A two-layer under-table manipulator for oil drilling

Abstract

The present invention relates to a two-layer under-platform manipulator for oil drilling, which includes a guide rail assembly for fixing under the drilling two-layer platform, a column assembly and a clamp assembly; the top of the column assembly is installed on the bottom of the guide rail assembly in a lateral movable manner through a moving mechanism; the clamp assembly is installed on the side of the column assembly in a lifting and moving manner through a trolley assembly; the lateral moving direction of the column assembly and the lifting direction of the trolley assembly are perpendicular to each other. The beneficial effect is that the structure is simple, the overall weight of the device is greatly reduced, and the clamping and handover operation of the drilling tool can be completed without consuming a lot of manpower, and the work efficiency is higher.

Description

Technical Field

[0001] The invention relates to the technical field of oil drilling, in particular to a two-layer under-platform manipulator used for oil drilling. Background Art

[0002] In oil drilling operations, in order to replace the drill bit and other operations, it is necessary to frequently trip the drill and exchange the drill pipe between the wellhead and the finger beam warehouse. In traditional tripping operations, this process is mainly performed manually by oil workers, and the derrick workers need to pull and guide the drill pipe in or out of the finger beam warehouse at high altitude and hand it over to the elevator. This is labor-intensive, dangerous, and time-consuming, which affects drilling efficiency. In order to improve the working environment and improve drilling efficiency, various two-story under-the-table manipulators have begun to be popularized in the market.

[0003] The existing manipulator under the second-layer platform has a complex structure and a large deadweight, which in turn puts a large load pressure on the second-layer platform. In addition, a large number of workers are required to assist when the drilling tools are handed over, resulting in low efficiency.

[0004] Therefore, there is an urgent need for a two-layer under-platform manipulator for oil drilling with a simple structure and high efficiency. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a two-layer under-platform manipulator for oil drilling, which solves the technical problems of structural load and low efficiency in the prior art.

[0007] (II) Technical solution

[0008] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0009] The present invention provides a two-layer platform manipulator for oil drilling, comprising a guide rail assembly for fixing under the drilling two-layer platform, a column assembly and a clamp assembly. The top of the column assembly is installed on the bottom of the guide rail assembly in a transversely movable manner through a moving mechanism. The clamp assembly is installed on the side of the column assembly in a lifting and moving manner through a trolley assembly. The transverse moving direction of the column assembly and the lifting direction of the trolley assembly are perpendicular to each other.

[0010] Optionally, the clamp assembly includes a clamp seat and a clamp mechanism installed on the clamp seat. The side of the clamp seat is connected to the trolley assembly. The clamp mechanism includes two clamp arms, a first telescopic hydraulic cylinder, a first transmission member and two first tie rods. The mounting ends of the two clamp arms are rotatably mounted on the clamp seat, the first telescopic hydraulic cylinder is fixed on the clamp seat and is located between the two clamp arms, the first telescopic hydraulic cylinder is rotatably connected to the two first tie rods through the first transmission member, and the two first tie rods are respectively connected to the inner middle parts of the two clamp arms; the first telescopic hydraulic cylinder drives the first transmission member to move forward and backward, the first transmission member drives the two first tie rods to rotate in a horizontal plane, and the two first tie rods drive the two clamp arms to rotate in a horizontal plane to perform clamping and releasing actions.

[0011] Optionally, the inner wall of the clamping end of the clamping pliers arm has an inclined surface that is inclined outward from top to bottom. An arc-shaped clamping portion that can slide up and down is installed on the inclined surface, and the outer surface of the arc-shaped clamping portion is configured as an inclined mounting surface, and the inclination direction and inclination angle of the mounting surface match the inclination direction and inclination angle of the inclined surface. The inner side of the arc-shaped clamping portion is provided with a plurality of arc-shaped jaw plates along its circumference and located on the same arc line. A reset assembly is also installed in the clamping end of the clamping pliers arm, and the reset end of the reset assembly is fixedly connected to the arc-shaped clamping portion.

[0012] Optionally, the reset assembly is a reset guide and a reset spring. A cavity matching the inclination angle of the inclined surface is provided in the clamping end of the clamping pliers arm, the reset guide is slidably connected in the cavity, one end of the reset spring is connected to the reset guide, and the other end of the reset spring is connected to the bottom of the cavity. The top end of the reset guide is fixedly connected to the arc-shaped clamping portion as the reset end of the reset assembly.

[0013] Optionally, the angle between the inclined surface and the vertical direction is 6°~11°.

[0014] Optionally, the clamp assembly also includes a straightening clamp mechanism, which is located below the clamp mechanism. The straightening clamp mechanism includes two straightening clamp arms, a second telescopic hydraulic cylinder, a second transmission member and a second pull rod. The mounting ends of the two straightening clamp arms are rotatably mounted on the clamp seat. The second telescopic hydraulic cylinder is fixed on the clamp seat and is located between the two straightening clamp arms. The second telescopic hydraulic cylinder is rotatably connected to the two second pull rods through the second transmission member, and the two second pull rods are connected to the inner middle parts of the two straightening clamp arms. The second telescopic hydraulic cylinder drives the second transmission member to move forward and backward, and the second transmission member drives the two second pull rods to rotate in a horizontal plane, and the two second pull rods drive the two straightening clamp arms to rotate in a horizontal plane to perform clamping and releasing actions.

[0015] Optionally, the mounting locations of the two straightening clamp arms on the clamp seat are aligned vertically with the mounting locations of the two clamping clamp arms on the clamp seat.

[0016] Optionally, two straightening rollers are rotatably mounted on the clamping end of the straightening clamp arm.

[0017] Optionally, first guide rails are provided on both sides of the guide rail assembly along the length direction thereof, and a rack is provided at the bottom of the guide rail assembly along the length direction thereof. The moving mechanism comprises a support, a servo motor, a reducer, a gear, and a first composite roller group. The first composite roller group is mounted on the top inner wall of the support, the servo motor and the reducer are fixed inside the support, the servo motor is connected to the gear located at the top of the support through the reducer, the gear meshes with the rack, and the first composite roller group is rollably supported in the first guide rail. The support is fixedly connected to the top of the column assembly.

[0018] Optionally, the two sides of the column assembly are provided with second guide rails along the length direction thereof. The side of the trolley assembly is provided with a second composite roller set, and the second composite roller set is rollably connected to the second guide rail. One end of the driving mechanism of the trolley assembly is connected to the side of the trolley assembly, and the connection is located between the second composite roller sets; the other end of the driving mechanism is connected to the inside of the column assembly.

[0019] (III) Beneficial effects

[0020] The beneficial effects of the present invention are:

[0021] The present invention provides a two-layer under-table manipulator for oil drilling. A translation and lifting track is formed by a guide rail assembly and a column assembly. The translation of the column assembly is achieved by a moving mechanism, and then the translation of the clamp assembly is achieved. The lifting of the clamp assembly is achieved by a trolley assembly to achieve the clamping and handover operation of the drilling tool. Compared with the prior art, the structure is simple, the overall weight of the device is greatly reduced, and the clamping and handover operation of the drilling tool can be completed without consuming a lot of manpower, and the work efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of a manipulator on a second-layer platform for oil drilling in a specific embodiment of the present invention;

[0023] Figure 2 It is a schematic front view of a manipulator on a second-level platform for oil drilling in a specific embodiment of the present invention;

[0024] Figure 3 It is a structural schematic diagram of a clamp assembly in a specific embodiment of the present invention;

[0025] Figure 4 is a front view schematic diagram of a clamp assembly in a specific embodiment of the present invention;

[0026] Figure 5 It is a structural exploded view of a clamp assembly in a specific embodiment of the present invention;

[0027] Figure 6 It is a structural schematic diagram of a clamp seat in a specific embodiment of the present invention;

[0028] Figure 7 It is a partial structural schematic diagram of a clamping clamp mechanism in a specific embodiment of the present invention;

[0029] Figure 8 It is a partial structural exploded view of the clamping clamp mechanism in a specific embodiment of the present invention;

[0030] Fig. 9 for Figure 8 The enlarged view of point A in the middle;

[0031] Fig.10 It is a schematic top view of a partial structure of a clamping clamp mechanism in a specific embodiment of the present invention;

[0032] Fig.11 It is a structural schematic diagram of a part of the structure of the righting clamp mechanism in a specific embodiment of the present invention;

[0033] Fig.12 It is a structural explosion diagram of a part of the structure of the righting clamp mechanism in a specific embodiment of the present invention;

[0034] Fig.13 It is a schematic top view of a partial structure of a righting clamp mechanism in a specific embodiment of the present invention;

[0035] Fig.14 It is a structural schematic diagram of a part of the structure of the safety clamp mechanism in a specific embodiment of the present invention;

[0036] Fig.15 It is a structural schematic diagram of a trolley assembly in a specific embodiment of the present invention;

[0037] Fig.16 It is a structural schematic diagram of a column assembly in a specific embodiment of the present invention;

[0038] Fig.17 It is a schematic structural diagram of a guide rail assembly in a specific embodiment of the present invention.

[0039] [Description of Reference Numerals]

[0040] 1: Guide rail assembly; 11: First guide rail; 12: Rack;

[0041] 2: column assembly; 21: second guide rail;

[0042] 3: Clamp assembly; 31: Clamp seat; 32: Clamp mechanism; 321: Clamp arm; 322: First telescopic hydraulic cylinder; 323: First transmission member; 324: First pull rod; 325: Arc clamping part; 326: Arc clamp tooth plate; 327: Reset guide; 328: Reset spring; 33: Righting clamp mechanism; 331: Righting clamp arm; 332: Second telescopic hydraulic cylinder; 333: Second transmission member; 334: Second pull rod; 335: Righting roller; 34: Safety clamp mechanism; 341: Safety clamp arm; 342: Third telescopic hydraulic cylinder; 343: Third transmission member; 344: Third connecting rod;

[0043] 4: moving mechanism; 41: support; 42: servo motor; 43: reducer; 44: gear; 45: first composite roller group;

[0044] 5: trolley assembly; 51: driving mechanism; 52: second composite roller group; 53: displacement sensor. DETAILED DESCRIPTION

[0045] In order to better understand the above technical solution, the exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art. Among them, the directions such as "upper", "lower", "front" and "back" described herein are Figure 2 orientation as a reference.

[0046] like Figure 1 and Figure 2 As shown, this specific embodiment provides a second-floor platform manipulator for oil drilling. The second-floor platform is the workplace where the derrick workers perform drilling operations. It includes the derrick workers' operating table and the finger beam library for storing the vertical roots, and is also an important part of the derrick. The second-floor platform manipulator refers to a manipulator located below the second-floor platform, including a guide rail assembly 1 for fixing below the drilling second-floor platform, as well as a column assembly 2 and a clamp assembly 3. The top of the column assembly 2 is laterally movably mounted on the bottom of the guide rail assembly 1 through a moving mechanism 4. The clamp assembly 3 is mounted on the side of the column assembly 2 through a trolley assembly 5 so as to be able to be lifted and moved. The lateral movement direction of the column assembly 2 and the lifting direction of the trolley assembly 5 are perpendicular to each other.

[0047] Therefore, a translation and lifting track is formed by the guide rail assembly and the column assembly, the translation of the column assembly is achieved through the moving mechanism, and then the translation of the clamp assembly is achieved, and the lifting of the clamp assembly is achieved through the trolley assembly to realize the clamping and handover operation of the drilling tool. Compared with the existing technology, the structure is simple, the overall weight of the device is greatly reduced, and the clamping and handover operation of the drilling tool can be completed without consuming a lot of manpower, and the work efficiency is higher.

[0048] Specifically, Figure 15-17As shown, the first guide rails 11 are provided on both sides of the guide rail assembly 1 along the length direction thereof, and the rack 12 is provided on the bottom of the guide rail assembly 1 along the length direction thereof. The moving mechanism 4 includes a support 41, a servo motor 42, a reducer 43, a gear 44, and a first composite roller group 45. The first composite roller group 45 is installed on the top inner wall of the support 41, the servo motor 42 and the reducer 43 are fixed inside the support 41, the servo motor 42 is connected to the gear 44 located at the top of the support 41 through the reducer 43, the gear 44 engages the rack 12, and the first composite roller group 45 is rollably supported in the first guide rail 11. The support 41 is fixedly connected to the top of the column assembly 2. Thus, the lateral movement of the column assembly is realized. The second guide rails 21 are provided on both sides of the column assembly 2 along the length direction thereof. The side of the trolley assembly 5 is provided with a second composite roller group 52, and the second composite roller group 52 is rollably connected to the second guide rail 21. One end of the driving mechanism 51 of the trolley assembly 5 is connected to the side of the trolley assembly 5, and the connection is located between the second composite roller group 52, and the other end of the driving mechanism 51 is connected to the inside of the column assembly 2. In this way, the vertical lifting of the clamp assembly 3 is achieved. In this specific embodiment, the driving mechanism 51 is a hydraulic cylinder, and the side of the column assembly 2 is also provided with a hydraulic valve group for controlling the hydraulic cylinder.

[0049] Furthermore, if Figure 1-Figure 8 As shown, the clamp assembly 3 includes a clamp seat 31 and a clamp mechanism 32 mounted on the clamp seat 31. The side of the clamp seat 31 is connected to the trolley assembly 5. The clamp mechanism 32 includes two clamp arms 321, a first telescopic hydraulic cylinder 322, a first transmission member 323 and two first tie rods 324. The mounting ends of the two clamp arms 321 are rotatably mounted on the clamp seat 31, the first telescopic hydraulic cylinder 322 is fixed on the clamp seat 31 and is located between the two clamp arms 321, the first telescopic hydraulic cylinder 322 is rotatably connected to the two first tie rods 324 through the first transmission member 323, and the two first tie rods 324 are respectively connected to the inner middle parts of the two clamp arms 321. The first telescopic hydraulic cylinder 322 drives the first transmission member 323 to move forward and backward, and the first transmission member 323 drives the two first pull rods 324 to rotate in the horizontal plane, and the two first pull rods 324 drive the two clamping arms 321 to rotate in the horizontal plane to perform clamping and releasing actions. A hydraulic valve group for controlling the first telescopic hydraulic cylinder 322 is fixed on the top of the trolley assembly 5.

[0050] Furthermore, if Figure 2 , Figure 3 and Fig.15As shown, the clamp seat 31 is connected to the top of the side of the trolley assembly 5 through a pin shaft through the top of its side, and the bottom of the same side of the clamp seat 31 is connected to the bottom of the same side of the trolley assembly 5 through bolts. The structure in which the clamp assembly 3 is connected to the column assembly 2 through the trolley assembly 5 will form a cantilever structure of the clamp assembly 3. When the clamp assembly 3 clamps the drill tool, due to the gravity of the drill tool, the clamp assembly 3 will have a certain bending deformation, and the drill tool cannot be kept vertical. In addition, the gravity of the drill tool will form a large bending moment at the connection between the trolley assembly 5 and the column assembly 2. Therefore, through the connection method between the clamp seat 31 and the trolley assembly 5, according to the different drill tools, the clamp seat 31 is rotated counterclockwise by a certain angle from horizontal adjustment through bolts to level the bending angle of the clamp assembly 3 when clamping the drill tool, thereby keeping the drill tool vertical.

[0051] Furthermore, if Figure 8 and Fig. 9As shown, the inner wall of the clamping end of the clamping arm 321 has an inclined surface that is inclined outward from top to bottom, and the angle between the inclined surface and the vertical direction is 6° to 11°. An arc-shaped clamping portion 325 that can slide up and down is installed on the inclined surface, and the outer surface of the arc-shaped clamping portion 325 is configured as an inclined mounting surface, and the inclination direction and inclination angle of the mounting surface match the inclination direction and inclination angle of the inclined surface. Therefore, by using the two arc-shaped clamping parts 325 as wedges, when the drill tool enters, the two arc-shaped clamping parts 325 abut against the drill tool, and then the trolley assembly 5 drives the clamp assembly 3 to rise, and the two arc-shaped clamping parts 325 will begin to slide downward along the inclined surface, the distance between the two arc-shaped clamping parts 325 is reduced, and the gap between the two arc-shaped clamping parts 325 and the drill tool is reduced, the clamping force of the two arc-shaped clamping parts 325 on the drill tool is increased, and the friction force of the two arc-shaped clamping parts 325 on the drill tool is also increased. When the gravity of the drill tool and the friction force of the arc-shaped clamping parts 325 on the drill tool are balanced, the clamp assembly 3 drives the drill tool to rise. After the clamp assembly 3 drives the drill tool to rise to a certain height and stops, the drill tool handling equipment located above the second-floor under-stage manipulator described in this specific embodiment clamps the drill tool and allows the drill tool to continue to rise, and the two arc-shaped clamping parts 325 slide upward along the inclined surface, the distance between the two arc-shaped clamping parts 325 increases, the gap between the two arc-shaped clamping parts 325 and the drill tool increases, the clamping force of the two arc-shaped clamping parts 325 on the drill tool decreases, and the friction force of the two arc-shaped clamping parts 325 on the drill tool decreases until the drill tool is separated from the clamp assembly 3. The two arc-shaped clamping parts 325 form a wedge-shaped self-locking clamping mode for the drill tool, and when the drill tool leaves, it can be automatically unlocked without interfering with the departure of the drill tool. Among them, the angle between the inclined surface and the vertical direction greater than 6° and less than 11° will affect the clamping effect of the arc-shaped clamping part 325 on the drill tool. The inner side of the arc clamping part 325 is provided with a plurality of arc-shaped jaw plates 326 along the circumference thereof and located on the same arc line. In the present specific embodiment, the number of the arc-shaped jaw plates 326 is three, and the drill tool clamping surface of each arc-shaped jaw plate 326 is evenly provided with jaws. Because the surface of the drill tool is smooth, the jaws can improve the stability of the drill tool clamping and prevent the drill tool from falling off. A reset component is also installed in the clamping end of the clamping arm 321, and the reset end of the reset component is fixedly connected to the arc clamping part 325. The reset component is a reset guide 327 and a reset spring 328. A cavity matching the inclination angle of the inclined surface is opened in the clamping end of the clamping arm 321, and the reset guide 327 is slidably connected in the cavity, one end of the reset spring 328 is connected to the reset guide 327, and the other end of the reset spring 328 is connected to the bottom of the cavity. The top of the reset guide 325 is fixedly connected to the arc clamping part 325 as the reset end of the reset component. After the drilling tool leaves, the arc-shaped clamping portion 325 is reset by the reset assembly to facilitate the subsequent clamping operation.On the one hand, the reset guide 327 and the reset spring 328 will not affect the wedge-shaped self-locking effect of the arc-shaped guide 325, and on the other hand, the reset effect of the arc-shaped guide 325 can be achieved.

[0052] Furthermore, if Figure 4 , Figure 5 , Fig.11 and Fig.12 As shown, the clamp assembly 3 also includes a straightening clamp mechanism 33, which is located below the clamp mechanism 32. The straightening clamp mechanism 33 includes two straightening clamp arms 331, a second telescopic hydraulic cylinder 332, a second transmission member 333 and a second tie rod 334. The mounting ends of the two straightening clamp arms 331 are rotatably mounted on the clamp seat 31. The second telescopic hydraulic cylinder 332 is fixed on the clamp seat 31 and is located between the two straightening clamp arms 331. The second telescopic hydraulic cylinder 332 is rotatably connected to the two second tie rods 334 through the second transmission member 333. The two second tie rods 334 are connected to the inner middle parts of the two straightening clamp arms 331. The second telescopic hydraulic cylinder 332 drives the second transmission member 333 to move forward and backward, and the second transmission member 333 drives the two second tie rods 334 to rotate in the horizontal plane. The two second tie rods 334 drive the two straightening clamp arms 331 to rotate in the horizontal plane to perform clamping and releasing actions. The clamping end of the straightening clamp arm 331 is rotatably mounted with two straightening rollers 335. The straightening clamp mechanism 33 can straighten the drill tool to keep it vertical, and no manual auxiliary straightening is required. On the one hand, it can greatly improve convenience and thus improve work efficiency, and on the other hand, it can also improve safety. The four straightening rollers 335 can facilitate the straightening of the drill tool and can also position the drill tool.

[0053] Specifically, Figure 3-Figure 5 As shown, the mounting positions of the two straightening clamp arms 331 on the clamp seat 31 are aligned with the mounting positions of the two clamping clamp arms 321 on the clamp seat 31, that is, the mounting ends of the two clamping clamp arms 321 are aligned with the mounting ends of the two straightening clamp arms 331. In this specific embodiment, the mounting end of a clamping clamp arm 321 and the mounting end of a corresponding straightening clamp arm 331 are connected to the clamp seat 31 through the same pin. The mounting ends of the two clamping clamp arms 321 and the mounting ends of the two straightening clamp arms 331 are both provided with self-lubricating sleeves for easy rotation. Both ends of the first pull rod 324 and the second pull rod 334 are provided with self-lubricating sleeves for easy rotation.

[0054] Furthermore, if Figure 4 , Figure 5 and Fig.14As shown, the clamp assembly 3 also includes a safety clamp mechanism 34, which is located below the righting clamp mechanism 33. The safety clamp mechanism 34 includes two safety clamp arms 341, a third telescopic hydraulic cylinder 342, a third transmission member 343 and a third tie rod 344. The mounting ends of the two safety clamp arms 341 are rotatably mounted on the clamp seat 31. The third telescopic hydraulic cylinder 342 is fixed on the clamp seat 31 and is located between the two righting clamp arms 341. The third telescopic hydraulic cylinder 342 is rotatably connected to the two third tie rods 344 through the third transmission member 343, and the two third tie rods 344 are connected to the inner middle parts of the two safety clamp arms 341. The third telescopic hydraulic cylinder 342 drives the third transmission member 343 to move forward and backward, and the third transmission member 343 drives the two third tie rods 344 to rotate in the horizontal plane, and the two third tie rods 344 drive the two safety clamp arms 341 to rotate in the horizontal plane to perform clamping and releasing actions. The safety clamp mechanism 34 can prevent the drill tool from falling to the ground and tipping over due to the sudden damage of the clamp mechanism 32, thereby preventing a safety accident. Specifically, when the two clamp arms 321 clamp the drill tool, the two safety clamp arms 341 will form a drill tool support space, the cross-sectional size of which is larger than the cross-sectional size of the target drill tool, and the drill tool is also located in the drill tool support space. If the clamp arms 321 fail due to damage or other reasons, the drill tool will fall to the ground, and the upper part of the drill tool will still be located in the drill tool support space, and the upper part of the drill tool will abut against the inner side of the safety clamp arm, thereby preventing the drill tool from tipping over and causing a safety accident and property loss.

[0055] Specifically, Fig.10 and Fig.13 As shown, the first transmission member 323 and the second transmission member 333 are arc-shaped toward the side of the drilling tool, so as to form a circular space with the clamp arms of the respective transmissions.

[0056] Furthermore, if Figure 4 and Figure 5As shown, a drill tool detection device 35 is also provided on the clamp seat 31. The drill tool detection device 35 is Y-shaped, and its mounting end is fixed on the clamp seat 31, and is located between the clamping clamp mechanism 32 and the straightening clamp mechanism 33. The two free ends of the drill tool detection device are located below the clamping ends of the two clamping clamp arms 321, and above the clamping ends of the two straightening clamp arms. Sensors are fixed to the two free ends of the drill tool detection device 35, and the detection ends of the sensors face the drill tool. A junction box is fixed to the side of the column assembly 2, and the controller in the junction box is connected to the servo motor 42 and the sensors at the two free ends of the drill tool detection device through wires, and the controller signal is connected to the control system of the drilling control center. When the drill tool enters the detection range of the sensor, the sensor sends the position information of the drill tool to the controller, and the controller sends the signal to the control system. The control system sends the control signal to the controller according to the size of the drill tool. The controller controls the servo motor 42 to start, driving the clamp assembly 3 to move horizontally a specified distance, so that the center of the drill tool is located at the center of the drill tool clamping space formed by the clamp mechanism 32, thereby achieving accurate horizontal positioning of the clamp assembly 3, and then achieving accurate clamping of the drill tool. A chain for protecting hydraulic pipelines and lines is provided inside the column assembly 2. A displacement sensor 53 is also provided on the trolley assembly, and the controller is electrically connected to the displacement sensor 53. The lifting height of the clamp assembly 3 is determined by the displacement sensor 53.

[0057] The working states of the manipulator on the drilling platform for oil drilling provided in this specific embodiment are divided into two types. The first is to clamp the drill tool and rise. According to the target drill tool position, the servo motor 42 is started by the controller, and the servo motor 42 drives the gear 44 through the reducer 43 to rotate the rack 12 at the bottom of the meshing guide rail assembly 1, driving the column assembly 2 and the clamp assembly 3 to move to the target position along the guide rail. After the target drill tool enters the detection range of the sensor of the drill tool detection device 35 of the clamp assembly 3, the servo motor 42 is controlled by the controller to drive the gear 44 to rotate the meshing rack 12, further driving the clamp assembly 3 to move to the specified position, and then the third transmission member 343 is driven forward by the third telescopic hydraulic cylinder 342, and the third transmission member 343 drives the two third pull rods 344 to rotate in the horizontal plane, and the two third pull rods 344 drive the two safety clamp arms 341 to rotate in the horizontal plane to form a drill tool pushing and supporting space, and the drill tool is located in the drill tool pushing and supporting space. Then, the second transmission member 333 is driven forward by the second telescopic hydraulic cylinder 332, and the second transmission member 333 drives the two second tie rods 334 to rotate in the horizontal plane, and the two second tie rods 334 drive the two straightening clamp arms 331 to rotate in the horizontal plane, and the straightening rollers 335 located at the clamping ends of the two straightening clamp arms 331 abut against the drilling tool to straighten and position the drilling tool. The first transmission member 323 is driven forward by the telescopic hydraulic cylinder 322, and the first transmission member 323 drives the two first tie rods 324 to rotate in the horizontal plane, and the two first tie rods 324 drive the two clamping clamp arms 321 to rotate in the horizontal plane to clamp the drilling tool. After the arc-shaped clamping teeth 326 of the two arc-shaped clamping parts 325 at the clamping ends of the two clamping arms 321 bite the drilling tool, the trolley assembly 5 is driven to rise through the driving mechanism 51 of the trolley assembly 5, and the trolley assembly 5 drives the clamp assembly 3 to rise, and the two arc-shaped clamping parts 325 slide downward along the inclined surface until the friction force of the two arc-shaped clamping parts 325 on the target drilling tool is balanced with the gravity of the target drilling tool to form a wedge-shaped self-locking, thereby driving the drilling tool to rise.

[0058] The second method is to push the drilling tool. According to the target drilling tool position, the controller controls the servo motor 42 to start. The servo motor 42 drives the gear 44 through the reducer 43 to rotate the rack 12 at the bottom of the meshing guide rail assembly 1, driving the column assembly 2 and the clamp assembly 3 to move along the guide rail to the target position. The third transmission member 343 is driven forward by the third telescopic hydraulic cylinder 342 of the safety clamp mechanism 34. The third transmission member 343 drives the two third pull rods 344 to rotate in the horizontal plane. The two third pull rods 344 drive the two safety clamp arms 341 to rotate in the horizontal plane to form a drilling tool pushing space. The drilling tool is in the drilling tool pushing space. Then the servo motor 42 drives the gear 44 to rotate the meshing rack 12, driving the safety clamp mechanism 34 of the clamp assembly 3 to move, and pushing the target drilling tool to the specified position.

[0059] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0060] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0062] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0063] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A two-layer under-table manipulator for oil drilling, characterized in that: It comprises a guide rail assembly (1) for fixing below the second-level drilling platform, a column assembly (2) and a clamp assembly (3); The top of the column assembly (2) is laterally movably mounted on the bottom of the guide rail assembly (1) via a moving mechanism (4); The clamp assembly (3) is installed on the side of the column assembly (2) in a manner that it can be lifted and moved by means of a trolley assembly (5); The lateral moving direction of the column assembly (2) and the lifting direction of the trolley assembly (5) are perpendicular to each other; The clamp assembly (3) comprises a clamp seat (31) and a clamp mechanism (32) mounted on the clamp seat (31); The side portion of the clamp seat (31) is connected to the trolley assembly (5); The clamping clamp mechanism (32) comprises two clamping clamp arms (321), a first telescopic hydraulic cylinder (322), a first transmission member (323) and two first pull rods (324); The mounting ends of the two clamping clamp arms (321) are rotatably mounted on the clamp seat (31); the first telescopic hydraulic cylinder (322) is fixed on the clamp seat (31) and is located between the two clamping clamp arms (321); the first telescopic hydraulic cylinder (322) is rotatably connected to the two first pull rods (324) via the first transmission member (323); the two first pull rods (324) are respectively connected to the inner middle parts of the two clamping clamp arms (321); The first telescopic hydraulic cylinder (322) drives the first transmission member (323) to move forward and backward, the first transmission member (323) drives the two first pull rods (324) to rotate in a horizontal plane, and the two first pull rods (324) drive the two clamping clamp arms (321) to rotate in a horizontal plane to perform clamping and releasing actions; The clamp assembly (3) further comprises a straightening clamp mechanism (33), wherein the straightening clamp mechanism (33) is located below the clamping clamp mechanism (32); The righting clamp mechanism (33) comprises two righting clamp arms (331), a second telescopic hydraulic cylinder (332), a second transmission member (333) and a second pull rod (334); The mounting ends of the two straightening clamp arms (331) are rotatably mounted on the clamp seat (31); The second telescopic hydraulic cylinder (332) is fixed on the clamp seat (31) and is located between the two straightening clamp arms (331); the second telescopic hydraulic cylinder (332) is rotatably connected to the two second pull rods (334) via the second transmission member (333); the two second pull rods (334) are connected to the inner middle parts of the two straightening clamp arms (331); The second telescopic hydraulic cylinder (332) drives the second transmission member (333) to move forward and backward, the second transmission member (333) drives the two second pull rods (334) to rotate in a horizontal plane, and the two second pull rods (334) drive the two straightening clamp arms (331) to rotate in a horizontal plane to perform clamping and releasing actions.

2. The two-layer under-table manipulator for oil drilling according to claim 1, characterized in that: The inner wall of the clamping end of the clamping clamp arm (321) has an inclined surface inclined outwardly in a direction from top to bottom; An arc-shaped clamping portion (325) that can slide up and down is mounted on the inclined surface, the outer surface of the arc-shaped clamping portion (325) is configured as an inclined mounting surface, and the inclination direction and inclination angle of the mounting surface match the inclination direction and inclination angle of the inclined surface; The inner side of the arc-shaped clamping portion (325) is provided with a plurality of arc-shaped jaw plates (326) along its circumference and located on the same arc line; A reset component is also installed in the clamping end of the clamping clamp arm (321), and the reset end of the reset component is fixedly connected to the arc-shaped clamping portion (325).

3. The two-layer under-table manipulator for oil drilling according to claim 2, characterized in that: The reset assembly comprises a reset guide (327) and a reset spring (328); A cavity matching the inclination angle of the inclined surface is provided in the clamping end of the clamping clamp arm (321); the reset guide (327) is slidably connected in the cavity; one end of the reset spring (328) is connected to the reset guide (327); and the other end of the reset spring (328) is connected to the bottom of the cavity; The top end of the reset guide (327) serves as the reset end of the reset assembly and is fixedly connected to the arc-shaped clamping portion (325).

4. The two-layer under-table manipulator for oil drilling according to claim 2, characterized in that: The angle between the inclined surface and the vertical direction is 6°~11°.

5. The two-layer under-table manipulator for oil drilling according to claim 1, characterized in that: The mounting locations of the two straightening clamp arms (331) on the clamp seat (31) are vertically aligned with the mounting locations of the two clamping clamp arms (321) on the clamp seat (31).

6. The two-layer under-table manipulator for oil drilling according to claim 1, characterized in that: Two straightening rollers (335) are rotatably mounted on the clamping end of the straightening clamp arm (331).

7. The two-layer under-table manipulator for oil drilling according to claim 1, characterized in that: Both sides of the guide rail assembly (1) are provided with first guide rails (11) along the length direction thereof, and the bottom of the guide rail assembly (1) is provided with a rack (12) along the length direction thereof; The moving mechanism (4) comprises a support (41), a servo motor (42), a reducer (43), a gear (44), and a first composite roller group (45); The first composite roller group (45) is mounted on the top inner wall of the support (41); the servo motor (42) and the reducer (43) are fixed inside the support (41); the servo motor (42) is transmission-connected to the gear (44) located at the top of the support (41) via the reducer (43); the gear (44) meshes with the rack (12); and the first composite roller group (45) is rollably supported in the first guide rail (11); The support (41) is fixedly connected to the top of the column assembly (2).

8. The two-layer under-table manipulator for oil drilling according to claim 1, characterized in that: Second guide rails (21) are provided on both sides of the column assembly (2) along the length direction thereof; A second composite roller set (52) is provided on the side of the trolley assembly (5), and the second composite roller set (52) is rollably connected to the second guide rail (21); One end of the driving mechanism (51) of the trolley assembly (5) is connected to the side of the trolley assembly (5), and the connection point is located between the second composite roller groups (52); the other end of the driving mechanism (51) is connected to the inside of the column assembly (2).

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