A tube handling robot gripper device capable of gripping only a single string

Abstract

The present application relates to a kind of pipe string manipulator clamp device capable of only grabbing single tubular column, belong to the tubular column automatic technology field of oil and gas drilling equipment.The clamp device is by increasing the main finger driving hydraulic cylinder piston guide mechanism, lateral load is borne by guide mechanism, avoid the radial load that main finger driving hydraulic cylinder piston rod is subjected to, improve the service life of main finger driving hydraulic cylinder and the security of clamp device operation;Increase the pipe blocking mechanism driven by connecting rod assembly in the clamp device, when main finger driving hydraulic cylinder is contracted to the shortest, the maximum size of jaw depth space, can realize the clamp device holding maximum diameter pipe column, when main finger driving hydraulic cylinder is stretched to the longest, the minimum size of jaw depth space, can realize the clamp device holding minimum diameter pipe column, realize the same clamp can hold pipe column of different diameter function, ensure that the clamp cannot simultaneously hold the condition of two pipe columns, realize the purpose of fully automated mechanical hand pipe string operation.

Description

Technical Field

[0001] This invention relates to a pipe-laying robotic gripper device capable of gripping only a single pipe string, belonging to the technical field of automated pipe-laying equipment for oil and gas drilling and production equipment. Background Technology

[0002] Traditional standpipe handling involves manual transport of the standpipe from the wellhead to the finger beam by a team of workers on the second-floor drilling rig and the drilling platform. This method is labor-intensive, inefficient, and prone to accidents during tripping. As oil drilling becomes increasingly challenging, the drawbacks of this traditional standpipe handling method become more apparent. To achieve high efficiency, low cost, and uninterrupted drilling, automated standpipe handling will improve both operational efficiency and worker safety. The second-floor pipe handling robot is a core subsystem of the automated pipe handling system for drilling and workover rigs, playing a crucial role. The clamping device is the core component of the second-floor pipe handling robot, but the diameter range of the pipe string it can handle determines its applicability and performance. On offshore platform drilling and workover rigs, two-tiered tubing manipulators not only need to operate large-diameter drill collars and drill pipes, but also small-diameter tubing. On some platforms, the diameter difference between the working tubing strings can reach more than four times (e.g., 11-inch drill collars and 2-3 / 8-inch tubing). However, current two-tiered tubing manipulators cannot use the same clamping device to hold both a large-diameter drill collar and a small-diameter tubing or drill pipe at the same time. This is because when the manipulator's clamping device can hold a large-diameter drill collar, it will hold two to three small-diameter tubing or drill pipes at once. When the manipulator's clamping device can hold only one small-diameter tubing or drill pipe, its clamping opening cannot hold a large-diameter drill collar. This forces the two-tiered manipulator to frequently change clamping devices when holding tubing strings of different diameters, preventing the achievement of fully automated operation.

[0003] To address the aforementioned issues and achieve fully automated operation of the two-tiered pipe-laying robot, some researchers have improved the structure of the existing robot's gripping device. For example, Wuhan Yuanbo Intelligent Control Technology Research and Design Institute applied for patent number CN203515388U, entitled "A New Type of Automatic Pipe-Laying Robot"; Qingdao Beiheng Intelligent Technology Co., Ltd. applied for patent number CN212105787U, entitled "A Drilling Rig Pipe-Laying Robot"; and Qingdao Taizhong Energy Technology Co., Ltd. applied for patent number CN214944093U, entitled "A Composite Pipe-Laying Robot". The above three types of clamping devices all have shortcomings in use. First, the hydraulic cylinder driven by the main clamp finger lacks a guiding device. When one of the main clamp fingers is under force, the piston rod of the hydraulic cylinder will be subjected to radial force, which can easily cause oil leakage and reduce the life of the hydraulic cylinder driven by the main clamp finger. In order to solve the above-mentioned oil leakage accident, the current conventional operation is for maintenance personnel to climb onto the maintenance platform of the pipe laying robot and replace the seals of the hydraulic cylinder at a high altitude. This kind of operation is extremely risky and prone to safety accidents. Moreover, the workload of maintenance personnel is heavy. In addition, the replacement of seals can easily cause hydraulic oil to pollute the environment. Secondly, there is only one main clamp finger drive linkage on each side, and in two patents, the main clamp finger's two-force rod is bent, making it prone to bending and deformation. When the clamping device is pushing the tubing string, the tubing string leans against the main clamp finger. If the linkage of the main clamp finger deforms, the main clamp finger is very likely to open automatically, causing the tubing string to fall out of the clamping device. To solve the above-mentioned unexpected situation of the main clamp finger opening automatically, the current conventional practice is that when the driller observes on the monitoring video that the main clamp finger has opened, the driller will stop all operations of the clamping device, put the tubing string back in the tubing string storage position, adjust the opening size of the main clamp finger of the clamping device to the required size, and then resume the tubing laying operation. This approach carries a great risk. If the driller does not observe the abnormal opening of the main clamp finger, the tubing string may fall out of the clamping device. At the same time, frequent adjustment of the opening size of the main clamp finger will also reduce the work efficiency of the tubing laying operation. Third, due to the limitations of the space between the second-floor platform and the spacing between the column supports, the width of the clamping device cannot be too large. As a result, when the clamping device clamps thick and thin columns, the depth of the jaws cannot meet the expected size requirements, causing the clamping device to clamp two or even more thin columns at the same time.

[0004] In the current two-stage pipe string erection and laying operations, there is no good way to handle situations where the clamping device simultaneously holds two or more thin pipe strings. To avoid this, the existing practice is to sacrifice the automation of the robotic arm during thin pipe string laying operations. The driller operates the clamping device manually and uses video-assisted observation to determine whether the clamping device is only holding a single pipe string. If multiple pipe strings are found to be held, the clamping device is released and re-grabbed until the video shows that only one pipe string is held in the clamping device, before proceeding to the next step of the pipe laying operation. This operation not only sacrifices the fully automated pipe laying function of the two-stage pipe laying robot, greatly reducing work efficiency, but also relies entirely on video-assisted operation, which is detrimental to work safety and greatly increases the probability of accidents. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of the prior art by providing a clamping device whose jaw depth can vary according to the diameter of the clamping pipe, effectively preventing the abnormal situation of the clamping device clamping two pipes simultaneously, significantly improving the service life of the hydraulic cylinder driving the main clamp finger, preventing the main clamp finger from opening under lateral load of the pipe, improving the operational safety of the clamping device, and enabling a fully automated one-click operation of a two-layer pipe-laying robot that can grasp only a single pipe.

[0006] The present invention achieves the above objectives through the following technical solution:

[0007] A pipe-laying robotic gripper capable of gripping only a single pipe column comprises a main gripper finger drive assembly, a hydraulic cylinder guide frame, a main gripper finger drive linkage, a main gripper finger assembly, a suspension linkage, a composite linkage, a reinforcing linkage, a swing arm drive linkage, a swing arm, a clamping plate, bolt rollers, and a pipe-blocking mechanism. The main gripper finger drive assembly features a hydraulic cylinder guide frame installed in the guide groove of the hydraulic cylinder guide seat. A suspension linkage is hinged to the gripper support of the main gripper finger drive assembly via a main gripper finger mounting pin. A composite linkage is hinged to the middle of the main gripper finger drive assembly via a main gripper finger mounting pin. The middle of the main gripper finger body of the main gripper finger assembly is suspended on the composite linkage via a main gripper finger mounting pin, and the tail of the main gripper finger body is suspended on the suspension linkage. Above, one end of the suspension link and the main clamp finger drive link is hinged to the tail of the main clamp finger body via a main clamp finger mounting pin, and the other end of the main clamp finger drive link is hinged to the hydraulic cylinder guide frame via a link mounting pin; a reinforcing link is also hinged to the main clamp finger mounting pin that is hinged to the composite link and the middle of the main clamp finger body, and the other end of the reinforcing link is hinged to the hydraulic cylinder guide frame; the other end of the composite link is hinged to one end of the swing arm drive link, and the other end of the swing arm drive link is hinged to a swing arm via a swing arm pin; one end of the swing arm is hinged to a bolt roller and a roller mounting nut, and the other end of the swing arm is hinged to the stop tube mechanism; the roller part of the bolt roller is embedded in the middle of the main clamp finger assembly, and the bolt roller can roll in the roller groove of the roller guide seat.

[0008] The main clamp finger drive assembly consists of a clamp support, a cover plate, mounting screws, a hydraulic cylinder guide seat, and a main clamp finger drive hydraulic cylinder. The main clamp finger drive hydraulic cylinder is installed inside the clamp support. A cover plate is installed in the middle of the clamp support through the cover plate mounting screws. A hydraulic cylinder guide seat is installed at one end of the clamp support through the cover plate mounting screws. The lower part of the clamp support has two pin holes for connecting and installing with the robotic arm of the pipe-laying robot. The upper part of the clamp support has two mounting holes for suspension links and two mounting holes for composite links.

[0009] A sensor mounting lug is welded to the middle of the hydraulic cylinder guide frame. An analog displacement detection sensor is mounted on the sensor mounting lug via a sensor mounting pin. The telescopic end of the analog displacement detection sensor is fixed to the main clamp finger drive hydraulic cylinder of the main clamp finger drive assembly. The analog displacement detection sensor is connected to the control center of the pipe laying system via a communication cable.

[0010] The main clamp finger assembly consists of a main clamp finger body, roller guide seats, guide seat mounting screws, a small clamp finger drive hydraulic cylinder, a small clamp finger mounting threaded pin, a small clamp finger, a slotted nut, a retaining ring, a small clamp finger mounting pin, a small clamp finger connecting rod, and a main clamp finger mounting pin. Roller guide seats are mounted on the upper and lower parts of the main clamp finger body via guide seat mounting screws. A small clamp finger drive hydraulic cylinder is mounted inside the main clamp finger body via guide seat mounting screws. The piston rod of the small clamp finger drive hydraulic cylinder is hinged to one end of the small clamp finger connecting rod via the small clamp finger mounting threaded pin. A slotted nut is mounted on the lower part of the small clamp finger mounting threaded pin, which can slide within an elongated hole on the main clamp finger body. A small clamp finger is hinged to the end of the main clamp finger body's inner cavity via the small clamp finger mounting threaded pin. The other end of the small clamp finger connecting rod is hinged to the middle of the small clamp finger via the small clamp finger mounting pin. A retaining ring is mounted on the lower end of the small clamp finger mounting pin.

[0011] The swing arm is oval in shape, with a bolt roller installed at one end, which rolls in the roller groove. The other end is connected to the stop mechanism via a main clamp finger mounting pin. A groove is machined on the side of the middle part of the swing arm, and one end of the swing arm drive connecting rod is inserted into the groove and hinged to the middle part of the swing arm via a swing arm pin. The swing arm pin is fixed by a clamp plate mounting screw and a clamp plate.

[0012] The tube-blocking mechanism consists of an assembly rod, a rectangular key, and an arc-shaped baffle. The assembly rod is equipped with a rectangular key, and an arc-shaped baffle is made at one end of the assembly rod. The tube-blocking mechanism is installed in the large circular hole at the front end of the clamp support of the main clamp finger drive assembly via the assembly rod. The rectangular key on the assembly rod is inserted into the rectangular keyway at the front end of the clamp support of the main clamp finger drive assembly.

[0013] The hole spacing of the two pin holes on the main clamp finger drive link and the reinforcing link is the same, ensuring smooth movement of the double parallelogram mechanism; the distance between the two main pin holes on the composite link is the same as the hole spacing of the two pin holes on the suspension link, ensuring smooth movement of the double parallelogram mechanism.

[0014] The advantages of this invention compared to the prior art are as follows:

[0015] 1. This pipe-handling manipulator clamping device, capable of gripping only a single pipe string, incorporates a piston guide mechanism for the main clamp finger drive hydraulic cylinder within the clamping device. This guide mechanism bears the lateral load, preventing the piston rod of the main clamp finger drive hydraulic cylinder from being subjected to radial loads, thus significantly improving the service life of the main clamp finger drive hydraulic cylinder. Furthermore, the addition of a set of main clamp finger drive linkages transforms the single linkage assembly into two pairs of parallelogram linkage assemblies, significantly improving the rigidity of the parallelogram linkage assemblies. This greatly reduces the tendency of the main clamp fingers to open under lateral loads from the pipe string, thereby enhancing the safety of the clamping device operation.

[0016] 2. This pipe-handling robot clamping device, capable of gripping only a single pipe string, incorporates a pipe-stopping mechanism driven by a linkage assembly. When the main clamp finger drives the hydraulic cylinder to its shortest position, the pipe-stopping mechanism retracts to its final position, maximizing the jaw depth and enabling the clamping device to hold pipe strings of the largest diameter. Conversely, when the main clamp finger drives the hydraulic cylinder to its longest position, the pipe-stopping mechanism retracts to its foremost position, minimizing the jaw depth and enabling the clamping device to hold pipe strings of the smallest diameter. This ensures that the jaw depth can only accommodate one small-diameter pipe string, effectively preventing the clamping device from simultaneously gripping two pipe strings, thus enabling the use of the same clamp to hold pipe strings of different diameters.

[0017] 3. This pipe-laying robotic gripper, capable of gripping only a single pipe string, is equipped with an analog displacement detection sensor. This sensor detects the extension and retraction length of the hydraulic cylinder driven by the main gripper finger. The control system of the pipe-laying system can use the signal transmitted by this analog displacement detection sensor as a signal to determine the opening size of the main gripper finger and the jaw depth of the gripper. After the control system of the pipe-laying system records the diameter of the pipe string to be operated before the pipe-laying operation, the gripper will only grip a single pipe string under any circumstances, and will not grip two pipe strings at the same time. This eliminates the need for manual assistance from the driller, thereby achieving the goal of fully automating the pipe-laying operation of the robotic arm. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main gripper finger of a pipe-laying robot capable of gripping only a single pipe column in the retracted state.

[0019] Figure 2 This is a schematic diagram of the main clamp finger of a pipe-laying robot gripper device capable of gripping only a single pipe column in the open state.

[0020] Figure 3 A schematic diagram of a pipe-laying robot gripper device capable of grasping only a single pipe column and holding a large-diameter pipe column;

[0021] Figure 4 A schematic diagram of a pipe-laying robot gripper device capable of grasping only a single pipe column and holding a small-diameter pipe column;

[0022] Figure 5 A schematic diagram of the main clamping finger drive component;

[0023] Figure 6 This is a schematic diagram of the clamp support structure;

[0024] Figure 7 This is a schematic diagram of the hydraulic cylinder guide seat.

[0025] Figure 8 This is a schematic diagram of the hydraulic cylinder guide frame.

[0026] Figure 9 A schematic diagram of the main clamping finger assembly;

[0027] Figure 10 A cross-sectional view of the main clamp finger assembly;

[0028] Figure 11 This is a schematic diagram of the tube-blocking mechanism;

[0029] Figure 12 This is a schematic diagram of a pipe-laying robot arm with a gripper device capable of grasping only a single pipe column, mounted on a robotic arm.

[0030] In the diagram: 1. Main jaw finger drive assembly; 101. Clamp support; 102. Cover plate; 103. Mounting screw; 104. Hydraulic cylinder guide seat; 105. Main jaw finger drive hydraulic cylinder; 106. Pin hole; 107. Mounting hole; 2. Hydraulic cylinder guide frame; 3. Connecting rod mounting pin; 301. Cotter pin; 4. Main jaw finger drive connecting rod; 5. Main jaw finger assembly; 501. Main jaw finger body; 502. Roller guide seat; 50... 3. Guide seat mounting screw; 504. Small clamp finger drive hydraulic cylinder; 505. Small clamp finger mounting threaded pin; 506. Small clamp finger; 507. Slotted nut; 508. Snap ring; 509. Small clamp finger mounting pin; 510. Small clamp finger connecting rod; 511. Main clamp finger mounting pin; 6. Suspension connecting rod; 7. Composite connecting rod; 8. Reinforced connecting rod; 9. Swing arm drive connecting rod; 10. Swing arm; 1001. Swing arm pin; 11. Clamping plate; 1101. Clamping plate mounting screw; 12. Bolt roller; 1201. Roller mounting nut; 13. Pipe stop mechanism; 1301. Assembly round rod; 1302. Rectangular key; 1303. Arc-shaped baffle; 14. Analog displacement detection sensor; 1401. Sensor mounting pin; 15. Clamp mounting pin; 16. Robotic arm; 17. Pipe column support. Detailed Implementation

[0031] The pipe-laying robotic gripper device, capable of gripping only a single pipe column, consists of a main gripper finger drive assembly 1, a hydraulic cylinder guide frame 2, a main gripper finger drive link 4, a main gripper finger assembly 5, a suspension link 6, a composite link 7, a reinforcing link 8, a swing arm drive link 9, a swing arm 10, a clamping plate 11, a bolt roller 12, and a pipe-blocking mechanism 13.

[0032] The main clamp finger drive assembly 1 consists of a clamp support 101, a cover plate 102, mounting screws 103, a hydraulic cylinder guide seat 104, and a main clamp finger drive hydraulic cylinder 105. The main clamp finger drive hydraulic cylinder 105 is installed inside the clamp support 101. The cover plate 102 is installed in the middle of the clamp support 101 through the cover plate mounting screws 103. The hydraulic cylinder guide seat 104 is installed at one end of the clamp support 101 through the cover plate mounting screws 103. The lower part of the clamp support 101 has two pin holes 106 for connecting and installing with the robotic arm 16 of the pipe laying robot. The entire clamp device can be installed on the robotic arm 16 of the second-floor pipe laying robot through the pins. The upper part of the clamp support 101 has two mounting holes 107 for suspension links 6 and two mounting holes 107 for composite links 7. A hydraulic cylinder guide frame 2 is installed in the guide rail groove of the hydraulic cylinder guide seat 104 of the main clamp finger drive assembly 1. A suspension link 6 is installed on the clamp support 101 of the main clamp finger drive assembly 1. A composite link 7 is installed in the middle of the main clamp finger drive assembly 1. A sensor mounting ear is welded to the middle of the hydraulic cylinder guide frame 2. An analog displacement detection sensor 14 is installed on the sensor mounting ear through a sensor mounting pin 1401. The telescopic end of the analog displacement detection sensor 14 is fixed on the main clamp finger drive hydraulic cylinder 105 of the main clamp finger drive assembly 1. The analog displacement detection sensor 14 is connected to the control center of the pipe laying system (not shown in the figure) through a communication cable. The piston rod on the main clamp finger drive hydraulic cylinder 105 of the main clamp finger drive assembly 1 is installed in the threaded hole at the lower part of the hydraulic cylinder guide frame 2.

[0033] The main clamp finger assembly 5 consists of a main clamp finger body 501, a roller guide seat 502, a guide seat mounting screw 503, a small clamp finger drive hydraulic cylinder 504, a small clamp finger mounting threaded pin 505, a small clamp finger 506, a slotted nut 507, a retaining ring 508, a small clamp finger mounting pin 509, a small clamp finger connecting rod 510, and a main clamp finger mounting pin 511. The roller guide seat 502 is mounted on the upper and lower parts of the main clamp finger body 501 via the guide seat mounting screw 503. The small clamp finger drive hydraulic cylinder 504 is mounted inside the main clamp finger body 501 via the guide seat mounting screw 503. The piston rod of the hydraulic cylinder 504 is hinged to one end of the small plier finger connecting rod 510 via a small plier finger mounting threaded pin 505. A slotted nut 507 is installed at the lower part of the small plier finger mounting threaded pin 505. The small plier finger mounting threaded pin 505 can slide in the elongated hole on the main plier finger body 501. The end of the inner cavity of the main plier finger body 501 is hinged to a small plier finger 506 via the small plier finger mounting threaded pin 505. The other end of the small plier finger connecting rod 510 is hinged to the middle of the small plier finger 506 via a small plier finger mounting pin 509. A retaining ring 508 is installed at the lower end of the small plier finger mounting pin 509. The main clamp finger assembly 5 has its main clamp finger body 501 suspended in the middle by the main clamp finger mounting pin 511 on the composite link 7, and its tail is suspended on the suspension link 6. One end of the suspension link 6 and the main clamp finger drive link 4 are hinged to the tail of the main clamp finger body 501 by the main clamp finger mounting pin 511, and the other end of the main clamp finger drive link 4 is hinged to the hydraulic cylinder guide frame 2 by the link mounting pin 3.

[0034] The main clamp finger body 501 is an elongated clamp finger. An inner cavity is machined on the inner side of the main clamp finger body 501 to accommodate components such as the small clamp finger drive hydraulic cylinder 504, the small clamp finger 506, and the small clamp finger connecting rod 510. A mud discharge window is opened at the end of the cavity to facilitate the discharge of dirt near the clamp finger. The middle of the small end of the main clamp finger body 501 is machined with an elongated hole that runs vertically through it. The radius of the elongated hole is the same as the radius of the small clamp finger mounting threaded pin 505. The small clamp finger mounting threaded pin 505 can slide freely in the elongated hole.

[0035] The composite connecting rod 7 is hinged to the main clamp finger mounting pin 511 at the middle of the main clamp finger body 501, and a reinforcing connecting rod 8 is also hinged to the main clamp finger mounting pin 511. The other end of the reinforcing connecting rod 8 is hinged to the hydraulic cylinder guide frame 2. The third hole at the other end of the composite connecting rod 7 is hinged to one end of the swing rod drive connecting rod 9. The other end of the swing rod drive connecting rod 9 is hinged to the swing rod 10 through the swing rod pin 1001. One end of the swing rod 10 is hinged through the bolt roller 12 and the roller mounting nut 1201, and the other end of the swing rod 10 is hinged to the tube stop mechanism 13. The roller part of the bolt roller 12 is embedded in the middle of the main clamp finger assembly 5, and the bolt roller 12 can roll in the roller groove of the roller guide seat 502. The tube-blocking mechanism 13 consists of an assembly rod 1301, a rectangular key 1302, and an arc-shaped baffle 1303. One side of the arc-shaped baffle 1303 has an arc-shaped surface that contacts the tube column root 17 during clamping operation and can be replaced after wear. The assembly rod 1301 is equipped with a rectangular key 1302, and one end of the assembly rod 1301 has an arc-shaped baffle 1303. The tube-blocking mechanism 13 is installed in the large circular hole at the front end of the clamp support 101 of the main clamp finger drive assembly 1 via the assembly rod 1301. The rectangular key 1302 on the assembly rod 1301 is inserted into the rectangular keyway at the front end of the clamp support 101 of the main clamp finger drive assembly 1. The rectangular key 1302 prevents the main clamp finger mounting pin 511 from being sheared due to the rotation of the tube-blocking mechanism 13.

[0036] The swing arm 10 is oval in shape, with a bolt roller 12 installed at one end. The roller portion of the bolt roller 12 can roll back and forth in the guide groove of the roller guide seat 502 on the main clamp finger assembly 5. The other end is connected to the baffle mechanism 13 through the main clamp finger mounting pin 511. A groove is machined on the side of the middle part of the swing arm 10. One end of the swing arm drive link 9 is inserted into the groove and hinged to the middle part of the swing arm 10 through the swing arm pin 1001. The swing arm pin 1001 is fixed by the clamp plate mounting screw 1101 and the clamp plate 11. When the swing arm drive link 9 moves, the groove cannot interfere with the movement of the swing arm drive link 9.

[0037] The hole spacing of the two pin holes on the main clamp finger drive link 4 and the reinforcing link 8 is the same, ensuring smooth movement of the double parallelogram mechanism; the distance between the two main pin holes on the composite link 7 is the same as the hole spacing of the two pin holes on the suspension link 6, ensuring smooth movement of the double parallelogram mechanism.

[0038] Each mounting pin 3 and each main clamp finger mounting pin 511 has a cotter pin 301 installed at its lower end.

[0039] The working process of this pipe-laying robotic gripper device, capable of grasping only a single pipe string, is as follows:

[0040] During operation, before the pipe laying operation, the driller inputs or selects the pipe string diameter value to be operated on to the control center of the pipe laying system. The control center of the pipe laying system automatically adjusts the extension and retraction length of the main tong finger drive hydraulic cylinder 105, so that the width and jaw depth space dimensions between the two main tong finger bodies 501 of the main tong finger assembly 5 are adjusted to appropriate values. Specifically, when the robotic arm 16 of the pipe laying manipulator grabs a large-sized pipe string support 17 (such as drill collars and drill pipes), the main tong finger drive hydraulic cylinder 105 shortens according to the command of the control center, driving the hydraulic cylinder guide frame 2 to move in the opposite direction of the jaw (see Appendix). Figure 3 Then, the main clamp finger drives the connecting rod 4, the reinforcing connecting rod 8, the suspension connecting rod 6, and the composite connecting rod 7 to perform a double parallelogram movement. Since the hole spacing of the two pin holes of the main clamp finger driving the connecting rod 4 and the reinforcing connecting rod 8 is the same, the smooth movement of the double parallelogram mechanism can be guaranteed. At the same time, the distance between the two main pin holes on the composite connecting rod 7 is the same as the hole spacing of the two pin holes on the suspension connecting rod 6, and the composite connecting rod 7 and the suspension connecting rod 6 have the same shape, which can also guarantee the smooth movement of the double parallelogram mechanism. The retraction motion of the double parallelogram drives the two main jaw bodies 501 of the main jaw assembly 5 to open on both sides of the main jaw drive assembly 1. When the two main jaw bodies 501 of the main jaw assembly 5 are fully open, the jaw width of the clamping device is at its widest. At the same time, the rocker arm drive linkage 9 and rocker arm 10 drive the pipe-stopping mechanism 13 to move in the opposite direction of the jaws, pulling the pipe-stopping mechanism 13 back to the position closest to the robotic arm 16. At this time, the jaw depth space is at its maximum, and the clamping device can clamp the largest size of the pipe string (such as drill collars and drill pipes). Conversely, when the robotic arm 16 of the pipe-laying robot picks up a small-sized pipe string stand 17 (such as oil tubing), the main jaw drive hydraulic cylinder 105 extends according to the command of the control center, driving the hydraulic cylinder guide frame 2 to move in the jaw direction (see Appendix). Figure 4 The main clamping finger drives the linkage 4, reinforcing linkage 8, suspension linkage 6, and composite linkage 7 to perform a double parallelogram motion. The elongation motion of the double parallelogram drives the two main clamping finger bodies 501 of the main clamping finger assembly 5 to retract on both sides of the main clamping finger drive assembly 1. When the two main clamping finger bodies 501 of the main clamping finger assembly 5 retract to their narrowest width, the clamping finger width of the clamping device is at its narrowest. At the same time, the swing arm drives the linkage 9 and the swing arm 10 to drive the tube-blocking mechanism 13 to move towards the jaws, pushing the tube-blocking mechanism 13 to the position furthest from the robotic arm 16. At this time, the clamping finger depth space is the smallest, and the clamping device can clamp the smallest size of tubing (such as oil tubing). Due to the limited clamping depth space, the problem of the clamping device clamping two small-diameter tubing simultaneously is avoided.

[0041] This pipe-laying manipulator clamping device, capable of gripping only a single pipe string, transmits the detected extension / retraction length signal of the main clamp finger drive hydraulic cylinder 105 to the control center of the pipe-laying system via an analog displacement detection sensor 14. The control center can calculate the width and jaw depth spatial dimensions between the main clamp finger assemblies based on the extension / retraction length of the main clamp finger drive hydraulic cylinder 105. When the driller inputs or selects the pipe string diameter value to be operated in the current pipe-laying operation to the control center of the pipe-laying system before the operation, the control center will automatically adjust the extension / retraction length of the main clamp finger drive hydraulic cylinder 105 to adjust the width and jaw depth spatial dimensions between the main clamp finger assemblies 5 to appropriate values, allowing the clamping device to grip the pipe string normally and preventing the clamping device from gripping two pipe strings unexpectedly. In addition, a small gripper finger 506 is hinged to the inner end of the main gripper finger body 501 of the pipe-laying manipulator clamping device via a gripper finger mounting threaded pin 505. The small gripper finger driving hydraulic cylinder 504 can drive the small gripper finger 506 to rotate around the small gripper finger mounting threaded pin 505 via the small gripper finger connecting rod 510. When the pistons of the small gripper finger driving hydraulic cylinders 504 on both sides are extended to their longest length, the small gripper finger 506 opens and the small gripper finger 506 of the clamping device closes; when the pistons of the small gripper finger driving hydraulic cylinders 504 on both sides are retracted to their shortest length, the small gripper finger 506 closes and the small gripper finger of the clamping device opens. The opening and closing function of the small gripper finger of the clamping device realizes the safety protection function of the clamping device during pipe-laying operations.

[0042] The above description is merely a preferred embodiment of the present invention. The above examples do not limit the substantive content of the present invention in any way. Any simple modifications or variations made by those skilled in the art to the above specific embodiments based on the technical essence of the present invention after reading this specification, as well as equivalent embodiments that may be changed or modified using the disclosed technical content, shall still fall within the scope of the technical solution of the present invention and shall not depart from the essence and scope of the present invention.

Claims

1. A pipe-laying manipulator clamping device capable of gripping only a single pipe column, comprising a main clamp finger drive assembly (1), a hydraulic cylinder guide frame (2), a main clamp finger drive linkage (4), a main clamp finger assembly (5), a suspension linkage (6), a composite linkage (7), a reinforcing linkage (8), a swing arm drive linkage (9), a swing arm (10), a clamping plate (11), a bolt roller (12), and a pipe-blocking mechanism (13), characterized in that, A hydraulic cylinder guide frame (2) is installed in the guide rail groove of the hydraulic cylinder guide seat (104) of the main clamp finger drive assembly (1). A suspension link (6) is hinged to the clamp support (101) of the main clamp finger drive assembly (1) via a main clamp finger mounting pin (511). A composite link (7) is hinged to the middle part of the main clamp finger drive assembly (1) via a main clamp finger mounting pin (511). The middle part of the main clamp finger body (501) of the main clamp finger assembly (5) is suspended on the composite link (7) via a main clamp finger mounting pin (511). The tail of the main clamp finger body (501) is suspended on the suspension link (6). One end of the suspension link (6) and the main clamp finger drive link (4) are hinged to the tail of the main clamp finger body (501) via a main clamp finger mounting pin (511). The other end of the main clamp finger drive link (4) is connected to the link. The mounting pin (3) is hinged to the hydraulic cylinder guide frame (2); the composite link (7) is hinged to the main clamp finger mounting pin (511) which is hinged to the middle of the main clamp finger body (501), and a reinforcing link (8) is also hinged to the other end of the reinforcing link (8) which is hinged to the hydraulic cylinder guide frame (2); the other end of the composite link (7) is hinged to one end of the swing rod drive link (9), and the other end of the swing rod drive link (9) is hinged to the swing rod (10) through the swing rod pin (1001); one end of the swing rod (10) is hinged through the bolt roller (12) and the roller mounting nut (1201), and the other end of the swing rod (10) is hinged to the tube stop mechanism (13); the roller part of the bolt roller (12) is embedded in the middle of the main clamp finger assembly (5), and the bolt roller (12) can roll in the roller groove of the roller guide seat (502).

2. The pipe-laying robotic gripper device capable of gripping only a single pipe column according to claim 1, characterized in that: The main clamp finger drive assembly (1) consists of a clamp support (101), a cover plate (102), mounting screws (103), a hydraulic cylinder guide seat (104), and a main clamp finger drive hydraulic cylinder (105). The clamp support (101) contains the main clamp finger drive hydraulic cylinder (105). The middle part of the clamp support (101) is fitted with a cover plate (102) by a cover plate mounting screw (103). One end of the clamp support (101) is fitted with a hydraulic cylinder guide seat (104) by a cover plate mounting screw (103). The lower part of the clamp support (101) has two pin holes (106) for connecting and installing with the robotic arm (16) of the pipe laying robot. The upper part of the clamp support (101) has two mounting holes (107) for suspension links (6) and two mounting holes (107) for composite links (7).

3. The pipe-laying robotic gripper device capable of gripping only a single pipe column according to claim 1, characterized in that: A sensor mounting lug is welded to the middle of the hydraulic cylinder guide frame (2). An analog displacement detection sensor (14) is mounted on the sensor mounting lug via a sensor mounting pin (1401). The telescopic end of the analog displacement detection sensor (14) is fixed on the main clamp finger drive hydraulic cylinder (105) of the main clamp finger drive assembly (1). The analog displacement detection sensor (14) is connected to the control center of the pipe laying system via a communication cable.

4. The pipe-laying robotic gripper device capable of gripping only a single pipe column according to claim 1, characterized in that: The main clamp finger assembly (5) consists of a main clamp finger body (501), a roller guide seat (502), a guide seat mounting screw (503), a small clamp finger drive hydraulic cylinder (504), a small clamp finger mounting threaded pin (505), a small clamp finger (506), a slotted nut (507), a snap ring (508), a small clamp finger mounting pin (509), a small clamp finger connecting rod (510), and a main clamp finger mounting pin (511). The roller guide seat (502) is mounted on the upper and lower parts of the middle part of the main clamp finger body (501) through the guide seat mounting screw (503). The small clamp finger drive hydraulic cylinder (504) is mounted in the inner cavity of the main clamp finger body (501) through the guide seat mounting screw (503). The piston rod of the small plier finger drive hydraulic cylinder (504) is hinged to one end of the small plier finger connecting rod (510) through the small plier finger mounting threaded pin (505). A slotted nut (507) is installed at the lower part of the small plier finger mounting threaded pin (505). The small plier finger mounting threaded pin (505) can slide in the elongated hole on the main plier finger body (501). The end of the inner cavity of the main plier finger body (501) is hinged to the small plier finger (506) through the small plier finger mounting threaded pin (505). The other end of the small plier finger connecting rod (510) is hinged to the middle of the small plier finger (506) through the small plier finger mounting pin (509). A snap ring (508) is installed at the lower end of the small plier finger mounting pin (509).

5. The pipe-laying robotic gripper device capable of gripping only a single pipe column according to claim 1, characterized in that: The swing arm (10) is oval in shape, with a bolt roller (12) installed at one end. The bolt roller (12) can roll in the roller groove of the roller guide seat (502). The other end is connected to the tube stop mechanism (13) through the main clamp finger mounting pin (511). A slot is machined on the side of the middle part of the swing arm (10). One end of the swing arm drive connecting rod (9) is inserted into the slot and is hinged to the middle part of the swing arm (10) through the swing arm pin (1001). The swing arm pin (1001) is fixed by the plate mounting screw (1101) and the plate (11).

6. The pipe-laying robotic gripper device capable of gripping only a single pipe column according to claim 1, characterized in that: The tube-blocking mechanism (13) consists of an assembly rod (1301), a rectangular key (1302), and an arc-shaped baffle (1303). The assembly rod (1301) is equipped with a rectangular key (1302), and an arc-shaped baffle (1303) is made at one end of the assembly rod (1301). The tube-blocking mechanism (13) is installed in the large circular hole at the front end of the clamp support (101) of the main clamp finger drive assembly (1) through the assembly rod (1301). The rectangular key (1302) on the assembly rod (1301) is inserted into the rectangular keyway at the front end of the clamp support (101) of the main clamp finger drive assembly (1).

7. The pipe-laying robotic gripper device capable of gripping only a single pipe column according to claim 1, characterized in that: The hole spacing of the two pin holes on the main clamp finger drive link (4) and the reinforcing link (8) is the same, ensuring smooth movement of the double parallelogram mechanism; the distance between the two main pin holes on the composite link (7) is the same as the hole spacing of the two pin holes on the suspension link (6), ensuring smooth movement of the double parallelogram mechanism.

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