Catwalk pipe grabbing machine

Abstract

The invention relates to the technical field of oil exploitation corollary equipment, in particular to a catwalk pipe grabbing machine which comprises a rack, a sliding seat, an adapter seat, an upper actuating arm, a lower actuating arm and two pipe grabbing mechanisms. The sliding seat is installed on the machine frame in an up-down sliding mode. And the top of the adapter is rotationally connected with the bottom of the sliding seat. And the top of the upper actuating arm is rotationally connected with the bottom of the adapter. And the middle part of the lower actuating arm is rotationally connected with the bottom of the upper actuating arm. The two pipe grabbing mechanisms are installed at the two opposite ends of the lower actuating arm correspondingly and used for clamping the two opposite ends of the casing pipe or the drill rod correspondingly. On the whole, the casing pipe or the drill rod on the automatic pipe arranging machine can be directly transferred to the well mouth, the casing pipe or the drill rod does not need to be transferred to the well mouth through cooperation of multiple devices, the repeated positioning problem is not involved, the operation efficiency is higher, and the fault rate is lower.

Description

Technical Field

[0001] The invention relates to the technical field of supporting equipment for oil production, and in particular to a catwalk pipe grabber. Background Art

[0002] At present, after the casing or drill pipe is transported to the drilling platform, multiple devices on the drilling platform need to work together to transfer the casing or drill pipe to the wellhead. When multiple devices work together, high repeat positioning accuracy is required, the operation efficiency is low, and the failure rate is high. Summary of the invention

[0003] The invention provides a catwalk pipe grabber to solve the problems that when multiple devices on a current drilling platform cooperate to transfer casing or drill pipe, high repeat positioning accuracy is required, the operation efficiency is low, and the failure rate is high.

[0004] The present invention provides a catwalk pipe grabbing machine, comprising: frame; A sliding seat, which can be slidably mounted on the frame; A transfer seat, the top of which is rotatably connected to the bottom of the sliding seat; The top of the upper actuator arm is rotatably connected to the bottom of the adapter seat; The middle portion of the lower actuator arm is rotatably connected to the bottom of the upper actuator arm; There are two pipe grabbing mechanisms, which are respectively installed at the opposite ends of the lower actuator arm and are used to clamp the opposite ends of the casing or the drill pipe.

[0005] In some embodiments, each pipe gripping mechanism comprises: A mounting base, the top of which is fixedly mounted on one end of the lower actuator arm; A first drive motor is fixedly mounted on one end of the lower actuator arm; A clamping power shaft is rotatably mounted on the mounting seat, and one end of the clamping power shaft is fixedly connected to the output shaft of the first driving motor; A first driving gear is sleeved on the clamping power shaft; The clamping driven shaft is rotatably mounted on the mounting seat and is arranged in parallel with the clamping power shaft; The first driven gear is sleeved on the clamping driven shaft, and the side wall is meshed and connected with the side wall of the first driving gear; A clamping follower shaft is rotatably mounted on a mounting seat; There are two clamping arms, which are arranged opposite to each other; the top of one of the clamping arms is hinged on the clamping power shaft, and the middle part is hinged on the clamping follower shaft; the top of the other clamping arm is hinged on the clamping driven shaft, and the middle part is hinged on the clamping follower shaft; A second drive motor is fixedly mounted on one end of the lower actuator arm; A rotating power shaft is rotatably mounted on the mounting seat, and one end of the rotating power shaft is fixedly connected to the output shaft of the second driving motor; A second driving gear is sleeved on the rotating power shaft; The rotating active roller is rotatably mounted on the mounting seat, and the side wall can be pressed against the outer wall of the casing or the drill pipe; The second driven gear is sleeved on the rotating driving roller, and the side wall is meshed and connected with the side wall of the second driving gear; There are four rotating follower rollers; two of them are rotatably mounted on the lower part of one of the clamping arms, and the other two are rotatably mounted on the lower part of the other clamping arm; the side walls of the four rotating follower rollers can be pressed against the outer wall of the casing or the drill pipe.

[0006] In some of the embodiments, a limit column is disposed at at least one end of the mounting seat to limit the extent to which the clamping arm is opened.

[0007] In some embodiments, the lower boom includes: A connecting piece, the middle of which is provided with a connecting flange, and is rotatably connected to the bottom of the upper actuator arm through the connecting flange; The middle part of the top end of the rotating seat is rotatably connected to the middle part of the bottom end of the connecting piece, and mounting seats are fixedly installed at the two opposite ends.

[0008] In some embodiments, the rack includes: Pedestal; The bottom end of the column is rotatably connected to one end of the base; a sliding seat that can slide up and down is installed on the column.

[0009] In some embodiments, it also includes: The lifting mechanism is installed on the column and connected with the sliding seat, and can drive the sliding seat to move up and down.

[0010] In some embodiments, the lifting mechanism includes: The third driving motor is fixedly mounted on the top of the column; A sprocket is sleeved on the output shaft of the third driving motor; A lifting chain is wound around the sprocket, one end of which is fixedly connected to the sliding seat; The counterweight block is fixedly connected to the other end of the lifting chain.

[0011] In some of these embodiments, the rack further comprises: The main folding cylinder is tilted, with the lower end hinged to the end of the base away from the column, and the higher end hinged to the middle of the column; The auxiliary folding oil cylinder is arranged obliquely, with its lower end being hinged to the middle part of the base and its higher end being hinged to the cylinder barrel of the main folding oil cylinder.

[0012] In some embodiments, the base comprises: A fixed section, one end of which is rotatably connected to the column; The extension section is slidably connected with the fixed section and can slide along the length direction of the fixed section; one end of the extension section close to the fixed section is hinged to the lower end of the auxiliary folding cylinder; The retracting cylinder is horizontally arranged, one end of which is hinged to the fixed section, and the other end of which is hinged to the extension section, and is used to drive the extension section to slide.

[0013] In some embodiments, the base further comprises: The support frame is fixedly installed on the fixed section, and the top surface can bear the column.

[0014] The beneficial effects of the present invention are as follows: The catwalk pipe grabber of the present invention is provided with a frame, a sliding seat, an adapter seat, an upper actuator arm, a lower actuator arm and two pipe grabbing mechanisms. The two pipe grabbing mechanisms can grab casing or drill pipes from the ground automatic pipe laying machine, and can also release casing or drill pipes at the wellhead. The sliding seat can move up and down to drive the adapter seat, the upper actuator arm, the lower actuator arm, the two pipe grabbing mechanisms and the clamped casing / drill pipe to move up and down. The axis of the adapter seat is vertically arranged and can rotate ±90° around its own axis to drive the upper actuator arm, the lower actuator arm, the two pipe grabbing mechanisms and the clamped casing / drill pipe to rotate ±90° around the axis of the adapter seat. The top of the upper actuator arm is rotatably connected to the bottom of the adapter seat through an upper rotating shaft, and the bottom can swing left and right ±90° to drive the lower actuator arm, the two pipe grabbing mechanisms and the clamped casing / drill pipe to swing left and right ±90°. The lower actuator arm can rotate ±65.5° around the axis of the lower shaft to drive the two pipe grabbing mechanisms and the clamped casing / drill pipe to move. Overall, the casing or drill pipe on the automatic pipe laying machine can be directly transferred to the wellhead without the need to use multiple devices to coordinate the transfer of casing or drill pipe to the wellhead, without involving repeated positioning problems, with higher operating efficiency and lower failure rate. Moreover, it can assist or completely replace manual transfer of casing or drill pipe, reducing labor intensity and improving operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of some specific embodiments of a catwalk pipe grabbing machine of the present invention; Figure 2 yes Figure 1 A front view of the catwalk pipe grabber is shown; Figure 3 yes Figure 2 The schematic diagram of the structure of the catwalk pipe grabber shown is in a folded state; Figure 4 yes Figure 1 The schematic structural diagrams of some specific embodiments of the upper working arm in the catwalk pipe grabber shown; Figure 5 yes Figure 1 A schematic diagram of the combined structure of the lower working arm and the pipe grabbing mechanism in the catwalk pipe grabbing machine shown; Figure 6 yes Figure 5 A cross-sectional view of the lower operating arm and the pipe gripping mechanism along the vertical direction is shown; Figure 7 yes Figure 1 The schematic diagrams of the structures of some specific embodiments of the pipe grabbing mechanism in the catwalk pipe grabbing machine shown; Figure 8 yes Figure 7 The pipe gripping mechanism is shown in a vertical cross-sectional view.

[0016] In the accompanying drawings, 110, a frame; 111, a base; 1111, a fixed section; 1112, an extension section; 1113, retracting cylinder; 1114, support frame; 112, column; 113, main folding cylinder; 114, auxiliary folding cylinder; 120, sliding seat; 130, adapter seat; 140, upper actuator arm; 141, upper flange; 142, lower flange; 150, lower actuator arm; 151, connecting piece; 1511, connecting flange; 1512, anti-collision block; 1513, calibration needle; 152, rotating seat; 160, pipe grabbing mechanism; 161, mounting seat; 1611, limit column; 1621 , first drive motor; 1622, second drive motor; 1631, clamping power shaft; 1632, rotating power shaft; 1641, first driving gear; 1642, second driving gear; 1651, clamping driven shaft; 1652, rotating active roller; 1661, first driven gear; 1662, second driven gear; 1671, clamping follower shaft; 1672, rotating follower roller; 168, clamping arm; 170, lifting mechanism; 171, third drive motor; 200, sleeve. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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.

[0018] As described in the background technology, currently, after the casing or drill pipe is transported to the drilling platform, multiple devices on the drilling platform need to work together to transfer the casing or drill pipe to the wellhead. When multiple devices work together, high repeat positioning accuracy is required, the operation efficiency is low, and the failure rate is high.

[0019] To solve the above problems, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The present invention provides a catwalk pipe grabber, comprising a frame 110, a sliding seat 120, an adapter seat 130, an upper actuating arm 140, a lower actuating arm 150 and two pipe grabbing mechanisms 160. The frame 110 is used to support the sliding seat 120, the adapter seat 130, the upper actuating arm 140, the lower actuating arm 150 and the pipe grabbing mechanism 160. The sliding seat 120 is mounted on the frame 110 so as to be slidable up and down. The top of the adapter seat 130 is rotatably connected to the bottom of the sliding seat 120. The top of the upper actuating arm 140 is rotatably connected to the bottom of the adapter seat 130. The middle of the lower actuating arm 150 is rotatably connected to the bottom of the upper actuating arm 140. The two pipe grabbing mechanisms 160 are respectively mounted at opposite ends of the lower actuating arm 150, and are respectively used to clamp opposite ends of the casing 200 or the drill pipe.

[0020] The working process and principle of the catwalk pipe grabber are as follows: The two pipe grabbing mechanisms 160 can grab the casing 200 or drill pipe from the ground automatic pipe laying machine, and can also release the casing 200 or drill pipe at the wellhead. The sliding seat 120 can move up and down to drive the adapter seat 130, the upper actuator arm 140, the lower actuator arm 150, the two pipe grabbing mechanisms 160 and the clamped casing 200 / drill pipe to move up and down. The axis of the adapter seat 130 is vertically arranged and can rotate ±90° around its own axis to drive the upper actuator arm 140, the lower actuator arm 150, the two pipe grabbing mechanisms 160 and the clamped casing 200 / drill pipe to rotate ±90° around the axis of the adapter seat 130. The top of the upper actuator arm 140 is rotatably connected to the bottom of the adapter 130 through the upper rotating shaft, and the bottom can swing left and right by ±90° to drive the lower actuator arm 150, the two pipe grabbing mechanisms 160 and the clamped casing 200 / drill rod to swing left and right by ±90°. It should be noted that the axis of the upper rotating shaft is horizontally arranged. The middle part of the lower actuator arm 150 is rotatably connected to the bottom of the upper actuator arm 140 through a second rotating shaft. It should be noted that the axis of the lower rotating shaft is also horizontally arranged and is parallel to the axis of the upper rotating shaft. The lower actuator arm 150 can rotate around the axis of the lower rotating shaft by ±65.5° to drive the two pipe grabbing mechanisms 160 and the clamped casing 200 / drill rod to move. On the whole, the casing 200 or drill rod on the automatic pipe laying machine can be directly transferred to the wellhead, without the need to use multiple devices to coordinate the transfer of the casing 200 or drill rod to the wellhead, without involving repeated positioning problems, with higher operating efficiency and lower failure rate. Moreover, it can assist or completely replace manual transfer of the casing 200 or the drill pipe, thereby reducing labor intensity and improving operation safety.

[0021] Preferably, the catwalk pipe grabber also includes a fourth drive motor, a fifth drive motor and a sixth drive motor. The fourth drive motor is fixedly mounted at the bottom of the sliding seat 120, and the output shaft is connected to the top of the adapter seat 130 through a three-axis planetary reducer and a rotary reducer, which can drive the adapter seat 130 to rotate. In this way, the large torque rotation requirement can be met. The torque can be further amplified by adopting the three-axis planetary reducer and the rotary reducer in series transmission. Considering that the three-axis planetary reducer and the rotary reducer in series transmission will bring further attenuation in transmission accuracy, a rotary encoder is added separately at the output end as output feedback, so that the control will be more precise. The fifth drive motor is fixedly mounted on one side of the adapter seat 130, and the output shaft is connected to the upper rotating shaft through a large torque reducer, which can drive the upper actuator arm 140 to swing. In this way, the large torque swing requirement can be met. The sixth drive motor is installed on one side of the bottom end of the upper actuator arm 140, and the output shaft is connected to the lower rotating shaft through a large torque reducer, which can drive the lower actuator arm 150 to rotate. In this way, the large torque rotation requirement can be met. Overall, the degree of automation is further improved.

[0022] Preferably, the catwalk pipe grabber further comprises a first rotary encoder and a second rotary encoder. The first rotary encoder is mounted on the other side of the adapter 130, and the input shaft is fixedly connected to the upper shaft, and is used to detect the rotation angle of the upper shaft. The second rotary encoder is mounted on the other side of the bottom end of the upper actuator arm 140, and the input shaft is fixedly connected to the lower shaft, and is used to detect the rotation angle of the lower shaft.

[0023] Specifically, in the example, Figure 1 , Figure 5 , Figure 6 , Figure 7 and Figure 8Each pipe gripping mechanism 160 includes a mounting seat 161, a first driving motor 1621, a clamping power shaft 1631, a first driving gear 1641, a clamping driven shaft 1651, a first driven gear 1661, a clamping follower shaft 1671, two clamping arms 168, a second driving motor 1622, a rotating power shaft 1632, a second driving gear 1642, a rotating active roller 1652, a second driven gear 1662 and four rotating follower rollers 1672. The top of the mounting seat 161 is fixedly mounted on one end of the lower actuating arm 150. The first driving motor 1621 is fixedly mounted inside one end of the lower actuating arm 150. The clamping power shaft 1631 is rotatably mounted on the mounting seat 161, and one end is fixedly connected to the output shaft of the first driving motor 1621 through a coupling and a reducer. The first driving gear 1641 is sleeved on the clamping power shaft 1631. The clamping driven shaft 1651 is rotatably mounted on the mounting seat 161 and is arranged in parallel with the clamping power shaft 1631. The first driven gear 1661 is sleeved on the clamping driven shaft 1651, and the side wall is meshed and connected with the side wall of the first driving gear 1641. The clamping follower shaft 1671 is rotatably mounted on the mounting seat 161. Two clamping arms 168 are arranged opposite to each other. The top of one of the clamping arms 168 is hinged to the clamping power shaft 1631 through the first connecting rod, and the middle part is hinged to the clamping follower shaft 1671 through the second connecting rod. The top of the other clamping arm 168 is hinged to the clamping driven shaft 1651 through the first connecting rod, and the middle part is hinged to the clamping follower shaft 1671 through the second connecting rod. The first driving motor 1621 can drive the clamping power shaft 1631 to rotate, and then drive the clamping driven shaft 1651 to rotate through the first driving gear 1641 and the first driven gear 1661, so as to drive the two clamping arms 168 to move toward or away from each other through the first connecting rod and the second connecting rod to clamp or release the casing 200 / drill rod. The second driving motor 1622 is fixedly installed inside one end of the lower actuator arm 150. The rotating power shaft 1632 is rotatably installed on the mounting seat 161, and one end is fixedly connected to the output shaft of the second driving motor 1622 through a coupling and a reducer. The second driving gear 1642 is sleeved on the rotating power shaft 1632. The rotating active roller 1652 is rotatably installed on the mounting seat 161, and the side wall can be pressed against the outer wall of the casing 200 or the drill rod. The second driven gear 1662 is sleeved on the rotating driving roller 1652, and the side wall is meshed with the side wall of the second driving gear 1642. Two rotating follower rollers 1672 are rotatably mounted on the lower part of one of the clamping arms 168, and the other two rotating follower rollers 1672 are rotatably mounted on the lower part of the other clamping arm 168. The side walls of the four rotating follower rollers 1672 can be pressed against the outer wall of the casing 200 or the drill pipe.When the two clamping arms 168 clamp the casing 200 / drill rod, the side walls of the rotating active roller 1652 and the four rotating follower rollers 1672 are pressed against the outer wall of the casing 200 / drill rod. The second driving motor 1622 can drive the rotating power shaft 1632 to rotate, and then drive the rotating active roller 1652 to rotate through the second driving gear 1642 and the second driven gear 1662, thereby driving the casing 200 / drill rod to rotate. The four rotating follower rollers 1672 rotate together to reduce the resistance to the rotation of the casing 200 / drill rod. On the whole, the two pipe gripping mechanisms 160 can not only clamp the casing 200 / drill rod, but also drive the casing 200 / drill rod to rotate around its own axis, thereby realizing the rapid buckle of the casing 200 / drill rod, reducing the assembly time between the casings 200 and the working intensity, and are suitable for clamping and rotating the casing 200 / drill rod of 2-3 / 8 inches to 5-1 / 2 inches. In addition, the first drive motor 1621 and the second drive motor 1622 are used for driving. Compared with the traditional hydraulic drive form, there is no need for a complicated hydraulic control system and pipeline layout system, which reduces the manufacturing cost and maintenance cost, and reduces noise.

[0024] Preferably, if Figure 7 As shown, a limiting column 1611 is provided at one end or two opposite ends of the mounting seat 161 to limit the opening degree of the clamping arms 168 and prevent the two clamping arms 168 from being over-opened.

[0025] Preferably, the surface of the rotating active roller 1652 is provided with helical teeth to increase the friction between the side wall of the rotating active roller 1652 and the outer wall of the casing 200 / drill pipe, thereby improving the transmission efficiency. The outer surface of each rotating follower roller 1672 is coated with a polyurethane layer to increase the friction between the outer wall of each rotating follower roller 1672 and the outer wall of the casing 200 / drill pipe, thereby improving the transmission efficiency.

[0026] Specifically, in the example, Figure 1 and Figure 5As shown, the lower actuator arm 150 includes a connecting member 151, a rotating seat 152 and a seventh driving motor. A connecting flange 1511 is provided in the middle of the connecting member 151, and is rotatably connected to the bottom of the upper actuator arm 140 through the connecting flange 1511. The middle of the top end of the rotating seat 152 is rotatably connected to the middle of the bottom end of the connecting member 151, and mounting seats 161 are fixedly installed at the opposite ends. The seventh driving motor is fixedly installed on the connecting member 151, and the output shaft is set downward. The output shaft of the seventh driving motor is fixedly connected to the middle of the top end of the rotating seat 152, and can drive the two pipe grasping mechanisms 160 to exchange positions, thereby causing the head end and the tail end of the casing 200 / drill rod to exchange positions. It should be noted that an external thread is provided on the outer wall of the head end of the casing 200 / drill rod, and an internal thread is provided on the inner wall of the tail end of the casing 200 / drill rod. Multiple casings 200 / drill pipes are connected end to end in sequence at the wellhead through internal and external threads. When the head and tail positions of a casing 200 / drill pipe delivered by the ground automatic pipe laying machine are not correct, the seventh drive motor drives the rotating seat 152 to rotate 180 degrees, so that the head and tail ends of the casing 200 / drill pipe are exchanged to meet the docking requirements.

[0027] Preferably, the connecting member 151 is triangular in shape as a whole, and has high structural stability.

[0028] Preferably, a plurality of weight-reducing holes are provided on the connecting member 151 to achieve a lightweight design, which is more conducive to accurately controlling the position of the connecting member 151 .

[0029] Preferably, anti-collision blocks 1512 are respectively installed on the two oblique sides of the triangular structure connecting member 151 to improve the anti-collision performance.

[0030] Preferably, a calibration needle 1513 is fixedly installed on the top of the connecting flange 1511, and correspondingly, a calibration scale line is provided at the bottom end of the upper actuator arm 140 to facilitate observation of the rotation angle.

[0031] Specifically, in the example, Figure 1 and Figure 4 As shown, the upper actuator arm 140 includes a front side plate, a rear side plate, a left side plate, a right side plate and a plurality of rib plates. The front side plate is fixedly connected to the left side plate and the right side plate respectively. The rear side plate is also fixedly connected to the left side plate and the right side plate respectively. The plurality of rib plates are sequentially installed in the cavity enclosed by the front side plate, the rear side plate, the left side plate and the right side plate from top to bottom. The whole has high rigidity and strength. An upper flange 141 is provided at the top of the upper actuator arm 140, which is rotatably connected to the adapter seat 130 through the upper flange 141. A lower flange 142 is provided at the bottom of the upper actuator arm 140, which is rotatably connected to the lower actuator arm 150 through the lower flange 142.

[0032] Preferably, weight-reducing holes are provided on the front side plate, the rear side plate and each rib plate, so that the upper actuating arm 140 can be designed to be lightweight, thereby facilitating accurate control of the position of the upper actuating arm 140. At the same time, the weight-reducing holes are conducive to reducing wind resistance and reducing the impact of wind on the catwalk pipe grabber.

[0033] Specifically, in the example, Figure 1 , Figure 2 and Figure 3 As shown, the frame 110 includes a base 111, a column 112, a main folding cylinder 113 and an auxiliary folding cylinder 114. The bottom end of the column 112 is rotatably connected to one end of the base 111 through a rotating shaft. A sliding seat 120 that can slide up and down is installed on the column 112. The main folding cylinder 113 is tilted, and the lower end is hinged to the end of the base 111 away from the column 112, and the upper end is hinged to the middle of the column 112. The auxiliary folding cylinder 114 is tilted, and the lower end is hinged to the middle of the base 111, and the upper end is hinged to the cylinder barrel of the main folding cylinder 113. With the help of the main folding cylinder 113 and the auxiliary folding cylinder 114, the frame 110 can be folded to reduce the space occupied by the frame 110 and avoid the normal operation of other equipment. At the same time, it is convenient for the frame 110 to be transferred. The base 111 includes a fixed section 1111, an extension section 1112, a retracting cylinder 1113 and a support frame 1114. One end of the fixed section 1111 is rotatably connected to the column 112. The extension section 1112 is slidably connected to the fixed section 1111 and can slide along the length direction of the fixed section 1111. One end of the extension section 1112 close to the fixed section 1111 is hinged to the lower end of the auxiliary folding cylinder 114. The retracting cylinder 1113 is horizontally arranged, one end of which is hinged to the fixed section 1111 and the other end of which is hinged to the extension section 1112, and is used to drive the extension section 1112 to slide along the length direction of the fixed section 1111. With the help of the retracting cylinder 1113, the base 111 can be folded to reduce the space occupied by the base 111 and avoid the normal operation of other equipment. At the same time, it is convenient for the frame 110 to transfer its position. The support frame 1114 is fixedly mounted on the fixed section 1111, and the top surface can bear the column 112. When the column 112 is in a horizontal state, the top surface of the support frame 1114 contacts the column 112 and is used to bear the column 112.

[0034] Preferably, a locking pin is provided at the bottom of the column 112 , and the locking pin can be connected to or disconnected from the base 111 to restrict the rotation of the column 112 or release the restriction on the column 112 .

[0035] Preferably, a slide rail is installed on the column 112 in the vertical direction. Correspondingly, a slide groove matched with the guide rail is provided on a side surface of the sliding seat 120 close to the column 112 to improve the smoothness of sliding.

[0036] Preferably, there are two main folding cylinders 113 and two auxiliary folding cylinders 114, which share the load with each other and improve the stability of movement.

[0037] Preferably, an avoidance groove is formed on the top of the support frame 1114 for avoiding the upper actuating arm 140 .

[0038] Specifically, in the example, Figure 1 and Figure 2 As shown, the catwalk pipe grabber also includes a lifting mechanism 170. The lifting mechanism 170 is installed on the column 112, connected to the sliding seat 120, and can drive the sliding seat 120 to move up and down. The lifting mechanism 170 includes a third drive motor 171, a sprocket, a lifting chain and a counterweight. The third drive motor 171 is fixedly installed on the top of the column 112, and the axis is horizontally arranged. The sprocket is sleeved on the output shaft of the third drive motor 171. The lifting chain is wound around the sprocket, and one end is fixedly connected to the sliding seat 120. The counterweight is arranged in the column 112 so as to be movable up and down. The counterweight is fixedly connected to the other end of the lifting chain. The third drive motor 171 can drive the sprocket to rotate, thereby driving the sliding seat 120 to move up and down.

[0039] Preferably, the first drive motor 1621, the second drive motor 1622, the third drive motor 171, the fourth drive motor, the fifth drive motor, the sixth drive motor and the seventh drive motor can be servo motors with high control accuracy. Of course, the first drive motor 1621, the second drive motor 1622, the third drive motor 171, the fourth drive motor, the fifth drive motor, the sixth drive motor and the seventh drive motor can also be stepper motors with low cost.

[0040] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0044] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A catwalk pipe grabbing machine, characterized in that: include: frame; A sliding seat, slidably mounted on the frame; A transfer seat, the top of which is rotatably connected to the bottom of the sliding seat; An upper actuating arm, the top of which is rotatably connected to the bottom of the adapter; A lower actuating arm, the middle portion of which is rotatably connected to the bottom of the upper actuating arm; There are two pipe gripping mechanisms, which are respectively installed at the opposite ends of the lower actuating arm and are used to clamp the opposite ends of the casing or the drill pipe.

2. The catwalk pipe grabbing machine according to claim 1, characterized in that: Each of the pipe grasping mechanisms comprises: A mounting seat, the top of which is fixedly mounted on one end of the lower actuating arm; A first driving motor is fixedly mounted on one end of the lower actuating arm; A clamping power shaft is rotatably mounted on the mounting seat, one end of which is fixedly connected to the output shaft of the first driving motor; A first driving gear, sleeved on the clamping power shaft; A clamping driven shaft is rotatably mounted on the mounting seat and arranged in parallel with the clamping power shaft; A first driven gear is sleeved on the clamping driven shaft, and a side wall thereof is meshedly connected with a side wall of the first driving gear; A clamping follower shaft is rotatably mounted on the mounting seat; There are two clamping arms, which are arranged opposite to each other; the top of one of the clamping arms is hinged to the clamping power shaft, and the middle part is hinged to the clamping follower shaft; the top of the other clamping arm is hinged to the clamping driven shaft, and the middle part is hinged to the clamping follower shaft; A second drive motor is fixedly mounted on one end of the lower actuator arm; A rotating power shaft is rotatably mounted on the mounting seat, one end of which is fixedly connected to the output shaft of the second driving motor; A second driving gear is sleeved on the rotating power shaft; A rotating active roller is rotatably mounted on the mounting seat, and a side wall thereof can be pressed against an outer wall of the casing or the drill pipe; A second driven gear is sleeved on the rotating driving roller, and a side wall thereof is meshedly connected with a side wall of the second driving gear; There are four rotating follower rollers; two of them are rotatably mounted on the lower part of one of the clamping arms, and the other two are rotatably mounted on the lower part of the other clamping arm; the side walls of the four rotating follower rollers can be pressed against the outer wall of the casing or the drill pipe.

3. The catwalk pipe grabbing machine according to claim 2, characterized in that: At least one end of the mounting seat is provided with a limiting column for limiting the opening degree of the clamping arm.

4. The catwalk pipe grabbing machine according to claim 2, characterized in that: The lower working arm comprises: A connecting piece, wherein a connecting flange is provided in the middle portion and is rotatably connected to the bottom of the upper actuating arm through the connecting flange; The middle part of the top end of the rotating seat is rotatably connected to the middle part of the bottom end of the connecting piece, and the mounting seats are fixedly installed at two opposite ends.

5. The catwalk pipe grabbing machine according to any one of claims 1 to 4, characterized in that: The frame comprises: Pedestal; The bottom end of the column is rotatably connected to one end of the base; the sliding seat that can slide up and down is installed on the column.

6. The catwalk pipe grabbing machine according to claim 5, characterized in that: Also includes: The lifting mechanism is installed on the column and connected with the sliding seat, and can drive the sliding seat to move up and down.

7. The catwalk pipe grabbing machine according to claim 6, characterized in that: The lifting mechanism comprises: A third driving motor is fixedly mounted on the top of the column; A sprocket, sleeved on the output shaft of the third driving motor; A lifting chain is wound around the sprocket, one end of which is fixedly connected to the sliding seat; A counterweight block is fixedly connected to the other end of the lifting chain.

8. The catwalk pipe grabbing machine according to claim 5, characterized in that: The frame also includes: A main folding cylinder is arranged obliquely, with a lower end hinged to an end of the base away from the column, and a higher end hinged to the middle of the column; The auxiliary folding oil cylinder is arranged obliquely, with its lower end hinged to the middle part of the base and its higher end hinged to the cylinder barrel of the main folding oil cylinder.

9. The catwalk pipe grabbing machine according to claim 8, characterized in that: The base comprises: A fixed section, one end of which is rotatably connected to the column; The extension section is slidably connected to the fixed section and can slide along the length direction of the fixed section; one end of the extension section close to the fixed section is hinged to the lower end of the auxiliary folding cylinder; The retracting oil cylinder is horizontally arranged, one end of which is hinged to the fixed section, and the other end of which is hinged to the extension section, and is used to drive the extension section to slide.

10. The catwalk pipe grabbing machine according to claim 9, characterized in that: The base also includes: The support frame is fixedly installed on the fixed section, and the top surface can bear the column.

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