Multifunctional pushing manipulator

Abstract

The invention relates to the technical field of petroleum drilling, in particular to a multifunctional pushing manipulator. The multifunctional pushing and supporting manipulator comprises a walking mechanism and a pushing and supporting mechanism, the walking mechanism can be arranged at a first position or a second position according to actual requirements, when the walking mechanism is located at the first position, the walking mechanism is arranged at the end of the three-joint box in the width direction of the three-joint box, and the advancing axis of the walking mechanism is perpendicular to the catwalk conveying direction. When the walking mechanism is located at the second position, the walking mechanism is arranged in the gap of the three-joint unit box in the length direction of the three-joint unit box, and the advancing axis of the walking mechanism is coaxial with the catwalk conveying direction. And the pushing and supporting mechanism is matched with the elevator to push and support the pipe in the pipe moving process, so that the multifunctional manipulator is suitable for various working conditions, the occupied equipment space is small, and collaborative operation is simple and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of oil drilling, and in particular to a multifunctional pushing and supporting manipulator. Background Art

[0002] In the field of oil drilling, the pipe discharging and transporting link is crucial. At present, for pipe discharging, a lifting manipulator is used for pipe discharging. Although the lifting manipulator has a greater load-bearing capacity, its structure is relatively complex, and it requires a large working space whether it is arranged on the drill floor or the monkey board, and it is easy to generate spatial interference with other operating equipment.

[0003] In addition, in the process of pipe transfer on the drill floor, the traditional operation relies on manual labor to push and support the pipes conveyed by the catwalk to the mouse hole or the wellhead, which not only consumes manpower but also affects the operation efficiency. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] In view of the above-mentioned disadvantages and deficiencies of the prior art, the present invention provides a multifunctional pushing and supporting manipulator, which solves the technical problems of large space occupation, single function, and complex collaborative operation of existing equipment.

[0006] (II) Technical Solutions

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] An embodiment of the present invention provides a multifunctional pushing and supporting manipulator, including a traveling mechanism and a pushing and supporting mechanism arranged on the traveling mechanism; the traveling mechanism is located at a first position or a second position; when at the first position, the traveling mechanism is arranged at the end of the stand rack along the width direction of the stand rack, and its traveling axis is perpendicular to the catwalk conveying direction; when at the second position, the traveling mechanism is arranged in the gap of the stand rack along the length direction of the stand rack, and its traveling axis is coaxial with the catwalk conveying direction; the pushing and supporting mechanism cooperates with the elevating bail to push and support the pipe during the process of moving the pipe.

[0009] Preferably, the pushing and supporting mechanism includes a connected driving component and a manipulator body; the driving component is arranged on the traveling mechanism, and the traveling mechanism can drive the manipulator body on the driving component to move linearly, and the driving component can drive the manipulator body to rotate and move horizontally.

[0010] Preferably, the driving assembly includes a bracket, a rotating assembly, and a telescopic assembly; the bottom end of the bracket is disposed on the rotating assembly, and the rotating assembly can drive the bracket to rotate around its own axis; the proximal end of the telescopic assembly is disposed on the bracket, and the distal end of the telescopic assembly is connected to the manipulator body to drive the manipulator body to horizontally telescopically move. When the telescopic assembly is in the retracted state, the telescopic assembly is received within the bracket; the traveling end of the traveling mechanism is connected to the rotating assembly to drive the manipulator body at the end of the telescopic assembly on the bracket to move linearly.

[0011] Preferably, the telescopic assembly includes a telescopic driving unit and a telescopic unit; the telescopic driving unit is disposed on the bracket, the proximal end of the telescopic unit is connected to the telescopic driving unit, and the distal end of the telescopic unit is connected to the manipulator body; the telescopic driving unit drives the telescopic unit to telescopically move to drive the manipulator body to horizontally move. When the telescopic unit is in the retracted state, the telescopic unit is received within the bracket.

[0012] Preferably, the telescopic unit includes two oppositely disposed folding arms; each folding arm includes an articulated driving arm and a driven arm. The proximal end of the driving arm is articulated to the bracket, and the distal end of the driven arm is articulated to the manipulator body; the telescopic driving unit drives the proximal ends of the driving arms in the two folding arms to rotate towards or away from each other, so that the distal ends of the two driving arms move towards or away from each other to drive the manipulator body on the distal end of the driven arm to horizontally move; when the telescopic driving unit drives the distal end of the driving arm to move in the reverse direction, the driving arm drives the driven arm to fold into the bracket.

[0013] Preferably, the telescopic assembly further includes a balancing unit, and the balancing unit includes balancing gears; the two balancing gears are respectively disposed at the distal ends of the driven arms of the two folding arms, and the two balancing gears are meshed with each other.

[0014] Preferably, the telescopic driving unit includes a telescopic driving member, two driving gears, and two sector gears; the two driving gears are meshed with each other, and the two sector gears are respectively located on the upper and lower sides of the two driving gears and are respectively meshed with the two driving gears; the two sector gears are respectively sleeved and fixed on the hinge shafts at the proximal ends of the driving arms in the two folding arms, and the driving arm is hinged to the bracket through the hinge shaft; the telescopic driving member drives the driving gear to drive the sector gear to rotate towards or away from each other so that the distal ends of the driving arm move towards or away from each other.

[0015] Preferably, the manipulator body includes a connecting frame, a manipulator unit, and an opening and closing driving unit; the connecting frame is articulated to the distal end of the driven arm, the opening and closing driving unit is disposed on the connecting frame, and the opening and closing driving unit drives the manipulator unit to open and close to clamp the pipe.

[0016] Preferably, the manipulator body further includes a abutting rod; both ends of the abutting rod are respectively articulated to the connecting frame, and an abutting portion is recessed in the middle of the abutting rod.

[0017] Preferably, the traveling mechanism includes a traveling drive unit, a guide rail, and a traveling frame; the pushing and supporting mechanism is arranged on the traveling frame, and the traveling drive unit drives the traveling frame to move linearly back and forth along the guide rail to drive the pushing and supporting mechanism to move linearly.

[0018] (III) Beneficial effects

[0019] The beneficial effects of the present invention are as follows:

[0020] A multi-functional pushing and supporting manipulator of the present invention includes a traveling mechanism and a pushing and supporting mechanism. The traveling mechanism can be arranged at a first position or a second position according to actual needs. When the traveling mechanism is at the first position, the traveling mechanism is arranged at the end of the standpipe box along the width direction of the standpipe box, and its traveling axis is perpendicular to the catwalk conveying direction, adapting to the working space at the end of the standpipe box and avoiding interference with other equipment on the drill floor, significantly reducing the space occupation compared with the traditional lifting manipulator. When the traveling mechanism is at the second position, the traveling mechanism is arranged in the gap of the standpipe box along the length direction of the standpipe box, and its traveling axis is coaxial with the catwalk conveying direction, making full use of the idle space between the standpipe boxes to achieve a compact layout and improve the space utilization rate of the drill floor. The pushing and supporting mechanism pushes and supports the pipe string during the process of moving the pipe string in cooperation with the elevating device. When the pushing and supporting mechanism and the elevating device cooperate, they can cover the pipe string operations under multiple working conditions: they can not only complete the discharging and pushing of the pipe string from the wellhead to the standpipe box and the extracting and pushing from the standpipe box to the wellhead, realizing the two-way transfer of the pipe string between the storage area and the operation area; but also support the conveying and transferring and pushing of the pipe string between the wellhead, the mousehole, and the catwalk, replacing the traditional manual pushing operation, significantly reducing the labor cost, and then being applicable to various working conditions through this multi-functional manipulator, with small equipment space occupation and simple cooperative operation. Description of the drawings

[0021] Figure 1 It is a schematic structural diagram of the traveling mechanism at the first position;

[0022] Figure 2 It is a schematic structural diagram of the traveling mechanism at the second position;

[0023] Figure 3 It is a schematic structural diagram of the multi-functional pushing and supporting manipulator;

[0024] Figure 4 It is a schematic structural diagram of the multi-functional pushing and supporting manipulator in the retracted state;

[0025] Figure 5 It is a schematic structural diagram of the manipulator body.

[0026]

Description of the reference numerals

[0027] 1: Multi-functional pushing and supporting manipulator; 11: Traveling mechanism; 111: Traveling drive unit; 112: Guide rail; 113: Traveling frame; 12: Pushing and supporting mechanism; 121: Manipulator body; 1211: Connecting frame; 1212: Manipulator unit; 1213: Opening and closing drive unit; 1214: Abutting rod; 122: Bracket; 123: Rotating assembly; 124: Telescopic assembly; 1241: Telescopic drive unit; 12411: Telescopic drive member; 12412: Driving gear; 12413: Sector gear; 1242: Telescopic unit; 12421: Driving arm; 12422: Driven arm; 1243: Balance gear; 2: Wellhead; 3: Mouse hole; 4: Stand pipe rack; 5: Catwalk. Detailed implementation manners

[0028] For better explaining the present invention for easy understanding, the present invention will be described in detail below in conjunction with the drawings through specific implementation manners.

[0029] As Figure 1 and Figure 2 shown, in the pipe handling and transportation link, there are two stand pipe racks 4 arranged at intervals. The catwalk 5 is located at one end of the stand pipe rack 4 and is opposite to the gap between the two stand pipe racks 4. The extension line of the conveying direction of the catwalk 5 passes through the wellhead 2 and a mouse hole 3.

[0030] As Figure 3 shown, an embodiment of the present invention provides a multi-functional pushing and supporting manipulator 1. The multi-functional pushing and supporting manipulator 1 includes a traveling mechanism 11 and a pushing and supporting mechanism 12. The pushing and supporting mechanism 12 is arranged on the traveling mechanism 11. As Figure 1 shown, the traveling mechanism 11 can be located at the first position or as Figure 2 shown, the traveling mechanism 11 can also be located at the second position. It should be noted that in the actual application process, the elevating bowl is used to clamp the upper part of the pipe and move it, and the multi-functional pushing and supporting manipulator 1 is used to clamp the lower part of the pipe.

[0031] As Figure 1 shown, when the traveling mechanism 11 is located at the first position, the traveling mechanism 11 is arranged along the width direction of the stand pipe rack 4 at the end of the stand pipe rack 4. The traveling axis of the traveling mechanism 11 is perpendicular to the conveying direction of the catwalk 5, adapting to the operation space at the end of the stand pipe rack 4 and avoiding interference with other equipment on the drill floor, significantly reducing the space occupation compared with the traditional lifting manipulator. In this embodiment, when located at the first position, the traveling mechanism 11 is located between the wellhead 2 and the stand pipe rack 4 and is arranged on the drill floor.

[0032] As Figure 2As shown in the figure, when the traveling mechanism 11 is in the second position, the traveling mechanism 11 is arranged in the gap of the standpipe rack 4 along the length direction of the standpipe rack 4. The traveling axis of the traveling mechanism 11 is coaxial with the conveying direction of the catwalk 5, making full use of the idle space between the standpipe racks 4 to achieve a compact layout and improve the space utilization rate of the drill floor. Whether the traveling mechanism 11 is in the first position or the second position, the pushing mechanism 12 can cooperate with the elevator to push and support the pipe during the process of moving the pipe. When the pushing mechanism 12 and the elevator work together, they can cover the pipe operations under multiple working conditions: they can not only complete the discharging and pushing of the pipe from the wellhead 2 to the standpipe rack and the extracting and pushing of the pipe from the standpipe rack to the wellhead 2, realizing the two-way transfer of the pipe between the storage area and the operation area, but also support the conveying, transferring and pushing of the pipe between the wellhead 2, the mousehole 3 and the catwalk 5, replacing the traditional manual pushing operation, significantly reducing the labor cost, and then being applicable to various working conditions through this multi-functional manipulator, with small equipment space occupation and simple cooperative operation.

[0033] As Figure 3 shown in the figure, the traveling mechanism 11 includes a traveling drive unit 111, a guide rail 112 and a traveling frame 113. The pushing mechanism 12 is arranged on the traveling frame 113. The traveling drive unit 111 drives the traveling frame 113 to move linearly back and forth along the guide rail 112 to drive the pushing mechanism 12 to move linearly. Among them, the traveling drive unit 111 includes a motor and a meshing rack and gear. The rack extends along the length direction of the guide rail 112. The gear is arranged on the traveling frame 113 through a rotating shaft. The motor drives the gear to rotate and then drives the traveling frame 113 to move along the guide rail 112.

[0034] In the actual application process, the traveling drive unit 111 can adopt various drive forms such as motor screw, hydraulic cylinder, linear motor, etc., and can also be flexibly selected according to the actual working condition requirements of other equivalent drive structures. No matter what drive mode is adopted, it is to realize the linear motion of the traveling frame 113 along the guide rail 112, ensure the stable switching and efficient operation of the pushing mechanism 12 between different work positions, and take into account the adaptability and practicability of the equipment.

[0035] As Figure 3 shown in the figure, the pushing mechanism 12 includes a connected drive assembly and a manipulator body 121. The drive assembly is arranged on the traveling mechanism 11. The traveling mechanism 11 can drive the manipulator body 121 on the drive assembly to move linearly. The drive assembly can drive the manipulator body 121 to rotate and move horizontally. The traveling mechanism 11 drives the manipulator body 121 to move linearly to achieve a large-range work position switching. The drive assembly drives the manipulator body 121 to rotate and move horizontally, which can accurately adjust the posture and position of the pipe, and improve the flexibility and accuracy of the pipe operation.

[0036] Among them, the driving component includes a bracket 122, a rotating component 123, and a telescopic component 124. The bottom end of the bracket 122 is arranged on the rotating component 123. The rotating component 123 can drive the bracket 122 to rotate around its own axis. The proximal end of the telescopic component 124 is arranged on the bracket 122, and the distal end of the telescopic component 124 is connected to the manipulator body 121 to drive the manipulator body 121 to move horizontally and telescopically. The traveling end of the traveling mechanism 11 is connected to the rotating component 123 to drive the manipulator body 121 at the end of the telescopic component 124 on the bracket 122 to move linearly. Through the cooperation of the rotating component 123, the telescopic component 124, and the traveling mechanism 11, a three-dimensional motion system is formed, and the bracket 122 provides stable support for each component. It should be noted that in this embodiment, the proximal end refers to the side close to the bracket, and the distal end refers to the side far from the bracket. The rotating component 123 can adopt a rotating slip ring, or other equivalent structures with the function of rotating around its own axis can be selected according to actual working conditions to drive the bracket 122 to rotate around its own axis.

[0037] When the traveling mechanism 11 is in the first position, the guide rail 112 is arranged at the end of the standpipe rack 4 along the width direction of the standpipe rack 4. When it is necessary to cooperate with the elevating bail to discharge the pipe from the wellhead 2 to the standpipe rack, the traveling drive unit 111 drives the traveling frame 113 to move to a position parallel to the wellhead 2. The rotating component 123 drives the manipulator body 121 to rotate to face the pipe. The telescopic component 124 drives the manipulator body 121 to extend. After the manipulator body 121 grabs the lower part of the pipe, the telescopic component 124 drives the manipulator body 121 to retract. After the rotating component 123 drives the manipulator body 121 to rotate 180° to face the standpipe rack 4, the traveling drive unit 111 drives the traveling frame 113 to move to the required placement position in the standpipe rack 4, and the telescopic component 124 drives the manipulator body 121 to extend and push it to the discharge position. It should be noted that during this process, the multi-functional manipulator cooperates with the elevating bail above to clamp and push the pipe to play an auxiliary role and avoid the shaking of the lower part of the pipe. In other working conditions, the operation of the multi-functional manipulator is similar and will not be elaborated here.

[0038] When the traveling mechanism 11 is in the second position, the guide rail 112 is arranged between two standpipe racks 4 along the length direction of the standpipe rack 4. When it is necessary to transfer and push the pipe between the catwalk 5 and the mousehole 3, the traveling drive unit 111 drives the traveling frame 113 to move to face the end of the catwalk 5, and the driving component drives the manipulator body 121 to move to cooperate with the elevating bail to push the pipe conveyed from the catwalk 5 to the mousehole 3.

[0039] When the telescopic assembly 124 is in the retracted state, the telescopic assembly 124 is received within the support 122. The telescopic assembly 124 can be retracted into the support 122, greatly reducing the space occupied when not in use. In conjunction with the switching of the traveling mechanism 11 at different positions, the space layout on the drill floor is further optimized, effectively solving the problem of large space occupation of existing equipment. In this embodiment, the support 122 includes two oppositely arranged vertical plates, and a receiving space of the support 122 is formed between the vertical plates.

[0040] Specifically, the telescopic assembly 124 includes a telescopic driving unit 1241 and a telescopic unit 1242. The telescopic driving unit 1241 is disposed on the support 122. The proximal end of the telescopic unit 1242 is connected to the telescopic driving unit 1241, and the distal end of the telescopic unit 1242 is connected to the manipulator body 121. The telescopic driving unit 1241 drives the telescopic unit 1242 to expand and contract to drive the manipulator body 121 to move horizontally. When the telescopic unit 1242 is in the retracted state, the telescopic unit 1242 is received within the support 122.

[0041] The telescopic unit 1242 includes two oppositely arranged folding arms. Each folding arm includes a hinged active arm 12421 and a passive arm 12422. The proximal end of the active arm 12421 is hinged to the support 122, and the distal end of the passive arm 12422 is hinged to the manipulator body 121. The telescopic driving unit 1241 drives the proximal ends of the active arms 12421 in two folding arms to rotate towards or away from each other, so that the distal ends of the two active arms 12421 move towards or away from each other, driving the ends of the passive arms 12422 away from the active arms 12421 to move towards or away from each other, and further driving the distal ends of the passive arms 12422 to drive the manipulator body 121 to move horizontally. When the telescopic driving unit 1241 drives the distal ends of the active arms 12421 to move away from each other, the active arms 12421 drive the passive arms 12422 to fold into the support 122. As Figure 4 shown, the telescopic unit 1242 adopting the folding arm structure, compared with the traditional telescopic structure, occupies less space after folding under the premise of achieving the same telescopic stroke, greatly optimizing the overall layout of the equipment. At the same time, through the coordinated movement of the hinged active arm 12421 and the passive arm 12422, a stable telescopic force can be provided to ensure the stability and reliability of the pushing and supporting of the pipe by the manipulator body 121 during the horizontal movement, reducing the operation risk caused by unstable structure.

[0042] To further improve the stability and synchronism of the folding arm movement and avoid uneven force on the manipulator body 121 caused by inconsistent movement of the two folding arms, the telescopic assembly 124 further includes a balancing unit. The balancing unit includes balancing gears 1243. The two balancing gears 1243 are respectively disposed at the ends of the passive arms 12422 of the two folding arms away from the active arms 12421, and the two balancing gears 1243 are meshed, thereby improving the balance and accuracy during the clamping and pushing of the pipe.

[0043] The telescopic drive unit 1241 includes a telescopic drive member 12411, two driving gears 12412, and two sector gears 12413. The two driving gears 12412 are meshed with each other. The two sector gears 12413 are respectively located on the upper and lower sides of the two driving gears 12412 and are respectively meshed with the two driving gears 12412. The two sector gears 12413 are respectively sleeved and fixed on the hinge shafts at the proximal ends of the active arms 12421 in the two folding arms. The active arms 12421 are hinged to the bracket 122 through the hinge shafts. The telescopic drive member 12411 drives the driving gears 12412 to drive the sector gears 12413 to rotate towards or away from each other, so that the distal ends of the active arms 12421 move towards or away from each other. The telescopic drive unit 1241 with a gear transmission structure has high transmission efficiency and strong stability, can accurately transmit the power of the telescopic drive member 12411, and ensures that the two folding arms are unfolded or folded synchronously and stably. At the same time, the accuracy of gear transmission ensures the accuracy of the horizontal movement distance of the manipulator body 121, meets the strict requirements of the pipe pushing and supporting operation for position accuracy, improves the operation efficiency and quality, simplifies the complex drive control logic, and reduces the equipment operation failure rate.

[0044] As Figure 5 shown, the manipulator body 121 includes a connecting frame 1211, a manipulator unit 1212, and an opening and closing drive unit 1213. The connecting frame 1211 is hinged to the distal end of the passive arm 12422. The opening and closing drive unit 1213 is arranged on the connecting frame 1211. The opening and closing drive unit 1213 drives the manipulator unit 1212 to open and close to clamp the pipe. The manipulator unit 1212 is composed of two relatively arranged clamping jaws, which are connected by a hinge method and can realize flexible opening and closing actions to firmly clamp the pipe. In practical applications, the specific structural form of the opening and closing drive unit 1213 is not limited, and common linear drive devices such as electric push rods, hydraulic cylinders, and pneumatic cylinders can be used. No matter what form is adopted, as long as it can drive the hinged ends of the two clamping jaws to move towards or away from each other, so as to realize stable and reliable clamping and releasing of the pipe to meet the operation requirements under different working conditions.

[0045] In order to provide an additional support point for the pipe, the manipulator body 121 further includes a abutting rod 1214. The two ends of the abutting rod 1214 are respectively hinged to the connecting frame 1211. The middle part of the abutting rod 1214 is concavely provided with an abutting part. During the process of clamping and pushing the pipe, the abutting part is attached to the surface of the pipe, effectively dispersing the force on the pipe and preventing the pipe from deforming due to excessive local force. At the same time, the hinge design enables the abutting rod 1214 to be adaptively adjusted according to the actual shape and position of the pipe.

[0046] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium; it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the present invention, unless otherwise clearly specified and limited, when the first feature is "on" or "under" the second feature, it may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, when the first feature is "above", "over" and "on top of" the second feature, it may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. When the first feature is "under", "beneath" and "underneath" the second feature, it may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0049] In the description of this specification, the descriptions of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0050] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multifunctional pushing and supporting manipulator, characterized in that: It comprises a walking mechanism (11) and a pushing and supporting mechanism (12) arranged on the walking mechanism (11); The walking mechanism (11) is located at a first position or a second position; When in the first position, the walking mechanism (11) is arranged at the end of the stand box (4) along the width direction of the stand box (4), and its travel axis is perpendicular to the conveying direction of the catwalk (5); In the second position, the walking mechanism (11) is arranged in the gap of the pipe box (4) along the length direction of the pipe box (4), and its travel axis is coaxial with the conveying direction of the catwalk (5); The pushing and supporting mechanism (12) cooperates with the hanging card to push and support the pipe during the process of moving the pipe.

2. The multifunctional pushing and supporting manipulator according to claim 1, characterized in that: The pushing and supporting mechanism (12) comprises a connected driving assembly and a manipulator body (121); The driving component is arranged on the walking mechanism (11); the walking mechanism (11) can drive the manipulator body (121) on the driving component to move in a straight line; and the driving component can drive the manipulator body (121) to rotate and move horizontally.

3. The multifunctional pushing and supporting manipulator according to claim 2, characterized in that: The driving assembly comprises a bracket (122), a rotating assembly (123) and a telescopic assembly (124); The bottom end of the bracket (122) is arranged on the rotating assembly (123), and the rotating assembly (123) can drive the bracket (122) to rotate along its own axis; The proximal end of the telescopic component (124) is arranged on the bracket (122), and the distal end of the telescopic component (124) is connected to the manipulator body (121) to drive the manipulator body (121) to move horizontally in telescopic manner; when the telescopic component (124) is in a retracted state, the telescopic component (124) is accommodated in the bracket (122); The walking end of the walking mechanism (11) is connected to the rotating assembly (123) to drive the manipulator body (121) at the end of the telescopic assembly (124) on the bracket (122) to move in a straight line.

4. The multifunctional pushing and supporting manipulator according to claim 3, characterized in that: The telescopic assembly (124) comprises a telescopic driving unit (1241) and a telescopic unit (1242); The telescopic drive unit (1241) is arranged on the bracket (122), the proximal end of the telescopic unit (1242) is connected to the telescopic drive unit (1241), and the distal end of the telescopic unit (1242) is connected to the manipulator body (121); The telescopic drive unit (1241) drives the telescopic unit (1242) to telescope so as to drive the manipulator body (121) to move horizontally; when the telescopic unit (1242) is in a retracted state, the telescopic unit (1242) is accommodated in the bracket (122).

5. The multifunctional pushing and supporting manipulator according to claim 4, characterized in that: The telescopic unit (1242) comprises two folding arms arranged opposite to each other; The folding arms each comprise an articulated active arm (12421) and a passive arm (12422), the proximal end of the active arm (12421) being articulated with the support (122), and the distal end of the passive arm (12422) being articulated with the manipulator body (121); The telescopic driving unit (1241) drives the proximal ends of the active arms (12421) of the two folding arms to rotate toward or in opposite directions, so that the distal ends of the two active arms (12421) move toward or in opposite directions, thereby driving the manipulator body (121) on the distal end of the passive arm (12422) to move horizontally; When the telescopic driving unit (1241) drives the distal end of the active arm (12421) to move in the opposite direction, the active arm (12421) drives the passive arm (12422) to fold into the bracket (122).

6. The multifunctional pushing and supporting manipulator according to claim 5, characterized in that: The telescopic assembly (124) further comprises a balancing unit, and the balancing unit comprises a balancing gear (1243); The two balancing gears (1243) are respectively arranged at the distal ends of the passive arms (12422) of the two folding arms, and the two balancing gears (1243) are meshed.

7. The multifunctional pushing and supporting manipulator according to claim 5, characterized in that: The telescopic driving unit (1241) comprises a telescopic driving member (12411), two driving gears (12412) and two sector gears (12413); The two driving gears (12412) are meshed, and the two sector gears (12413) are respectively located at the upper and lower sides of the two driving gears (12412) and are respectively meshed with the two driving gears (12412); The two sector gears (12413) are respectively sleeved and fixed on the hinge shafts at the proximal ends of the active arms (12421) of the two folding arms, and the active arms (12421) are hinged to the bracket (122) via the hinge shafts; The telescopic driving member (12411) drives the driving gear (12412) to drive the fan gear (12413) to rotate towards or in the opposite direction so that the distal end of the active arm (12421) moves towards or in the opposite direction.

8. The multifunctional pushing and supporting manipulator according to claim 5, characterized in that: The manipulator body (121) comprises a connecting frame (1211), a manipulator unit (1212) and an opening and closing driving unit (1213); The connecting frame (1211) is hinged to the distal end of the passive arm (12422), and the opening and closing driving unit (1213) is arranged on the connecting frame (1211). The opening and closing driving unit (1213) drives the manipulator unit (1212) to open and close so as to clamp the pipe.

9. The multifunctional pushing and supporting manipulator according to claim 8, characterized in that: The robot body (121) further includes a supporting rod (1214); Both ends of the abutting rod (1214) are respectively hinged to the connecting frame (1211), and a abutting portion is recessed in the middle of the abutting rod (1214).

10. The multifunctional pushing and supporting manipulator according to claim 1, characterized in that: The walking mechanism (11) comprises a walking drive unit (111), a guide rail (112) and a walking frame (113); The pushing and supporting mechanism (12) is arranged on the walking frame (113), and the walking drive unit (111) drives the walking frame (113) to reciprocate linearly along the guide rail (112) to drive the pushing and supporting mechanism (12) to move linearly.

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