Tubular column snatching manipulator and operation method thereof

Abstract

The invention relates to a tubular column grabbing and lifting mechanical arm and an operation method thereof. The tubular column grabbing and lifting mechanical arm comprises a stand column, a lifting pulley, a turnover mechanism, a clamp assembly, a turnover tray pulley and a lifting disc. The lifting tackle is movably installed on the stand column, the turnover mechanism is installed on the lifting tackle, and the clamp assembly is installed on the turnover mechanism. The turnover tray tackle is movably mounted on the upright post and is positioned below the lifting tackle; the lifting disc is mounted on the turnover tray pulley; the turnover mechanism can drive the clamp assembly to rotate in the first vertical plane; the turnover tray pulley can drive the lifting disc to rotate in a second vertical plane, so that the lifting disc is switched between a receding state and a lifting state; the first vertical plane is perpendicular to the second vertical plane. The device has the advantages that the limitation that in the prior art, operation can only be conducted within a limited height range or fixed height connection can be achieved is overcome, the universality and adaptability of butt joint with various devices in different working scenes are greatly enhanced, and the working efficiency is higher.

Description

Technical Field

[0001] The invention relates to the technical field of oil and gas drilling, and in particular to a pipe string grabbing manipulator and an operating method thereof. Background Art

[0002] In the oil and gas drilling industry, pipe grabbing, transfer and handover operations are extremely common and critical operations. These pipes often have different specifications, lengths and weights, and need to be docked with various equipment in different working scenarios, and there are also diverse requirements for docking heights.

[0003] At present, with the improvement of the automation level of oil drilling operations, wellhead oil devices with high automation are being used more and more widely, and various types of pipe manipulators have emerged to replace manual operations and improve the efficiency and safety of pipe handling. The existing pipe manipulators have achieved the functions of pipe grabbing and simple position adjustment to a certain extent.

[0004] However, the current traditional pipe manipulators consume a lot of energy, and most of them are difficult to effectively deal with the complex situation of different docking heights. In actual operations, it is often necessary to transfer the pipe from one working area to another docking device with specific height requirements, and these docking heights may vary greatly due to factors such as different engineering stages and different supporting equipment. When handing over pipes, existing manipulators can usually only lift the pipe to a fixed height or adjust it within a limited height range, lacking sufficient flexibility to adapt to the changing docking height requirements. When faced with different docking heights, additional auxiliary equipment or cumbersome manual intervention may be required to adjust the height of the pipe, which not only increases the equipment cost and the complexity of operation, but also easily causes problems such as inaccurate pipe positioning and unstable docking during the handover process, which in turn affects the smoothness of the entire production process, and may even cause adverse consequences such as pipe collision and damage, reducing the overall efficiency and quality of pipe handling operations.

[0005] Therefore, there is an urgent need for a pipe string grabbing manipulator and an operating method thereof that can cope with different docking height operation requirements and improve operation efficiency. Summary of the invention

[0006] 1. Technical issues to be resolved

[0007] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a pipe column grabbing manipulator and an operating method thereof, which solves the technical problem that the prior art is difficult to cope with the operating requirements of different docking heights, thus affecting the operating efficiency.

[0008] (II) Technical solution

[0009] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0010] On the one hand, the present invention provides a pipe column grabbing robot, comprising a column, a lifting pulley, a flipping mechanism, a clamp assembly, a flipping tray pulley and a lifting plate; the lifting pulley is movably mounted on the column, the flipping mechanism is mounted on the lifting pulley, and the clamp assembly is mounted on the flipping mechanism; the flipping tray pulley is movably mounted on the column and is located below the lifting pulley; the lifting plate is mounted on the flipping tray pulley; the flipping mechanism can drive the clamp assembly to rotate in a first vertical plane; the flipping tray pulley can drive the lifting plate to rotate in a second vertical plane, so that the lifting plate can switch between a yielding state and a lifting state; the first vertical plane and the second vertical plane are perpendicular.

[0011] Optionally, the clamp assembly includes a connecting column and two clamp mechanisms; the connecting column is installed on the flip mechanism, and the two clamp mechanisms are respectively installed at both ends of the connecting column, and the two clamp mechanisms are oriented in the same direction.

[0012] Optionally, the clamp mechanism includes a support, a first clamp, a second clamp, a clamp driver and a transmission assembly; the support is installed at the end of the connecting column, the first clamp and the second clamp are rotatably installed on the support, the clamp driver and the transmission assembly are installed in the support, and the clamp driver is respectively connected to the first clamp and the second clamp through the transmission assembly to drive the first clamp and the second clamp to rotate and clamp the pipe column.

[0013] Optionally, the clamp mechanism also includes a positioning assembly; the positioning assembly includes a positioning rod and a limiting rod; the positioning rod can be slidably installed on the support forward and backward, one end of the positioning rod is connected to the transmission assembly, and the limiting rod is installed on the other end of the positioning rod, and the positioning rod and the limiting rod are arranged in a T shape; when clamping the pipe column, the clamp driver drives the positioning rod to slide close to and abut against the outer surface of the pipe column through the transmission assembly.

[0014] Optionally, the transmission assembly includes a slider and two connecting rods; the slider can be installed in the support so as to slide back and forth, the slider is rotatably connected to the first clamp and the second clamp through two connecting rods in a one-to-one manner, and the slider is connected to one end of the positioning rod; the driving end of the clamp driver is connected to the slider to drive the slider to slide back and forth, and the sliding of the slider is converted into rotation of the first clamp and the second clamp in the horizontal plane through the two connecting rods, while driving the positioning rod to slide back and forth.

[0015] Optionally, the pallet flipping pulley includes a pulley body, a pulley drive assembly and a pallet flipping assembly; the pulley body is movably mounted on the column through a through hole provided therein, and the pulley drive assembly is installed on the pulley body to drive the pulley body to move along the column; the pallet flipping assembly is installed on the pulley body, and the lifting plate is installed on the pallet flipping assembly to drive the lifting plate to rotate in a second vertical plane.

[0016] Optionally, a rack extending along its length direction is provided on the column; the pulley drive assembly includes a pulley driver and a gear; the pulley driver is installed on the pulley body, and the gear is rotatably installed on the pulley body, and the pulley driver is connected to the rack through a gear transmission to drive the gear to rotate and drive the pulley body to move along the column through the engaging rack.

[0017] Optionally, the pallet flipping assembly includes a pallet flipping driver and a pallet arm; the pallet flipping driver and the pallet arm are rotatably mounted on the pulley body; the pallet flipping driver is connected to the pallet arm, and the lifting plate is mounted at the end of the pallet arm to drive the lifting plate to rotate in a second vertical plane.

[0018] On the other hand, the present invention also provides an operation method of the same pipe string grabbing manipulator, comprising the steps of:

[0019] S1, the flip tray pulley descends to the lowest position along the column, and the lifting plate is in a yielding state;

[0020] S2, the flip mechanism drives the clamp assembly to rotate in the first vertical plane until the clamp assembly faces downward, the lifting pulley drives the clamp assembly down to the pipe grasping height, and the clamp assembly grasps the horizontal pipe column; wherein, the clamp assembly grasps the head of the pipe column;

[0021] S3, the lifting pulley drives the horizontal pipe column to rise to the target height, and during the rising process, the pipe column is driven to rotate to a vertical state in the first vertical plane through the turning mechanism and the clamp assembly;

[0022] S4. The flipping pallet pulley drives the lifting plate to rotate in the second vertical plane to the lifting state, and the flipping pallet pulley drives the lifting plate to rise until the lifting plate abuts against the bottom end of the pipe column; then the clamp assembly releases the pipe column but keeps the closed state, and the pipe column is lifted to the handover height in a vertical state by the flipping pallet pulley. After another device clamps the pipe column, the clamp assembly releases the pipe column, and the flipping pallet pulley drives the lifting plate to descend and drives the lifting plate to rotate in the second vertical plane to the yielding state.

[0023] (III) Beneficial effects

[0024] The beneficial effects of the present invention are:

[0025] The pipe column grabbing manipulator provided by the present invention can, when faced with different docking height requirements, drive the lifting plate to lift the pipe column in a vertical state to the accurate handover height by means of a flip tray pulley, whether it is docking with equipment at a higher position or a lower position. This flexible height adjustment capability overcomes the limitation of the prior art that it can only operate within a limited height range or hand over at a fixed height, greatly enhances the versatility and adaptability of docking with various types of equipment in different working scenarios, ensures that the pipe column can be smoothly and accurately transferred and handed over to the target equipment, effectively improves the ability of the entire pipe column processing operation process to cope with complex working conditions, and has higher operating efficiency. By flipping the tray pulley, the lifting plate can be driven to switch between the yielding state and the lifting state, avoiding possible collision interference when grabbing the pipe column, and ensuring that the established process can be completed smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of a pipe string grabbing manipulator during handover in Example 1 of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of a pipe string grabbing manipulator in Example 1 of the present invention when grabbing a pipe;

[0028] Figure 3 This is a schematic diagram of the main view of a pipe string grabbing manipulator during handover in Example 1 of the present invention;

[0029] Figure 4 is a schematic structural diagram of a clamp assembly according to Embodiment 1 of the present invention;

[0030] Figure 5 is a schematic structural diagram of a clamping mechanism according to Embodiment 1 of the present invention;

[0031] Figure 6 is a schematic structural diagram of a flip tray pulley according to Embodiment 1 of the present invention;

[0032] Figure 7 It is a schematic top view of the flip tray pulley of embodiment 1 of the present invention.

[0033] [Description of Reference Numerals]

[0034] 1: column; 11: rack; 2: lifting pulley; 3: flipping mechanism; 4: clamp assembly; 41: connecting column; 42: support; 43: first clamp; 44: second clamp; 45: clamp driver; 46: positioning rod; 47: limiting rod; 48: slider; 49: connecting rod; 5: flip tray pulley; 51: pulley body; 52: pulley driver; 53: gear; 54: pallet flipping driver; 55: pallet arm; 6: lifting plate. DETAILED DESCRIPTION

[0035] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although 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.

[0036] Embodiment 1:

[0037] like Figure 1-Figure 3 As shown, a specific embodiment of the present invention provides a pipe column grabbing manipulator, including a column 1, a lifting pulley 2, a turning mechanism 3, a clamp assembly 4, a turning tray pulley 5 and a lifting plate 6; the lifting pulley 2 is movably mounted on the column 1, the turning mechanism 3 is mounted on the lifting pulley 2, and the clamp assembly 4 is mounted on the turning mechanism 3; the turning tray pulley 5 is movably mounted on the column 1 and is located below the lifting pulley 2; the lifting plate 6 is mounted on the turning tray pulley 5; the turning mechanism 3 can drive the clamp assembly 4 to rotate in a first vertical plane; the turning tray pulley 5 can drive the lifting plate 6 to rotate in a second vertical plane, so that the lifting plate 6 switches between a yielding state and a lifting state; the first vertical plane and the second vertical plane are perpendicular.

[0038] Specifically, when faced with different docking height requirements, whether it is docking equipment at a higher position or a lower position, the lifting plate 6 can be driven by the flip tray pulley 5 to lift the pipe column in a vertical state to the accurate handover height. This flexible height adjustment capability overcomes the limitations of the prior art that it can only operate within a limited height range or hand over at a fixed height, greatly enhancing the versatility and adaptability of docking with various types of equipment in different work scenarios, ensuring that the pipe column can be smoothly and accurately transferred and handed over to the target equipment, effectively improving the ability of the entire pipe column processing operation process to cope with complex working conditions, and achieving higher operating efficiency. By flipping the tray pulley 5, the lifting plate 6 can be driven to switch between the yielding state and the lifting state, avoiding possible collision interference when grabbing the pipe column, and ensuring that the established process can be completed smoothly.

[0039] Furthermore, during operation, after the clamp assembly 4 clamps the head of the pipe column, the lifting pulley 2 drives the pipe column to rise through the clamp assembly 4. During the rising process, the turning mechanism 3 drives the pipe column to rotate to a vertical state in the first vertical plane through the clamp assembly 4, that is, the tail height of the pipe column remains unchanged, and it performs a translational motion, and the head of the pipe column turns upward until it is in a vertical state. The work done by the system at this stage is Mgh+mg*0.5h (M is the weight of the upper turning pulley, m is the weight of the pipe column, h is the length of the pipe column, and g is the acceleration of gravity); during the handover, the turning tray pulley 5 The lifting plate 6 is driven to rotate to the lifting state in the second vertical plane, and the flip tray pulley 5 drives the lifting plate 6 to rise to the bottom end of the pipe column of the lifting plate 6; then the clamp assembly 4 releases the pipe column but keeps the closed state, and lifts the pipe column to the handover height in a vertical state by the flip tray pulley 5. After another device clamps the pipe column, the clamp assembly 4 releases the pipe column; the system work in this stage is 0.25Mgh+mgh (0.25M is the weight of the flip tray pulley 5), and the total work of the two stages is 1.25Mgh+1.5mgh. When the prior art is in operation, its mechanical clamp grasps the middle part of the pipe column, and while lifting the pipe column, its flip assembly rotates the mechanical clamp at a set speed. When reaching the handover height, the system work is 1.5Mgh+1.5mgh. It can be seen that for each pipe column grabbed and handed over, the pipe column grabbing manipulator provided in this embodiment can save 0.25Mgh energy and has lower energy consumption. And from W=Pt, it can be concluded that when the system power P remains unchanged, the work W done for each lifting of a pipe string decreases, and the consumed time t also decreases accordingly, and the operation efficiency is higher.

[0040] Furthermore, if Figure 4 and Figure 5 As shown, the clamp assembly 4 includes a connecting column 41 and two clamp mechanisms; the connecting column 41 is installed on the flip mechanism 3, and the two clamp mechanisms are respectively installed at both ends of the connecting column 41, and the two clamp mechanisms are oriented in the same direction. The clamp mechanism includes a support 42, a first clamp 43, a second clamp 44, a clamp driver 45 and a transmission assembly; the support 42 is installed at the end of the connecting column 41, the first clamp 43 and the second clamp 44 are rotatably installed on the support 42, the clamp driver 45 and the transmission assembly are installed in the support 42, and the clamp driver 45 is respectively connected to the first clamp 43 and the second clamp 44 through the transmission assembly to drive the first clamp 43 and the second clamp 44 to rotate and clamp the pipe column. The two clamp mechanisms can apply force from two positions at the same time when grabbing the pipe column, providing a more balanced and stable clamping effect. Compared with the single clamp structure, the double clamp mechanism can better adapt to pipes of different diameters, lengths and weights, and effectively prevent the pipes from shaking, deflecting and other unstable situations during the grasping and transfer process.

[0041] Furthermore, if Figure 4 and Figure 5As shown, the clamp mechanism also includes a positioning assembly; the positioning assembly includes a positioning rod 46 and a limiting rod 47; the positioning rod 46 can be slidably installed on the support 42, one end of the positioning rod 46 is connected to the transmission assembly, and the limiting rod 47 is installed on the other end of the positioning rod 46, and the positioning rod 46 and the limiting rod 47 are arranged in a T shape; when clamping the pipe column, the clamp driver 45 drives the positioning rod 46 to slide close to and abut against the outer surface of the pipe column through the transmission assembly. When clamping the pipe column, not only is the pipe column fixed by the clamping force of the first clamp 43 and the second clamp 44, but also an additional positioning function is achieved by the contact between the positioning rod 46 and the outer surface of the pipe column, further improving the position accuracy of the pipe column in the clamp, effectively preventing the pipe column from slightly offset or rotating in the clamp, and enhancing the stability of pipe column grabbing.

[0042] Furthermore, if Figure 4 and Figure 5 As shown, in this embodiment, the transmission assembly includes a slider 48 and two connecting rods 49; the slider 48 can be installed in the support 42 so as to slide back and forth, and the slider 48 is rotatably connected to the first clamp 43 and the second clamp 44 through the two connecting rods 49 in a one-to-one correspondence, and the slider 48 is connected to one end of the positioning rod 46; the driving end of the clamp driver 45 is connected to the slider 48 to drive the slider 48 to slide back and forth, and the sliding of the slider 48 is converted into the rotation of the first clamp 43 and the second clamp 44 in the horizontal plane through the two connecting rods 49, and at the same time drives the positioning rod 46 to slide back and forth.

[0043] Furthermore, if Figure 4 and Figure 5 As shown, in this embodiment, the first clamping jaw 43 has a first claw hook, and the second clamping jaw 44 has two second claw hooks arranged in parallel; when clamping the pipe string, the first claw hook 2 crosses between the two second claw hooks. The clamping parts of the first claw hook and the second claw hook are provided with arc-shaped jaw plates to improve the clamping effect on the pipe string.

[0044] Furthermore, if Figure 6 and Figure 7 As shown, the pallet flipping pulley 5 includes a pulley body 51, a pulley driving assembly and a pallet flipping assembly; the pulley body 51 is movably mounted on the column 1 through a through hole provided therein, and the pulley driving assembly is installed on the pulley body 51 to drive the pulley body 51 to move along the column 1; the pallet flipping assembly is installed on the pulley body 51, and the lifting plate 6 is installed on the pallet flipping assembly to drive the lifting plate 6 to rotate in a second vertical plane.

[0045] Furthermore, if Figure 3 , Figure 6 and Figure 7As shown, in this embodiment, a rack 11 extending along the length direction of the column 1 is provided; the pulley drive assembly includes a pulley driver 52 and a gear 53; the pulley driver 52 is installed on the pulley body 51, and the gear 53 is rotatably installed on the pulley body 51. The pulley driver 52 is connected to the rack 11 through the gear 53 to drive the gear 53 to rotate and drive the pulley body 51 to move along the column 1 through the meshing rack 11. The gear 53 rack 11 transmission method has the advantages of high transmission accuracy, strong load-bearing capacity and considerable transmission efficiency. In the operation of the pipe column grabbing manipulator, the power output by the pulley driver 52 can be accurately converted into the linear movement power of the pulley body 51 on the column 1, so as to achieve high-precision control of the position of the pulley body 51.

[0046] Furthermore, if Figure 6 and Figure 7 As shown, in this embodiment, the pallet flipping assembly includes a pallet flipping driver 54 and a pallet arm 55; the pallet flipping driver 54 and the pallet arm 55 are rotatably mounted on the pulley body 51; the pallet flipping driver 54 is connected to the pallet arm 55, and the lifting plate 6 is mounted at the end of the pallet arm 55 to drive the lifting plate 6 to rotate in a second vertical plane.

[0047] Furthermore, in the present embodiment, the pipe column grabbing manipulator also includes a safety emergency stop assembly; the safety emergency stop assembly includes a trigger plate and a proximity switch, the trigger plate is installed on the lifting pulley 2, and the proximity switch is installed on the pulley body 51 of the flip pallet pulley 5, or the proximity switch is installed on the lifting pulley 2, and the trigger plate is installed on the pulley body 51 of the flip pallet pulley 5; the proximity switch is connected to the lifting drive of the lifting pulley 2 and the pulley drive 52 of the flip pallet pulley 5; when the distance between the lifting pulley 2 and the pulley body 51 approaches a dangerous distance, the proximity switch sends a signal to the upgrade drive and the pulley driver 52, so that the lifting pulley 2 and the pulley body 51 stop moving at the same time, thereby ensuring the safety of the operation.

[0048] Embodiment 2:

[0049] This embodiment provides a method for using the pipe string grabbing manipulator described in Embodiment 1, comprising the steps of:

[0050] S1, the pallet flipping trolley 5 descends to the lowest position along the column 1, and the lifting plate 6 is in a yielding state. Specifically, the trolley driver 52 drives the gear 53 to rotate the meshing rack 11 to drive the trolley body 51 to move downward to the lowest position along the column 1, and the lifting plate 6 is in a yielding state.

[0051] S2, the flipping mechanism 3 drives the clamp assembly 4 to rotate in the first vertical plane until the clamp assembly 4 faces downward, and the lifting pulley 2 drives the clamp assembly 4 to descend to the pipe grasping height, and the horizontal pipe column is clamped by the clamp assembly 4; wherein, the clamp assembly 4 clamps the head of the pipe column; specifically, at the pipe grasping height, the two clamp mechanisms of the clamp assembly 4 are started at the same time, and the clamp driver 45 drives the slider 48 to drive the first clamp 43 and the second clamp 44 to rotate in the horizontal plane to clamp the pipe column through two connecting rods 49, and at the same time, the slider 48 drives the positioning rod 46 to slide close to and abut against the outer surface of the pipe column, and during the clamping process, the pipe column moves to the clamping center under the action of the limit rod 47 to correct the deviation and push it.

[0052] S3, the lifting pulley 2 drives the horizontal pipe column to rise to the target height. During the rising process, the turning mechanism 3 drives the pipe column to rotate to a vertical state in the first vertical plane through the clamp assembly 4.

[0053] S4, the flipping tray pulley 5 drives the lifting tray 6 to rotate to the lifting state in the second vertical plane, and the flipping tray pulley 5 drives the lifting tray 6 to rise until the lifting tray 6 abuts against the bottom end of the pipe column; then the clamp assembly 4 releases the pipe column but keeps the closed state, and the pipe column is lifted to the handover height in a vertical state by the flipping tray pulley 5. After another device clamps the pipe column, the clamp assembly 4 releases the pipe column, and the flipping tray pulley 5 drives the lifting tray 6 to descend and drives the lifting tray 6 to rotate to the yielding state in the second vertical plane. Specifically, the tray flipping driver 54 drives the tray arm 55 to drive the lifting tray 6 to rotate to the lifting state in the second vertical plane, and the pulley driver 52 drives the gear 53 to rotate the meshing rack 11 to drive the pulley body 51 to move upward along the column 1 until the lifting tray 6 abuts against the bottom end of the pipe column; then the clamp driver 45 of the clamp mechanism drives the slider 48 to drive the first clamp 43 and the second clamp 44 to rotate through two connecting rods 49 to release the pipe column, but the first clamp 43 and the second clamp 44 remain in the closed state. Then, the pulley driver 52 drives the gear 53 to rotate the meshing rack 11 to drive the pulley body 51 to continue moving along the column 1 to lift the pipe column in a vertical state to the handover height.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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 pipe string grabbing manipulator, characterized in that: It comprises a column (1), a lifting pulley (2), a turning mechanism (3), a clamp assembly (4), a turning tray pulley (5) and a lifting plate (6); The lifting pulley (2) is movably mounted on the column (1), the turning mechanism (3) is mounted on the lifting pulley (2), and the clamp assembly (4) is mounted on the turning mechanism (3); the turning tray pulley (5) is movably mounted on the column (1) and is located below the lifting pulley (2); the lifting plate (6) is mounted on the turning tray pulley (5); The flipping mechanism (3) can drive the clamp assembly (4) to rotate in a first vertical plane; the flipping tray pulley (5) can drive the lifting plate (6) to rotate in a second vertical plane, so that the lifting plate (6) switches between a yielding state and a lifting state; the first vertical plane and the second vertical plane are perpendicular.

2. The pipe string grabbing manipulator according to claim 1, characterized in that: The clamp assembly (4) comprises a connecting column (41) and two clamp mechanisms; The connecting column (41) is mounted on the turning mechanism (3), and the two clamping mechanisms are respectively mounted on the two ends of the connecting column (41), and the two clamping mechanisms are oriented in the same direction.

3. The pipe column grabbing manipulator according to claim 2, characterized in that: The clamp mechanism comprises a support (42), a first clamping jaw (43), a second clamping jaw (44), a clamping driver (45) and a transmission assembly; The support (42) is installed at the end of the connecting column (41), the first clamp (43) and the second clamp (44) are rotatably installed on the support (42), the clamp driver (45) and the transmission assembly are installed in the support (42), and the clamp driver (45) is respectively connected to the first clamp (43) and the second clamp (44) through the transmission assembly to drive the first clamp (43) and the second clamp (44) to rotate and clamp the pipe column.

4. The pipe column grabbing manipulator according to claim 3, characterized in that: The clamp mechanism also includes a positioning assembly; The positioning assembly comprises a positioning rod (46) and a limiting rod (47); The positioning rod (46) is slidably mounted on the support (42) forward and backward, one end of the positioning rod (46) is connected to the transmission assembly, and the limiting rod (47) is mounted on the other end of the positioning rod (46), and the positioning rod (46) and the limiting rod (47) are arranged in a T shape; When clamping the pipe column, the clamp driver (45) drives the positioning rod (46) through the transmission assembly to slide close to and abut against the outer surface of the pipe column.

5. The pipe column grabbing manipulator according to claim 3, characterized in that: The transmission assembly comprises a slider (48) and two connecting rods (49); The slider (48) is installed in the support (42) so as to slide forward and backward. The slider (48) is rotatably connected to the first clamping jaw (43) and the second clamping jaw (44) in a one-to-one correspondence through two connecting rods (49). The slider (48) is connected to one end of the positioning rod (46). The driving end of the clamp driver (45) is connected to the slider (48) to drive the slider (48) to slide forward and backward. The sliding of the slider (48) is converted into the rotation of the first clamping jaw (43) and the second clamping jaw (44) in a horizontal plane through the two connecting rods (49), and at the same time drives the positioning rod (46) to slide forward and backward.

6. The pipe string grabbing manipulator according to claim 1, characterized in that: The pallet turning pulley (5) comprises a pulley body (51), a pulley driving assembly and a pallet turning assembly; The pulley body (51) is movably mounted on the column (1) through a through hole provided therein, and the pulley driving assembly is installed on the pulley body (51) to drive the pulley body (51) to move along the column (1); the tray turning assembly is installed on the pulley body (51), and the lifting plate (6) is installed on the tray turning assembly to drive the lifting plate (6) to rotate in a second vertical plane.

7. The pipe column grabbing manipulator according to claim 6, characterized in that: The column (1) is provided with a rack (11) extending along its length direction; The pulley drive assembly includes a pulley driver (52) and a gear (53); The pulley driver (52) is mounted on the pulley body (51), and the gear (53) is rotatably mounted on the pulley body (51). The pulley driver (52) is connected to the rack (11) through the gear (53) to drive the gear (53) to rotate and drive the pulley body (51) to move along the column (1) through the meshing rack (11).

8. The pipe column grabbing manipulator according to claim 6, characterized in that: The tray turning assembly includes a tray turning driver (54) and a tray arm (55); The tray flipping driver (54) and the tray arm (55) are rotatably mounted on the trolley body (51); The tray flipping driver (54) is connected to the tray arm (55), and the lifting tray (6) is installed at the end of the tray arm (55) to drive the lifting tray (6) to rotate in the second vertical plane.

9. An operating method of a pipe string grabbing manipulator according to any one of claims 1 to 8, characterized in that: Includes steps: S1, the pallet turning trolley (5) descends along the column (1) to the lowest position, and the lifting plate (6) is in a yielding state; S2, the turning mechanism (3) drives the clamp assembly (4) to rotate in the first vertical plane until the clamp assembly (4) faces downward, the lifting pulley (2) drives the clamp assembly (4) to descend to the pipe grasping height, and the clamp assembly (4) clamps the horizontal pipe column; wherein the clamp assembly (4) clamps the head of the pipe column; S3, the lifting pulley (2) drives the horizontal pipe column to rise to the target height, and during the rising process, the turning mechanism (3) drives the pipe column to rotate to a vertical state in the first vertical plane through the clamp assembly (4); S4, the flipping tray pulley (5) drives the lifting plate (6) to rotate in the second vertical plane to the lifting state, and the flipping tray pulley (5) drives the lifting plate (6) to rise until the lifting plate (6) abuts against the bottom end of the pipe column; then the clamp assembly (4) releases the pipe column but keeps the closed state, and lifts the pipe column in a vertical state to the handover height by flipping the tray pulley (5). After another device clamps the pipe column, the clamp assembly (4) releases the pipe column, and the flipping tray pulley (5) drives the lifting plate (6) to descend and drives the lifting plate (6) to rotate in the second vertical plane to the yielding state.

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