Turnover gripper mechanism of pipe rod conveying equipment

Abstract

The invention relates to the technical field of pipe and rod conveying equipment, in particular to a turnover gripper mechanism of pipe and rod conveying equipment, which comprises mounting seats, a driving unit and a rotating shaft, the mounting seats are arranged at two ends of the rotating shaft, and the rotating shaft can rotate relative to the mounting seats; the driving unit is arranged on a mounting seat and is used for driving the rotating shaft to rotate; a set of feeding arms capable of rotating along with the rotating shaft are arranged on the rotating shaft, a control mechanism and a gripper opening and closing mechanism are arranged on the feeding arms, the gripper opening and closing mechanism is used for clamping and fixing a pipe rod, and the gripper opening and closing mechanism is opened and closed through the gravity of the pipe rod; the control mechanism is used for locking or unlocking the gripper opening and closing mechanism. During use, the pipe rod is clamped and fixed by the gripper opening and closing mechanism, so that the pipe rod cannot fall off in the process of rotating along with the feeding arm; when the pipe rod rotates to the position above the pipe rod conveying equipment along with the material arm, the control mechanism unlocks the gripper opening and closing mechanism, the gripper opening and closing mechanism is opened under the gravity of the pipe rod, and the pipe fitting falls into the pipe rod conveying equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of pipe and rod conveying equipment, and particularly to a flipping gripper mechanism for a pipe and rod conveying equipment. Background Art

[0002] Pipe and rod conveying equipment is mainly used in oil drilling and workover operations. Its main functions are to convey pipes and rods from the pipe rack to the wellhead and from the wellhead to the pipe rack. In existing oil drilling and workover operations, for the equipment used for pipe and rod conveying, during the process of transporting the pipes and rods to the pipe and rod conveying equipment, the loading of pipes entirely depends on manual labor, without an auxiliary device to cooperate in the pipe loading operation, resulting in high labor intensity and low efficiency for pipe loading.

[0003] For this reason, a prior patent (publication number CN217436972U) discloses a flipping mechanism for a pipe and rod conveying equipment. Through the mutual cooperation of the pipe gripper, flipping oil cylinder, and rotating arm in the flipping mechanism, it realizes directly placing the pipe on the pipe gripper through a lifting clamp, and then flipping and conveying it to the conveying mechanism of the pipe and rod conveying equipment. There is no need for manual handling during pipe loading. During pipe unloading, the pipe can be led out along the pipe auxiliary arm.

[0004] However, when this flipping mechanism of the pipe and rod conveying equipment is in use, the pipe on the hook needs to roll from a high position along the pipe auxiliary arm into the pipe and rod conveying equipment relying on the self - gravity of the pipe, resulting in a structural impact load being induced when the pipe hits the pipe and rod conveying equipment at high speed. Long - term operation is likely to cause equipment damage.

[0005] In addition, the noise pollution generated by the collision of pipes seriously deteriorates the working environment. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the present invention provides a flipping gripper mechanism for a pipe and rod conveying equipment, aiming to solve the technical problem that in the flipping mechanism of the existing pipe and rod conveying equipment, the pipe needs to roll from a high position along the pipe auxiliary arm into the pipe and rod conveying equipment relying on the self - gravity of the pipe, resulting in a structural impact load being induced when the pipe hits the pipe and rod conveying equipment at high speed, and long - term operation is likely to cause equipment damage.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A flipping gripper mechanism for a pipe rod conveying device, comprising a mounting seat, a driving unit and a rotating shaft. The two ends of the rotating shaft are both provided with the mounting seats, and the rotating shaft can rotate relative to the mounting seats. The driving unit is arranged on one of the mounting seats and is used for driving the rotating shaft to rotate. A group of feeding arms that can rotate with the rotating shaft are arranged on the rotating shaft. A control mechanism and a gripper opening and closing mechanism are arranged on the feeding arms. The gripper opening and closing mechanism is used for clamping and fixing the pipe rod, and the gripper opening and closing mechanism is opened and closed by the gravity of the pipe rod. The control mechanism is used for locking or unlocking the gripper opening and closing mechanism. Wherein, when the gripper opening and closing mechanism is in a closed state, the control mechanism locks the gripper opening and closing mechanism to prevent the gripper opening and closing mechanism from opening. When the control mechanism unlocks the gripper opening and closing mechanism, the gripper opening and closing mechanism opens under the gravity of the pipe rod.

[0009] The beneficial effects of the present invention are as follows:

[0010] 1. When the flipping gripper mechanism of the pipe rod conveying device of the present invention is in use, the gripper opening and closing mechanism is in an open state. The pipe rod is placed on the gripper opening and closing mechanism through a lifting clamp, and then the driving unit drives the rotating shaft to drive the feeding arms to rotate. Since both the control mechanism and the gripper opening and closing mechanism are arranged on the feeding arms, the control mechanism and the gripper opening and closing mechanism also rotate with the feeding arms. Because the pipe rod is clamped and fixed by the gripper opening and closing mechanism, and when the gripper opening and closing mechanism is closed, the control mechanism locks the gripper opening and closing mechanism to prevent the gripper opening and closing mechanism from opening, so when the feeding arm rotates 360°, the pipe rod will not fall. When the pipe rod rotates to the upper part of the pipe rod conveying device along with the feeding arm, the control mechanism unlocks the gripper opening and closing mechanism, and the gripper opening and closing mechanism opens under the gravity of the pipe rod, so that the pipe fitting falls into the pipe rod conveying device, completing the pipe laying. In this way, it can solve the defect that the pipe rod on the flipping mechanism of the existing pipe rod conveying device needs to roll from a high position to the pipe rod conveying device along the pipe rod auxiliary arm relying on the self-gravity of the pipe rod, resulting in structural impact loads induced when the pipe rod hits the pipe rod conveying device at high speed, and it is easy to cause equipment damage during long-term operation.

[0011] 2. The gripper opening and closing mechanism cleverly utilizes the gravity of the pipe rod to control the opening and closing of the gripper opening and closing mechanism, so that there is no other power source for controlling the opening and closing of the gripper opening and closing mechanism, and intelligent grasping and releasing are realized through a pure mechanical structure, solving the problem of power dependence while reducing costs and increasing efficiency.

[0012] Further, the gripper opening and closing mechanism includes a gripper, a link mechanism, and a first elastic member. The gripper is rotatably arranged on the loading arm. An upper limit portion and a lower limit portion are arranged on the loading arm. The link mechanism is rotatably arranged on the loading arm. One end of the link mechanism is hinged to the gripper, and the other end of the link mechanism is a free end, which rotates around the loading arm between the upper limit portion and the lower limit portion. One end of the first elastic member is connected to the loading arm, and the other end is connected to the link mechanism. When the gripper is in the open state, the first elastic member makes the free end abut against the upper limit portion. When the gripper is in the closed state, the free end abuts against the lower limit portion.

[0013] Advantageous effects: The opening and closing of the gripper opening and closing mechanism are controlled by the gravity of the pipe rod, without the need for a power source.

[0014] Further, the link mechanism includes a trigger plate and a connecting plate. The trigger plate is rotatably arranged on the loading arm. The first end of the trigger plate is the free end. The first elastic member is connected to the trigger plate. The second end of the trigger plate is hinged to the first end of the connecting plate, and the second end of the connecting plate is hinged to the gripper.

[0015] Advantageous effects: Facilitate the control of the opening and closing of the gripper.

[0016] Further, an arc-shaped groove for abutting against the pipe rod is formed on the trigger plate.

[0017] Advantageous effects: The arc-shaped groove can better fit the outer surface of the pipe rod. Compared with planar contact, it greatly increases the actual contact area between the trigger plate and the pipe rod. At the same time, through the cooperation of the arc-shaped groove and the pipe rod, the relative position between the trigger plate and the pipe rod can be accurately determined, so as to achieve more accurate trigger positioning.

[0018] Further, the control mechanism includes a control rod, a first flexible member, a clamping block, and a second elastic member. The first end of the control rod is rotatably arranged on the loading arm. A control block is fixed at the end of the first end of the control rod. A roller is arranged at the second end of the control rod. The roller is in rolling connection with a semi-circular arc plate fixed on the mounting seat. The semi-circular arc plate is coaxial with the rotating shaft. The clamping block is rotatably arranged on the loading arm. One end of the second elastic member is connected to the loading arm, and the other end is connected to the clamping block. The first flexible member connects the clamping block and the control block. When the roller rotates with the loading arm to disengage from the semi-circular arc plate, the gripper is in the closed state. The clamping block abuts against the end of the free end under the elastic force of the second elastic member to lock the gripper opening and closing mechanism.

[0019] Advantageous effects: The gripper opening and closing mechanism can be locked without a power source.

[0020] Further, the control mechanism further includes a second flexible member, which also connects the clamping block and the control block. A switch rod is provided on the mounting seat. The switch rod is parallel to the rotating shaft and can abut against the control rod. When the control rod rotates with the feeding arm to abut against the control rod, the control rod drives the control block to drive the second flexible member to disengage the clamping block from the free end, so as to unlock the gripper opening and closing mechanism.

[0021] Advantageous effects: The gripper opening and closing mechanism can be unlocked without a power source.

[0022] Further, L-shaped clamping grooves are formed at both ends of the clamping block.

[0023] Advantageous effects: Facilitate the abutment of the clamping block against the trigger plate, and at the same time play a role in limiting the trigger plate.

[0024] Further, a first connecting portion is provided on the trigger plate for connecting and fixing with the first elastic member.

[0025] Advantageous effects: Facilitate the connection between the trigger plate and the first elastic member.

[0026] Further, a second connecting portion is provided on the clamping block for connecting and fixing with the second elastic member.

[0027] Advantageous effects: Facilitate the connection between the clamping block and the second elastic member.

[0028] Further, a connecting block is provided on the clamping block for connecting with the first flexible member and the second flexible member.

[0029] Advantageous effects: Facilitate the connection between the clamping block and the first flexible member and the second flexible member.

[0030] In summary, the remarkable effects of the flipping gripper mechanism of the pipe rod conveying equipment of the present invention are as follows:

[0031] 1. The flipping gripper mechanism of the pipe rod conveying equipment of the present invention cleverly utilizes the gravity of the pipe rod to control the opening and closing of the gripper opening and closing mechanism, so that the control of the opening and closing of the gripper opening and closing mechanism has no other power source, and realizes intelligent grasping and releasing through a pure mechanical structure, solving the problem of power dependence while reducing costs and increasing efficiency.

[0032] 2. The control mechanism can lock or unlock the gripper opening and closing mechanism without a power source. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of the flipping gripper mechanism of the present invention in the state of grasping a pipe rod;

[0034] Figure 2 is Figure 1 an enlarged structural schematic diagram of part A in

[0035] Figure 3 Another perspective structural schematic diagram of Figure 1 ;

[0036] Figure 4 Another enlarged structural schematic diagram of the position B in Figure 3 ;

[0037] Figure 5 Structural schematic diagram of the flipping gripper mechanism of the present invention;

[0038] Figure 6 Structural schematic diagram of the connection between the mounting base and the loading arm involved in the embodiment;

[0039] Figure 7 Structural schematic diagram of the connection between the loading arm, the control mechanism and the gripper opening and closing mechanism involved in the embodiment;

[0040] Figure 8 Structural schematic diagram of the flipping gripper mechanism in the first upper tube state involved in the embodiment;

[0041] Figure 9 Structural schematic diagram of the flipping gripper mechanism in the second upper tube state involved in the embodiment;

[0042] Figure 10 Structural schematic diagram of the flipping gripper mechanism in the third upper tube state involved in the embodiment;

[0043] Figure 11 Structural schematic diagram of the flipping gripper mechanism in the fourth upper tube state involved in the embodiment.

[0044] Reference numerals in the drawings:

[0045] 1. Mounting base; 10. Switch rod; 11. Semi-circular arc plate; 2. Driving unit; 3. Rotating shaft; 4. Loading arm; 40. Upper limit portion; 41. Lower limit portion; 50. Control rod; 501. Pin shaft C; 502. Roller; 503. Control block; 51. Clamping block; 510. Pin shaft D; 511. Second connecting portion; 512. L-shaped card slot; 513. Connecting block; 52. Second elastic member; 53. First flexible member; 54. Second flexible member; 60. Gripper; 601. Pin shaft A; 61. Linkage mechanism; 610. Trigger plate; 611. Connecting plate; 612. Pin shaft B; 613. Arc groove; 614. First connecting portion; 615. Free end; 62. First elastic member; 7. Pipe rod. Detailed implementation manners

[0046] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "width", "upper", "lower", "front", "rear", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected", "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and can be the communication inside 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 defined, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween.

[0049] Please refer to Figure 1 - Figure 11 The present invention provides a flipping gripper mechanism for a pipe and rod conveying device, which includes a mounting base 1, a driving unit 2, a rotating shaft 3, a loading arm 4, a control mechanism, and a gripper opening and closing mechanism.

[0050] Refer to Figure 1 or Figure 5 There are two mounting bases 1, and they are used for being installed and welded and fixed on the bottom frame of the pipe and rod 7 conveying device; a switch rod 10 is fixed on the mounting base 1, and the switch rod 10 is parallel to the rotating shaft 3.

[0051] Refer to Figure 1 or Figure 5 The two ends of the rotating shaft 3 are respectively connected to the two mounting bases 1, and the rotating shaft 3 is installed on the mounting base 1 through a pedestal bearing, so that the rotating shaft 3 can rotate relative to the mounting base 1.

[0052] Refer to Figure 5 The driving unit 2 is installed on one mounting base 1 and is used to drive the above-mentioned rotating shaft 3 to rotate. The driving unit 2 in this embodiment is a hydraulic motor; in other embodiments, the driving unit 2 can also be a driving motor.

[0053] Refer to Figure 5 and Figure 7, there is a set of loading arms 4. A set of loading arms 4 has two loading arms 4. The loading arms 4 are installed on the rotating shaft 3, and the loading arms 4 rotate with the rotating shaft 3. In addition, an upper limit part 40 and a lower limit part 41 are fixed on the loading arms 4.

[0054] Refer to Figure 7 , the gripper opening and closing mechanism is installed on the inner side wall of the loading arm 4. The gripper opening and closing mechanism is used to clamp and fix the pipe rod 7, and the gripper opening and closing mechanism is opened and closed by the gravity of the pipe rod 7.

[0055] Refer to Figure 7 and Figure 8 , the gripper opening and closing mechanism includes a gripper 60, a link mechanism 61 and a first elastic member 62. The gripper 60 is rotatably arranged on the loading arm 4. Specifically, the gripper 60 is installed on the loading arm 4 through a pin shaft A601, and the gripper 60 can rotate around the pin shaft A601. The link mechanism 61 is rotatably arranged on the loading arm 4. One end of the link mechanism 61 is hinged to the gripper 60, and the other end of the link mechanism 61 is a free end 615, and the free end 615 rotates between the upper limit part 40 and the lower limit part 41 around the loading arm 4.

[0056] Refer to Figure 7 and Figure 8 , the link mechanism 61 includes a trigger plate 610 and a connecting plate 611. The trigger plate 610 is rotatably arranged on the loading arm 4. Specifically, the trigger plate 610 is installed on the loading arm 4 through a pin shaft B612, and the trigger plate 610 can rotate around the pin shaft B612. The first end of the trigger plate 610 is the free end 615 of the link mechanism 61, the second end of the trigger plate 610 is hinged to the first end of the connecting plate 611, and the second end of the connecting plate 611 is hinged to the gripper 60. It can be seen from this that the trigger plate 610, the connecting plate 611 and the gripper 60 can form a linkage.

[0057] In addition, refer to Figure 7 , an arc-shaped groove 613 for abutting against the pipe rod 7 is opened on the trigger plate 610. The arc-shaped groove 613 can better fit the outer surface of the pipe rod 7. Compared with plane contact, the actual contact area between the trigger plate 610 and the pipe rod 7 is greatly increased; at the same time, through the cooperation of the arc-shaped groove 613 and the pipe rod 7, the relative position between the trigger plate 610 and the pipe rod 7 can be accurately determined, so as to achieve more accurate trigger positioning. In addition, a first connecting portion 614 is provided on the trigger plate 610 for connecting and fixing with the first elastic member 62.

[0058] Refer to Figure 7 and Figure 8, a first elastic member 62 is disposed on the inner side wall of the loading arm 4. One end of the first elastic member 62 is connected to the loading arm 4, and the other end of the first elastic member 62 is connected to the trigger plate 610 of the link mechanism 61. When the gripper 60 is in the open state, the first elastic member 62 causes the free end 615 of the trigger plate 610 to abut against the upper limit portion 40. When the gripper 60 is in the closed state, the free end 615 of the trigger plate 610 abuts against the lower limit portion 41.

[0059] Referring to Figure 7 , during the operation of the gripper opening and closing mechanism, the gripper 60 can be driven and controlled to open and close through the trigger plate 610; the first elastic member 62 is a tension spring, and its function is to always give a pulling force to the trigger plate 610 to ensure that the gripper 60 is open in the original state. The movement of the trigger plate 610 is restricted by the upper limit portion 40 and the lower limit portion 41. When the gripper 60 is in the open state, the trigger plate 610 abuts against the upper limit portion 40; referring to Figure 9 , when the gripper 60 is in the closed state, the trigger plate 610 abuts against the lower limit portion 41.

[0060] Referring to Figure 7 , the control mechanism is installed on the loading arm 4, and the control mechanism is used to lock or unlock the above-mentioned gripper opening and closing mechanism. Wherein, when the gripper opening and closing mechanism is in the closed state, the control mechanism locks the gripper opening and closing mechanism to prevent the gripper opening and closing mechanism from opening; when the control mechanism unlocks the gripper opening and closing mechanism, the gripper opening and closing mechanism opens under the gravity of the pipe rod 7.

[0061] Referring to Figure 2 、 Figure 4 and Figure 7 , the control mechanism includes a control rod 50, a clamping block 51, a second elastic member 52, a first flexible member 53 and a second flexible member 54. The first end of the control rod 50 is rotatably disposed on the loading arm 4. Specifically, the control rod 50 is installed on the loading arm 4 through a pin shaft C501, and the control rod 50 can rotate around the pin shaft C501; the control rod 50 can abut against the switch rod 10. A control block 503 is fixed to the end of the first end of the control rod 50, and the control block 503 is located on the inner side wall of the loading arm 4; a roller 502 is fixed to the second end of the control rod 50, and the roller 502 is in rolling connection with a semi-circular arc plate 11 fixed on the mounting seat 1; the semi-circular arc plate 11 is coaxial with the rotating shaft 3; of course, the roller 502 on the control rod 50 can roll along the semi-circular arc plate 11.

[0062] Referring to Figure 7, the clamping block 51 is rotatably arranged on the loading arm 4. Specifically, the clamping block 51 is installed on the inner side wall of the loading arm 4 through a pin shaft D510, and the clamping block 51 can rotate around the pin shaft D510; the second elastic member 52 is a tension spring. One end of the second elastic member 52 is fixedly connected to the inner side wall of the loading arm 4, and the other end of the second elastic member 52 is fixedly connected to the clamping block 51; the second elastic member 52 always exerts a pulling force on the clamping block 51. In addition, a second connecting portion 511 is fixed on the clamping block 51 for fixedly connecting with the second elastic member 52. Additionally, a connecting block 513 is also fixed on the clamping block 51 for connecting with the first flexible member 53 and the second flexible member 54. L-shaped clamping grooves 512 are formed at both ends of the clamping block 51, and the L-shaped clamping grooves 512 facilitate the clamping block 51 to abut against the trigger plate 610 and at the same time play a role in limiting the trigger plate 610.

[0063] Refer to Figure 7 , the first flexible member 53 connects the clamping block 51 and the control block 503; the second flexible member 54 also connects the clamping block 51 and the control block 503. The second flexible member 54 is close to the second elastic member 52, that is, the second flexible member 54 is located between the first flexible member 53 and the second elastic member 52. Specifically, the first flexible member 53 is chain A, and the second flexible member 54 is chain B. Chain A and chain B are of equal length. One end of chain A is fixedly connected to one end of the control block 503, and the other end of chain A is fixedly connected to the connecting block 513 on the clamping block 51; one end of chain B is fixedly connected to the other end of the control block 503, and the other end of chain B is fixedly connected to the connecting block 513 on the clamping block 51, so that the control block 503, chain A, chain B and the connecting block 513 form a quadrilateral structure.

[0064] Refer to Figure 2 , Figure 4 and Figure 7, during the operation of the control mechanism, when the roller 502 on the control rod 50 rotates with the loading arm 4 to disengage from the semi-circular arc plate 11 (when the gripper opening and closing mechanism rotates with the loading arm 4 to directly above the rotating shaft 3, the roller 502 on the control rod 50 disengages from the semi-circular arc plate 11), the gripper 60 is in a closed state under the gravity of the pipe rod 7. The control rod 50 is released from the restriction of the semi-circular arc plate and cannot counteract the pulling force of the second elastic member 52 on the latch 51. The latch 51 rotates counterclockwise. At this time, chain A is in a stretched state and chain B is in a slack state, causing the latch 51 to catch the trigger plate 610, that is, the latch 51 abuts against the end of the free end 615 of the trigger plate 610 under the elastic force of the second elastic member 52 to lock the gripper opening and closing mechanism and prevent the pipe rod 7 from falling off the gripper opening and closing mechanism. When the control rod 50 rotates with the loading arm 4 to abut against the control rod 50, the control rod 50 drives the control block 503 to drive the second flexible member 54 to disengage the latch 51 from the free end 615 of the trigger plate 610. Specifically, when the control rod 50 abuts against the control rod 50, under the blocking action of the switch rod 10, the control rod 50 drives the control block 503 to rotate counterclockwise. At this time, chain A is in a slack state and chain B is in a stretched state. Chain B drives the latch 51 to rotate clockwise, causing the latch 51 to disengage from the free end 615 of the trigger plate 610, thereby releasing the trigger plate 610 to unlock the gripper opening and closing mechanism.

[0065] In summary, when the flip gripper mechanism of the pipe rod conveying device of the present invention is in use, the gripper opening and closing mechanism is in an open state. The pipe rod 7 is placed on the gripper opening and closing mechanism through a lifting clamp, and then the power unit drives the rotating shaft 3 to drive the loading arm 4 to rotate. Since both the control mechanism and the gripper opening and closing mechanism are provided on the loading arm 4, the control mechanism and the gripper opening and closing mechanism also rotate with the loading arm 4. Because the pipe rod 7 is clamped and fixed by the gripper opening and closing mechanism, and when the gripper opening and closing mechanism is closed, the control mechanism locks the gripper opening and closing mechanism to prevent the gripper opening and closing mechanism from opening. Therefore, when the loading arm 4 rotates 360°, the pipe rod 7 will not fall. When the pipe rod 7 rotates with the loading arm to above the pipe rod 7 conveying device, the control mechanism unlocks the gripper opening and closing mechanism, and the gripper opening and closing mechanism opens under the gravity of the pipe rod 7, causing the pipe fitting to fall into the pipe rod 7 conveying device to complete the pipe lowering, avoiding the defect that the pipe rod 7 needs to roll from a high position along the pipe rod 7 auxiliary arm to the pipe rod 7 conveying device relying on its own gravity, resulting in a structural impact load induced when the pipe rod 7 hits the pipe rod 7 conveying device at high speed, and easily causing equipment damage during long-term operation.

[0066] In addition, the gripper opening and closing mechanism cleverly utilizes the gravity of the pipe rod 7 to control the opening and closing of the gripper opening and closing mechanism, so that the control of the opening and closing of the gripper opening and closing mechanism has no other power source and realizes intelligent grasping and releasing through a pure mechanical structure, solving the problem of power dependence while reducing costs and increasing efficiency. The control mechanism can lock or unlock the gripper opening and closing mechanism without a power source.

[0067] During the operation of the flipping gripper mechanism, the structural states of the gripper opening and closing mechanism and the control mechanism are described as follows:

[0068] Figure 8 The following shows the first state of the upper pipe; Figure 9 The following shows the second state of the upper pipe; Figure 10 This is the third state of the upper pipe; Figure 11 This is the fourth state of the upper pipe. As Figure 8 shown, the first state of the upper pipe is the state where the gripper 60 just grabs the pipe rod 7. At this time, the pipe rod 7 just contacts the arc groove 613 of the trigger plate 610, and the pipe rod 7 does not have an obvious acting force on the trigger plate 610. As the feeding arm 4 rotates counterclockwise to the state as Figure 9 shown, the end of the gripper 60 rises. Due to the gravity of the pipe rod 7, the pipe rod 7 has a downward gravity on the trigger plate 610, and the trigger plate 610 moves to the lower limit part 41 and stops, and the gripper 60 closes; as the feeding arm 4 continues to rotate counterclockwise to the state as Figure 10 shown, the roller 502 on the control rod 50 reaches the end of the semi-circular arc plate, and the roller 502 on the control rod 50 breaks away from the restriction of the semi-circular arc plate. At this time, the control rod 50 cannot offset the pulling force of the second elastic member 52 on the latch 51. At this time, the chain A is in a stretched state, the chain B is in a relaxed state, and the latch 51 rotates counterclockwise, thereby clamping the trigger plate 610 and locking the gripper 60 to prevent the pipe rod 7 from falling off the gripper 60; as the feeding arm 4 continues to rotate counterclockwise until the state as Figure 11 shown, at this time, the gripper 60 is in the state of being locked by the latch 51 and closed. At this time, the control rod 50 is blocked by the switch rod 10 on the mounting seat 1, and the control rod 50 rotates counterclockwise. The chain A is in a relaxed state, the chain B is in a stretched state, and the chain B drives the latch 51 to rotate clockwise, so that the latch 51 disengages from the free end 615 of the trigger plate 610, thereby releasing the trigger plate 610. Under the action of gravity, the pipe rod 7 falls into the pipe rod 7 conveying device, completing the entire upper pipe process.

[0069] The above are only the preferred embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A flipping gripper mechanism for a pipe rod conveying device, comprising a mounting seat, a driving unit and a rotating shaft. The mounting seats are provided at both ends of the rotating shaft, and the rotating shaft is rotatable relative to the mounting seats. The driving unit is arranged on one of the mounting seats and is used to drive the rotating shaft to rotate. A group of feeding arms that can rotate with the rotating shaft are arranged on the rotating shaft, and it is characterized in that, A control mechanism and a gripper opening and closing mechanism are provided on the loading arm. The gripper opening and closing mechanism is used to clamp and fix the pipe rod, and the gripper opening and closing mechanism is opened and closed by the gravity of the pipe rod. The control mechanism is used to lock or unlock the gripper opening and closing mechanism. When the gripper opening and closing mechanism is in the closed state, the control mechanism locks the gripper opening and closing mechanism to prevent the gripper opening and closing mechanism from opening. When the control mechanism unlocks the gripper opening and closing mechanism, the gripper opening and closing mechanism opens under the gravity of the pipe rod.

2. The flipping gripper mechanism of the pipe and rod conveying device according to claim 1, characterized in that, The gripper opening and closing mechanism includes a gripper, a link mechanism, and a first elastic member. The gripper is rotatably arranged on the loading arm. An upper limit portion and a lower limit portion are provided on the loading arm. The link mechanism is rotatably arranged on the loading arm. One end of the link mechanism is hinged to the gripper, and the other end of the link mechanism is a free end that rotates around the loading arm between the upper limit portion and the lower limit portion. One end of the first elastic member is connected to the loading arm, and the other end is connected to the link mechanism. When the gripper is in the open state, the first elastic member makes the free end abut against the upper limit portion. When the gripper is in the closed state, the free end abuts against the lower limit portion.

3. The flipping gripper mechanism of the pipe and rod conveying device according to claim 2, wherein, The link mechanism includes a trigger plate and a connecting plate. The trigger plate is rotatably arranged on the loading arm. The first end of the trigger plate is the free end, and the first elastic member is connected to the trigger plate. The second end of the trigger plate is hinged to the first end of the connecting plate, and the second end of the connecting plate is hinged to the gripper.

4. The turnover gripper mechanism of the pipe and rod conveying equipment according to claim 3, characterized in that, An arc-shaped groove for abutting against the pipe rod is formed on the trigger plate.

5. The turnover gripper mechanism of the pipe and rod conveying device according to claim 2 or 3 or 4, characterized in that The control mechanism includes a control rod, a first flexible member, a clamping block, and a second elastic member. The first end of the control rod is rotatably arranged on the loading arm. A control block is fixed to the end of the first end of the control rod. A roller is arranged at the second end of the control rod. The roller is in rolling connection with a semi-circular arc plate fixed on the mounting seat. The semi-circular arc plate is coaxial with the rotating shaft. The clamping block is rotatably arranged on the loading arm. One end of the second elastic member is connected to the loading arm, and the other end is connected to the clamping block. The first flexible member connects the clamping block and the control block. When the roller rotates with the loading arm and disengages from the semi-circular arc plate, the gripper is in the closed state, and the clamping block abuts against the end of the free end under the elastic force of the second elastic member to lock the gripper opening and closing mechanism.

6. The turnover gripper mechanism of the pipe and rod conveying device according to claim 5, characterized in that, The control mechanism further includes a second flexible member, which also connects the clamping block and the control block. A switch rod is arranged on the mounting seat. The switch rod is parallel to the rotating shaft and can abut against the control rod. When the control rod rotates with the loading arm and abuts against the control rod, the control rod drives the control block to drive the second flexible member to disengage the clamping block from the free end to unlock the gripper opening and closing mechanism.

7. The flipping gripper mechanism of the pipe and rod conveying device according to claim 5, characterized in that, L-shaped clamping grooves are formed at both ends of the clamping block.

8. The flipping gripper mechanism of the pipe rod conveying device according to claim 3, characterized in that, A first connecting portion is provided on the trigger plate for fixedly connecting with the first elastic member.

9. The flipping gripper mechanism of the pipe rod conveying device according to claim 5, characterized in that, A second connecting portion is provided on the clamping block for fixedly connecting with the second elastic member.

10. The turnover gripper mechanism of the pipe rod conveying equipment according to claim 6, characterized in that, The clamping block is provided with a connecting block for connecting with the first flexible member and the second flexible member.

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