Pipe stem transfer robot

Abstract

The present application relates to well repair equipment technical field, it is a connecting rod mechanism and pipe rod transfer mechanical arm, including stand, first connecting rod, second connecting rod and third connecting rod, first connecting rod and third connecting rod are arranged in upper and lower interval, first connecting rod left end and stand hinged and form first hinged point, first connecting rod right end and second connecting rod upper end hinged and form second hinged point, second connecting rod lower end and third connecting rod right end hinged and form third hinged point, third connecting rod left end and stand hinged and form fourth hinged point, the present application is reasonable in structure, clever in design, realizes the purpose of conversion pipe rod gripper angle through connecting rod mechanism, realizes the purpose of controlling pipe rod inclination angle in pipe rod tripping operation through pipe rod transfer mechanical arm, provides hardware foundation for pipe rod automated operation between wellhead and catwalk machine.

Description

Technical Field

[0001] The invention relates to the technical field of well repair equipment, and relates to a connecting rod mechanism and a pipe-rod transferring mechanical arm. Background Art

[0002] During well repair operations, it is necessary to transfer pipe rods between the wellhead and the catwalk machine. When lifting the pipe rod, the upper end of the pipe rod is lifted by lifting rings and elevators. After the lower end of the pipe rod is separated from the pipe rod in the wellhead, the lower end of the pipe rod is placed on the trolley of the catwalk machine. When lowering the pipe rod, the upper end of the pipe rod placed on the trolley of the catwalk machine is lifted by lifting rings and elevators. After the lower end of the pipe rod is separated from the trolley of the catwalk machine, the pipe rod is straightened so that the lower end of the pipe rod is aligned with the wellhead.

[0003] As the requirements for operational efficiency and operational safety of well repair operations become increasingly higher, automation of well repair operations has become an inevitable trend. For this reason, the inventor developed the oil pipe clamp disclosed in the Chinese patent document "Power Catwalk for Well Repair Operations" with publication number CN118187709B in 2024 and the sucker rod clamp disclosed in the Chinese patent document "Power Catwalk" with publication number CN118187708B. The oil pipe clamp can clamp and pull the oil pipe to move together, and the sucker rod clamp can clamp and pull the sucker rod to move together, thereby providing a hardware foundation for the automated operation of the catwalk machine to lift and lower the pipe rod. However, due to the structural characteristics of the above-mentioned oil pipe clamp and sucker rod clamp themselves, when lifting the pipe rod, the pipe rod needs to be tilted 5 to 10 degrees relative to the vertical direction before it can be placed on the oil pipe clamp and sucker rod clamp.

[0004] For this reason, based on the above-mentioned tubing clamps and sucker rod clamps, if the operation of transferring tubing rods between the wellhead and the catwalk machine is to be automated, it is necessary to ensure that the tubing rods can fall onto the catwalk machine at an inclination of 5 to 10 degrees relative to the vertical direction when lifting the tubing rods, and to ensure that the tubing rods can fall in a vertical state at the wellhead position when lowering the tubing rods. For this reason, the inventor plans to design a tubing rod transfer robot arm, which includes a tubing rod gripper for grabbing tubing rods, and the tubing rod gripper has a gripper centerline, which can The central axis of the pipe rod can be made collinear with the center line of the gripper. When the pipe rod is lifted, the center line of the gripper of the pipe rod gripper can be converted from a vertical state to an inclined state of 5 to 10 degrees relative to the vertical direction. When the pipe rod is lowered, the center line of the gripper of the pipe rod gripper can be converted from an inclined state of 5 to 10 degrees relative to the vertical direction to a vertical state. Therefore, when the pipe rod is lifted, the pipe rod can be guided to fall onto the catwalk machine in an inclined state of 5 to 10 degrees relative to the vertical direction, and when the pipe rod is lowered, the pipe rod can be guided to fall in a vertical state at the wellhead position.

[0005] Therefore, based on the above-mentioned robotic arm, how to realize the conversion of the gripper center line of the pipe rod gripper between a vertical state and an inclined state of 5 to 10 degrees relative to the vertical direction has become a practical problem that needs to be solved. Therefore, it is urgent to design a connecting rod mechanism for installing the pipe rod gripper to convert the angle of the pipe rod gripper. Summary of the Invention

[0006] One of the technical solutions of the present invention provides a connecting rod mechanism, which overcomes the shortcomings of the above-mentioned prior art and can be used to convert the angle of the pipe rod gripper.

[0007] A second technical solution of the present invention provides a pipe rod transfer robot arm, which overcomes the above-mentioned shortcomings of the prior art and can be used to control the inclination angle of the pipe rod when transferring the pipe rod between the wellhead and the catwalk machine.

[0008] One of the technical solutions of the present invention is achieved through the following measures: a connecting rod mechanism, including a vertical frame, a first connecting rod, a second connecting rod and a third connecting rod, the first connecting rod and the third connecting rod are spaced apart in an upper and lower manner, the left end of the first connecting rod is hinged to the vertical frame to form a first hinge point, the right end of the first connecting rod and the upper end of the second connecting rod are hinged to form a second hinge point, the lower end of the second connecting rod and the right end of the third connecting rod are hinged to form a third hinge point, and the left end of the third connecting rod is hinged to the vertical frame to form a fourth hinge point; the distance between the third hinge point and the fourth hinge point is greater than the distance between the first hinge point and the second hinge point, and the distance between the second hinge point and the third hinge point is greater than the distance between the first hinge point and the fourth hinge point; the connecting rod mechanism has a retracted position, a semi-extended position and an extended position, and the axial direction of the second connecting rod in the semi-extended position forms an angle with the axial direction of the second connecting rod in the extended position, and the angle is defined as a gripper conversion angle, and the gripper conversion angle is between 5 degrees and 10 degrees.

[0009] The second technical solution of the present invention is achieved through the following measures: a pipe rod transfer robot arm, including a connecting rod mechanism, a connecting rod driving mechanism and a pipe rod gripper, the connecting rod driving mechanism is used to drive the connecting rod mechanism to switch between various positions; the pipe rod gripper includes a mounting plate, a claw and a claw driving mechanism, the mounting plate is fixedly installed on the second connecting rod, and a pipe rod through hole is provided in the middle of the mounting plate, which is penetrated from top to bottom for the pipe rod to pass through, and a notch is provided on the left side of the mounting plate, which is connected to the pipe rod through hole for the pipe rod to enter or exit the pipe rod through hole, and at least three claws are hingedly connected to the mounting plate and are evenly distributed circumferentially around the central axis of the pipe rod through hole, and the claw driving mechanism drives the claws to retract or open to grasp or release the pipe rod, and when the claws grasp the pipe rod, the pipe rod can be displaced relative to the claws along its own axial direction; the central axis of the pipe rod through hole is defined as the gripper center line, when the connecting rod mechanism is in a semi-extended position, the gripper center line is parallel to the vertical direction, and when the connecting rod mechanism is in an extended position, the angle between the gripper center line and the vertical direction is equal to the gripper conversion angle.

[0010] The following is a further optimization and / or improvement of the second technical solution of the above invention:

[0011] The above-mentioned connecting rod driving mechanism includes a connecting rod driving cylinder, the cylinder body of the connecting rod driving cylinder and the stand are hingedly connected, the piston rod of the connecting rod driving cylinder and the third connecting rod are hingedly connected, and the connecting rod driving cylinder is connected to the air source through a center-exhaust three-position five-way solenoid valve; the pipe-rod transferring robot arm also includes a support limit device for limiting the connecting rod mechanism in a semi-extended position, when the connecting rod mechanism is in the extended position and the center-exhaust three-position five-way solenoid valve is in the middle position, the connecting rod mechanism can automatically switch from the extended position to the semi-extended position without being subjected to external force, and when the connecting rod mechanism is in the retracted position and the center-exhaust three-position five-way solenoid valve is in the middle position, the connecting rod mechanism can automatically switch from the retracted position to the semi-extended position without being subjected to external force; the support limit device can release the limit on the connecting rod mechanism when the connecting rod driving mechanism drives the connecting rod mechanism to change position.

[0012] The above-mentioned support and limiting device is a gas spring, the cylinder of the gas spring is installed on the third connecting rod, and when the connecting rod mechanism is in a semi-extended position, the piston rod of the gas spring is against the first connecting rod.

[0013] The above-mentioned mounting plates are upper and lower, and a fixed shaft is fixedly connected between the upper and lower mounting plates. The upper end of the gripper is hingedly connected to the lower mounting plate through a first hinge shaft; the gripper driving mechanism includes a gripper driving cylinder arranged in a one-to-one correspondence with each gripper, and the cylinder body of the gripper driving cylinder is hingedly connected to the upper mounting plate, and the piston rod of the gripper driving cylinder is hingedly connected to the upper end of the gripper through a second hinge shaft, and the second intersection shaft is located on the outside of the first hinge shaft.

[0014] A sliding plate is slidably mounted on the fixed shaft, and a connecting rod is connected between each hand claw and the sliding plate. The lower end of the connecting rod and the upper end of the hand claw are hingedly connected through a second hinge shaft, and the upper end of the connecting rod and the sliding plate are hingedly connected.

[0015] A roller is provided on the inner side of the middle part of the above-mentioned gripper for rolling contact with the pipe rod when grasping the pipe rod, and the surface of the roller is an arc surface; the inner side surface of the gripper corresponding to the position above the roller is an inclined surface or arc surface inclined from top to bottom and from outside to inside, and the inner side surface of the gripper corresponding to the position below the roller is an inclined surface or arc surface inclined from top to bottom and from inside to outside.

[0016] There can be three above-mentioned claws.

[0017] The present invention has a reasonable structure and ingenious design. It realizes the purpose of converting the pipe rod gripper angle through the connecting rod mechanism and realizes the purpose of controlling the pipe rod inclination angle during the pipe rod lifting and lowering operation through the pipe rod transfer robot arm, providing a hardware foundation for the automated operation of transferring pipe rods between the wellhead and the catwalk machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Attachment Figure 1The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0019] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. Figure 2 The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0020] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. Figure 3 The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0021] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. Figure 4 The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0022] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. Figure 5 The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0023] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. Figure 6 The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0024] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. Figure 7 The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0025] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. Figure 8 The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0026] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. Figure 9 The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0027] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. Figure 10 The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application.

[0028] The main view structural schematic diagram of the connecting rod mechanism in the retracted position in the embodiment one and two of the present application. DETAILED DESCRIPTION

[0029] The present application is not limited by the following embodiments, and the specific implementation can be determined according to the technical scheme of the present application and the actual situation.

[0030] In the present application, in order to facilitate the description, the relative position relationship of each component is described according to the attached drawings of the specification. Figure 1For example, the positional relationships of front, back, up, down, left, and right are determined according to the layout directions of the drawings in the specification.

[0031] The present invention will be further described below in conjunction with the embodiments and accompanying drawings:

[0032] Example 1: As shown in the attached Figure 1-3 As shown, the connecting rod mechanism includes a stand 1, a first connecting rod 2, a second connecting rod 3 and a third connecting rod 4, the first connecting rod 2 and the third connecting rod 4 are spaced apart in the upper and lower parts, the left end of the first connecting rod 2 is hinged to the stand 1 to form a first hinge point, the right end of the first connecting rod 2 and the upper end of the second connecting rod 3 are hinged to form a second hinge point, the lower end of the second connecting rod 3 and the right end of the third connecting rod 4 are hinged to form a third hinge point, and the left end of the third connecting rod 4 is hinged to the stand 1 to form a fourth hinge point; the distance between the third hinge point and the fourth hinge point is greater than the distance between the first hinge point and the second hinge point, and the distance between the second hinge point and the third hinge point is greater than the distance between the first hinge point and the fourth hinge point; the connecting rod mechanism has a retracted position, a semi-extended position and an extended position, and the axial direction of the second connecting rod 3 in the semi-extended position forms an angle with the axial direction of the second connecting rod 3 in the extended position, and the angle is defined as the gripper conversion angle, and the gripper conversion angle is between 5 degrees and 10 degrees.

[0033] The semi-extended position is between the retracted position and the extended position. When the connecting rod mechanism is in the retracted position, the first connecting rod 2, the second connecting rod 3 and the third connecting rod 4 are close together, the third connecting rod 4 is in contact with the stand 1, and the angle formed between the axial direction of the second connecting rod 3 and the axial direction of the third connecting rod 4 is the smallest. When the connecting rod mechanism is converted from the retracted position to the extended position, the first connecting rod 2 and the third connecting rod 4 rotate counterclockwise around the first hinge point and the fourth hinge point respectively, the angle formed between the axial direction of the second connecting rod 3 and the axial direction of the third connecting rod 4 gradually increases, the distance between the first connecting rod 2 and the third connecting rod 4 gradually increases, and the connecting rod mechanism gradually extends.

[0034] Since the distance between the third hinge point and the fourth hinge point of the connecting rod mechanism in the present application is greater than the distance between the first hinge point and the second hinge point, and the distance between the second hinge point and the third hinge point is greater than the distance between the first hinge point and the fourth hinge point, the inclination angle of the second connecting rod 3 relative to the vertical direction will continuously change during the contraction or extension of the connecting rod mechanism; when in use, the pipe rod gripper is fixedly installed on the second connecting rod 3, and it is ensured that the gripper center line of the pipe rod gripper is parallel to the vertical direction when the connecting rod mechanism is in the semi-extended position. Therefore, when the connecting rod mechanism is extended from the semi-extended position to the extended position, the gripper center line of the pipe rod gripper begins to gradually tilt to the left relative to the vertical direction. When the connecting rod mechanism is extended to the extended position, the angle between the gripper center line of the pipe rod gripper and the vertical direction is equal to the above-mentioned gripper conversion angle. Therefore, the purpose of converting the pipe rod grip angle can be achieved through the connecting rod mechanism in this application. Specifically, in this embodiment, the grip conversion angle is 6 degrees, that is, when the connecting rod mechanism is in the extended position, the angle between the grip center line and the vertical direction is 6 degrees. In other embodiments, the grip conversion angle can be 5 degrees or 10 degrees or any other angle in the range of 5 to 10 degrees.

[0035] Example 2: As shown in the attached Figure 1-10 As shown, the pipe rod transfer robot arm includes a connecting rod mechanism, a connecting rod driving mechanism and a pipe rod gripper. The connecting rod driving mechanism is used to drive the connecting rod mechanism to switch between various positions; the pipe rod gripper includes a mounting plate 5, a hand claw 6 and a hand claw driving mechanism. The mounting plate 5 is fixedly mounted on the second connecting rod 3. A pipe rod through hole 7 is provided in the middle of the mounting plate 5 and is provided with a notch 8 connected to the pipe rod through hole 7 for the pipe rod to enter or exit the pipe rod through hole 7. The mounting plate 5 is hingedly connected to the There are at least three grippers 6 uniformly distributed circumferentially around the central axis of the pipe rod through hole 7. The gripper drive mechanism drives the gripper 6 to retract or open to grasp or release the pipe rod, and when the gripper 6 grasps the pipe rod, the pipe rod can be displaced relative to the gripper 6 along its own axial direction; the central axis of the pipe rod through hole 7 is defined as the gripper center line, when the connecting rod mechanism is in a semi-extended position, the gripper center line is parallel to the vertical direction, and when the connecting rod mechanism is in an extended position, the angle between the gripper center line and the vertical direction is equal to the gripper conversion angle.

[0036] The pipe and rod gripper of the present application is suitable for grabbing oil pipes and sucker rods. Specifically, the diameter of the pipe and rod through-hole 7 and the opening width of the notch 8 are slightly larger than the outer diameter of the oil pipe. The pipe and rod gripper grabs the pipe and rod by means of at least three claws 6 evenly distributed circumferentially around the center line of the gripper, thereby ensuring that the central axis of the pipe and rod and the center line of the gripper are collinear when the pipe and rod are grabbed. Therefore, as long as the inclination angle of the gripper center line of the pipe and rod gripper is limited, the inclination angle of the pipe and rod can be limited.

[0037] During the pipe rod lifting operation, the connecting rod mechanism is converted from a semi-extended state to an extended state, thereby converting the center line of the gripper from a vertical state to an inclined state of 5 to 10 degrees relative to the vertical direction, so that the pipe rod 22 can be lowered onto the catwalk machine at an inclined state of 5 to 10 degrees relative to the vertical direction; during the pipe rod lowering operation, the connecting rod mechanism is converted from an extended state to a semi-extended state, thereby adjusting the center line of the gripper from an inclined state of 5 to 10 degrees relative to the vertical direction to a vertical state, so that the pipe rod 22 can be lowered to the wellhead in a vertical state. Specifically, in this embodiment, the gripper conversion angle is 6 degrees, that is, when the connecting rod mechanism is in the extended position, the angle between the gripper center line and the vertical direction is 6 degrees. In other embodiments, the gripper conversion angle can be 5 degrees, 10 degrees, or any other angle within the range of 5 to 10 degrees. In addition, in this embodiment, there are three claws 6.

[0038] The above embodiment 2 may be further optimized and / or improved according to actual needs:

[0039] As attached Figure 1-3 As shown in 7-10, the connecting rod driving mechanism includes a connecting rod driving cylinder 9, the cylinder body of the connecting rod driving cylinder 9 and the stand 1 are hingedly connected, the piston rod of the connecting rod driving cylinder 9 and the third connecting rod 4 are hingedly connected, and the connecting rod driving cylinder 9 is connected to the air source through a center-exhaust three-position five-way solenoid valve; the pipe-rod transferring robot arm also includes a support limit device for limiting the connecting rod mechanism in a semi-extended position, when the connecting rod mechanism is in the extended position and the center-exhaust three-position five-way solenoid valve is in the middle position, the connecting rod mechanism can automatically switch from the extended position to the semi-extended position without being subjected to external force, and when the connecting rod mechanism is in the retracted position and the center-exhaust three-position five-way solenoid valve is in the middle position, the connecting rod mechanism can automatically switch from the retracted position to the semi-extended position without being subjected to external force; the support limit device can release the limit on the connecting rod mechanism when the connecting rod driving mechanism drives the connecting rod mechanism to change position.

[0040] The connecting rod driving cylinder 9 is connected to the air source through a center-leakage three-position five-way solenoid valve. Therefore, when the center-leakage three-position five-way solenoid valve is in the middle position, the rod chamber and the rodless chamber of the connecting rod driving cylinder 9 are connected to the atmosphere. Therefore, the connecting rod driving cylinder 9 does not affect the extension and retraction of the connecting rod mechanism. Compared with the traditional cylinder-driven lower connecting rod mechanism that can only stay in two working positions, this application realizes the three-working position stay of the connecting rod mechanism in the cylinder drive mode through the setting of the center-leakage three-position five-way solenoid valve and the support limit device.

[0041] As attached Figure 2-3As shown in Figures 8-9, the support and limiting device is a gas spring 10. The cylinder of the gas spring 10 is installed on the third connecting rod 4. When the connecting rod mechanism is in the semi-extended position, the piston rod of the gas spring 10 is against the first connecting rod 2. When the connecting rod mechanism is in the extended position, the distance between the first connecting rod 2 and the third connecting rod 4 is large, and the piston rod of the gas spring 10 is separated from the first connecting rod 2. If the three-position five-way electromagnetic valve with central leakage is switched to the middle position at this time, the connecting rod mechanism is converted from the extended position to the semi-extended position under the action of the gravity of the connecting rod mechanism and the pipe rod gripper, and the distance between the first connecting rod 2 and the third connecting rod 4 gradually decreases. When the connecting rod mechanism moves to the semi-extended position, the piston rod of the gas spring 10 is against the first connecting rod 2. At this time, under the limiting support of the gas spring 10, the first connecting rod 2 cannot continue to move toward the third connecting rod. 4 approaches, whereby the connecting rod mechanism cannot continue to retract, and the connecting rod mechanism is thereby limited in the semi-extended position. When the connecting rod driving cylinder 9 works, the connecting rod driving cylinder 9 can overcome the supporting force of the gas spring 10 and drive the connecting rod mechanism to switch from the semi-extended position to the retracted position. When the connecting rod mechanism is in the retracted position, the distance between the first connecting rod 2 and the third connecting rod 4 is small, and the piston rod of the gas spring 10 is pressed back into the cylinder body. If the center-exhaust three-position five-way solenoid valve is switched to the center position at this time, the connecting rod mechanism is driven to switch from the retracted position to the semi-extended position under the action of the restoring force of the gas spring 10.

[0042] As attached Figure 4 、 6 As shown, there are two mounting plates 5, one above the other, with a fixed shaft 11 fixedly connected between the two mounting plates 5. The upper end of the gripper 6 is hingedly connected to the lower mounting plate 5 via a first hinge shaft 12. The gripper drive mechanism includes a gripper drive cylinder 13 corresponding to each gripper 6. The cylinder body of the gripper drive cylinder 13 is hingedly connected to the upper mounting plate 5. The piston rod of the gripper drive cylinder 13 is hingedly connected to the upper mounting plate 5. The piston rod of the gripper drive cylinder 13 is hingedly connected to the upper end of the gripper 6 via a second hinge shaft 14, and the second hinge shaft is located outside the first hinge shaft 12. When the piston rod of the gripper drive cylinder 13 is extended, the gripper 6 is driven to retract. When the piston rod of the gripper drive cylinder 13 is retracted, the gripper 6 is driven to open. Thus, the purpose of grasping and releasing the pipe rod is achieved through the telescopic action of the piston rod of the gripper drive cylinder 13.

[0043] As attached Figure 4 、 6 As shown, a sliding plate 15 is slidably mounted on the fixed shaft 11. A connecting rod 16 is connected between each gripper 6 and the sliding plate 15. The lower end of the connecting rod 16 is hingedly connected to the upper end of the gripper 6 via a second hinge shaft 14, and the upper end of the connecting rod 16 is hingedly connected to the sliding plate 15. This ensures that each gripper 6 can move synchronously, ensuring that the central axis of the pipe and the centerline of the gripper are collinear when the gripper 6 grasps the pipe.

[0044] As attached Figure 4-6As shown, a roller 17 is provided on the inner side of the middle portion of the gripper 6 for rolling contact with the pipe rod when gripping the pipe rod. The surface of the roller 17 is an arc surface. The inner side surface of the gripper 6 corresponding to the position above the roller 17 is an inclined surface or arc surface that tilts from top to bottom and from outside to inside. The inner side surface of the gripper 6 corresponding to the position below the roller 17 is an inclined surface or arc surface that tilts from top to bottom and from inside to outside. When the gripper 6 grips the pipe rod, the roller 17 and the pipe rod make rolling contact, thereby ensuring that the pipe rod can move relative to the gripper 6 along its own axis. The inner side surface of the gripper 6 corresponding to the position above the roller 17 is an inclined surface or arc surface that tilts from top to bottom and from outside to inside. Therefore, when the gripper 6 is retracted, the space above the roller 17 is larger at the top and smaller at the bottom. Therefore, when gripping the sucker rod, when the sucker rod moves downward relative to the gripper 6, the contact point between the straightening block on the sucker rod and the gripper 6 can be closer to the bottom, which is more conducive to the straightening block supporting Open the claw 6, so as to facilitate the straightening block to pass through the pipe gripper; specifically, in this embodiment, the distance between the central axis of the first hinge shaft 12 and the central axis of the second hinge shaft 14 is 3 cm, the distance between the central axis of the roller 17 and the central axis of the first hinge shaft 12 is 12 cm, the thrust of the claw driving cylinder 13 is 20 kg, and when the claw 6 is retracted to grasp the pipe, the gripping force of each claw 6 on the pipe is 5 kg, and the direction of the gripping force is perpendicular to the axial direction of the pipe.

[0045] When in use, a wellhead platform 18 is installed at the wellhead position, and a mobile trolley that can move left and right is provided on the wellhead platform 18, and the stand 1 is fixedly installed on the mobile trolley. Specifically, the mobile trolley includes a frame 19 and a travel drive mechanism that drives the frame 19 to move left and right. The travel drive mechanism includes a screw rod, a slider and a screw rod motor. A screw rod is rotatably installed on the wellhead platform 18, and a slider that can slide left and right is provided on the screw rod. The frame 19 and the slider are fixedly connected, and the output shaft of the screw rod motor is connected to the screw rod transmission. The screw rod motor is connected to a controller, which is a PLC controller. The connecting rod drive cylinder 9 is connected to the controller through a mid-exhaust three-position five-way solenoid valve, and the hand claw drives the air cylinder 9. The cylinder 13 is connected to the controller through an electromagnetic valve. There are four positions No. 1, No. 2, No. 3 and No. 4 on the moving path of the mobile car from left to right. Corresponding to the No. 1, No. 2, No. 3 and No. 4 positions, there is a No. 1 position sensor, a No. 2 position sensor, a No. 3 position sensor and a No. 4 position sensor on the wellhead platform 18 respectively. The No. 1 position sensor, the No. 2 position sensor, the No. 3 position sensor and the No. 4 position sensor are connected to the controller respectively. The No. 1 position is 12 cm to the left of the No. 2 position, the No. 3 position is 30 cm to the right of the No. 2 position, and the No. 4 position is 60 cm to the right of the No. 2 position.

[0046] The specific working process is:

[0047] Pipe rod lowering operation: Initially, the mobile trolley is in position No. 4, the connecting rod mechanism is in the extended position, the pipe rod gripper is close to the left end of the catwalk machine and is located above it on the left, the claws 6 of the pipe rod gripper are open, and the angle between the gripper center line of the pipe rod gripper and the vertical direction is 6 degrees. When the upper end of the pipe rod is lifted by the lifting ring 20 and the lifting card 21 and the lower end is separated from the trolley 23 of the catwalk machine and enters the pipe rod through-hole 7 through the notch 8, the mobile trolley starts to move to the left. When the mobile trolley moves to position No. 3, the controller controls the central-discharge three-position five-way solenoid valve to be in the middle position and controls the mobile trolley to continue to move to the left. When the mobile trolley moves to position No. 2, the connecting rod mechanism automatically rotates from the extended position to the semi-extended position. When the trolley moves to the second position, the connecting rod mechanism stays in the semi-extended position under the limiting action of the gas spring 10. At this time, the center line of the pipe gripper is in a vertical state and aligned with the center of the wellhead. The controller controls the claw 6 to retract and tighten the pipe rod so that the pipe rod is in a vertical state and aligned with the center of the wellhead. Then the lifting ring 20 and the lifting card 21 fall, and the pipe rod moves vertically downward relative to the claw 6. Then the lower end of the pipe rod is tightened and docked with the upper end of the pipe rod in the wellhead by the hydraulic clamp. After the docking is completed, the claw 6 opens, the trolley moves to the first position, and the pipe rod exits the pipe gripper through the notch 8. The controller controls the action of the connecting rod cylinder to convert the connecting rod mechanism from the semi-extended position to the retracted position.

[0048] Pipe rod lifting operation: Initially, the mobile trolley is in position 1, the connecting rod mechanism is in the retracted position, the pipe rod gripper is on the left side of the wellhead, and the claw 6 of the pipe rod gripper is open. When the upper end of the pipe rod is lifted by the lifting ring 20 and the lifting card 21 and the lower end is separated from the pipe rod in the wellhead, the controller controls the central leakage type three-position five-way solenoid valve to be in the middle position. Under the restoring force of the gas spring 10, the connecting rod mechanism automatically switches from the retracted position to the semi-extended position, and then the mobile trolley moves from position 1 to position 2. The pipe rod enters the pipe rod through-hole 7 through the notch 8. Then the controller controls the connecting rod cylinder to move the connecting rod mechanism from the semi-extended position to the extended position, and then moves The trolley moves from position No. 2 to position No. 4. During the movement of the trolley, the lifting ring 20 and the lifting card 21 continue to lift the pipe rod for a certain distance. When the trolley moves to position No. 4, the pipe rod gripper is close to the left end of the catwalk machine and is located above it to the left. The lower end of the pipe rod is located above the left of the trolley 23 of the catwalk machine. Then the controller controls the claw 6 of the pipe rod gripper to retract and grasp the pipe rod so that the angle between the axial direction of the pipe rod and the vertical direction is 6 degrees. Then the lifting ring 20 and the lifting card 21 are lowered, and the pipe rod descends at an inclination angle of 6 degrees relative to the vertical direction. When the lower end of the pipe rod is placed on the trolley 23 of the catwalk machine, the claw 6 opens, the trolley moves to the left, and the pipe rod exits the pipe rod gripper.

[0049] The above technical features constitute the best embodiment of the present invention, which has strong adaptability and best implementation effect. Non-essential technical features can be added or removed according to actual needs to meet the requirements of different situations.

Claims

1. A pipe and rod transfer robot arm, characterized in that The cam is connected to the vertical frame by a hinged connection between the first link and the second link, and the hinged connection between the first link and the second link is connected. Located between 5 degrees and 10 degrees; the connecting rod drive mechanism is used to drive the connecting rod mechanism to switch between various positions; the pipe rod gripper includes a mounting plate, a claw and a claw drive mechanism, the mounting plate is fixedly mounted on the second connecting rod, and a pipe rod through hole is provided in the middle of the mounting plate for the pipe rod to pass through, and a notch is provided on the left side of the mounting plate that is connected to the pipe rod through hole for the pipe rod to enter or exit the pipe rod through hole. The mounting plate is hingedly connected with at least three claws that are circumferentially evenly distributed around the central axis of the pipe rod through hole. The claw drive mechanism drives the claw to close or open to grasp or release the pipe rod, and when the claw grasps the pipe rod, the pipe rod can be displaced relative to the claw along its own axial direction; the central axis of the pipe rod through hole is defined as the center line of the gripper, and when the connecting rod mechanism is in a semi-extended position, the center line of the gripper is parallel to the vertical direction. When the connecting rod mechanism is in an extended position, the angle between the center line of the gripper and the vertical direction is equal to the gripper conversion angle.

2. The pipe rod transfer robot according to claim 1, characterized in that The connecting rod driving mechanism includes a connecting rod driving cylinder, the cylinder body of the connecting rod driving cylinder and the stand are hingedly connected, the piston rod of the connecting rod driving cylinder and the third connecting rod are hingedly connected, and the connecting rod driving cylinder is connected to the air source through a center-exhaust three-position five-way solenoid valve; the pipe-rod transferring robot arm also includes a support limit device for limiting the connecting rod mechanism in a semi-extended position, when the connecting rod mechanism is in the extended position and the center-exhaust three-position five-way solenoid valve is in the middle position, the connecting rod mechanism can automatically switch from the extended position to the semi-extended position without being subjected to external force, and when the connecting rod mechanism is in the retracted position and the center-exhaust three-position five-way solenoid valve is in the middle position, the connecting rod mechanism can automatically switch from the retracted position to the semi-extended position without being subjected to external force; the support limit device can release the limit on the connecting rod mechanism when the connecting rod driving mechanism drives the connecting rod mechanism to change position.

3. The pipe rod transfer robot according to claim 2, characterized in that The support and limiting device is a gas spring, the cylinder of the gas spring is installed on the third connecting rod, and when the connecting rod mechanism is in a semi-extended position, the piston rod of the gas spring is against the first connecting rod.

4. The pipe rod transfer robot according to claim 1, 2 or 3, characterized in that There are two mounting plates, one above and one below, with a fixed shaft fixedly connected between the two mounting plates. The upper end of the gripper is hingedly connected to the lower mounting plate through a first hinge shaft; the gripper drive mechanism includes a gripper drive cylinder arranged one-to-one corresponding to each gripper, the cylinder body of the gripper drive cylinder is hingedly connected to the upper mounting plate, the piston rod of the gripper drive cylinder is hingedly connected to the upper end of the gripper through a second hinge shaft, and the second intersection shaft is located on the outside of the first hinge shaft.

5. The pipe rod transfer robot according to claim 4, characterized in that A sliding plate is slidably mounted on the fixed shaft, a connecting rod is connected between each hand claw and the sliding plate, the lower end of the connecting rod and the upper end of the hand claw are hingedly connected through a second hinge shaft, and the upper end of the connecting rod and the sliding plate are hingedly connected.

6. The pipe and rod transfer robot according to claim 1, 2, 3 or 5, characterized in that A roller is provided on the inner side of the middle part of the gripper for rolling contact with the pipe rod when grasping the pipe rod, and the surface of the roller is an arc surface; the inner side surface of the gripper corresponding to the position above the roller is an inclined surface or arc surface inclined from top to bottom and from outside to inside, and the inner side surface of the gripper corresponding to the position below the roller is an inclined surface or arc surface inclined from top to bottom and from inside to outside.

7. The pipe rod transfer robot according to claim 4, characterized in that A roller is provided on the inner side of the middle part of the gripper for rolling contact with the pipe rod when grasping the pipe rod, and the surface of the roller is an arc surface; the inner side surface of the gripper corresponding to the position above the roller is an inclined surface or arc surface inclined from top to bottom and from outside to inside, and the inner side surface of the gripper corresponding to the position below the roller is an inclined surface or arc surface inclined from top to bottom and from inside to outside.

8. The pipe and rod transfer robot according to claim 1, 2, 3, 5 or 7, characterized in that There are three claws.

9. The pipe rod transfer robot according to claim 4, characterized in that There are three claws.

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