodiment of the present invention from the first perspective;

[0027] Figure 2 Structural schematic diagram of the pipe rack manipulator on the drill floor from the second perspective provided by the embodiment of the present invention;

[0028] Figure 3 Structural schematic diagram of the trolley feeding mechanism of the pipe rack manipulator on the drill floor provided by the embodiment of the present invention;

[0029] Figure 4 Structural schematic diagram of the base of the pipe rack manipulator on the drill floor provided by the embodiment of the present invention;

[0030] Figure 5 Top view of the base of the pipe rack manipulator on the drill floor provided by the embodiment of the present invention;

[0031] Figure 6 Structural schematic diagram of the jaw mechanism of the pipe rack manipulator on the drill floor provided by the embodiment of the present invention;

[0032] Figure 7 Structural schematic diagram of the telescopic boom of the pipe rack manipulator on the drill floor provided by the embodiment of the present invention;

[0033] Figure 8 Structural schematic diagram of the buffer mechanism of the pipe rack manipulator on the drill floor provided by the embodiment of the present invention;

[0034] Figure 9 Structural schematic diagram of the slewing mechanism of the pipe rack manipulator on the drill floor provided by the embodiment of the present invention;

[0035] Figure 10 Front view of the slewing mechanism of the pipe rack manipulator on the drill floor provided by the embodiment of the present invention.

[0036] Icon:

[0037] 100 - trolley feeding mechanism; 110 - feeding trolley; 120 - first pallet; 130 - support frame;

[0038] 200 - base; 210 - first base; 211 - first clamping member; 220 - second base; 221 - second clamping member; 230 - track;

[0039] 300 - slewing mechanism; 310 - slewing base; 320 - slewing assembly; 321 - support frame; 322 - second pallet; 330 - reducer; 340 - fourth driving member; 350 - hydraulic converter;

[0040] 400 - boom mechanism; 410 - support boom; 420 - telescopic boom; 430 - third driving member;

[0041] 500 - jaw mechanism; 510 - second driving member; 520 - first connecting rod; 530 - second connecting rod; 540 - third connecting rod; 550 - curved rod; 560 - roller;

[0042] 600 - The first driving member;

[0043] 700 - Buffer mechanism; 710 - Buffer rod; 720 - Support rod; 730 - Support base; 731 - The first support base; 732 - The second support base; 740 - Buffer spring; 750 - Inductive rod; 760 - Proximity switch; 770 - Locking nut. Detailed implementation manners

[0044] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the scope of protection of the present invention.

[0045] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0046] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0047] Such as Figure 1 and Figure 2As shown in the figure, the pipe rack manipulator provided in this embodiment includes a trolley feeding mechanism 100, a base 200, a slewing mechanism 300, a boom mechanism 400, a jaw mechanism 500, and a first driving member 600. Among them, the trolley feeding mechanism 100 is slidably connected to the base 200. The base 200 includes a first base 210 and a second base 220. The first base 210 and the second base 220 are detachably connected. The first driving member 600 is connected to the first base 210 and is in transmission connection with the trolley feeding mechanism 100. The bottom end of the slewing mechanism 300 is connected to the trolley feeding mechanism 100, and the top end of the slewing mechanism 300 is in transmission connection with the boom mechanism 400. The free end of the boom mechanism 400 is connected with the jaw mechanism 500.

[0048] Specifically, in combination with Figure 1 - Figure 4 , the first driving member 600 is used to drive the trolley feeding mechanism 100 to slide from the first base 210 to the second base 220 or from the second base 220 to the first base 210. The slewing mechanism 300 is used to drive the boom mechanism 400 to rotate around the vertical line. The jaw mechanism 500 is used to grip or release the pipe string. When the pipe rack manipulator is working in the work area, the first driving member 600 is started and drives the trolley feeding mechanism 100 to slide on the first base 210 and the second base 220. The trolley feeding mechanism 100 synchronously drives the slewing mechanism 300, the boom mechanism 400, and the jaw mechanism 500 to move. The slewing mechanism 300 drives the jaw mechanism 500 to rotate through the boom mechanism 400. Thus, with the cooperation of the first driving member 600 and the slewing mechanism 300, the jaw mechanism 500 can move to the position where the pipe string is located, and then the pipe string can be grabbed or released through the jaw mechanism 500. When the pipe rack manipulator fails, the trolley feeding mechanism 100 can be driven by the first driving member 600 to slide to the first base 210, and then the second base 220 can be removed from the first base 210, thereby reducing the occupied space of the pipe rack manipulator in the work area, providing a path for manual pipe arrangement, and at the same time eliminating the safety hazard under the feet during manual pipe arrangement, so that manual pipe arrangement can still be carried out when the pipe rack manipulator fails, ensuring the normal progress of the workover operation.

[0049] In an alternative technical solution of this embodiment, the first base 210 is provided with a first clamping member 211, the second base 220 is provided with a second clamping member 221 adapted to the first clamping member 211, and the first base 210 and the second base 220 are connected by bolts.

[0050] In an alternative technical solution of this embodiment, a track 230 is provided on the base 200, and limiting members are provided at both ends of the track 230. The limiting members are used to limit the sliding range of the trolley feeding mechanism 100.

[0051] Specifically, in combination with Figure 4 andFigure 5 The first base 210 and the second base 220 both include a foot and a frame, the foot is welded to the four corners of the frame, and the track 230 is welded to the upper part of the frame.

[0052] refer to Figure 4 The first clamp 211 is disposed at the left end of the first base 210 and is an L-shaped limit plate. The end surface of the first clamp 211 is welded to the inner wall of the track 230 on the first base 210, and the first clamp 211 and the track 230 form a slot. The second clamp 221 is disposed at the right end of the second base 220 and is an L-shaped plug plate. The side surface of the second clamp 221 is welded to the inner wall of the track 230 on the second base 220. The second clamp 221 is engaged with the slot, and the first side wall of the second clamp 221 is located on the side of the first clamp 211 away from the second base 220, so that the first base 210 and the second base 220 are engaged. As another embodiment, the first clamp 211 can also be designed as an L-shaped limit plate, and the second clamp 221 can be designed as an L-shaped plug plate. In addition, the right foot of the second base 220 overlaps the left foot of the first base 210 and is fixed together by bolts, so that the first base 210 and the second base 220 are bolted together.

[0053] refer to Figure 4 The two ends of the track 230 are provided with pin holes, and the position limiting member is a stop pin, which is arranged in the pin hole. When the trolley feeding mechanism 100 slides back and forth on the track 230, the stop pin prevents the trolley feeding mechanism 100 from sliding out of the track 230. In addition, the position limiting member can be a baffle, which is arranged at both ends of the base 200 to limit the sliding range of the trolley feeding mechanism 100.

[0054] In an optional technical solution of the present embodiment, the first driving member 600 is a hydraulic cylinder, the cylinder body of the hydraulic cylinder is hinged to the first base 210 , and the driving end of the hydraulic cylinder is hinged to the trolley feeding mechanism 100 .

[0055] Specifically, refer to Figure 3 and Figure 4 The cylinder body of the hydraulic cylinder is hinged to the first base 210, and the driving end of the hydraulic cylinder is hinged to the bottom of the trolley feeding mechanism 100. When the hydraulic cylinder is working, its driving end pushes the trolley feeding mechanism 100 to make a linear motion on the track 230, thereby driving the slewing mechanism 300, the arm mechanism 400 and the clamping mechanism 500 to move along the length direction of the track 230. When the drilling platform pipe laying manipulator is not working or needs to give way, the driving end of the hydraulic cylinder returns and drives the trolley feeding mechanism 100 back to the first base 210; when the drilling platform pipe laying manipulator fails or manual pipe laying is required, the hydraulic cylinder drives the trolley feeding mechanism 100 back to the first base 210, and then removes the second base 220 to carry out manual pipe laying.

[0056] It should be added that using a hydraulic cylinder as the driving member of the trolley feeding mechanism 100 has a simple transmission method and is easy to repair when a failure occurs.

[0057] In an alternative technical solution of this embodiment, the jaw mechanism 500 includes a second driving member 510, a first connecting rod 520, a second connecting rod 530, two third connecting rods 540, and two curved rods 550. The curved rods 550 are bent, and the openings of the two curved rods 550 are arranged opposite to each other; the second driving member 510 is installed on the boom mechanism 400 and is in transmission connection with the first connecting rod 520. The two ends of the first connecting rod 520 are respectively hinged to one end of the two third connecting rods 540, and the other ends of the two third connecting rods 540 are respectively hinged to the bent portions of the two curved rods 550. The second connecting rod 530 is connected to the boom mechanism 400, and the two ends of the second connecting rod 530 are respectively hinged to one end of the two curved rods 550 close to the first connecting rod 520. The other ends of the two curved rods 550 approach or move away from each other under the drive of the third connecting rods 540, so that the other ends of the two curved rods 550 are in a fully open state, a semi-open state, or a fully closed state.

[0058] In this embodiment, in combination with Figure 6 and Figure 7 , the second driving member 510 adopts a hydraulic cylinder. The cylinder body of the hydraulic cylinder is installed on the boom mechanism 400, and the driving end of the hydraulic cylinder is hinged to the middle of the first connecting rod 520. When the jaw mechanism 500 is working, the stroke of the driving end of the hydraulic cylinder can control the opening and closing state of the curved rod 550. Specifically, taking the extension of the driving end of the hydraulic cylinder as an example, referring to Figure 6 , the second connecting rod 530 is fixed to the boom mechanism 400. The first connecting rod 520 moves upward under the drive of the driving end of the hydraulic cylinder, and synchronously drives the two third connecting rods 540 to rotate in the direction of approaching each other around the hinge axis at their lower ends, so that the two curved rods 550 rotate in the direction of approaching each other around their hinge axes, that is, the upper ends of the two curved rods 550 are brought closer together.

[0059] During the continuous extension of the driving end of the hydraulic cylinder, the combined state of the two curved rods 550 gradually changes from fully open to semi-open and fully closed. In actual application, when the jaw mechanism 500 is ready to grasp the pipe string, the two curved rods 550 are in a fully open state; when clamping the pipe string or driving the pipe string to rotate, the two curved rods 550 are in a semi-open state; when the pipe strings are butt-jointed, the two curved rods 550 are in a fully closed state, so that the pipe string is clamped, not easy to vibrate, and easy to butt-joint.

[0060] Furthermore, a plurality of rollers 560 are provided on the curved rod 550. When the curved rod 550 clamps the pipe string, the plurality of rollers 560 are in rolling cooperation with the pipe string.

[0061] Specifically, referring to Figure 6, a first support is provided above the bending position of the curved rod 550, and a second support is provided below the bending position of the curved rod 550. A plurality of rollers 560 are respectively rotatably connected to the first support and the second support. When the upper ends of the two curved rods 550 approach or move away from each other, the rollers 560 move synchronously therewith; if the two curved rods 550 are in a fully closed state and clamp a pipe string, the circumferential surface of the pipe string abuts against the circumferential surface of the rollers 560; when the pipe string moves up and down, the rollers 560 slide relative to the pipe string, effectively avoiding scratching the surface of the pipe string by the curved rod 550.

[0062] The trolley feeding mechanism 100 includes a feeding trolley 110, a first support plate 120 and a support frame 130. The feeding trolley 110 is slidably connected to the base 200 and is in transmission connection with the first driving member 600. The bottom surface of the first support plate 120 is connected to the feeding trolley 110, and the upper surface of the first support plate 120 is connected to the support frame 130. The slewing mechanism 300 is installed on the support frame 130.

[0063] Reference Figure 3 , the feeding trolley 110 is slidably connected to the track 230, the first driving member 600 is in transmission connection with the bottom end of the feeding trolley 110, and the slewing mechanism 300 is connected to the feeding trolley 110 through the first support plate 120 and the support frame 130. When the first driving member 600 is started, the feeding trolley 110 slides on the track 230 and drives the slewing mechanism 300 to move in the horizontal direction.

[0064] In an alternative technical solution of this embodiment, the slewing mechanism 300 includes a slewing base 310, a slewing assembly 320, a speed reducer 330 and a fourth driving member 340. The slewing base 310 is installed on the trolley feeding mechanism 100 and is rotatably connected to the slewing assembly 320. The slewing assembly 320 is connected to the boom mechanism 400 and is in transmission connection with the speed reducer 330. The speed reducer 330 is connected to the slewing base 310 and is in transmission connection with the fourth driving member 340.

[0065] In this embodiment, in combination with Figure 2 , Figure 9 and Figure 10, the slewing mechanism 300 further includes a hydraulic converter 350. The hydraulic converter 350 includes a fixed flange and a rotating drum that are rotatably connected to each other. The slewing assembly 320 includes a support frame 321 and a second support plate 322 that are fixedly connected to each other. Among them, the fixed flange and the rotating drum are disposed inside the support frame 321, and the fixed flange is fixedly connected to the slewing base 310. The rotating drum is connected to the support frame 321. The support frame 321 is rotatably connected to the slewing base 310 and is in transmission connection with the speed reducer 330. The boom mechanism 400 is connected to the second support plate 322, and the fourth driving member 340 is a hydraulic motor. Specifically, when the hydraulic motor is started, the hydraulic motor drives the speed reducer 330 to move, the speed reducer 330 drives the support frame 321 to rotate, and then drives the rotating drum and the second support plate 322 to rotate, and the boom mechanism 400 rotates synchronously with the second support plate 322.

[0066] In an alternative technical solution of this embodiment, the boom mechanism 400 includes a support boom 410, a telescopic boom 420, and a third driving member 430. One end of the support boom 410 is connected to the slewing mechanism 300, and the other end is hinged to the first end of the telescopic boom 420. The second end of the telescopic boom 420 is connected to the jaw mechanism 500. The third driving member 430 is hinged to the support boom 410 and is in transmission connection with the telescopic boom 420.

[0067] In this embodiment, referring to Figure 1 and Figure 9 , the support boom 410 is installed on the second support plate 322. The third driving member 430 is a hydraulic cylinder. The cylinder body of the hydraulic cylinder is hinged to the support boom 410, and the driving end of the hydraulic cylinder is hinged to the telescopic boom 420. When the hydraulic cylinder is started, its driving end drives the telescopic boom 420 to rotate around the hinge axis of the telescopic boom 420, so as to mainly realize the height change of the telescopic boom 420 in the vertical direction.

[0068] Combined with the above, with the cooperation of the first driving member 600, the fourth driving member 340, and the third driving member 430, the jaw mechanism 500 can respectively realize the movement in the horizontal direction, the rotation around the vertical axis, and the movement in the vertical direction, ensuring that the jaw mechanism 500 can adapt to the pipe columns at different positions.

[0069] In an alternative technical solution of this embodiment, referring to Figure 7, a buffer mechanism 700 is provided at the second end of the telescopic boom 420. The buffer mechanism 700 is located at the upper end of the jaw mechanism 500. The buffer mechanism 700 includes a buffer rod 710, a support rod 720, a support seat 730 and a buffer spring 740; the buffer rod 710 is connected to one end of the support rod 720, the support rod 720 is slidably connected to the support seat 730, the support seat 730 is connected to the telescopic boom 420, the buffer spring 740 is sleeved on the support rod 720, and both ends of the buffer spring 740 are abutted against the buffer rod 710 and the support seat 730 respectively. When the jaw mechanism 500 holds a pipe string, the buffer rod 710 is impacted by the pipe string, and the buffer spring 740 has a tendency to move the pipe string away from the telescopic boom 420.

[0070] Specifically, referring to Figure 8 , the support seat 730 includes a first support seat 731 and a second support seat 732. The locking nut 770 is in threaded cooperation with the support rod 720 and is located between the first support seat 731 and the second support seat 732, or on the right side of the second support seat 732. The first support seat 731 is bolted to the telescopic boom 420, and the second support seat 732 is welded to the telescopic boom 420. After the jaw mechanism 500 grabs the pipe string, the pipe string impacts the buffer rod 710, causing the buffer rod 710 to move to the right and driving the support rod 720 to move to the right. At the same time, the buffer rod 710 compresses the buffer spring 740, so that the impact force of the pipe string is borne by the compression spring, thereby alleviating the impact force of the pipe string on the boom mechanism 400 to a certain extent. It should be noted that when the support rod 720 slides, the locking nut 770 moves synchronously to prevent the support rod 720 from detaching from the support seat 730. In addition, the threaded cooperation position of the locking nut 770 and the support rod 720 determines the compression degree of the buffer spring 740, and further affects the movement distance of the buffer rod 710 when it is impacted by the pipe string. Therefore, by changing the position of the locking nut 770, the buffer mechanism 700 can adapt to different specifications of pipe strings to alleviate the impact force on the boom mechanism 400.

[0071] Further, an induction rod 750 is connected to the support rod 720, and a proximity switch 760 is provided on the telescopic boom 420. When the buffer rod 710 is impacted by the pipe string, the proximity switch 760 contacts the induction rod 750 and is triggered.

[0072] Specifically, as shown in Figure 8 , two locking nuts 770 are provided on each support rod 720, and the two locking nuts 770 are spaced apart for clamping the induction rod 750. When the jaw mechanism 500 holds a pipe string, the pipe string pushes the buffer rod 710 to move to the right and drives the support rod 720 to move to the right. The induction rod 750 moves synchronously therewith and contacts the proximity switch 760, thereby triggering the proximity switch 760. Conversely, the triggering of the proximity switch 760 also proves that the jaw mechanism 500 holds a pipe string.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pipe handling manipulator for a drill floor, characterized in that, include: A trolley feeding mechanism (100), a base (200), a rotating mechanism (300), an arm mechanism (400), a clamping mechanism (500) and a first driving member (600); The trolley feeding mechanism (100) is slidably connected to the base (200), the base (200) comprises a first base (210) and a second base (220), the first base (210) and the second base (220) are detachably connected, the first driving member (600) is connected to the first base (210), and is drivingly connected to the trolley feeding mechanism (100); The bottom end of the rotary mechanism (300) is connected to the trolley feeding mechanism (100), the top end of the rotary mechanism (300) is transmission-connected to the arm mechanism (400), and the free end of the arm mechanism (400) is connected to the clamping mechanism (500); The first base (210) is provided with a first clamping member (211), the second base (220) is provided with a second clamping member (221) adapted to the first clamping member (211), and the first base (210) and the second base (220) are connected by bolts; The first clamping member (211) is an L-shaped limiting plate, and directly forms a clamping groove with the inner wall of the track (230) on the first base (210); the second clamping member (221) is an L-shaped plug-in plate, the second clamping member (221) is clamped in the clamping groove, and the first side wall of the second clamping member (221) is located on a side of the second clamping member (221) away from the second base; The arm mechanism (400) comprises a supporting arm (410), a telescopic arm (420) and a third driving member (430); One end of the support arm (410) is connected to the slewing mechanism (300), and the other end is hinged to the first end of the telescopic arm (420), the second end of the telescopic arm (420) is connected to the clamping mechanism (500), and the third driving member (430) is hinged to the support arm (410) and is transmission-connected to the telescopic arm (420); The second end of the telescopic arm (420) is provided with a buffer mechanism (700), and the buffer mechanism (700) comprises a buffer rod (710), a support rod (720), a support seat (730) and a buffer spring (740); The buffer rod (710) is connected to one end of the support rod (720), the support rod (720) is slidably connected to the support seat (730), the support seat (730) is connected to the telescopic arm (420), the buffer spring (740) is sleeved on the support rod (720), and the two ends of the buffer spring (740) are respectively in contact with the buffer rod (710) and the support seat (730), when the clamping claw mechanism (500) clamps the pipe column, the buffer rod (710) is impacted by the pipe column, and the buffer spring (740) has a tendency to make the pipe column move in a direction away from the telescopic arm (420); The support base (730) includes a first support base (731) and a second support base (732). The locking nut (770) is in threaded fit with the support rod (720) and is located between the first support base (731) and the second support base (732), or on the right side of the second support base (732). The first support base (731) is bolted to the telescopic boom (420), and the second support base (732) is welded to the telescopic boom (420).

2. The pipe racking manipulator for a drill floor according to claim 1, wherein A track (230) is provided on the base (200), and limit members are provided at both ends of the track (230). The limit members are used to limit the sliding range of the trolley feeding mechanism (100).

3. The pipe arranging manipulator for a drill floor according to claim 1 or 2, characterized in that The first driving member (600) is a hydraulic cylinder. The cylinder body of the hydraulic cylinder is hinged to the first base (210), and the driving end of the hydraulic cylinder is hinged to the trolley feeding mechanism (100).

4. The pipe arranging manipulator on the drill floor according to claim 1, characterized in that, The jaw mechanism (500) includes a second driving member (510), a first connecting rod (520), a second connecting rod (530), two third connecting rods (540), and two curved rods (550). The curved rods (550) are bent, and the openings of the two curved rods (550) are arranged opposite to each other; The second driving member (510) is installed on the boom mechanism (400) and is in transmission connection with the first connecting rod (520). The two ends of the first connecting rod (520) are respectively hinged to one ends of the two third connecting rods (540). The other ends of the two third connecting rods (540) are respectively hinged to the bent portions of the two curved rods (550). The second connecting rod (530) is connected to the boom mechanism (400). The two ends of the second connecting rod (530) are respectively hinged to one ends of the two curved rods (550) close to the first connecting rod (520). The other ends of the two curved rods (550) approach or move away from each other under the drive of the third connecting rods (540), so that the other ends of the two curved rods (550) are in a fully open state, a semi-open state, or a fully closed state.

5. The pipe racking manipulator for a drill floor according to claim 4, wherein A plurality of rollers (560) are provided on the curved rod (550). When the curved rod (550) clamps a pipe string, the plurality of rollers (560) are in rolling fit with the pipe string.

6. The pipe racking manipulator for a drill floor according to claim 1, wherein An induction rod (750) is connected to the support rod (720), and a proximity switch (760) is provided on the telescopic boom (420). When the buffer rod (710) is impacted by the pipe string, the proximity switch (760) contacts the induction rod (750) and is triggered.

7. The pipe racking manipulator for the drill floor according to claim 1, wherein The slewing mechanism (300) includes a slewing base (310), a slewing assembly (320), a reducer (330), and a fourth driving member (340); The slewing base (310) is installed on the trolley feeding mechanism (100) and is rotatably connected to the slewing assembly (320). The slewing assembly (320) is connected to the boom mechanism (400) and is in transmission connection with the speed reducer (330). The speed reducer (330) is connected to the slewing base (310) and is in transmission connection with the fourth driving member (340).

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