Manipulator gripper and string tripping device

Abstract

The application discloses a mechanical hand grab hand and a pipe column discharging device, and relates to the technical field of drilling equipment. The mechanical hand comprises a supporting clamp assembly, a clamping clamp set and two mounting seats. The supporting clamp assembly comprises a base, a driving mechanism and two oppositely arranged clamping jaws. The driving mechanism is mounted on the base and is used for driving the two clamping jaws to open and close. The top of each clamping jaw is provided with a mounting seat. The side of the two mounting seats facing each other is respectively provided with a first dovetail groove. The first dovetail groove extends along the vertical direction. The clamping clamp set comprises two groups of clamping components. The clamping components are provided with first dovetail tenons which are inserted into the first dovetail grooves. Each mounting seat is inserted with one clamping component. The side of the two groups of clamping components facing each other is respectively provided with a group of toothed plates. The two groups of toothed plates are used for mutual cooperation to clamp the pipe column. Through the scheme, the mechanical hand can be switched between two functions, so that the mechanical hand can meet the requirements of different working conditions.

Description

Technical Field

[0001] This invention relates to the field of drilling equipment technology, and in particular to a robotic gripper and tubing discharge device. Background Technology

[0002] With the continuous development of oil and gas drilling equipment, semi-automatic or automated equipment is now widely used in drilling and workover operations. During the string deployment process, a string deployment device is typically installed on both the drilling platform and the secondary platform of the derrick, working in conjunction with the traveling block system at the top of the derrick to complete the deployment. During string deployment, the deployment device on the secondary platform usually only provides a single support or clamping function, and the required functions differ depending on the size of the string. For small strings (2.875 inches and below), the secondary platform deployment device needs to provide clamping functionality; while for larger strings (3.5 inches and above), the secondary platform deployment device is more suitable for providing support. In actual operations, depending on the working conditions, the secondary platform deployment device may need to be frequently replaced. This not only increases equipment operating costs but also increases maintenance and replacement time, hindering operational efficiency. Therefore, current string deployment devices are functionally limited and cannot meet the needs of different working conditions during string deployment operations.

[0003] In view of this, the present invention provides a robotic gripper and a tubular discharge device to solve or at least alleviate the above-mentioned technical problems. Summary of the Invention

[0004] The main objective of this invention is to provide a robotic gripper and a tubing discharge device, which aims to solve the technical problem that traditional tubing discharge devices are unable to meet the needs of different working conditions during tubing discharge operations.

[0005] To achieve the above objectives, the robotic gripper proposed in this invention includes:

[0006] A support clamp assembly, the support clamp assembly including a base, a drive mechanism and two opposing grippers, the drive mechanism being mounted on the base and used to drive the two grippers to open and close;

[0007] Two mounting bases are provided, one of the mounting bases is mounted on the top of each of the grippers, and a first dovetail groove is provided on the side of the two mounting bases facing each other, the first dovetail groove extending vertically.

[0008] The clamping pliers kit includes two sets of clamping components. Each clamping component is provided with a first dovetail tenon, which is inserted into a first dovetail groove. Each mounting base is correspondingly inserted with one clamping component. Each set of clamping components has a set of jaw plates on one side facing each other. The two sets of jaw plates are used to cooperate with each other to clamp the column.

[0009] In one embodiment, the two sets of clamping components are arranged symmetrically;

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

[0011] The first plane of symmetry is a vertical plane, and the two grippers and the two mounting bases are respectively arranged symmetrically along the first plane of symmetry.

[0012] In one embodiment, the clamping assembly further includes a transition seat, a sliding seat, a clamping plate, a guide rod, and an elastic element. The sliding seat is slidably mounted on the transition seat, the toothed plate is mounted on the side of the sliding seat away from the transition seat, the first dovetail tenon is disposed on the 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 includes a sliding surface that fits against the sliding seat, and the distance between the sliding surface and the first symmetry plane gradually decreases along the 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 element is sleeved on the guide rod, the card plate has a first through hole, the guide rod passes through the first through hole, and the two ends of the elastic element abut against the transition seat and the card plate respectively.

[0015] In one embodiment, a second dovetail tenon is provided at the bottom of the sliding seat, and the central axis of the second dovetail tenon is parallel to the central axis of the guide rod.

[0016] The transition seat has 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 wall of the second dovetail groove protrudes from the sliding surface to prevent the sliding seat from sliding down excessively.

[0018] In one embodiment, the card plate includes a mounting part and a guide part, the mounting part is mounted on the top of the sliding seat, and the first through hole is provided in the mounting part;

[0019] The guide portion is installed on the side of the mounting portion away from the drive mechanism. The guide portion includes a guide surface, which is disposed on the 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 toothed plate facing the sliding seat, and a fixed dovetail groove is provided on the side of the sliding seat facing the toothed plate. The fixed dovetail tenon is inserted into the fixed dovetail groove to install the toothed plate onto the sliding seat. The mounting part is used to prevent the fixed dovetail tenon from sliding out of the fixed dovetail groove.

[0021] In one embodiment, the clamping pliers kit further includes a support member, and the supporting pliers assembly further includes a connecting frame. The connecting frame is disposed on the side of the base away from the drive mechanism. The support member is mounted on the connecting frame. The bottom of the transition seat is provided with an oblong hole, which is arranged in a horizontal direction. The support member has a second through hole, and the second through hole is connected to the oblong hole by a pin.

[0022] In one embodiment, each of the grippers includes a body and a stop, and the two bodies of the two grippers enclose a support space. The stop is rotatably mounted on the side of the body facing the support space, and a drive component for driving the stop to rotate is provided inside the body.

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

[0024] In one embodiment, the mounting base includes a base body, a pressure block, a locking rod, and two support blocks. The base body is mounted on the top of the gripper. The first dovetail groove is formed in the base body. The two support blocks are disposed on the top of the base body and are respectively disposed on both sides of the first dovetail groove. The support blocks have support through holes, and the pressure block has mounting through holes. The locking rod passes through both the support through holes and the mounting through holes to lock the pressure block between the two support blocks. The bottom surface of the pressure block abuts against the top surface of the first dovetail tenon.

[0025] The present invention also proposes a tubular discharge device, including a robotic gripper as described in any of the above embodiments. The tubular discharge device further includes a boom assembly, which includes a slewing mechanism and a telescopic boom mechanism. One end of the telescopic boom mechanism is connected to the slewing mechanism, and the robotic gripper is horizontally disposed at the other end of the telescopic boom mechanism. The telescopic boom mechanism is used to drive the robotic gripper to move.

[0026] According to the technical solution provided by the present invention, the robotic gripper includes a support clamp assembly, a clamping clamp kit, and two mounting bases. The support clamp assembly includes a base, a drive mechanism, and two opposing grippers. The drive mechanism is mounted on the base and drives the two grippers to open and close. Each gripper has a mounting base mounted on its top, and each mounting base has a first dovetail groove on its facing side, extending vertically. The clamping clamp kit includes two sets of clamping components, each with a first dovetail tenon inserted into the first dovetail groove. Each mounting base has one clamping component inserted into it. Each of the two sets of clamping components has a set of jaw plates on its facing side, which cooperate to clamp the tubular column. With this configuration, when the robotic gripper is installed on a second-tier platform, the clamping clamp kit can be installed or removed from the support clamp assembly as needed, allowing the robotic gripper to perform either a support function or a clamping function depending on different working conditions. This gives the robotic gripper two functions, enabling it to meet the needs of different working conditions. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of a structure of an embodiment of the tubular discharge device provided by the present invention;

[0029] Figure 2 A schematic diagram of the structure of an embodiment of the robotic gripper provided by the present invention;

[0030] Figure 3 This is a schematic diagram of a structure of an embodiment of the support clamp assembly provided by the present invention;

[0031] Figure 4 for Figure 3 A structural diagram from another perspective;

[0032] Figure 5 for Figure 4 A structural diagram from another perspective;

[0033] Figure 6 This is a side view of an embodiment of the clamping assembly provided by the present invention;

[0034] Figure 7 for Figure 6 A structural diagram from another perspective;

[0035] Figure 8 for Figure 4 Enlarged structural diagram at point A;

[0036] Figure 9 for Figure 4 A magnified structural diagram at point B in the middle.

[0037] Explanation of icon numbers:

[0038] 1000. Robotic gripper;

[0039] 1. Support clamp assembly; 11. Base; 12. Gripper; 121. Main body; 122. Stop block; 13. Drive mechanism; 131. Drive motor; 132. Connecting rod; 14. Connecting frame; 15. Support space; 16. Support plate; 17. Pad plate;

[0040] 2. Clamping clamp 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 element; 22. Support element; 221. Second through hole; 23. Extended baffle;

[0041] 3. Mounting base; 31. Base body; 32. Pressure block; 33. Locking rod; 34. Support block;

[0042] 4. First plane of symmetry;

[0043] 2000. Boom assembly; 2100. Slewing mechanism; 2200. Telescopic boom mechanism;

[0044] X represents the horizontal direction; Y represents the vertical direction.

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

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort 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 indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0048] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0049] During oil drilling operations, both the second-level platform and the drilling rig are equipped with tubing string release equipment (hereinafter referred to as the tubing release equipment). This equipment is used to grab and release tubing strings. In oil drilling, multiple tubing strings need to be connected end-to-end and drilled into the well. Currently, the tubing release equipment used on the second-level platform and the drilling rig is equipped with a support-type manipulator. When releasing tubing strings, it needs to work in conjunction with the traveling crane system at the top of the derrick to lift the tubing string to a certain height. The support manipulator on the second-level platform and the drilling rig then pushes the tubing string to a preset position. During this pushing process, the tubing string is in an inclined state.

[0050] According to the applicant's research, for small-sized tubing, such as tubing 2.875 inches and below, the large aspect ratio results in insufficient overall rigidity. During the pushing process, the tubing is tilted and its own weight makes it prone to bending deformation and irregular movement, easily causing it to slip off the support manipulator. Therefore, the placement of small-sized tubing is currently still mainly done manually. For large-sized tubing, such as 3.5 inches and above, the rigidity is sufficient to withstand the effects of its own weight. In this case, using a two-tiered tubing placement system with a support manipulator can simulate the manual placement process as closely as possible, improving placement efficiency. However, current two-tiered tubing placement systems typically only perform one function—support or clamping—and cannot be simultaneously applied to the placement of both small and large tubing. Their functionality is relatively limited and cannot meet the placement needs of various working conditions.

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

[0052] Please see Figures 1 to 5 In one embodiment of the present invention, the robotic gripper 1000 includes a support clamp assembly 1, a clamping clamp kit 2, and two mounting bases 3. The support clamp assembly 1 includes a base 11, a drive mechanism 13, and two opposing grippers 12. The drive mechanism 13 is mounted on the base 11 and is used to drive the two grippers 12 to open and close. Each gripper 12 has a mounting base 3 mounted on its top, and each of the two mounting bases 3 has a first dovetail groove on its facing side, extending vertically. The clamping clamp kit 2 includes two sets of clamping components 21, each clamping component 21 having a first dovetail tenon 2121 inserted into the first dovetail groove. Each mounting base 3 has one clamping component 21 inserted into it. Each of the two sets of clamping components 21 has a set of jaw plates 211 on its facing side, and the two sets of jaw plates 211 cooperate to clamp the tubular column.

[0053] Specifically, the base 11 provides an installation platform for the drive mechanism 13 and grippers 12. The drive mechanism 13 includes a drive motor 131 and multiple connecting rods 132. The drive motor 131 is a lead screw motor. One end of two connecting rods 132 is hinged to the slider of the lead screw motor, and the other end is hinged to the grippers 12. As the slider moves on the lead screw, it drives the grippers 12 to open and close. Each gripper 12 has a region on its top surface for mounting a mounting base 3. The mounting base 3 is connected to the top surface of the gripper 12 by two bolts, so that the mounting base 3 can be fixed to the gripper 12. The mounting base 3 is used to hang the clamping assembly 21. Each mounting base 3 hangs a set of clamping assemblies 21, and the two are firmly connected by the fit between the first dovetail groove and the first dovetail tenon 2121. During installation, the clamping assembly 21 is inserted into the first dovetail groove along the direction from the top surface of the gripper 12 to its bottom surface, so that the two sets of clamping assemblies 21 are arranged opposite each other. The facing portions of the two sets of clamping assemblies 21 are provided with toothed plates 211, the surface of which has a dense toothed structure. After the clamping assembly 21 is installed on the gripper 12, the clamping assembly 21 can open and close synchronously with the gripper 12. When the two grippers 12 are closed, the two sets of toothed plates 211 approach each other, and the toothed structure therein can firmly clamp the pipe column. Because the clamping assembly 21 can be easily assembled and disassembled from the gripper 12, when the robotic gripper 1000 in this embodiment is applied to the pipe arrangement equipment of the two-tier platform, it can quickly switch between clamping and supporting functions as needed. The ease of switching between these functions avoids the need for frequent replacements of the robotic gripper 1000 in the pipe laying equipment, thereby reducing equipment and labor costs. Furthermore, it eliminates the need for manual labor when laying small-sized pipe columns, thus reducing the risks associated with working at heights.

[0054] The technical solution in this embodiment designs a detachable clamping kit 2 and applies it to the support clamp assembly 1, enabling the robotic gripper 1000 in this embodiment to quickly switch its function according to the working conditions. With this setting, when the robotic gripper 1000 is installed on the second-floor platform, the clamping kit 2 can be installed or removed on the support clamp assembly 1 as needed, so that the robotic gripper 1000 can perform the support function or the clamping function according to different working conditions, thus enabling the robotic gripper 1000 to have two functions and thus enabling the robotic gripper 1000 to meet the needs of different working conditions.

[0055] In one embodiment of the present invention, two sets of clamping components 21 are symmetrically arranged; defined as: the plane of symmetry of the two sets of clamping components 21 is the first plane of symmetry 4; the first plane of symmetry 4 is a vertical plane, and the two grippers 12 and the two mounting bases 3 are respectively symmetrically arranged along the first plane of symmetry 4. Please refer to Figures 4 to 7The function of the clamping assembly 21 is to clamp the tubing. Symmetrical arrangement of the two clamping assemblies 21 ensures even force distribution on both sides of the clamped tubing, avoiding eccentric force. If the two clamping assemblies 21 are asymmetrically arranged, the eccentric force applied by the clamping assembly 21 to the tubing may combine with the tubing's own weight, potentially leading to unstable clamping during tubing installation and even the risk of tubing detachment. Furthermore, when the robotic gripper 1000 in this embodiment provides support, the tubing is in direct contact with the grippers 12. To facilitate tubing retrieval, the grippers 12 on both sides need to open and close synchronously to reduce the difficulty of retrieval. Therefore, the grippers 12 are symmetrical about the first symmetry plane 4. Based on this, to ensure symmetrical arrangement of the two clamping assemblies 21, the two mounting bases 3 should also be symmetrical about the first symmetry plane 4.

[0056] For further information, please refer to [link / reference]. 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 element 216. The sliding seat 213 is slidably mounted on the transition seat 212. The toothed plate 211 is mounted on the side of the sliding seat 213 away from the transition seat 212. The first dovetail tenon 2121 is disposed on the side of the transition seat 212 away from the sliding seat 213. The transition seat 212 is mounted on the mounting base 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 fits against the sliding seat 213. The vertical direction Y, pointing from the top of the sliding seat 213 to the bottom of the sliding seat 213, gradually decreases the distance between the sliding surface 2123 and the first symmetry plane 4. The vertical direction Y is... Figure 1 and Figure 6The direction indicated by the middle arrow Y; the clamping 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 element 216 is sleeved on the guide rod 215, the clamping plate 214 has a first through hole, the guide rod 215 passes through the first through hole, and the two ends of the elastic element 216 abut against the transition seat 212 and the clamping plate 214 respectively. In this embodiment, the clamping plate 214 is installed on the top of the sliding seat 213 by two threaded parts and moves synchronously with the sliding seat 213. When the tube column is not gripped, 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 element 216. When the tube column is gripped, the two sets of jaw plates 211 contact the tube column. At this time, the tube column moves the jaw plates 211 downward under its own weight, that is, towards the bottom of the transition seat 212. At this time, the jaw plates 211 drive the sliding seat 213 downward. Since the contact surface between the sliding seat 213 and the transition seat 212 is an inclined surface, its inclination direction causes it to gradually approach the first symmetry plane 4 from top to bottom. As the sliding seat 213 slides downward, the distance between the two sets of jaw plates 211 gradually decreases, so that the tube column is stably locked between the two sets of jaw plates 211. At this time, the two sets of jaw plates 211 can provide stable support for the tube column, preventing the tube column from shaking due to its small size and falling off. This setting allows the gripping assembly 21 to stably grip tube columns of various sizes, improving the versatility of the robotic gripper 1000 in this embodiment. The elastic element 216 includes either a compression spring or 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 both central axes are parallel to the sliding surface 2123. The angle between the sliding surface 2123 and the first symmetry plane 4 is 1° to 10°, preferably 6° in this embodiment.

[0057] Furthermore, in one embodiment of the present invention, a second dovetail tenon 2131 extends from the bottom of the sliding seat 213, and the central axis of the second dovetail tenon 2131 is parallel to the central axis of the guide rod 215; the transition seat 212 has a second dovetail groove 2122, the second dovetail tenon 2131 is inserted into the second dovetail groove 2122, and the second dovetail tenon 2131 can slide relative to the second dovetail groove 2122; the groove wall of the second dovetail groove 2122 protrudes from the sliding surface 2123 to prevent the sliding seat 213 from sliding excessively. Please refer to [link to previous text]. Figure 6 and Figure 8In addition to the clamping plate 214, guide rod 215, and elastic element 216, the connection between the sliding seat 213 and the transition seat 212 also employs 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 slide stably 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 ensures that the bottom of the sliding seat 213 will not detach from the transition seat 212 during sliding. That is, the transition seat 212 will provide a certain pulling force to the sliding seat 213, so that the two can be stably fitted together during relative sliding. Meanwhile, the groove wall of the second dovetail groove 2122 protrudes towards the direction of the first symmetry plane 4, so that the groove walls on both sides of the second dovetail groove 2122 protrude from the sliding surface 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 serves as a limit. This setting is used to prevent the sliding seat 213 from sliding excessively, thereby avoiding the shearing action between the transition seat 212 and the sliding seat 213 on the top of the sliding seat 213, and thus avoiding the deformation of the locking plate 214 under force, which would affect the subsequent normal use.

[0058] Please see Figure 6 and Figure 7 In one embodiment of the present invention, the card plate 214 includes a mounting portion 2141 and a guide portion 2142. The mounting portion 2141 is mounted on the top of the sliding seat 213, and a first through hole is provided in the mounting portion 2141. The guide portion 2142 is mounted on the side of the mounting portion 2141 away from the drive mechanism 13. The guide portion 2142 includes a guide surface, which is provided on the side of the guide portion 2142 facing the first symmetry plane 4. The greater the distance between the guide surface and the mounting portion 2141, the greater the distance between the guide surface and the first symmetry plane 4. The guide portion 2142 is arranged in the direction in which the robotic gripper 1000 grasps the column. The surfaces of the two guide portions 2142 that are close to each other are the guide surfaces. The greater the distance between the guide surfaces and the mounting portion 2141, the greater the spacing between the two guide surfaces. When the robotic gripper 1000 grasps the tubing, the guide part 2142 is designed to facilitate the smooth entry of the tubing between the two sets of toothed plates 211, thereby improving the efficiency of the robotic gripper 1000 in acquiring the tubing. In addition, the mounting part 2141 is mounted on the top of the sliding seat 213 via two threaded parts to ensure a stable connection between the mounting part 2141 and the threaded parts.

[0059] In one embodiment of the present invention, a fixed dovetail tenon is provided on the side of the toothed plate 211 facing the sliding seat 213, and a fixed dovetail groove is provided on the side of the sliding seat 213 facing the toothed plate 211. The fixed dovetail tenon is inserted into the fixed dovetail groove to install the toothed plate 211 onto the sliding seat 213. The mounting part 2141 is used to prevent the fixed dovetail tenon from sliding out of the fixed dovetail groove. There are various ways to connect the toothed plate 211 and the sliding seat 213. In this embodiment, the toothed plate 211 and the sliding seat 213 are connected by a fixed dovetail tenon and a fixed dovetail groove, making it easy to disassemble the toothed plate 211 when it needs to be replaced. When installing the toothed plate 211, according to the length direction of the fixed dovetail groove, the fixed dovetail tenon on the back of the toothed plate 211 is inserted into the fixed dovetail groove from the top of the sliding seat 213. After the toothed plate 211 and the sliding seat 213 are connected, the mounting part 2141 of the clamping plate 214 is used to seal 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 set of toothed plates 211 includes at least one toothed plate 211. In this embodiment, each set of toothed plates 211 includes two toothed plates 211. The space formed by the two sets of toothed plates 211 is approximately cylindrical, which facilitates full contact between each toothed plate 211 and the tube column, increasing the contact area between the toothed plate 211 and the tube column. In this embodiment, the material of the toothed plate 211 includes one of carburized steel, high-manganese steel alloy, high-chromium cast iron, and high-speed steel. Preferably, in this embodiment, the toothed plate 211 is made of 20CrMnTi and undergoes carburizing and quenching treatment. In another embodiment, the toothed plate 211 has at least two through holes along its height direction and is connected to the sliding seat 213 by threaded parts.

[0060] Please see Figure 4 and Figure 8 In one embodiment of the present invention, the clamping clamp kit 2 further includes a support member 22, and the supporting clamp assembly 1 further includes a connecting frame 14. The connecting frame 14 is disposed on the side of the base 11 away from the drive mechanism 13. The support member 22 is mounted on the connecting frame 14. The bottom of the transition seat 212 is provided with an oblong hole 2124, which is arranged along the horizontal direction X. The horizontal direction X is... Figure 1The direction indicated by the middle arrow X; the support member 22 has a second through hole 221, which is connected to the oblong 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 stationary. The second through hole 221 of the support member 22 is correspondingly set with the oblong hole 2124 at the bottom of the transition seat 212. 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 shaft. With the connection of the first dovetail tenon 2121 and the first dovetail groove, the transition seat 212 can be installed more stably on the support clamp assembly 1. The purpose of setting the bottom of the transition seat 212 as an oblong hole 2124 is that the transition seat 212 needs to move with the gripper 12, while the connecting frame 14 and the support member 22 are stationary relative to the base plate. To avoid the support member 22 restricting the movement of the transition seat 212, the bottom of the transition seat 212 is set as an oblong hole 2124. The length, width, and radius of the oblong hole 2124 can be adjusted according to design requirements. In other embodiments, the oblong hole 2124 can also be set on the support member 22, and a through hole can be set at the bottom of the transition seat 212, with the two connected by a pin. Alternatively, the connection between the transition seat 212 and the support member 22 can both be set as oblong holes 2124. The specific design method can be adjusted according to actual needs.

[0061] Please see Figures 2 to 5In one embodiment of the present invention, each gripper 12 includes a main body 121 and a stop 122. The two main bodies 121 of the two grippers 12 enclose a support space 15. The stop 122 is rotatably mounted on the side of the main body 121 facing the support space 15. A drive assembly for driving the stop 122 to rotate is provided inside the main body 121. The gripper kit 2 also includes an extended baffle 23, which is connected to the stop 122 by a pin. The extended baffle 23 moves synchronously with the stop 122. A receiving cavity is provided inside the main body 121, and a drive assembly is provided inside the receiving cavity. The drive assembly includes a lead screw motor and a linkage rod. One end of the linkage rod is connected to the slider of the lead screw motor. The stop 122 includes an inner end and an outer end. The inner end moves only in the receiving cavity. The other end of the linkage rod is connected to the inner end of the stop 122. By moving the slider, the outer end of the stop 122 can be driven to rotate into the support space 15, or the outer end of the stop can be driven to rotate back into the receiving cavity from the support space 15. Based on this, when the gripper kit 2 is added to the robotic gripper 1000 in this embodiment, the extended baffle 23 is installed on the outer end of the stop block 122, so that the stop block 122 can drive the extended baffle 23 to move. When the robotic gripper 1000 performs the supporting function, after the tube enters the supporting space 15, the outer end of the stop block 122 rotates to the supporting space 15 to prevent the tube from slipping. After the tube is pushed to the preset position, the outer end of the stop block 122 rotates back into the receiving cavity to facilitate the release of the tube. When the robotic gripper 1000 performs the clamping function, after the two sets of jaw plates 211 clamp the tube, the extended baffle 23 rotates with the stop block 122 into the supporting space 15 as a second safety reserve to prevent the tube from tipping over.

[0062] In one embodiment of the present invention, the support clamp assembly 1 further includes a support plate 16 and a pad plate 17. Please refer to [link / reference]. Figure 3 and Figure 5 Multiple connecting rods 132 for supporting the movement of the gripper 12 are arranged between the support plate 16 and the base 11. The support plate 16 covers the top of the connecting rods 132 to provide some protection for them. A support seat is installed on the top of the support 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 support space 15. The function of the pad 17 is to reduce the length of the support space 15 to prevent the robotic gripper 1000 from gripping two pipes at the same time. The thickness of the pad 17 can be adjusted adaptively according to different pipe sizes. The pad 17 is made of one of the following materials: nylon, polyetherimide, and other modified nylon materials.

[0063] Please see Figure 4 and Figure 9In one embodiment of the present invention, the mounting base 3 includes a base body 31, a pressure block 32, a locking rod 33, and two support blocks 34. The base body 31 is mounted on the top of the gripper 12. A first dovetail groove is formed in the base body 31. The two support blocks 34 are disposed on the top of the base body 31 and are respectively disposed on both sides of the first dovetail groove. The support blocks 34 have support through holes, and the pressure block 32 has mounting through holes. The locking rod 33 passes through both the support through holes and the mounting through holes to lock the pressure block 32 between the two support blocks 34. 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 base body 31 matches the top surface shape of the gripper 12, so that the two can fit together. In this embodiment, the base 11 is elongated and connected to the gripper 12 at both ends by two threaded parts. 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 dislodged from the first dovetail groove. Combined with the connection of the support member 22 and the transition seat 212, the transition seat 212 can be installed more stably on the seat body 31, which improves the reliability and safety of the clamping component 21 during use.

[0064] This invention also proposes a tubular discharge device, which includes a robotic gripper 1000. The specific structure of the robotic gripper 1000 is as described in the above embodiments. Since this tubular discharge device adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here. Please refer to [link / reference]. Figure 1 The tubular discharge equipment also includes a boom assembly 2000, which comprises a slewing mechanism 2100 and a telescopic boom mechanism 2200. One end of the telescopic boom mechanism 2200 is connected to the slewing mechanism 2100, and a robotic gripper 1000 is horizontally positioned at the other end of the telescopic boom mechanism 2200. The telescopic boom mechanism 2200 is used to move the robotic gripper 1000. Specifically, the slewing mechanism 2100 moves the telescopic boom mechanism 2200, which in turn moves the robotic gripper 1000 horizontally or vertically. The telescopic boom mechanism 2200 includes multiple boom stages, each stage consisting of four booms. These four booms, when connected, form a double parallelogram structure. After the robotic gripper 1000 is installed on the final boom stage, this double parallelogram structure ensures that the robotic gripper 1000 remains horizontal during movement.

[0065] According to all the above embodiments, the robotic gripper 1000 provided by the present invention has two working states: a supporting state and a clamping state. Depending on the differences in the pipe laying process, there are multiple workflows when performing pipe laying operations in the two working states. The following are examples of one pipe laying workflow for each of the two states:

[0066] (1) Supported State. During the pipe string discharge operation, the drilling rig is equipped with a pipe string discharge device with a support function, and the second-floor rig is equipped with a pipe string discharge device as described in the above embodiment. At this time, the manipulator gripper 1000 is not equipped with the clamp kit 2, and the manipulator gripper 1000 only provides a support function. During the pipe string discharge operation, the traveling crane system at the top of the derrick first lifts the pipe string to a certain height. The pipe string discharge device on the drilling rig and the pipe string discharge device on the second-floor rig extend their respective grippers to obtain the pipe string. Then, the gripper on the drilling rig pushes the pipe string to the preset position at the wellhead. Then, the manipulator gripper 1000 on the second-floor rig pushes the pipe string to the preset position. At this time, the traveling crane system lowers the pipe string to the specified height and then detaches it from the pipe string. Finally, the pipe string is connected to the pipe string at the wellhead, and the pipe string is installed on the drilling rig to complete the pipe string discharge operation.

[0067] (2) Clamping State. Similar to the equipment in the support state, a pipe-laying device with support function is set up on the drilling platform, and a pipe string discharge device provided in the above embodiment is set up on the second 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 traveling hoist system at the top of the derrick first lifts the pipe to a certain height. Then, the manipulator gripper 1000 on the second platform extends to grab the upper part of the drill pipe. Then, the manipulator on the drilling platform extends and grabs the bottom of the drill pipe. At this time, the traveling hoist system disengages from the pipe string. Under the action of gravity, the pipe string drives the jaw plate 211 to move downward, so that the manipulator gripper 1000 on the second platform clamps the pipe string. Then, the manipulator gripper 1000 on the second platform is controlled to move synchronously with the manipulator on the drilling platform to transport the pipe string to the designated position. Finally, the pipe string is connected to the pipe string at the wellhead and installed on the drilling rig to complete the pipe-laying operation.

[0068] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A robotic gripper, characterized in that, include: A support clamp assembly, the support clamp assembly including a base, a drive mechanism and two opposing grippers, the drive mechanism being mounted on the base and used to drive the two grippers to open and close; Two mounting bases are provided, one of the mounting bases is mounted on the top of each of the grippers, and a first dovetail groove is provided on the side of the two mounting bases facing each other, the first dovetail groove extending vertically. A clamping pliers kit, comprising two sets of clamping components, each clamping component having a first dovetail tenon inserted into a first dovetail groove, each mounting base correspondingly having one clamping component inserted into it, and each of the two sets of clamping components having a set of jaw plates on one side facing each other, the two sets of jaw plates being used to cooperate with each other to clamp the tubing column. The two sets of clamping components are symmetrically arranged, and the plane of symmetry between the two sets of clamping components is defined as the first plane of symmetry. The first plane of symmetry is a vertical plane, and the two grippers and the two mounting bases are respectively arranged symmetrically along the first plane of symmetry; The clamping assembly further includes a transition seat, a sliding seat, a clamping plate, a guide rod, and an elastic element. The sliding seat is slidably mounted on the transition seat. The toothed plate is mounted on the side of the sliding seat away from the transition seat. The first dovetail tenon is disposed on the side of the transition seat away from the sliding seat. 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 includes a sliding surface that fits against the sliding seat, and the distance between the sliding surface and the first symmetry plane gradually decreases along the 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 element is sleeved on the guide rod, the card plate has a first through hole, the guide rod passes through the first through hole, and the two ends of the elastic element abut against the transition seat and the card plate respectively.

2. The robotic gripper as described in claim 1, characterized in that, The bottom of the sliding seat is provided with a second dovetail tenon, and the central axis of the second dovetail tenon is parallel to the central axis of the guide rod. The transition seat has 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 wall of the second dovetail groove protrudes from the sliding surface to prevent the sliding seat from sliding down excessively.

3. The robotic gripper as described in claim 1, characterized in that, The card plate includes a mounting part and a guide part. The mounting part is mounted on the top of the sliding seat, and the first through hole is provided in the mounting part. The guide portion is installed on the side of the mounting portion away from the drive mechanism. The guide portion includes a guide surface, which is disposed on the 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.

4. The robotic gripper as described in claim 3, characterized in that, The toothed plate has a fixed dovetail tenon on the side facing the sliding seat, and the sliding seat has a fixed dovetail groove on the side facing the toothed plate. The fixed dovetail tenon is inserted into the fixed dovetail groove to install the toothed plate onto the sliding seat. The mounting part is used to prevent the fixed dovetail tenon from sliding out of the fixed dovetail groove.

5. The robotic gripper as described in claim 1, characterized in that, The clamping clamp kit also includes a support member, and the supporting clamp assembly also includes a connecting frame. The connecting frame is located on the side of the base away from the drive mechanism. The support member is mounted on the connecting frame. The bottom of the transition seat is provided with an oblong hole, which is arranged in a horizontal direction. The support member has a second through hole, and the second through hole is connected to the oblong hole by a pin.

6. The robotic gripper as described in claim 1, characterized in that, Each of the grippers includes a body and a stop. Two of the two grippers' bodies enclose a support space. The stop is rotatably mounted on the side of the body facing the support space. The body has a drive assembly inside for driving the stop to rotate. The clamping tool kit also includes an extended baffle, which is connected to the stop block via a pin, and the extended baffle moves synchronously with the stop block.

7. The robotic gripper as described in claim 1, characterized in that, The mounting base includes a base body, a pressure block, a locking rod, and two support blocks. The base body is mounted on the top of the gripper. The first dovetail groove is formed in the base body. The two support blocks are disposed on the top of the base body and are respectively disposed on both sides of the first dovetail groove. The support blocks have support through holes, and the pressure block has mounting through holes. The locking rod passes through both the support through holes and the mounting through holes to lock the pressure block between the two support blocks. The bottom surface of the pressure block abuts against the top surface of the first dovetail tenon.

8. A tubular discharge device, characterized in that, The tubular discharge device includes a robotic gripper as described in any one of claims 1 to 7, and further includes a boom assembly, which includes a slewing mechanism and a telescopic boom mechanism. One end of the telescopic boom mechanism is connected to the slewing mechanism, and the robotic gripper is horizontally disposed at the other end of the telescopic boom mechanism. The telescopic boom mechanism is used to drive the robotic gripper to move.

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