Manipulator gripper and tubular column arranging equipment

Abstract

The invention discloses a mechanical hand gripper and tubular column arranging equipment, and relates to the technical field of drilling equipment, and a mechanical hand comprises a supporting clamp assembly, a clamping clamp suite and two mounting seats. Wherein the holding clamp assembly comprises a base, a driving mechanism and two clamping jaws which are oppositely arranged, and the driving mechanism is installed on the base and used for driving the two clamping jaws to be opened and closed; the top of each clamping jaw is provided with a mounting base, the opposite sides of the two mounting bases are each provided with a first dovetail groove, and the first dovetail grooves extend in the vertical direction. The clamping plier kit comprises two sets of clamping assemblies, each clamping assembly is provided with a first dovetail joint, the first dovetail joints are inserted into the first dovetail grooves, one clamping assembly is inserted into each mounting base, the opposite sides of the two sets of clamping assemblies are each provided with a set of tooth plates, and the two sets of tooth plates are used for being matched with each other to clamp a pipe column. By means of the scheme, one mechanical arm can be switched between two functions, and therefore the mechanical arm can meet the requirements of different working conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling equipment, and in particular to a manipulator gripper and a pipe column discharge device. Background Art

[0002] With the continuous development of oil and gas drilling equipment, semi-automatic or automated equipment is currently widely used in a large number of drilling and repair operations. In the process of discharging the pipe string, it is usually necessary to set up a pipe string discharging device on the drilling platform and the second-level platform of the derrick respectively, and cooperate with the floating system on the top of the derrick to complete the discharge of the pipe string. In the process of discharging the pipe string, the discharging equipment located on the second-level platform can usually only realize a single support function or clamping function, and for pipes of different sizes, the functions required during discharge are different. For small-sized pipes (2.875 inches and below), the discharging equipment on the second-level platform needs to provide a clamping function; while for larger-sized pipes (3.5 inches and above), the discharging equipment on the second-level platform is more suitable for providing a support function. In the actual operation process, depending on the different construction conditions, it may be necessary to frequently replace the discharging equipment on the second-level platform. This situation will not only increase the cost of equipment use, but also increase the time for repairing and replacing equipment, which is not conducive to improving operation efficiency. Therefore, the current pipe string discharging equipment has a single function, and it is difficult to meet the needs of different working conditions during the pipe string discharging operation.

[0003] In view of this, the present invention provides a robot gripper and a pipe column discharge device to solve or at least alleviate the above technical problems. Summary of the invention

[0004] The main purpose of the present invention is to propose a manipulator gripper and a pipe column discharge device, aiming to solve the technical problem that traditional pipe column discharge equipment is difficult to meet the needs of different working conditions during the pipe column discharge operation.

[0005] To achieve the above object, the robot gripper proposed by the present invention comprises:

[0006] A supporting clamp assembly, the supporting clamp assembly comprising a base, a driving mechanism and two clamping jaws arranged opposite to each other, the driving mechanism being mounted on the base and being used to drive the two clamping jaws to open and close;

[0007] Two mounting seats, one mounting seat is mounted on the top of each clamping jaw, and a first dovetail groove is provided on the sides facing each other of the two mounting seats, and the first dovetail groove is extended vertically;

[0008] A clamping pliers kit, the clamping pliers kit includes two groups of clamping components, the clamping components are provided with a first dovetail tenon, the first dovetail tenon is inserted in the first dovetail groove, each of the mounting seats is correspondingly inserted with a clamping component, and the two groups of clamping components are respectively provided with a group of tooth plates on the sides facing each other, and the two groups of tooth plates are used to cooperate with each other to clamp the pipe column.

[0009] In one embodiment, the two groups of clamping assemblies are symmetrically arranged;

[0010] Definition: The symmetry plane of the two sets of clamping components is the first symmetry plane;

[0011] The first symmetry plane is a vertical plane, and the two clamping jaws and the two mounting seats are symmetrically arranged along the first symmetry plane.

[0012] In one embodiment, the clamping assembly further includes a transition seat, a sliding seat, a clamping plate, a guide rod and an elastic member, the sliding seat is slidably mounted on the transition seat, the tooth plate is mounted on a side of the sliding seat away from the transition seat, the first dovetail tenon is arranged on a side of the transition seat away from the sliding seat, and the transition seat is mounted on the mounting seat through the cooperation of the first dovetail tenon and the first dovetail groove;

[0013] The transition seat comprises a sliding surface that is in contact with the sliding seat, and a distance between the sliding surface and the first symmetric plane gradually decreases along a vertical direction from the top of the sliding seat to the bottom of the sliding seat;

[0014] The card plate is installed on the top of the sliding seat, the guide rod is installed obliquely on the top of the transition seat, the central axis of the guide rod is parallel to the sliding surface, the elastic member is sleeved on the guide rod, the card plate is provided with a first through hole, the guide rod is passed through the first through hole, and the two ends of the elastic member are respectively abutted against the transition seat and the card plate.

[0015] In one embodiment, a second dovetail tenon is extended from the bottom of the sliding seat, and the central axis of the second dovetail tenon is arranged parallel to the central axis of the guide rod;

[0016] The transition seat is provided with a second dovetail groove, the second dovetail tenon is inserted into the second dovetail groove, and the second dovetail tenon can slide relative to the second dovetail groove;

[0017] The groove wall of the second dovetail groove is arranged to protrude from the sliding surface to prevent the sliding seat from sliding down excessively.

[0018] In one embodiment, the clamping plate includes a mounting portion and a guiding portion, the mounting portion is mounted on the top of the sliding seat, and the first through hole is provided on the mounting portion;

[0019] The guide portion is installed on a side of the mounting portion away from the driving mechanism, and the guide portion includes a guide surface, which is arranged on a side of the guide portion facing the first symmetry plane. The greater the distance between the guide surface and the mounting portion, the greater the distance between the guide surface and the first symmetry plane.

[0020] In one embodiment, a fixed dovetail tenon is provided on the side of the tooth plate facing the sliding seat, and a fixed dovetail groove is provided on the side of the sliding seat facing the tooth plate. The fixed dovetail tenon is inserted into the fixed dovetail groove to install the tooth plate on the sliding seat, and the mounting portion is used to prevent the fixed dovetail tenon from sliding out of the fixed dovetail groove.

[0021] In one embodiment, the clamping pliers kit also includes a supporting member, and the supporting pliers assembly also includes a connecting frame, the connecting frame is arranged on the side of the base away from the driving mechanism, the supporting member is installed on the connecting frame, a waist-shaped hole is arranged at the bottom of the transition seat, the waist-shaped hole is arranged in the horizontal direction, and the supporting member is provided with a second through hole, and the second through hole is connected to the waist-shaped hole through a pin shaft.

[0022] In one embodiment, each of the clamping jaws comprises a main body and a stopper, the two main bodies of the two clamping jaws enclose a supporting space, the stopper is rotatably mounted on a side of the main body facing the supporting space, and a driving assembly for driving the stopper to rotate is disposed inside the main body;

[0023] The clamping pliers kit also includes an extended baffle, which is connected to the block via a pin, and the extended baffle moves synchronously with the block.

[0024] In one embodiment, the mounting seat includes a seat body, a pressure block, a locking rod and two supporting blocks, the seat body is installed on the top of the clamp, the first dovetail groove is opened on the seat body, the two supporting blocks are arranged on the top of the seat body, and are respectively arranged on both sides of the first dovetail groove, the supporting block is provided with a supporting through hole, the pressure block is provided with an installation through hole, the locking rod is simultaneously passed through the supporting through hole and the installation through hole to lock the pressure block between the two supporting blocks, and the bottom surface of the pressure block abuts against the top surface of the first dovetail tenon.

[0025] The present invention also proposes a pipe column discharge equipment, including a manipulator gripper as described in any one of the above embodiments, and the pipe column discharge equipment also includes an arm assembly, the arm assembly includes a rotating mechanism and a telescopic arm mechanism, one end of the telescopic arm mechanism is connected to the rotating mechanism, the manipulator gripper is horizontally arranged at the other end of the telescopic arm mechanism, and the telescopic arm mechanism is used to drive the manipulator gripper to move.

[0026] According to the technical solution provided by the present invention, the manipulator gripper includes a supporting clamp assembly, a clamping clamp kit and two mounting seats. The supporting clamp assembly includes a base, a driving mechanism and two relatively arranged clamping jaws, the driving mechanism is installed on the base, and the driving mechanism is used to drive the two clamping jaws to open and close; a mounting seat is installed on the top of each clamping jaw, and a first dovetail groove is provided on the side facing each other of the two mounting seats, and the first dovetail groove is extended vertically; the clamping clamp kit includes two groups of clamping components, the clamping components are provided with a first dovetail tenon, the first dovetail tenon is plugged into the first dovetail groove, and each mounting seat is correspondingly plugged with a clamping component, and a group of tooth plates are respectively provided on the side facing each other of the two groups of clamping components, and the two groups of tooth plates are used to cooperate with each other to clamp the pipe column. Through this arrangement, when the manipulator gripper is installed on the second-layer platform, the clamping clamp kit can be installed or removed on the basis of the supporting clamp assembly as needed, so that the manipulator gripper can play a supporting function or a clamping function according to different working conditions, so that a manipulator gripper has two functions, and then the manipulator gripper can meet the needs of different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0028] Figure 1 A schematic structural diagram of an embodiment of a pipe column discharge device provided by the present invention;

[0029] Figure 2 A schematic structural diagram of an embodiment of a manipulator gripper provided by the present invention;

[0030] Figure 3 A structural schematic diagram of an embodiment of a supporting clamp assembly provided by the present invention;

[0031] Figure 4 for Figure 3 A schematic diagram of the structure from another perspective;

[0032] Figure 5 for Figure 4 A schematic diagram of the structure from another perspective;

[0033] Figure 6 A schematic side structural diagram of an embodiment of a clamping assembly provided by the present invention;

[0034] Figure 7 for Figure 6 A schematic diagram of the structure from another perspective;

[0035] Figure 8 for Figure 4 A schematic diagram of the enlarged structure at A in the middle;

[0036] Fig. 9 for Figure 4 Schematic diagram of the enlarged structure at point B in the middle.

[0037] Description of Figure Numbers:

[0038] 1000, Robotic gripper;

[0039] 1. Support clamp assembly; 11. Base; 12. Clamping claw; 121. Main body; 122. Stopper; 13. Driving mechanism; 131. Driving motor; 132. Connecting rod; 14. Connecting frame; 15. Supporting space; 16. Supporting plate; 17. Pad;

[0040] 2. Clamping pliers kit; 21. Clamping assembly; 211. Tooth plate; 212. Transition seat; 2121. First dovetail tenon; 2122. Second dovetail groove; 2123. Sliding surface; 2124. Waist-shaped hole; 213. Sliding seat; 2131. Second dovetail tenon; 214. Clamping plate; 2141. Mounting part; 2142. Guide part; 215. Guide rod; 216. Elastic member; 22. Support member; 221. Second through hole; 23. Extended baffle;

[0041] 3. Mounting seat; 31. Seat body; 32. Pressing block; 33. Locking rod; 34. Supporting block;

[0042] 4. The first symmetry plane;

[0043] 2000, arm assembly; 2100, slewing mechanism; 2200, telescopic arm mechanism;

[0044] X, horizontal direction; Y, vertical direction.

[0045] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0049] During the oil drilling operation, the second floor platform and the drilling platform in the derrick are equipped with pipe string discharge equipment (hereinafter referred to as pipe discharge equipment). The pipe discharge equipment is used to grab and discharge pipe strings. During the oil drilling process, multiple pipe strings need to be connected end to end and drilled in the well. At present, the pipe discharge equipment used in the second floor platform and the drilling platform are equipped with supporting manipulators. When discharging the pipe string, it is necessary to cooperate with the floating lifting system on the top of the derrick to lift the pipe string to a certain height, and push the pipe string to the preset position through the supporting manipulators of the second floor platform and the drilling platform. The pipe string is in an inclined state during the pushing process.

[0050] According to the applicant's research, for small-sized pipes, such as pipes of 2.875 inches and below, due to their large slenderness, the overall rigidity of the pipes is insufficient. In the process of pushing and supporting the pipes, due to the inclined state of the pipes and their own heavy weight, the pipes are prone to bending and deformation and irregular movement, which can easily cause the pipes to slip out of the supporting manipulator. Therefore, the discharge operation of small-sized pipes is still mainly carried out in manual operation mode. For large-sized pipes, such as pipes of 3.5 inches and above, their rigidity is large enough to resist the influence of their own weight. At this time, the use of a two-layer platform pipe laying equipment and a supporting manipulator can simulate the manual pipe laying operation process as much as possible, which is conducive to improving the efficiency of pipe laying. However, the current two-layer platform pipe laying equipment can usually only realize one of the functions of support or clamping, and cannot be applied to the discharge of small and large-sized pipes at the same time. Its function is relatively single and it is difficult to meet the pipe laying operation requirements under various working conditions.

[0051] In view of this, the present invention proposes a robot gripper to solve the above technical problems.

[0052] See also Figures 1 to 5 In one embodiment of the present invention, the manipulator gripper 1000 includes a supporting clamp assembly 1, a clamping clamp kit 2 and two mounting seats 3. The supporting clamp assembly 1 includes a base 11, a driving mechanism 13 and two oppositely arranged clamping jaws 12, the driving mechanism 13 is installed on the base 11, and the driving mechanism 13 is used to drive the two clamping jaws 12 to open and close; a mounting seat 3 is installed on the top of each clamping jaw 12, and a first dovetail groove is provided on the side facing each other of the two mounting seats 3, and the first dovetail groove is extended vertically; the clamping clamp kit 2 includes two groups of clamping components 21, the clamping components 21 are provided with a first dovetail tenon 2121, the first dovetail tenon 2121 is plugged into the first dovetail groove, each mounting seat 3 is correspondingly plugged with a clamping component 21, and a group of tooth plates 211 are respectively provided on the side facing each other of the two groups of clamping components 21, and the two groups of tooth plates 211 are used to cooperate with each other to clamp the pipe column.

[0053] Specifically, the base 11 is used to provide a mounting platform for the driving mechanism 13 and the clamping jaw 12. The driving mechanism 13 includes a driving motor 131 and a plurality of connecting rods 132. The driving motor 131 is a screw motor, wherein one end of the two connecting rods 132 is hinged to the slider of the screw motor, and the other end is hinged to the clamping jaw 12. As the slider moves on the screw, the clamping jaw 12 is driven to open and close. An area for mounting a mounting seat 3 is provided on the top surface of each clamping jaw 12. The mounting seat 3 is connected to the top surface of the clamping jaw 12 by two bolts, so that the mounting seat 3 can be fixed to the clamping jaw 12. The mounting seat 3 is used to mount the clamping assembly 21. Each mounting seat 3 mounts a group of clamping assemblies 21, and the two are firmly connected by the cooperation between the first dovetail groove and the first dovetail tenon 2121. During installation, the clamping assembly 21 as a whole is inserted into the first dovetail groove along the direction from the top surface of the clamping jaw 12 to the bottom surface thereof, so that the two groups of clamping assemblies 21 are arranged opposite to each other, and the tooth plates 211 are arranged at the positions facing each other of the two groups of clamping assemblies 21, and the surface of the tooth plates 211 is provided with dense tooth structures. After the clamping assembly 21 is installed on the clamping jaw 12, the clamping assembly 21 can be opened and closed synchronously with the clamping jaw 12. When the two clamping jaws 12 are closed, the two groups of tooth plates 211 are close to each other, and the tooth structures therein can firmly clamp the pipe column. Since the clamping assembly 21 can be easily disassembled and assembled with the clamping jaw 12, when the manipulator gripper 1000 in this embodiment is applied to the pipe arrangement equipment of the second-layer platform, it can quickly switch between the clamping function and the supporting function as needed. The convenience of this function switching can, on the one hand, avoid frequent replacement of the manipulator gripper 1000 in the pipe laying equipment, thereby reducing the investment in equipment cost and labor cost; on the other hand, when performing the discharge operation of small-sized pipe columns, it can avoid switching to manual operation, thereby reducing the risk of high-altitude operations.

[0054] The technical solution in this embodiment designs a detachable clamping clamp kit 2 and applies it to the supporting clamp assembly 1, so that the manipulator gripper 1000 in this embodiment can quickly switch its function according to the working conditions. Through this arrangement, when the manipulator gripper 1000 is installed on the second-level platform, the clamping clamp kit 2 can be installed or removed on the basis of the supporting clamp assembly 1 as needed, so that the manipulator gripper 1000 can perform the supporting function or the clamping function according to different working conditions, so that a manipulator gripper 1000 has two functions, and the manipulator gripper 1000 can meet the needs of different working conditions.

[0055] In one embodiment of the present invention, two groups of clamping assemblies 21 are symmetrically arranged; definition: the symmetry plane of the two groups of clamping assemblies 21 is the first symmetry plane 4; the first symmetry plane 4 is a vertical plane, and the two clamping jaws 12 and the two mounting seats 3 are symmetrically arranged along the first symmetry plane 4. Figures 4 to 7The function of the clamping assembly 21 is to clamp the pipe column. The symmetrical arrangement of the two groups of clamping assemblies 21 is conducive to uniform force on both sides of the clamped pipe column, avoiding eccentric force on the pipe column. If the two groups of clamping assemblies 21 are arranged asymmetrically, the eccentric force applied by the clamping assembly 21 on the pipe column and the deadweight of the pipe column may form a combined force, which may easily lead to unstable clamping of the pipe column by the clamping assembly 21 during the pipe laying process, and even the risk of the pipe column falling off. At the same time, when the manipulator gripper 1000 in this embodiment plays a supporting role, the pipe column is in direct contact with the clamping jaws 12. In order to facilitate the acquisition of the pipe column, the clamping jaws 12 on both sides need to open and close synchronously to reduce the difficulty of acquiring the pipe column. Therefore, the clamping jaws 12 are arranged symmetrically about the first symmetry plane 4. On this basis, in order to make the two groups of clamping assemblies 21 symmetrically arranged, the two mounting seats 3 should also be symmetrically arranged about the first symmetry plane 4.

[0056] For further information, please refer to Figures 4 to 7 In one embodiment of the present invention, the clamping assembly 21 further includes a transition seat 212, a sliding seat 213, a clamping plate 214, a guide rod 215 and an elastic member 216. The sliding seat 213 is slidably mounted on the transition seat 212, the tooth plate 211 is mounted on the side of the sliding seat 213 away from the transition seat 212, the first dovetail tenon 2121 is arranged on the side of the transition seat 212 away from the sliding seat 213, and the transition seat 212 is mounted on the mounting seat 3 through the cooperation of the first dovetail tenon 2121 and the first dovetail groove; the transition seat 212 includes a sliding surface 2123 that is in contact with the sliding seat 213, and the vertical direction Y pointing from the top of the sliding seat 213 to the bottom of the sliding seat 213, the distance between the sliding surface 2123 and the first symmetry plane 4 gradually decreases, wherein the vertical direction Y is Figure 1 and Figure 6The direction indicated by the arrow Y in the middle; the card plate 214 is installed on the top of the sliding seat 213, the guide rod 215 is obliquely installed on the top of the transition seat 212, the central axis of the guide rod 215 is parallel to the sliding surface 2123, the elastic member 216 is sleeved on the guide rod 215, the card plate 214 is provided with a first through hole, the guide rod 215 is passed through the first through hole, and the two ends of the elastic member 216 are respectively in contact with the transition seat 212 and the card plate 214. In this embodiment, the card plate 214 is installed on the top of the sliding seat 213 by two screws, and moves synchronously with the sliding seat 213. When the pipe column is not caught, the top of the sliding seat 213 is higher than the top of the transition seat 212 through the action of the guide rod 215 and the elastic member 216. When the pipe column is caught, the two groups of tooth plates 211 contact the pipe column. At this time, the pipe column drives the tooth plates 211 to move downward under the action of its own gravity, that is, moves toward the bottom direction of the transition seat 212. At this time, the tooth plates 211 drive the sliding seat 213 to move downward. Since the contact surface between the sliding seat 213 and the transition seat 212 is an inclined surface, its inclined direction makes it gradually approach the first symmetry plane 4 from top to bottom. As the sliding seat 213 slides downward, the spacing between the two groups of tooth plates 211 gradually decreases, so that the pipe column is stably locked between the two groups of tooth plates 211. At this time, the two groups of tooth plates 211 can provide stable support for the pipe column to prevent the pipe column from shaking due to too small size and causing the pipe column to fall off. This setting enables the clamping assembly 21 to stably clamp pipe columns of various sizes, thereby improving the versatility of the manipulator gripper 1000 in this embodiment. The elastic member 216 includes one of a compression spring and a composite spring. It should be noted that, in the solution provided in this embodiment, the central axis of the guide rod 215 coincides with the central axis of the first through hole, and the central axes of the two are parallel to the sliding surface 2123, and the angle between the sliding surface 2123 and the first symmetry plane 4 is 1° to 10°, preferably, in this embodiment, the angle is 6°.

[0057] Furthermore, in one embodiment of the present invention, a second dovetail 2131 is extended from the bottom of the sliding seat 213, and the central axis of the second dovetail 2131 is arranged parallel to the central axis of the guide rod 215; the transition seat 212 is provided with a second dovetail groove 2122, the second dovetail 2131 is inserted into the second dovetail groove 2122, and the second dovetail 2131 can slide relative to the second dovetail groove 2122; the groove wall of the second dovetail groove 2122 is arranged to protrude from the sliding surface 2123 to prevent the sliding seat 213 from sliding down excessively. Please refer to Figure 6 and Figure 8In addition to the clamping plate 214, the guide rod 215 and the elastic member 216, the connection between the sliding seat 213 and the transition seat 212 also adopts a second dovetail tenon 2131 and a second dovetail groove 2122 to fix the sliding trajectory of the sliding seat 213 in order to enable the sliding seat 213 to stably slide in the transition seat 212 along its sliding direction. At the same time, the cooperation of the second dovetail tenon 2131 and the second dovetail groove 2122 can prevent the bottom of the sliding seat 213 from separating from the transition seat 212 when sliding, that is, the transition seat 212 will provide a certain pulling force to the sliding seat 213, so that the two can fit stably during the relative sliding process. At the same time, the groove wall of the second dovetail groove 2122 is protruded in the direction of the first symmetry plane 4, so that the groove walls on both sides of the second dovetail groove 2122 are protruded with sliding surfaces 2123. When the sliding seat 213 contacts the top of the groove wall, the sliding seat 213 stops sliding. In this embodiment, the groove wall also plays a limiting role. This setting is used to prevent the sliding seat 213 from sliding excessively, thereby preventing the card plate 214 on the top of the sliding seat 213 from being subjected to the shearing effect between the transition seat 212 and the sliding seat 213, thereby preventing the card plate 214 from being deformed by force and affecting subsequent normal use.

[0058] See also Figure 6 and Figure 7 In one embodiment of the present invention, the clamping plate 214 includes a mounting portion 2141 and a guiding portion 2142. The mounting portion 2141 is mounted on the top of the sliding seat 213, and the first through hole is set on the mounting portion 2141; the guiding portion 2142 is mounted on the side of the mounting portion 2141 away from the driving mechanism 13, and the guiding portion 2142 includes a guiding surface, which is set on the side of the guiding portion 2142 facing the first symmetry plane 4. The greater the distance between the guiding surface and the mounting portion 2141, the greater the distance between the guiding surface and the first symmetry plane 4. The guiding portion 2142 is set toward the direction of the manipulator gripper 1000 grabbing the pipe column, and the surface of the two guiding portions 2142 close to each other is the guiding surface, and the greater the distance between the guiding surface and the mounting portion 2141, the greater the spacing between the two guiding surfaces. When the manipulator gripper 1000 grabs the pipe string, the design of the guide portion 2142 facilitates the pipe string to smoothly enter between the two sets of tooth plates 211, so as to improve the efficiency of the manipulator gripper 1000 in acquiring the pipe string. In addition, the mounting portion 2141 is mounted on the top of the sliding seat 213 through two threaded members, so that the mounting portion 2141 is stably connected to the threaded members.

[0059] In one embodiment of the present invention, a fixed dovetail tenon is provided on one side of the tooth plate 211 facing the sliding seat 213, and a fixed dovetail groove is provided on one side of the sliding seat 213 facing the tooth plate 211. The fixed dovetail tenon is plugged into the fixed dovetail groove to install the tooth plate 211 on the sliding seat 213, and the mounting portion 2141 is used to prevent the fixed dovetail tenon from sliding out of the fixed dovetail groove. There are many ways to connect the tooth plate 211 and the sliding seat 213. In this embodiment, the tooth plate 211 and the sliding seat 213 are connected by the fixed dovetail tenon and the fixed dovetail groove, so that the tooth plate 211 is easy to disassemble when it needs to be replaced. When the tooth plate 211 is installed, according to the length direction of the fixed dovetail groove, the fixed dovetail tenon on the back of the tooth plate 211 is inserted into the fixed dovetail groove from the top of the sliding seat 213. After the tooth plate 211 and the sliding seat 213 are plugged, the mounting portion 2141 of the clamping plate 214 is used to block the top of the fixed dovetail groove to prevent the fixed dovetail tenon from sliding out of the fixed dovetail groove. It should be noted that each group of tooth plates 211 includes at least one tooth plate 211. In the present embodiment, each group of tooth plates 211 includes two tooth plates 211. The space formed by the two groups of tooth plates 211 is approximately cylindrical, which is conducive to full contact between each tooth plate 211 and the pipe column, and increases the contact area between the tooth plate 211 and the pipe column. In the present embodiment, the material of the tooth plate 211 includes one of carburized steel, high manganese steel alloy, high chromium cast iron and high-speed steel. Preferably, the tooth plate 211 in the present embodiment is made of 20CrMnTi and is carburized and quenched. In another embodiment, the tooth plate 211 has at least two through holes along its height direction, which are connected to the sliding seat 213 through a threaded member.

[0060] See also Figure 4 and Figure 8 In one embodiment of the present invention, the clamping pliers kit 2 further includes a support member 22, and the supporting pliers assembly 1 further includes a connecting frame 14, the connecting frame 14 is arranged on a side of the base 11 away from the driving mechanism 13, the support member 22 is mounted on the connecting frame 14, and a waist-shaped hole 2124 is arranged at the bottom of the transition seat 212, and the waist-shaped hole 2124 is arranged along the horizontal direction X, and the horizontal direction X is Figure 1The direction indicated by the middle arrow X; the support member 22 is provided with a second through hole 221, and the second through hole 221 is connected to the waist-shaped hole 2124 by a pin. The support member 22 is used to support the bottom of the clamping assembly 21. Specifically, the support member 22 is installed on the connecting frame 14, and the connection method includes threaded connection and pin connection, so that the support member 22 and the connecting frame 14 are relatively static. The second through hole 221 provided on the support member 22 is corresponding to the waist-shaped hole 2124 at the bottom of the transition seat 212, and the two are connected by a pin, so that the support member 22 can provide vertical support force to the transition seat 212 through the pin, and cooperate with the connection of the first dovetail tenon 2121 and the first dovetail groove, so that the transition seat 212 can be more stably installed on the supporting clamp assembly 1. The purpose of setting the bottom of the transition seat 212 as a waist-shaped hole 2124 is that the transition seat 212 needs to move with the clamping jaw 12, while the connecting frame 14 and the supporting member 22 are stationary relative to the bottom plate. In order to avoid the supporting member 22 limiting the movement of the transition seat 212, the bottom of the transition seat 212 is set as a waist-shaped hole 2124, and the length, width and arc radius of the waist-shaped hole 2124 are adjusted according to design requirements. In other embodiments, the waist-shaped hole 2124 can also be set on the supporting member 22, and a through hole is set at the bottom of the transition seat 212, and the two are connected by a pin shaft. Or the connection between the transition seat 212 and the supporting member 22 is set as a waist-shaped hole 2124, and the specific design method is adjusted according to actual needs.

[0061] See also Figures 2 to 5In one embodiment of the present invention, each clamp 12 includes a main body 121 and a stopper 122. The two main bodies 121 of the two clamps 12 enclose a support space 15. The stopper 122 is rotatably mounted on the side of the main body 121 facing the support space 15. A driving assembly for driving the stopper 122 to rotate is arranged inside the main body 121. The clamp kit 2 also includes an extended stopper 23. The extended stopper 23 is connected to the stopper 122 through a pin shaft. The extended stopper 23 and the stopper 122 move synchronously. A receiving cavity is arranged inside the main body 121. A driving assembly is arranged inside the receiving cavity. The driving assembly includes a screw motor and a linkage rod. One end of the linkage rod is connected to the slider of the screw motor. The stopper 122 includes an inner end and an outer end. The inner end only moves in the receiving cavity. The other end of the linkage rod is connected to the inner end of the stopper 122. Through the movement of the slider, the outer end of the stopper 122 can be driven to rotate into the support space 15, or the outer end of the stopper can be driven to rotate from the support space 15 back into the receiving cavity. On this basis, when the manipulator gripper 1000 in this embodiment is equipped with a clamping pliers kit 2, the extended baffle 23 is installed on the outer end of the block 122, so that the block 122 can drive the extended baffle 23 to move. When the manipulator gripper 1000 plays a supporting function, after the pipe column enters the supporting space 15, the outer end of the block 122 rotates to the supporting space 15 to prevent the pipe column from sliding down. After the pipe column is pushed to the preset position, the outer end of the block 122 rotates back to the accommodating cavity to release the pipe column. When the manipulator gripper 1000 plays a clamping function, after the two sets of tooth plates 211 clamp the pipe column, the extended baffle 23 rotates with the block 122 to the supporting space 15, as a second safety reserve to prevent the pipe column from tipping over.

[0062] In one embodiment of the present invention, the supporting clamp assembly 1 further includes a base plate 16 and a backing plate 17, see Figure 3 and Figure 5 A plurality of connecting rods 132 for supporting the movement of the clamping jaws 12 are arranged between the supporting plate 16 and the base 11, and the supporting plate 16 is covered on the top of the connecting rod 132 to provide a certain degree of protection for the connecting rod 132. A support seat is installed on the top of the supporting plate 16, and a pad 17 is hinged to the support seat. One end of the pad 17 is connected to the support seat, and the other end extends into the supporting space 15. The function of the pad 17 is to shorten the length of the supporting space 15 to prevent the manipulator gripper 1000 from grabbing two pipes at the same time when grabbing the pipe column. The thickness of the pad 17 can be adaptively adjusted according to the size of the pipe column. Among them, the material of the pad 17 includes one of nylon, polyetherimide and other modified nylon materials.

[0063] See also Figure 4 and Fig. 9In one embodiment of the present invention, the mounting seat 3 includes a seat body 31, a pressure block 32, a locking rod 33 and two supporting blocks 34. The seat body 31 is mounted on the top of the clamping jaw 12. The first dovetail groove is provided on the seat body 31. The two supporting blocks 34 are arranged on the top of the seat body 31 and are respectively arranged on both sides of the first dovetail groove. The supporting block 34 is provided with a supporting through hole. The pressure block 32 is provided with an installation through hole. The locking rod 33 is simultaneously provided through the supporting through hole and the installation through hole to lock the pressure block 32 between the two supporting blocks 34, and the bottom surface of the pressure block 32 abuts against the top surface of the first dovetail tenon 2121. The bottom surface shape of the seat body 31 matches the top surface shape of the clamping jaw 12 so that the two can fit each other. In this embodiment, the base 11 is in a long strip shape, and two screws are used at both ends to connect with the clamping jaw 12. After the first dovetail tenon 2121 is inserted into the first dovetail groove, the pressure block 32 is locked in the two support blocks. At this time, due to the action of the pressure block 32, the first dovetail tenon 2121 cannot be disengaged from the first dovetail groove. Combined with the connection between the support member 22 and the transition seat 212, the transition seat 212 can be more stably installed on the seat body 31, thereby improving the reliability and safety of the clamping assembly 21 during use.

[0064] The present invention also provides a pipe column discharge device, which includes a manipulator gripper 1000. The specific structure of the manipulator gripper 1000 refers to the above embodiment. Since the pipe column discharge device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Figure 1 The pipe column discharge equipment also includes a boom assembly 2000, which includes a slewing mechanism 2100 and a telescopic arm mechanism 2200. One end of the telescopic arm mechanism 2200 is connected to the slewing mechanism 2100. The manipulator gripper 1000 is horizontally arranged at the other end of the telescopic arm mechanism 2200. The telescopic arm mechanism 2200 is used to drive the manipulator gripper 1000 to move. The slewing mechanism 2100 is used to drive the telescopic arm mechanism 2200 to move. The telescopic arm mechanism 2200 is used to drive the manipulator gripper 1000 to move horizontally or up and down. The telescopic arm mechanism 2200 includes a multi-stage arm rod, and the number of arm rods at each stage is four. The four arm rods form a double parallelogram structure after being connected. After the manipulator gripper 1000 is installed on the last stage arm rod, this double parallelogram structure can keep the manipulator gripper 1000 horizontal during movement.

[0065] According to all the above embodiments, the manipulator gripper 1000 provided by the present invention has two working states: a supporting state and a clamping state. According to the difference of the pipe laying process, there are multiple work processes when performing pipe laying operations in the two working states. The following lists a pipe laying work process corresponding to the two states respectively:

[0066] (1) Supporting state. During the pipe string discharge operation, the drilling platform is provided with a pipe discharge device with a supporting function, and the second-floor platform is provided with a pipe string discharge device provided in the above embodiment. At this time, the manipulator gripper 1000 is not loaded with the clamp kit 2, and the manipulator gripper 1000 only provides a supporting function. During the pipe discharge operation, the traveling hoisting system on the top of the derrick first lifts the pipe string to a certain height, and the pipe discharge device in the drilling platform and the pipe string discharge device in the second-floor platform extend their respective grippers to obtain the pipe string; then the gripper on the drilling platform pushes the pipe string to the preset position at the wellhead, and then the manipulator gripper 1000 on the second-floor platform pushes the pipe string to the preset position. At this time, the traveling hoisting system lowers the pipe string to the specified height and then detaches from the pipe string, and finally completes the docking of the pipe string with the pipe string at the wellhead, and installs the pipe string on the drilling rig to complete the pipe discharge operation.

[0067] (2) Clamping state. The equipment configuration is the same as that in the supporting state. A pipe laying device with a supporting function is set on the drilling platform, and a pipe string discharge device provided in the above embodiment is set on the second-floor platform. At this time, the manipulator gripper 1000 of the pipe string discharge device is equipped with a clamping clamp kit 2. During the pipe laying operation, the floating lifting system on the top of the derrick first lifts the pipe to a certain height, and then the manipulator gripper 1000 of the second-floor platform extends to grab the upper part of the drill pipe, and then the manipulator of the drilling platform extends and obtains the bottom of the drill pipe. At this time, the floating lifting system is separated from the pipe string, and the pipe string drives the tooth plate 211 to move downward under the action of gravity, so that the manipulator gripper 1000 of the second-floor platform clamps the pipe string, and then the second-floor manipulator gripper 1000 is controlled to move synchronously with the drilling platform manipulator to transport the pipe string to the specified position, and finally the pipe string is docked with the pipe string at the wellhead, and the pipe string is installed on the drilling rig to complete the pipe laying operation.

[0068] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention and the drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A robot gripper, characterized in that: include: A supporting clamp assembly, the supporting clamp assembly comprising a base, a driving mechanism and two clamping jaws arranged opposite to each other, the driving mechanism being mounted on the base and being used to drive the two clamping jaws to open and close; Two mounting seats, one mounting seat is mounted on the top of each clamping jaw, and a first dovetail groove is provided on the sides facing each other of the two mounting seats, and the first dovetail groove is extended vertically; A clamping pliers kit, the clamping pliers kit includes two groups of clamping components, the clamping components are provided with a first dovetail tenon, the first dovetail tenon is inserted in the first dovetail groove, each of the mounting seats is correspondingly inserted with a clamping component, and the two groups of clamping components are respectively provided with a group of tooth plates on the sides facing each other, and the two groups of tooth plates are used to cooperate with each other to clamp the pipe column.

2. The robot gripper according to claim 1, characterized in that: The two groups of clamping components are symmetrically arranged; Definition: The symmetry plane of the two sets of clamping components is the first symmetry plane; The first symmetry plane is a vertical plane, and the two clamping jaws and the two mounting seats are symmetrically arranged along the first symmetry plane.

3. The robot gripper according to claim 2, characterized in that: The clamping assembly further includes a transition seat, a sliding seat, a clamping plate, a guide rod and an elastic member, the sliding seat is slidably mounted on the transition seat, the tooth plate is mounted on a side of the sliding seat away from the transition seat, the first dovetail tenon is arranged on a side of the transition seat away from the sliding seat, and the transition seat is mounted on the mounting seat through the cooperation of the first dovetail tenon and the first dovetail groove; The transition seat comprises a sliding surface that is in contact with the sliding seat, and a distance between the sliding surface and the first symmetric plane gradually decreases along a vertical direction from the top of the sliding seat to the bottom of the sliding seat; The card plate is installed on the top of the sliding seat, the guide rod is installed obliquely on the top of the transition seat, the central axis of the guide rod is parallel to the sliding surface, the elastic member is sleeved on the guide rod, the card plate is provided with a first through hole, the guide rod is passed through the first through hole, and the two ends of the elastic member are respectively abutted against the transition seat and the card plate.

4. The robot gripper according to claim 3, characterized in that: A second dovetail tenon is extended from the bottom of the sliding seat, and the central axis of the second dovetail tenon is arranged parallel to the central axis of the guide rod; The transition seat is provided with a second dovetail groove, the second dovetail tenon is inserted into the second dovetail groove, and the second dovetail tenon can slide relative to the second dovetail groove; The groove wall of the second dovetail groove is arranged to protrude from the sliding surface to prevent the sliding seat from sliding down excessively.

5. The robot gripper according to claim 3, characterized in that: The clamping plate includes a mounting portion and a guiding portion, the mounting portion is mounted on the top of the sliding seat, and the first through hole is provided on the mounting portion; The guide portion is installed on a side of the mounting portion away from the driving mechanism, and the guide portion includes a guide surface, which is arranged on a side of the guide portion facing the first symmetry plane. The greater the distance between the guide surface and the mounting portion, the greater the distance between the guide surface and the first symmetry plane.

6. The robot gripper according to claim 5, characterized in that: A fixed dovetail tenon is arranged on the side of the tooth plate facing the sliding seat, and a fixed dovetail groove is arranged on the side of the sliding seat facing the tooth plate. The fixed dovetail tenon is inserted into the fixed dovetail groove to install the tooth plate on the sliding seat, and the mounting portion is used to prevent the fixed dovetail tenon from sliding out of the fixed dovetail groove.

7. The robot gripper according to claim 3, characterized in that: The clamping pliers kit also includes a supporting member, and the supporting pliers assembly also includes a connecting frame, which is arranged on a side of the base away from the driving mechanism, and the supporting member is installed on the connecting frame. A waist-shaped hole is provided at the bottom of the transition seat, and the waist-shaped hole is arranged in the horizontal direction. The supporting member is provided with a second through hole, and the second through hole is connected to the waist-shaped hole through a pin shaft.

8. The robot gripper according to claim 3, characterized in that: Each of the clamps comprises a main body and a stopper, the two main bodies of the two clamps enclose a supporting space, the stopper is rotatably mounted on a side of the main body facing the supporting space, and a driving assembly for driving the stopper to rotate is arranged inside the main body; The clamping pliers kit also includes an extended baffle, which is connected to the block via a pin, and the extended baffle moves synchronously with the block.

9. The robot gripper according to claim 1, characterized in that: The mounting seat includes a seat body, a pressure block, a locking rod and two supporting blocks. The seat body is installed on the top of the clamping jaw, the first dovetail groove is opened on the seat body, the two supporting blocks are arranged on the top of the seat body, and are respectively arranged on both sides of the first dovetail groove, the supporting block is provided with a supporting through hole, the pressure block is provided with an installation through hole, the locking rod is simultaneously passed through the supporting through hole and the installation through hole to lock the pressure block between the two supporting blocks, and the bottom surface of the pressure block abuts against the top surface of the first dovetail tenon.

10. A pipe column discharge device, characterized in that: It comprises a manipulator gripper as described in any one of claims 1 to 9 above, the pipe column discharge equipment also comprises a boom assembly, the boom assembly comprises a slewing mechanism and a telescopic arm mechanism, one end of the telescopic arm mechanism is connected to the slewing mechanism, the manipulator gripper is horizontally arranged at the other end of the telescopic arm mechanism, and the telescopic arm mechanism is used to drive the manipulator gripper to move.

Images