Feeding manipulator for petroleum drill rod joint production

Abstract

The invention discloses a feeding manipulator for petroleum drill rod joint production, and belongs to the technical field of feeding manipulators, the feeding manipulator comprises a mechanical operation arm, two mechanical operation claws are arranged at the free end of the mechanical operation arm, and each mechanical operation claw comprises two clamping claw pieces symmetrically arranged on an output shaft of the mechanical operation arm; a stabilizing assembly with a stabilizing part is arranged in the clamping jaw part, the stabilizing part comprises a main air bag which is arranged in the clamping jaw part and used for improving uniform clamping pressure, an air pump is arranged at the top end of the clamping jaw part, and an inflation part is installed between the output end of the air pump and the main air bag in a communicating mode. The main air bag is arranged in the clamping jaw piece, the internal main air bag can be inflated and expanded to fill gaps between the clamping plates and workpieces, the clamping jaw piece can adapt to the workpieces of different shapes and sizes, the elastic material can absorb clamping impact force, the rigid clamping plates are prevented from making direct contact with the surfaces of the workpieces, pressure is evenly distributed after inflation, local stress concentration is prevented, and the clamping jaw piece can be used for clamping workpieces of different shapes and sizes. And the clamping stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding manipulators, and particularly relates to a feeding manipulator for the production of oil drill pipe joints. Background Art

[0002] In the production process of oil drill pipe joints, the feeding link is crucial. Traditional feeding methods mostly rely on manual operation, which has problems such as high labor intensity, low efficiency, poor accuracy, and is difficult to meet the requirements of modern large-scale production. With the development of industrial automation technology, the application of manipulators in industrial production is becoming increasingly widespread. Using a feeding manipulator to replace manual labor for the feeding operation of oil drill pipe joints has become an effective way to improve production efficiency, ensure production safety, and enhance product quality.

[0003] However, oil drill pipe joints are usually round shaft-shaped with a relatively smooth surface. Ordinary manipulators are difficult to achieve stable clamping when grasping. At the same time, due to certain differences in the size and shape of oil drill pipe joints, the clamping devices of traditional manipulators are difficult to adapt to the clamping requirements of workpieces of different specifications. In addition, most existing manipulator clamping devices adopt a rigid clamping plate structure. During the clamping process, the rigid clamping plate directly contacts the surface of the workpiece, which is likely to cause damage to the surface of the workpiece, affecting the quality of the workpiece. Moreover, when the rigid clamping plate clamps workpieces of different shapes and sizes, the clamping force distribution is uneven, with local stress concentration, which may cause the workpiece to deform or be damaged. Summary of the Invention

[0004] The purpose of the present invention is to provide a feeding manipulator for the production of oil drill pipe joints to solve the problem that when the rigid clamping plate clamps workpieces of different shapes and sizes, the clamping force distribution is uneven, with local stress concentration, which may cause the workpiece to deform or be damaged as mentioned in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A feeding manipulator for the production of oil drill pipe joints, including a mechanical operating arm. Two mechanical operating claws are arranged at the free end of the mechanical operating arm. The mechanical operating claws include two clamping claw members symmetrically arranged on the output shaft of the mechanical operating arm. A stabilizing component with stabilizing parts is arranged inside the clamping claw member. The stabilizing parts include a main airbag arranged inside the clamping claw member for increasing the uniform clamping pressure. An air pump is arranged at the top of the clamping claw member. An inflation component is installed in communication between the output end of the air pump and the main airbag. A pressing plate slidably penetrates through the surface of the clamping claw member. An installation plate is slidably installed inside the pressing plate. The main airbag is installed on the surface of the installation plate. A damping spring is fixedly installed between the installation plate and the inner wall of the clamping claw member. A spare airbag for reducing the risk of a single airbag failure is arranged between the installation plate and the main airbag, and the spare airbag is installed in communication with the output end of the air pump through a one-way valve.

[0006] As a preferred technical solution of the present invention, the outer surfaces of the two main airbags facing each other are both provided with an arc shape, and the surfaces of the main airbags are both provided with a plurality of protrusions for increasing the wrapping friction, and the inside of the protrusions is communicated with the internal space of the main airbag. Clamping plates for limiting the main airbag are installed on both sides of the main airbag.

[0007] As a preferred technical solution of the present invention, a stabilizing member with a support rod is arranged inside the main airbag. A cavity is formed inside the main airbag. An outer spring net is arranged inside the cavity. An inner spring net is arranged inside the outer spring net. The support rod for supporting the main airbag is arranged inside the inner spring net.

[0008] As a preferred technical solution of the present invention, a plurality of support rods for supporting the inner spring net are installed inside the inner spring net. A plurality of rubber balls for dispersing the stress of the support rods are connected and installed between the outer spring net and the inner spring net.

[0009] As a preferred technical solution of the present invention, the inflation component includes an inflation pipe connected between the output end of the air pump and the main airbag. A telescopic rubber pipe for stretching is connected and installed in the middle of the inflation pipe. A chute is formed on the surface of the clamping claw member. Two sliders are installed on the surface of the telescopic rubber pipe, and the sliders are slidably installed inside the chute.

[0010] As a preferred technical solution of the present invention, an auxiliary mechanism with an electromagnetic rod is arranged on the surface of the clamping claw member. A fixing plate is fixedly installed on the surface of the clamping claw member. An arc-shaped annular pipe is fixedly installed on the surface of the fixing plate. The electromagnetic rod is slidably installed through the inside of the annular pipe. A piston is fixedly installed at one end of the electromagnetic rod located inside the annular pipe. A connecting pipe is connected and installed between one end of the annular pipe and the inflation pipe for communication.

[0011] As a preferred technical solution of the present invention, the electromagnetic rod is electrically connected to the electromagnetic coil through a built-in power supply. Adsorption magnetic plates are fixedly installed at one ends of the two electromagnetic rods close to each other.

[0012] As a preferred technical solution of the present invention, an adjustment mechanism is arranged between the mechanical operating arm and the clamping claw member. The adjustment mechanism includes a support frame installed on the output shaft of the mechanical operating arm. A screw rod is rotatably installed on the surface of one of the support frames. One end of the screw rod is threadedly connected to the surface of the other support frame. A limiting rod installed on the surface of one of the support frames slidably penetrates through the other support frame.

[0013] As a preferred technical solution of the present invention, a top rod is fixedly installed at the bottom end of the support frame. A cross frame is fixedly installed at the bottom end of the top rod. An electric push rod is fixedly installed inside the cross frame. The clamping claw member is fixedly installed at the output end of the electric push rod.

[0014] As a preferred technical solution of the present invention, the mechanical manipulator arm includes a lifting device for adjusting the angle of the mechanical operating claw, and the lifting device includes a plurality of hydraulic cylinders and motors installed on the mechanical manipulator arm.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. By providing the arc-shaped clamping claw member in the present invention, it is convenient to grasp the round shaft-shaped drill pipe joint. At the same time, a main airbag is arranged inside the clamping claw member, and the internal main airbag can be inflated and expanded to fill the gap between the clamping plate and the workpiece, which can adapt to workpieces of different shapes and sizes. Its elastic material can absorb the clamping impact force, avoid the rigid clamping plate directly contacting the surface of the workpiece, and the pressure is evenly distributed after inflation, preventing local stress concentration and improving the clamping stability.

[0017] 2. The present invention arranges an outer spring net, an inner spring net and a support rod inside the main airbag. The outer spring net and the inner spring net form a grid-like structure, which can provide omnidirectional support to keep the airbag in a stable shape after inflation. At the same time, the support rod cooperates with the honeycomb-structured inner spring net, which has high strength and stability, effectively disperses the pressure, and ensures that the clamping force at each part point is uniform.

[0018] 3. The present invention is equipped with a spare airbag in the main airbag, which is connected to the output end of the air pump through a one-way valve. When the main airbag fails, the spare airbag can be connected in time to prevent the workpiece from falling or being damaged due to the loss of clamping force, ensure production safety, and at the same time avoid equipment shutdown caused by airbag failure, reduce the risk of production interruption caused by workpiece clamping failure, and improve the overall production efficiency.

[0019] 4. The present invention sets an auxiliary mechanism with electromagnetic rods on the surface of the clamping claw member. When the two rotating arc-shaped electromagnetic rods approach each other, the adsorption magnetic plates are combined, which can assist in protecting the drill pipe joint, prevent it from loosening and falling during clamping, and magnetically adsorb the drill pipe joint to provide better support for the drill pipe joint, further improving the stability of the mechanical claw for clamping and transferring materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 is a schematic diagram of the structure of the adjusting mechanism of the present invention;

[0022] Figure 3 is a schematic diagram of the structure of the mechanical operating claw of the present invention;

[0023] Figure 4 is of the present invention Figure 3 structural schematic diagram of part A therein;

[0024] Figure 5 Schematic diagram of the internal structure of the clamping member of the present invention;

[0025] Figure 6 Schematic diagram of the internal structure of the main airbag of the present invention;

[0026] Figure 7 Schematic diagram of the internal structure of the annular tube of the present invention;

[0027] Figure 8 Schematic diagram of the structure of the electromagnetic rod deformed after being energized in the present invention.

[0028] In the figure: 1. Mechanical operating arm; 2. Adjusting mechanism; 21. Support frame; 22. Screw rod; 23. Limit rod; 3. Mechanical operating claw; 31. Thrust rod; 32. Cross frame; 33. Electric push rod; 34. Clamping claw member; 35. Stabilizing assembly; 351. Air pump; 352. Inflating component; 3521. Inflating pipe; 3522. Telescopic rubber tube; 3523. Chute; 3524. Slide block; 353. Damping spring; 354. Mounting plate; 355. Spare airbag; 356. Clamping plate; 357. Stabilizing component; 3571. Main airbag; 3572. Outer spring net; 3573. Inner spring net; 3574. Rubber ball; 3575. Support rod; 3576. Cavity; 358. Protrusion; 359. Pressing plate; 4. Auxiliary mechanism; 41. Connecting pipe; 42. Annular tube; 43. Piston; 44. Electromagnetic rod; 45. Fixed plate; 46. Adsorbing magnetic plate. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] Please refer to Figure 1-8 , the present invention provides a feeding manipulator for the production of oil drill pipe joints, including a mechanical operating arm 1. Two mechanical operating claws 3 are arranged at the free end of the mechanical operating arm 1. The mechanical operating claws 3 include two clamping claw members 34 symmetrically arranged on the output shaft of the mechanical operating arm 1.

[0031] Among them, two mechanical operating claws 3 are arranged at the free end of the mechanical operating arm 1. The mechanical claws are composed of two clamping claw members 34 symmetrically arranged on the output shaft of the operating arm. And by setting the arc-shaped clamping claw member 34, it is convenient to grasp the round shaft-shaped drill pipe joint, and the stable effect of the clamping claw member 34 for clamping drill pipe joints of various specifications is increased.

[0032] In the technical solution of the embodiment of the present application, a stabilizing component 35 with a stabilizing member 357 is arranged inside the clamping jaw member 34. The stabilizing member 357 includes a main airbag 3571 arranged inside the clamping jaw member 34 for increasing the uniform clamping pressure. An air pump 351 is arranged at the top of the clamping jaw member 34. An inflation component 352 is connected and installed between the output end of the air pump 351 and the main airbag 3571. A pressing plate 359 slidably penetrates through the surface of the clamping jaw member 34. An installation plate 354 is slidably installed inside the pressing plate 359. The main airbag 3571 is installed on the surface of the installation plate 354. A damping spring 353 is fixedly installed between the installation plate 354 and the inner wall of the clamping jaw member 34. A spare airbag 355 for reducing the risk of a single airbag failure is arranged between the installation plate 354 and the main airbag 3571. The spare airbag 355 is connected and installed to the output end of the air pump 351 through a one-way valve.

[0033] Among them, when clamping the drill pipe joint through the clamping jaw member 34, a main airbag 3571 is installed inside it. The main airbag 3571 is inflated and expanded by the air pump 351 to fill the gap between the clamping plate and the workpiece, adapting to workpieces of different shapes and sizes. And by arranging the damping spring 353 to absorb the impact force, a buffer is formed between the main airbag 3571 and the drill pipe joint, avoiding the direct contact between the rigid clamping jaw member 34 and the workpiece surface, and also making the pressure evenly distributed to avoid local stress concentration, improving the clamping stability. At the same time, by arranging the spare airbag 355, when the main airbag 3571 fails, the spare airbag 355 can be connected in time and quickly inflated and expanded in cooperation with the one-way valve, preventing the workpiece from falling or being damaged, ensuring production safety, reducing the risk of production interruption, and improving production efficiency.

[0034] In some embodiments, arc shapes are arranged on the opposite outer surfaces of the two main airbags 3571. A plurality of protrusions 358 for increasing the wrapping friction force are arranged on the surface of the main airbag 3571. The inside of the protrusions 358 is communicated with the internal space of the main airbag 3571. Clamping plates 356 for limiting the main airbag 3571 are installed on both sides of the main airbag 3571.

[0035] Among them, when the main airbag 3571 assists in clamping the drill pipe joint, the arc-shaped surface of the main airbag 3571 can facilitate the grasping of the round shaft-shaped drill pipe joint. The protrusions 358 are used to increase the wrapping friction force. The clamping plates 356 limit the main airbag 3571, ensuring the stable position of the main airbag 3571 during the clamping process and improving the accuracy and reliability of the clamping.

[0036] In some embodiments, a stabilizing member 357 with a support rod 3575 is provided inside the main airbag 3571. A cavity 3576 is formed inside the main airbag 3571. An outer spring net 3572 is arranged inside the cavity 3576, and an inner spring net 3573 is arranged inside the outer spring net 3572. The support rod 3575 for supporting the main airbag 3571 is arranged inside the inner spring net 3573.

[0037] Among them, when the main airbag 3571 is inflated, the outer spring net 3572 and the inner spring net 3573 arranged inside the main airbag 3571 at this time form a grid-like structure, providing omnidirectional support for the main airbag 3571, enabling the main airbag 3571 to maintain a stable shape after inflation. At the same time, the support rod 3575 can make the outer spring net 3572 and the inner spring net 3573 be stably distributed inside the main airbag 3571, thereby further enhancing the support effect, ensuring the stability of the main airbag 3571 in all directions, and improving the stability of clamping.

[0038] In some embodiments, a plurality of support rods 3575 for supporting the inner spring net 3573 are installed inside the inner spring net 3573, and a plurality of rubber balls 3574 for dispersing the stress of the support rods 3575 are connected and installed between the outer spring net 3572 and the inner spring net 3573.

[0039] Among them, the plurality of support rods 3575 enhance the support strength of the inner spring net 3573, and the rubber balls 3574 disperse the stress of the support rods 3575, avoiding damage to the support rods 3575 caused by stress concentration, improving the reliability and service life of the stabilizing component 35, and further ensuring the stability and clamping effect of the main airbag 3571.

[0040] In some embodiments, the inflating component 352 includes an air charging pipe 3521 connected between the output end of the air pump 351 and the main airbag 3571. A telescopic rubber tube 3522 for stretching is connected and installed in the middle of the air charging pipe 3521. A chute 3523 is formed on the surface of the clamping jaw member 34. Two sliders 3524 are installed on the surface of the telescopic rubber tube 3522, and the sliders 3524 are slidably installed inside the chute 3523.

[0041] Among them, when the main airbag 3571 is inflated through the air charging pipe 3521, the provided telescopic rubber tube 3522 can adapt to the movement of the clamping jaw member 34 during operations such as adjusting the spacing, ensuring the smoothness of the air charging channel between the air pump 351 and the main airbag 3571. And the cooperation between the sliders 3524 and the chute 3523 ensures the stable movement direction of the telescopic rubber tube 3522, improving the reliability and flexibility of the inflating component 352.

[0042] In some embodiments, an auxiliary mechanism 4 with electromagnetic rods 44 is provided on the surface of the clamping jaw member 34. A fixing plate 45 is fixedly installed on the surface of the clamping jaw member 34. An arc-shaped annular tube 42 is fixedly installed on the surface of the fixing plate 45. The electromagnetic rod 44 is slidably installed through the inside of the annular tube 42. A piston 43 is fixedly installed at one end of the electromagnetic rod 44 located inside the annular tube 42. A connecting tube 41 is installed in communication between one end of the annular tube 42 and the inflatable tube 3521.

[0043] Among them, when the main airbag 3571 is inflated, the gas enters the annular tube 42 through the connecting tube 41. The air pressure pushes the piston 43 to drive the electromagnetic rod 44 to move. The two opposite arc-shaped electromagnetic rods 44 can further support both ends of the drill pipe joint, and at the same time provide a power basis for the subsequent movement of the electromagnetic rod 44, which can further improve the stability and safety of clamping.

[0044] In some embodiments, the electromagnetic rod 44 is electrically connected to the electromagnetic coil through a built-in power supply. Adsorption magnetic plates 46 are fixedly installed at both ends of the two electromagnetic rods 44 that are close to each other.

[0045] Among them, the magnetism of the electromagnetic rod 44 is controlled by the energized electromagnetic coil, so that the adsorption magnetic plates 46 are combined when the two arc-shaped electromagnetic rods 44 approach each other. The adsorption magnetic plates 46 can adsorb and stabilize the drill pipe joint, further assist in protecting the drill pipe joint, prevent the clamping of the drill pipe joint from loosening and falling, provide better support, and improve the stability of the mechanical claw for clamping and transferring materials.

[0046] In some embodiments, an adjustment mechanism 2 is provided between the mechanical operating arm 1 and the clamping jaw member 34. The adjustment mechanism 2 includes a support frame 21 installed on the output shaft of the mechanical operating arm 1. A screw rod 22 is rotatably installed on the surface of one of the support frames 21. One end of the screw rod 22 is threadedly connected to the surface of the other support frame 21. A limit rod 23 installed on the surface of one of the support frames 21 slidably penetrates through the other support frame 21.

[0047] Among them, by rotating the screw rod 22, the distance between the two support frames 21 can be adjusted, so as to adjust the distance between the two clamping jaw members 34 to meet the clamping requirements of drill pipe joints of different sizes, expand the application range of the manipulator, and improve the versatility of the manipulator.

[0048] In some embodiments, a top rod 31 is fixedly installed at the bottom end of the support frame 21. A cross frame 32 is fixedly installed at the bottom end of the top rod 31. An electric push rod 33 is fixedly installed inside the cross frame 32. The clamping jaw member 34 is fixedly installed at the output end of the electric push rod 33.

[0049] Among them, the electric push rod 33 can drive the clamping jaw member 34 to move up and down, realizing the grasping and releasing actions of the clamping jaw member 34 on the drill pipe joint. By adjusting the stroke of the electric push rod 33, the clamping force of the clamping jaw member 34 can be controlled, improving the flexibility and accuracy of clamping.

[0050] In some embodiments, the mechanical operating arm 1 includes a lifting device for adjusting the angle of the mechanical operating claw 3. The lifting device includes a plurality of hydraulic cylinders and motors installed on the mechanical operating arm 1.

[0051] Among them, according to the use of the robotic arm, the hydraulic cylinders and motors are arranged to cooperate to realize the lifting and angle adjustment of the mechanical operating arm 1, enabling the mechanical operating claw 3 to reach different working positions, adapting to different production environments and operation requirements, and improving the working range and flexibility of the manipulator.

[0052] The above are only specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent replacements, or modifications made based on the present invention to solve substantially the same technical problems and achieve substantially the same technical effects are all covered by the protection scope of the present invention.

Claims

1. A feeding manipulator for the production of oil drill pipe joints, including a mechanical operating arm (1), characterized in that: Two mechanical operating claws (3) are provided at the free end of the mechanical operating arm (1), and the mechanical operating claws (3) include two clamping claw members (34) symmetrically arranged on the output shaft of the mechanical operating arm (1). A stabilizing assembly (35) with a stabilizing component (357) is arranged inside the clamping claw member (34). The stabilizing component (357) includes a main airbag (3571) arranged inside the clamping claw member (34) for increasing the uniform clamping pressure. An air pump (351) is arranged at the top of the clamping claw member (34). An inflation component (352) is connected and installed between the output end of the air pump (351) and the main airbag (3571). A pressing plate (359) slidably penetrates through the surface of the clamping claw member (34). A mounting plate (354) is slidably installed inside the pressing plate (359). The main airbag (3571) is installed on the surface of the mounting plate (354). A damping spring (353) is fixedly installed between the mounting plate (354) and the inner wall of the clamping claw member (34). A spare airbag (355) for reducing the risk of a single airbag failure is arranged between the mounting plate (354) and the main airbag (3571), and the spare airbag (355) is connected and installed to the output end of the air pump (351) through a one-way valve.

2. The feeding manipulator for producing an oil drill pipe joint according to claim 1, characterized in that: Arc shapes are arranged on the opposite outer surfaces of the two main airbags (3571), and a plurality of protrusions (358) for increasing the wrapping friction are arranged on the surfaces of the main airbags (3571). The interiors of the protrusions (358) are communicated with the interior space of the main airbags (3571). Clamping plates (356) for limiting the main airbags (3571) are installed on both sides of the main airbags (3571).

3. The feeding manipulator for producing an oil drill pipe joint according to claim 1, wherein: A stabilizing component (357) with a support rod (3575) is arranged inside the main airbag (3571). A cavity (3576) is formed inside the main airbag (3571). An outer spring net (3572) is arranged inside the cavity (3576). An inner spring net (3573) is arranged inside the outer spring net (3572). The support rod (3575) for supporting the main airbag (3571) is arranged inside the inner spring net (3573).

4. The feeding manipulator for producing an oil drill pipe joint according to claim 3, characterized in that: A plurality of support rods (3575) for supporting the inner spring net (3573) are installed inside the inner spring net (3573). A plurality of rubber balls (3574) for dispersing the stress of the support rods (3575) are connected and installed between the outer spring net (3572) and the inner spring net (3573).

5. The feeding manipulator for producing a petroleum drill pipe joint according to claim 1, characterized in that: The inflation component (352) includes an inflation pipe (3521) connected between the output end of the air pump (351) and the main airbag (3571). A telescopic rubber pipe (3522) for stretching is connected and installed in the middle of the inflation pipe (3521). A sliding groove (3523) is formed on the surface of the clamping claw member (34). Two sliders (3524) are installed on the surface of the telescopic rubber pipe (3522), and the sliders (3524) are slidably installed inside the sliding groove (3523).

6. The feeding manipulator for manufacturing an oil drill pipe joint according to claim 1, characterized in that: The surface of the clamping jaw member (34) is provided with an auxiliary mechanism (4) with electromagnetic rods (44). A fixing plate (45) is fixedly installed on the surface of the clamping jaw member (34). An arc-shaped annular tube (42) is fixedly installed on the surface of the fixing plate (45). The electromagnetic rod (44) is slidably installed through the inside of the annular tube (42). One end of the electromagnetic rod (44) located inside the annular tube (42) is fixedly installed with a piston (43). A connecting tube (41) is installed in a communicating manner between one end of the annular tube (42) and an air charging tube (3521).

7. A feeding manipulator for producing an oil drill pipe joint according to claim 6, characterized in that: The electromagnetic rod (44) is electrically connected to an electromagnetic coil through a built-in power source. Adsorption magnetic plates (46) are fixedly installed at one ends of the two electromagnetic rods (44) close to each other.

8. The feeding manipulator for producing an oil drill pipe joint according to claim 1, wherein: An adjusting mechanism (2) is arranged between the mechanical operating arm (1) and the clamping jaw member (34). The adjusting mechanism (2) includes a support frame (21) installed on the output shaft of the mechanical operating arm (1). A screw rod (22) is rotatably installed on the surface of one of the support frames (21). One end of the screw rod (22) is threadedly connected to the surface of the other support frame (21). A limiting rod (23) installed on the surface of one of the support frames (21) slidably penetrates through the other support frame (21).

9. The feeding manipulator for producing an oil drill pipe joint according to claim 8, wherein: A top rod (31) is fixedly installed at the bottom end of the support frame (21). A cross frame (32) is fixedly installed at the bottom end of the top rod (31). An electric push rod (33) is fixedly installed inside the cross frame (32). The clamping jaw member (34) is fixedly installed at the output end of the electric push rod (33).

10. The feeding manipulator for producing a petroleum drill pipe joint according to claim 1, characterized in that: The mechanical operating arm (1) includes a lifting device for adjusting the angle of the mechanical operating claw (3). The lifting device includes a plurality of hydraulic cylinders and motors installed on the mechanical operating arm (1).

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