A flexible gripper for a rig floor manipulator

Abstract

The application discloses a flexible gripper of a rig floor manipulator and relates to the technical field of oil drilling machines. The specific structure comprises a driving assembly, an assembling support installed on the driving assembly, an adjustable driving arm movably installed on the output end of the driving assembly, wherein the adjustable driving arm moves axially along the output end of the driving assembly when the driving assembly works, a jaw head assembly movably installed on the end of the assembling support far from the driving assembly, and an adjusting assembly arranged at the bottom of the assembling support. The adjusting assembly comprises an adjusting plate movably installed at the bottom of the assembling support, one end of the adjusting plate is connected with the jaw head assembly, and an adjusting groove is formed in the adjusting plate; and an adjusting bolt is arranged in the adjusting groove, and the end of the adjusting bolt is connected with the adjustable driving arm. The application solves the technical problem that the existing jaw head has a limited clamping range.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of petroleum drilling machinery, in particular to a flexible gripper of a rig floor manipulator. BACKGROUND

[0002] The electrically-driven rig floor manipulator is a multifunctional automatic device used on a petroleum drilling platform, and mainly used for the following purposes: the make-up of a kelly and a drill string in a mouse hole, the moving of the kelly into the mouse hole, the automatic discharge of a stand during tripping, the moving of the stand to a wellhead during tripping in, the moving of the kelly from a ramp to the mouse hole, and the moving of the kelly from the wellhead or the mouse hole to the ramp.

[0003] The existing rig floor manipulator has a limited range of clamping of the gripper head, which is limited by the size and installation position of the gripper, and cannot meet the clamping requirements of pipes of different specifications. SUMMARY

[0004] The present application aims to provide a flexible gripper of a rig floor manipulator, which solves the technical problem of the limited range of clamping of the gripper head in the prior art.

[0005] The present application discloses a flexible gripper of a rig floor manipulator, which comprises:

[0006] a driving assembly;

[0007] an assembly support installed on the driving assembly;

[0008] an adjustable driving arm movably installed at an output end of the driving assembly, which moves axially along the output end of the driving assembly when the driving assembly works;

[0009] a gripper head assembly movably installed at one end of the assembly support away from the driving assembly;

[0010] an adjusting assembly arranged at the bottom of the assembly support, which comprises:

[0011] an adjusting plate movably installed at the bottom of the assembly support, one end of which is connected with the gripper head assembly, and an adjusting groove is formed in the adjusting plate;

[0012] an adjusting bolt arranged in the adjusting groove, and the end of the adjusting bolt is connected with the adjustable driving arm.

[0013] The adjusting assembly is arranged in the present application, which, in cooperation with the adjustable driving arm, can change the movement track of the gripper head assembly, thereby expanding the range of clamping of the gripper head assembly.

[0014] On the basis of the above technical solution, the present application can be further improved as follows:

[0015] Further, the bottom of the assembly support is provided with an assembly groove, the assembly groove is a waist-shaped groove, and the inside of the assembly groove is provided with the adjusting bolt; the adjusting groove is arc-shaped, and the beneficial effect of the step is that the movement of the adjusting plate can be realized through the cooperation of the waist-shaped groove and the arc-shaped groove.

[0016] Further, the jaw assembly is two, the adjusting plate is two, and the adjusting plate is matched with the jaw assembly one by one.

[0017] The adjusting bolt is two, the assembly groove is two, and the adjusting bolt is matched with the assembly groove one by one, and the beneficial effect of the step is that the clamping of the pipe column is completed through the cooperation of the two jaw assemblies and other components.

[0018] Further, the two adjusting grooves are combined to form a "eight" type, and the two assembly grooves are parallel to each other, and the beneficial effect of the step is that the specific shape can further ensure that the adjusting plate can change the clamping range of the jaw assembly during movement.

[0019] Further, the assembly support is provided with a sliding groove.

[0020] The jaw assembly comprises:

[0021] The gripper is hinged at one end to the adjustable driving arm.

[0022] The hinge block is slidingly installed in the sliding groove, and the hinge block is connected to the adjusting plate through a connecting bolt, and the beneficial effect of the step is that the hinge point of the gripper can move along the sliding groove through the connection of the hinge block.

[0023] Further, the inner wall of the gripper is provided with a front roller, and the end of the assembly support is provided with a rear roller, and the beneficial effect of the step is that the front and rear rollers can better clamp the pipe column.

[0024] Further, the end of the gripper away from the assembly support is provided with a replaceable front gripper, and the beneficial effect of the step is that the pipe column can be better clamped.

[0025] Further, the driving assembly comprises a servo motor and an encoder, and the servo motor is connected to the encoder, and the beneficial effect of the step is that the servo motor can control the entire clamping action.

[0026] Further, the bottom of the assembly support is provided with a proximity switch, and the beneficial effect of the step is that it is convenient for subsequent automatic control.

[0027] Further, the top of the assembly support is provided with a mounting pin shaft, and the beneficial effect of the step is that the mounting pin shaft is convenient for subsequent assembly.

[0028] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0029] 1. The present application is provided with an adjusting assembly for adjusting the hinge point of the jaw assembly, so as to realize the change of the clamping range of the jaw assembly and improve the applicability.

[0030] 2. The present application can better complete the movement of the adjusting plate through the cooperation of the adjusting bolt, the adjusting groove and the assembly groove, so as to realize the clamping of the pipe column. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0032] Figure 1 A structural schematic diagram of a flexible gripper of a drilling floor manipulator;

[0033] Figure 2 A structural schematic diagram of another angle of the drilling floor manipulator; Figure 1

[0034] Figure 3 A structural schematic diagram of an assembly support in the drilling floor manipulator; Figure 1

[0035] 1- drive assembly; 2- assembly support; 3- adjustable drive arm; 4- jaw assembly; 5- adjusting assembly; 6- proximity switch; 7- mounting pin shaft;

[0036] 101- servo motor; 102- encoder;

[0037] 201- assembly groove; 202- sliding groove;

[0038] 401- gripper; 402- hinge block; 403- connecting bolt; 404- front roller; 405- rear roller; 406- replaceable front gripper;

[0039] 501- adjusting plate; 502- adjusting groove; 503- adjusting bolt. DETAILED DESCRIPTION

[0040] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, but cannot limit the protection scope of the present application. ​​

[0041] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0042] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] To better understand the above technical solutions, the following will provide a detailed description of the technical solutions in conjunction with the accompanying drawings and specific embodiments.

[0044] Example:

[0045] like Figures 1-3 As shown, this application discloses a flexible gripper for a drilling platform robot. The design of the gripper's hinge point allows the hinge point to be movable, thereby changing the clamping dimensions and thus expanding the application range of this application.

[0046] like Figure 1 As shown, the specific structure of this application includes:

[0047] Drive component 1, which is the power source for the entire gripper, is used to increase the axial force, thereby enabling the adjustment of the clamping position;

[0048] The mounting bracket 2 is installed on the drive assembly 1. The mounting bracket 2 is used to provide a connection base, and adjustable drive arms and other components can be installed thereafter to realize the clamping function.

[0049] The adjustable drive arm 3 is movably mounted on the output end of the drive assembly 1. When the drive assembly 1 is working, the adjustable drive arm 3 moves axially along the output end of the drive assembly 1. The specific connection method is the existing method, which will not be described in detail here. That is, the adjustable drive arm 3 can move axially and complete the opening and closing action of the pliers assembly 4 through the hinge of the remaining parts.

[0050] The clamping head assembly 4 is movably mounted on the end of the assembly bracket 2 away from the drive assembly 1. The clamping head assembly 4 is used to clamp the corresponding tubing column to complete the clamping action and ensure stability.

[0051] Adjustment component 5 is disposed at the bottom of the assembly bracket 2, and the adjustment component 5 includes:

[0052] An adjusting plate 501 is movably mounted at the bottom of the assembly support 2, and one end of the adjusting plate 501 is connected with the jaw assembly 4, and an adjusting groove 502 is formed in the adjusting plate 501;

[0053] An adjusting bolt 503 is arranged in the adjusting groove 502, and the end of the adjusting bolt 503 is connected with the adjustable driving arm 3.

[0054] Further to the adjusting assembly 5, the adjusting plate 501 is connected with the hinge point of the jaw assembly 4, and the adjusting plate 501 is movably connected, and the adjusting bolt 503 is connected with the adjustable driving arm 3. When the adjustable driving arm 3 moves axially, the adjusting bolt 503 moves back and forth, thereby driving the adjusting plate 501 to move towards or away from each other, so as to change the position of the hinge point of the jaw assembly 4, thereby changing the clamping range.

[0055] Further to the assembly support 2, a mounting groove 201 is formed in the bottom of the assembly support 2, the mounting groove 201 is a waist-shaped groove, and the adjusting bolt 503 is arranged in the mounting groove 201. Because the adjusting bolt 503 is driven by the adjustable driving arm 3 to move along the mounting groove 201, the adjusting groove 502 is arc-shaped at this time, so as to ensure that the adjusting bolt 503 can move normally, thereby driving the adjusting plate 501 to move towards or away from each other.

[0056] The jaw assembly 4 in the application is two, the adjusting plate 501 is two, and the adjusting plate 501 corresponds to the jaw assembly 4 one by one.

[0057] The adjusting bolt 503 is two, the mounting groove 201 is two, and the adjusting bolt 503 corresponds to the mounting groove 201 one by one. Because the jaw assembly 4 in the application is two, that is, the hinge point is also two, the adjusting plate 501 also needs to be designed as two, corresponding to the hinge point, so as to realize the control of the position of the hinge point. At the same time, the number of the adjusting bolt 503 is two, which corresponds to the number of the mounting groove 201 (i.e. the adjusting plate 501) one by one, so as to drive the adjusting plate 501 to move towards or away from each other.

[0058] In an embodiment, as shown in Figure 2 , 3 The two adjusting grooves 502 in the application are combined to form a "figure eight" type, and the two mounting grooves 201 are parallel to each other, and the mounting groove 201 is a waist-shaped groove, thereby driving the adjusting plate 501 to move stably.

[0059] Further, the application makes a further description on the assembly of the adjusting plate 501, wherein the sliding groove 202 is provided on the assembly support 2, and specifically, the sliding groove 202 below the assembly support 2 is provided with a through hole, which is convenient for the subsequent movement of the adjusting plate.

[0060] The jaw assembly 4 comprises:

[0061] The gripper 401 is hingedly connected to the adjustable driving arm 3 at one end;

[0062] The hinged block 402 is slidingly installed in the sliding groove 202, and the hinged block 402 is connected to the adjusting plate 501 through the connecting bolt 403; the hinged block 402 in the application serves as a hinged point of the jaw assembly 4, that is, after being connected to the adjusting plate 501, when the hinged block 402 moves along the sliding groove 202, the two adjusting plates 501 can also move towards each other or move away from each other, so as to improve the stability of clamping.

[0063] Specifically, the inner wall of the gripper 401 is provided with a front roller 404, and the end of the assembly support 2 is provided with a rear roller 405; the front roller 404 and the rear roller 405 in the application cooperate with each other to ensure the stable clamping of the pipe column.

[0064] The end of the gripper 401 away from the assembly support 2 is provided with a replaceable front gripper 406, which can further ensure the stability of clamping.

[0065] The driving assembly 1 comprises a servo motor 101 and an encoder 102, the servo motor 101 is connected to the encoder 102, the connection between the encoder 102 and the servo motor 101 is a conventional means, which will not be discussed here, and the servo motor 101 can better realize control.

[0066] Specifically, the bottom of the assembly support 2 is provided with a proximity switch 6, which can facilitate subsequent automatic control.

[0067] The top of the assembly support 2 is provided with a mounting pin 7, which is convenient for subsequent stable connection.

[0068] The working process of the application is as follows:

[0069] The servo motor 101 in the driving assembly 1 works to drive the adjustable driving arm 3 to move axially, so as to drive the adjusting bolt 503 to move along the assembly groove 201, further drive the adjusting plate 501 to move, and drive the hinged block 402 to move towards each other, so as to change the position of the hinged point of the gripper 401, and change the diameter range clamped by the gripper 401 and the replaceable front gripper 406.

[0070] In the description of the present application, a large number of specific details are illustrated. It is understood, however, that embodiments of the application can be practiced without such specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

[0071] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples, without contradiction.

[0072] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application.

Claims

1. A flexible gripper for a rig floor manipulator, characterized by, The utility model relates to a kind of adjustable jaw assembly, including: Drive assembly; Assembly support, installed on the drive assembly; Adjustable drive arm, movably mounted on the output end of the drive assembly, when the drive assembly works, the adjustable drive arm moves axially along the output end of the drive assembly; Jaw head assembly, movably mounted on the end of the assembly support away from the drive assembly; Adjusting assembly, provided at the bottom of the assembly support, the adjusting assembly includes: Adjusting plate, movably mounted at the bottom of the assembly support, and one end of the adjusting plate is connected with the jaw head assembly, adjusting groove is opened on the adjusting plate; Adjusting bolt, provided in the adjusting groove, and the end of the adjusting bolt is connected with the adjustable drive arm; The bottom of the assembly support is provided with assembly groove, the assembly groove is a waist-shaped groove, and the adjusting bolt is arranged inside the assembly groove;The adjusting groove is arc-shaped; The jaw head assembly is two, the adjusting plate is two, and the adjusting plate is matched with the jaw head assembly one by one; The adjusting bolt is two, the assembly groove is two, and the adjusting bolt is matched with the assembly groove one by one; Two adjusting grooves are combined to form a "eight" type, and two assembly grooves are parallel to each other; Sliding groove is opened on the assembly support; The jaw head assembly includes: Gripper, one end of the gripper is hinged with the adjustable drive arm; Hinged block, slidingly installed inside the sliding groove, and the hinged block is connected with the adjusting plate by connecting bolt.

2. The flexible gripper of claim 1, wherein, Front roller is installed on the inner wall of the gripper, and rear roller is installed on the end of the assembly support.

3. The flexible gripper of claim 2, wherein, Replaceable front gripper is installed on the end of the gripper away from the assembly support.

4. The flexible gripper of claim 1, wherein, The drive assembly includes servo motor and encoder, and the servo motor is connected with the encoder.

5. The flexible gripper of claim 1, wherein, Proximity switch is installed at the bottom of the assembly support.

6. The flexible gripper of claim 1, wherein, Mounting pin is provided on the top of the assembly support.

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