Tube rod gripper and tube rod transfer platform

Abstract

The present application relates to well repair equipment technical field, it is a kind of pipe rod gripper and pipe rod transfer platform, including mounting disc, paw and paw drive mechanism, the middle part of mounting disc is equipped with the pipe rod through hole for pipe rod to be equipped with for pipe rod, the left side of mounting disc is equipped with the gap for pipe rod to enter or exit pipe rod through hole with pipe rod through hole communication, at least three paws that are evenly distributed around the central axis of pipe rod through hole are hingedly connected on mounting disc, paw drive mechanism drives paw to close or open to grip or release pipe rod.The present application structure is reasonable, design is ingenious, pipe rod gripper is grabbed by at least three paws that are evenly distributed around the central line of gripper, the central axis of pipe rod and gripper central line are collinear when paw closes and grips pipe rod, thus only control the inclination angle of gripper central line of pipe rod gripper, the inclination angle of pipe rod can be controlled, thus it is convenient to control the inclination angle of pipe rod when pipe rod is transferred between wellhead and catwalk machine.

Description

Technical Field

[0001] The invention relates to the technical field of well repair equipment, in particular to a pipe-rod grabber and a pipe-rod transferring platform. 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] Based on the above-mentioned oil pipe clamps and sucker rod clamps, the inventor plans to design a pipe transfer platform for transferring pipes between the wellhead and the catwalk machine. The pipe transfer platform plans to use a pipe grabber to grab and transfer the pipes. However, to realize the automation of the pipe transfer operation, it is necessary to control that when the pipe is lifted, the pipe can slide down at an angle of 5 to 10 degrees relative to the vertical direction and sit on the trolley of the catwalk machine. When the pipe is lowered, the pipe can slide down in the vertical direction and align with the center of the wellhead. The existing pipe grabbers cannot meet the above work requirements. Therefore, it is urgent to design a pipe grabber that can meet the above work requirements. Summary of the Invention

[0005] One of the technical solutions of the present invention provides a pipe rod gripper, which overcomes the shortcomings of the above-mentioned prior art and can effectively solve the problem of inconvenience in controlling the inclination angle of the pipe rod when transferring the pipe rod between the wellhead and the catwalk machine.

[0006] The second technical solution of the present invention provides a pipe-rod transfer platform, which overcomes the shortcomings of the above-mentioned existing technologies and can effectively solve the problems of high labor intensity and high operation risks of operators in the existing operation of transferring pipe-rods between the wellhead and the catwalk machine.

[0007] One of the technical solutions of the present invention is achieved through the following measures: a pipe rod gripper, including a mounting plate, a claw and a claw driving mechanism, a pipe rod through hole that runs through the middle of the mounting plate and is provided for the pipe rod to pass through, a notch that is connected to the pipe rod through hole for the pipe rod to enter or exit the pipe rod through hole is provided on the left side of the mounting plate, and at least three claws that are evenly distributed circumferentially around the central axis of the pipe rod through hole are hingedly connected to the mounting plate, and the claw driving mechanism drives the claw to retract 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.

[0008] The following is a further optimization and / or improvement of one of the above invention solutions:

[0009] 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 hinge shaft is located on the outside of the first hinge shaft.

[0010] 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.

[0011] 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.

[0012] There are three of the above-mentioned claws.

[0013] The second technical solution of the present invention is achieved by the following measures: a pipe and rod transfer platform, including a wellhead platform, a mobile trolley, a connecting rod mechanism, a connecting rod driving mechanism and a pipe and rod gripper; a mobile trolley that can move left and right is provided on the wellhead platform; the connecting rod mechanism includes a stand, a first connecting rod, a second connecting rod and a third connecting rod, the first connecting rod and the third connecting rod are arranged at intervals up and down, the left end of the first connecting rod is hinged to the stand to form a first hinge point, the right end of the first connecting rod is hinged to the upper end of the second connecting rod to form a second hinge point, the lower end of the second connecting rod is hinged to the right end of the third connecting rod to form a third hinge point, and the left end of the third connecting rod is hinged to the stand to form The 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, the stand is fixedly mounted on the mobile trolley, and the mounting plate is fixedly mounted on the second connecting rod; the central axis of the pipe rod through hole is defined as the center line of the gripper, when the connecting rod mechanism is in the semi-extended position, the center line of the gripper is parallel to the vertical direction, and when the connecting rod mechanism is in the extended position, the angle between the center line of the gripper and the vertical direction is between 5 degrees and 10 degrees.

[0014] The following is a further optimization and / or improvement of the second embodiment of the above invention:

[0015] The above-mentioned connecting rod driving mechanism includes a connecting rod driving cylinder, the cylinder body of the connecting rod driving cylinder and the vertical frame 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 platform 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.

[0016] The above-mentioned 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.

[0017] The above-mentioned pipe and rod transfer platform also includes a controller; the mobile trolley includes a frame and a travel drive mechanism that drives the frame to move left and right, the travel drive mechanism includes a screw, a slider and a screw motor, a screw is rotatably installed on the wellhead platform, and a slider that can slide left and right is provided on the screw, the frame and the slider are fixedly connected, the output shaft of the screw motor is connected to the screw transmission, and the screw motor is connected to the controller; the connecting rod drive cylinder is connected to the controller through a mid-leakage three-position five-way solenoid valve; the gripper drive cylinder is connected to the controller through the solenoid valve; there are position No. 1, position No. 2, position No. 3, and position No. 4 on the moving path of the mobile trolley from left to right, and a position No. 1 sensor, a position No. 2 sensor, a position No. 3 sensor, and a position No. 4 sensor are respectively provided on the wellhead platform corresponding to position No. 1, position No. 2, position No. 3, and position No. 4, and the position No. 1 sensor, position No. 2 sensor, position No. 3 sensor, and position No. 4 sensor are respectively connected to the controller.

[0018] A limit frame is provided on the right side of the wellhead platform, and a limit rod is provided on the second connecting rod; when the mobile trolley is in the fourth position and the connecting rod mechanism is in the extended position, the limit rod and the limit frame are offset.

[0019] The present invention has a reasonable structure and an ingenious design. The pipe gripper grasps the pipe by means of at least three claws uniformly distributed circumferentially around the center line of the gripper. When the claws are retracted and the pipe is gripped tightly, the center axis of the pipe and the center line of the gripper are collinear. Therefore, the tilt angle of the pipe can be controlled by controlling the tilt angle of the gripper center line of the pipe gripper, thereby facilitating control of the tilt angle of the pipe when transferring the pipe between the wellhead and the catwalk machine. In addition, by providing a pipe transfer platform to transfer the pipe between the wellhead and the catwalk machine, the operation risk and labor intensity of the operators are greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Attachment Figure 1 This is a schematic diagram of the main structure of the pipe rod gripper in embodiments 1 and 2 of the present invention.

[0021] Attachment Figure 2 Schematic diagram of the top view of the pipe rod gripper in embodiments 1 and 2 of the present invention.

[0022] Attachment Figure 3 It is a stereoscopic view of the pipe rod gripper in embodiments 1 and 2 of the present invention.

[0023] Attachment Figure 4 This is a schematic diagram of the main structure of the connecting rod mechanism in the second embodiment of the present invention.

[0024] Attachment Figure 5 This is a three-dimensional diagram of embodiment 2 of the present invention.

[0025] Attachment Figure 6 This is a schematic diagram of the main structure of embodiment 2 of the present invention when the connecting rod mechanism is in the extended position.

[0026] Attachment Figure 7 This is a schematic diagram of the main structure of embodiment 2 of the present invention when the connecting rod mechanism is in a semi-extended position.

[0027] Attachment Figure 8 This is a schematic diagram of the main structure of embodiment 2 of the present invention when the connecting rod mechanism is in the retracted position.

[0028] The codes in the accompanying drawings are: 1 for the mounting plate, 2 for the hand, 3 for the pipe rod through hole, 4 for the notch, 5 for the fixed shaft, 6 for the first hinge shaft, 7 for the hand claw driving cylinder, 8 for the second hinge shaft, 9 for the sliding plate, 10 for the connecting rod, 11 for the roller, 12 for the wellhead platform, 13 for the stand, 14 for the first connecting rod, 15 for the second connecting rod, 16 for the third connecting rod, 17 for the connecting rod driving cylinder, 18 for the gas spring, 19 for the frame, 20 for the lifting ring, 21 for the lifting card, 22 for the pipe rod, and 23 for the trolley of the catwalk machine. DETAILED DESCRIPTION

[0029] The present invention is not limited to the following embodiments, and specific implementation methods can be determined based on the technical solutions of the present invention and actual conditions.

[0030] In the present invention, for the convenience of description, the relative position relationship of each component is described based on the Figure 1 For 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 pipe rod gripper includes a mounting plate 1, a claw 2 and a claw driving mechanism. A pipe rod through hole 3 is provided in the middle of the mounting plate 1, which runs through the top and bottom for the pipe rod to pass through. A notch 4 is provided on the left side of the mounting plate 1 and is connected to the pipe rod through hole 3 for the pipe rod to enter or exit the pipe rod through hole 3. At least three claws 2 are hingedly connected to the mounting plate 1 and are evenly distributed circumferentially around the central axis of the pipe rod through hole 3. The claw driving mechanism drives the claws 2 to retract or open to grasp or release the pipe rod, and when the claws 2 grasp the pipe rod, the pipe rod can be displaced relative to the claws 2 along its own axial direction.

[0033] The pipe gripper grasps the pipe using at least three claws 2 evenly distributed around the gripper's centerline. When the claws 2 are closed and gripped, the pipe's central axis and the gripper's centerline are collinear. Therefore, by controlling the gripper's centerline tilt angle, the pipe's tilt angle can be controlled, facilitating control of the pipe's tilt angle when transferring it between the wellhead and the catwalk. Specifically, the diameter of the pipe through-hole 3 and the opening width of the notch 4 are slightly larger than the outer diameter of the oil pipe. Therefore, the pipe gripper of this application is suitable for grasping oil pipes and pumping rods. In this embodiment, there are three claws 2.

[0034] The above embodiment 1 may be further optimized and / or improved according to actual needs:

[0035] As attached Figure 1 、 3 As shown, the above-mentioned mounting plates 1 are upper and lower, with a fixed shaft 5 fixedly connected between the upper and lower mounting plates 1. The upper end of the gripper 2 is hingedly connected to the lower mounting plate 1 via a first hinge shaft 6. The gripper drive mechanism includes a gripper drive cylinder 7 provided in a one-to-one correspondence with each gripper 2. The cylinder body of the gripper drive cylinder 7 is hingedly connected to the upper mounting plate 1. The piston rod of the gripper drive cylinder 7 is hingedly connected to the upper end of the gripper 2 via a second hinge shaft 8, and the second hinge shaft is located outside the first hinge shaft 6. When the piston rod of the gripper drive cylinder 7 is extended, the gripper 2 is driven to retract. When the piston rod of the gripper drive cylinder 7 is retracted, the gripper 2 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 7.

[0036] As attached Figure 3 As shown, a sliding plate 9 is slidably mounted on the fixed shaft 5. A connecting rod 10 is connected between each gripper 2 and the sliding plate 9. The lower end of the connecting rod 10 is hingedly connected to the upper end of the gripper 2 via the second hinge shaft 8, and the upper end of the connecting rod 10 is hingedly connected to the sliding plate 9. This ensures that each gripper 2 can move synchronously, ensuring that the central axis of the pipe and the centerline of the gripper are collinear when the gripper 2 grasps the pipe.

[0037] As attached Figure 2 、 3As shown, a roller 11 is provided on the inner side of the middle portion of the gripper 2 for rolling contact with the pipe rod when gripping the pipe rod. The surface of the roller 11 is an arc surface. The inner side surface of the gripper 2 corresponding to the position above the roller 11 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 2 corresponding to the position below the roller 11 is an inclined surface or arc surface that tilts from top to bottom and from inside to outside. When the gripper 2 grips the pipe rod, the roller 11 and the pipe rod make rolling contact, thereby ensuring that the pipe rod can move relative to the gripper 2 along its own axis. The inner side surface of the gripper 2 corresponding to the position above the roller 11 is an inclined surface or arc surface that tilts from top to bottom and from outside to inside. Therefore, when the gripper 2 is retracted, the space above the roller 11 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 2, the contact point between the straightening block on the sucker rod and the gripper 2 can be moved further down, thereby making it more conducive to straightening. The block opens the claw 2, which is conducive to the straightening block passing through the pipe gripper; specifically, in this embodiment, the distance between the central axis of the first hinge shaft 6 and the central axis of the second hinge shaft 8 is 3 cm, the distance between the central axis of the roller 11 and the central axis of the first hinge shaft 6 is 12 cm, the thrust of the claw driving cylinder 7 is 20 kg, and when the claw 2 is retracted to grasp the pipe, the gripping force of each claw 2 on the pipe is 5 kg, and the direction of the gripping force is perpendicular to the axial direction of the pipe.

[0038] Example 2: As shown in the attached Figure 1-8 As shown, the pipe-rod transfer platform includes a wellhead platform 12, a mobile trolley, a connecting rod mechanism, a connecting rod driving mechanism and a pipe-rod gripper; a mobile trolley that can move left and right is provided on the wellhead platform 12; the connecting rod mechanism includes a stand 13, a first connecting rod 14, a second connecting rod 15 and a third connecting rod 16, the first connecting rod 14 and the third connecting rod 16 are arranged at intervals up and down, the left end of the first connecting rod 14 is hinged to the stand 13 to form a first hinge point, the right end of the first connecting rod 14 and the upper end of the second connecting rod 15 are hinged to form a second hinge point, the lower end of the second connecting rod 15 and the right end of the third connecting rod 16 are hinged to form a third hinge point, and the left end of the third connecting rod 16 is hinged to the stand 13 A fourth hinge point is formed; 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, the stand 13 is fixedly mounted on the mobile trolley, and the mounting plate 1 is fixedly mounted on the second connecting rod 15; the central axis of the pipe rod through hole 3 is defined as the center line of the gripper, when the connecting rod mechanism is in the semi-extended position, the center line of the gripper is parallel to the vertical direction, and when the connecting rod mechanism is in the extended position, the angle between the center line of the gripper and the vertical direction is between 5 degrees and 10 degrees.

[0039] 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 14, the second connecting rod 15 and the third connecting rod 16 are close together, the third connecting rod 16 is in contact with the stand 13, and the angle formed between the axial direction of the second connecting rod 15 and the axial direction of the third connecting rod 16 is the smallest. When the connecting rod mechanism is converted from the retracted position to the extended position, the first connecting rod 14 and the third connecting rod 16 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 15 and the axial direction of the third connecting rod 16 gradually increases, the distance between the first connecting rod 14 and the third connecting rod 16 gradually increases, and the connecting rod mechanism gradually extends.

[0040] In the linkage mechanism of the present application, because 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 inclination angle of the second link 15 relative to the vertical direction continuously changes during the contraction or extension of the linkage mechanism. When the linkage mechanism is in the semi-extended position, the gripping centerline of the pipe rod gripper is parallel to the vertical direction. When the linkage mechanism extends from the semi-extended position to the extended position, the gripping centerline of the pipe rod gripper begins to gradually tilt leftward relative to the vertical direction. When the linkage mechanism is extended to the extended position, the angle between the gripping centerline of the pipe rod gripper and the vertical direction is between 5 and 10 degrees. Thus, the purpose of changing the angle of the pipe rod gripper can be achieved through the linkage mechanism of the present application.

[0041] By setting the pipe rod transfer platform in the present application, when lowering the pipe rod, initially, 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, and the claw 2 of the pipe rod gripper is open. When the upper end of the pipe rod 22 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 3 through the gap 4, the mobile trolley begins to move to the left, and the connecting rod mechanism is converted from the extended position to the semi-extended position. When the mobile trolley moves to a certain position to the left, the gripper center line of the pipe rod gripper is parallel to the vertical direction and aligned with the center of the wellhead, the claw 2 of the pipe rod gripper retracts and tightens the pipe rod 22 to make the pipe rod 22 vertical and aligned with the center of the wellhead, controls the lifting ring 20 and the lifting card 21 to fall, and the pipe rod 22 moves vertically downward relative to the claw 2; when lifting the pipe rod, initially, the connecting rod mechanism is in the retracted position When the trolley moves to a certain position, the center line of the pipe rod gripper is parallel to the vertical direction and aligned with the center of the wellhead, and the pipe rod 22 enters the pipe rod through hole 3 through the notch 4. Then the connecting rod mechanism is switched from the semi-extended position to the extended position, and the trolley continues to move to the right. When the pipe rod gripper moves to the left end of the catwalk machine and is located above it, the trolley stops moving, the claws 2 of the pipe rod gripper are retracted to grasp the pipe rod 22, and then the lifting ring 20 and the elevator 21 are lowered. The pipe rod 22 falls onto the trolley 23 of the catwalk machine at an inclination angle of 5 to 10 degrees relative to the vertical direction.

[0042] The above embodiment 2 may be further optimized and / or improved according to actual needs:

[0043] As attached Figure 4-8As shown, the connecting rod driving mechanism includes a connecting rod driving cylinder 17, the cylinder body of the connecting rod driving cylinder 17 and the stand 13 are hingedly connected, the piston rod of the connecting rod driving cylinder 17 and the third connecting rod 16 are hingedly connected, and the connecting rod driving cylinder 17 is connected to the air source through a center-exhaust three-position five-way solenoid valve; the pipe rod transferring platform 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. The connecting rod driving cylinder 17 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 17 are both connected to the atmosphere. Therefore, the connecting rod driving cylinder 17 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, the present 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.

[0044] As attached Figure 4 、 6 -8, the limiting device is a gas spring 18, and the cylinder of the gas spring 18 is installed on the third connecting rod 16. When the connecting rod mechanism is in the semi-extended position, the piston rod of the gas spring 18 is against the first connecting rod 14. When the connecting rod mechanism is in the extended position, the distance between the first connecting rod 14 and the third connecting rod 16 is large, and the piston rod of the gas spring 18 is separated from the first connecting rod 14. If the central-exhaust three-position five-way solenoid valve 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 gripper, and the distance between the first connecting rod 14 and the third connecting rod 16 gradually decreases. When the connecting rod mechanism moves to the semi-extended position, the piston rod of the gas spring 18 is against the first connecting rod 14. At this time, under the limiting support of the gas spring 18, the first connecting rod 14 cannot continue to move to the third connecting rod. When the connecting rod 14 is in the retracted position, the distance between the first connecting rod 14 and the third connecting rod 16 is small, and the piston rod of the gas spring 18 is pressed back into the cylinder body. If the three-position five-way solenoid valve with central leakage is switched to the middle 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 18.

[0045] Specifically, the pipe and rod transfer platform also includes a controller; 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, a slider and a screw motor, a screw is rotatably installed on the wellhead platform 12, and the screw is provided with a slider that can slide left and right, the frame 19 and the slider are fixedly connected, the output shaft of the screw motor is connected to the screw transmission, and the screw motor is connected to the controller; the connecting rod drive cylinder 17 is connected to the controller through a mid-leakage three-position five-way solenoid valve; the claw drive cylinder 7 is connected to the controller through a solenoid valve; there are position No. 1, position No. 2, position No. 3, and position No. 4 on the moving path of the mobile trolley from left to right, and a No. 1 position sensor, a No. 2 position sensor, a No. 3 position sensor, and a No. 4 position sensor are respectively provided on the wellhead platform 12 corresponding to position No. 1, position No. 2, position No. 3, and position No. 4, and the No. 1 position sensor, the No. 2 position sensor, the No. 3 position sensor, and the No. 4 position sensor are respectively connected to the controller. This realizes the automated operation of transferring pipes and rods between the wellhead and the catwalk machine. Specifically, the controller is a PLC controller. Position one is located 12 cm to the left of position two, position three is located 30 cm to the right of position two, and position four is located 60 cm to the right of position two.

[0046] Specifically, a limit frame is provided on the right side of the wellhead platform 12, and a limit rod is provided on the second connecting rod 15. When the trolley is in the fourth position and the connecting rod mechanism is in the extended position, the limit rod and the limit frame abut against each other. Specifically, the right end of the limit rod is V-shaped, and the limit frame is provided with a V-shaped groove that mates with the right end of the limit rod. When the trolley moves rightward to the fourth position, the right end of the limit rod inserts into the V-shaped groove of the limit frame, thereby providing a limiting support for the connecting rod mechanism.

[0047] The specific working process is:

[0048] Pipe lowering operation: Initially, the mobile trolley is in position No. 4, and the connecting rod mechanism is in the extended position. At this time, the pipe gripper is close to the left end of the catwalk machine and is located above it on the left. The claw 2 of the pipe gripper is open, and the angle between the gripper centerline and the vertical direction is 6 degrees. When the upper end of the pipe 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 through-hole 3 through the gap 4, the mobile trolley begins 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. While the mobile trolley moves to position No. 2, the connecting rod mechanism automatically moves from the extended position to the semi-extended position. Conversion, when the mobile trolley moves to position No. 2, the connecting rod mechanism stays in the semi-extended position under the limiting action of the gas spring 18. At this time, the grip center line of the pipe gripper is in a vertical state and aligned with the center of the wellhead. The controller controls the claw 2 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, controls the lifting ring 20 and the lifting card 21 to fall, and the pipe rod moves vertically downward relative to the claw 2. Then, the lower end of the pipe rod is tightened and docked with the upper end of the pipe rod in the wellhead through the hydraulic clamp. After the docking is completed, the claw 2 opens, and the mobile trolley moves to position No. 1. The pipe rod exits the pipe gripper through the notch 4. The controller controls the connecting rod cylinder to move to convert the connecting rod mechanism from the semi-extended position to the retracted position.

[0049] Pipe rod lifting operation: Initially, the mobile trolley is in position 1 and the connecting rod mechanism is in the retracted position. At this time, the pipe rod gripper is on the left side of the wellhead, and the claw 2 of the pipe rod gripper is open. When the upper end of the pipe rod is lifted by the lifting ring 20 and the elevator 21 and the lower end is separated from the pipe rod in the wellhead, the controller controls the center-drain three-position five-way solenoid valve to be in the middle position. Under the restoring force of the gas spring 18, the connecting rod mechanism automatically switches from the retracted position to the semi-extended position, and then controls the mobile trolley to move from position 1 to position 2. At this time, the pipe rod gripper is directly above the wellhead, and the pipe rod enters the pipe rod through-hole 3 through the notch 4. Then the connecting rod cylinder is controlled to move to switch the connecting rod mechanism from the semi-extended position to the extended position. The controller then controls the movable trolley to move from position 2 to position 4. During the movement of the movable trolley, the lifting ring 20 and the lifting card 21 continue to lift the pipe rod for a certain distance. When the movable trolley moves to position 4, the pipe rod gripper is close to the left end of the catwalk machine and is located above it, and 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 2 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 2 opens, the movable trolley moves to the left, and the pipe rod exits the pipe rod gripper.

[0050] 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 platform, characterized in that The utility model comprises a wellhead platform, a mobile trolley, a connecting rod mechanism, a connecting rod driving mechanism and a pipe rod gripper; the pipe rod gripper comprises a mounting plate, a claw and a claw driving mechanism, a pipe rod through hole which passes through the mounting plate and is provided in the middle of the mounting plate, a notch which is connected to the pipe rod through hole for the pipe rod to enter or exit the pipe rod through hole is provided on the left side of the mounting plate, at least three claws which are evenly distributed circumferentially around the central axis of the pipe rod through hole are hingedly connected to the mounting plate, the claw driving mechanism drives the claws to close 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; a mobile trolley which can move left and right is provided on the wellhead platform; the connecting rod mechanism comprises 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, and the left end of the first connecting rod is hinged to the vertical frame to form a first hinge The right end of the first link and the upper end of the second link are hinged to form a second hinge point, the lower end of the second link and the right end of the third link are hinged to form a third hinge point, and the left end of the third link and the stand are hinged 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, the stand is fixedly mounted on the moving trolley, and the mounting plate is fixedly mounted on the second link; the central axis of the pipe rod through hole is defined as the center line of the gripper, when the connecting rod mechanism is in the semi-extended position, the center line of the gripper is parallel to the vertical direction, and when the connecting rod mechanism is in the extended position, the angle between the center line of the gripper and the vertical direction is between 5 degrees and 10 degrees.

2. The pipe and rod transfer platform 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 vertical frame 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 platform 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, 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 and rod transfer platform according to claim 2, characterized in that The 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 and rod transfer platform according to claim 1, characterized in that The trolley further comprises a controller; the trolley comprises a frame and a travel drive mechanism for driving the frame to move left and right, the travel drive mechanism comprises a screw, a slider and a screw motor, a screw is rotatably mounted on the wellhead platform, a slider which can slide left and right is provided on the screw, the trolley and the slider are fixedly connected, the output shaft of the screw motor is connected to the screw transmission, and the screw motor is connected to the controller; the connecting rod drive cylinder is connected to the controller through a mid-leakage three-position five-way solenoid valve; the gripper drive cylinder is connected to the controller through a solenoid valve; there are position No. 1, position No. 2, position No. 3 and position No. 4 on the moving path of the trolley from left to right, and a position No. 1 sensor, a position No. 2 sensor, a position No. 3 sensor and a position No. 4 sensor are respectively provided on the wellhead platform corresponding to position No. 1, position No. 2, position No. 3 and position No. 4, and the position No. 1 sensor, position No. 2 sensor, position No. 3 sensor and position No. 4 sensor are respectively connected to the controller.

5. The pipe and rod transfer platform according to claim 4, characterized in that A limit frame is provided on the right side of the wellhead platform, and a limit rod is provided on the second connecting rod; when the mobile trolley is in the fourth position and the connecting rod mechanism is in the extended position, the limit rod and the limit frame are offset.

6. The pipe and rod transfer platform according to claim 1, 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, and 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 hinge shaft is located outside the first hinge shaft.

7. The pipe and rod transfer platform according to claim 6, 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.

8. The pipe and rod transfer platform according to claim 1, 6 or 7, 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.

9. The pipe and rod transfer platform according to claim 1, 6 or 7, characterized in that There are three claws.

Images