Pipe conveying mechanism

Abstract

The invention relates to a pipe conveying mechanism which comprises a pipe conveying frame assembly, a sleeving frame assembly, a large tackle assembly, a small tackle assembly and a pipe righting mechanism. The sleeving frame assembly is arranged on the pipe conveying frame assembly in a sleeving mode with the height being selectable, the large pulley assembly is installed in the pipe conveying frame assembly in a vertical moving mode, the small pulley assembly is installed in the large pulley assembly, and the pipe righting mechanism is installed on the top of the large pulley assembly. The ground pipe row robot vertically transfers the pipe into the large pulley assembly, the bottom of the pipe is arranged on the small pulley assembly, and the pipe righting mechanism clamps the pipe; the large tackle assembly can drive the small tackle assembly and the pipe to move up and down, the small tackle assembly can drive the pipe to move up and down, and the pipe conveying device has the beneficial effects that the adaptability, stability and adjustment flexibility of pipe conveying are remarkably improved, then the pipe butt joint difficulty is reduced, the operation efficiency is improved, and the actual requirements of oil and gas drilling pipe treatment operation are met.

Description

Technical Field

[0001] This invention relates to the field of mining technology, and more particularly to a pipe conveying mechanism. Background Technology

[0002] Currently, in oil and gas drilling tool handling operations, whether it is the vertical lifting of the tool from the ground to the wellhead platform, or the transfer between equipment at different heights during the tool transportation stage, it is necessary to rely on a specialized transportation mechanism to achieve the positional changes of the tool.

[0003] Existing pipe conveying mechanisms have significant technical drawbacks in practical applications: First, the frame height is mostly fixed and cannot be adjusted according to the well site operating environment; second, there is a lack of stable straightening structure during pipe conveying, or only simple guide blocks are used for limiting. When the pipe moves up and down, it is easy to cause radial displacement due to shaking. This not only leads to misalignment between the pipe and the docking equipment, increasing docking difficulty and reducing operating efficiency, but may also cause scratches on the outer surface of the pipe, affecting the service life and sealing performance of the pipe.

[0004] Therefore, there is an urgent need for a pipe conveying mechanism with high adjustability and stable uprighting function to improve the efficiency and safety of pipe conveying. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a pipe conveying mechanism, which solves the technical problems of the prior art being unable to be applied to various operating scenarios and having low operating efficiency.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0009] This invention provides a pipe conveying mechanism, including a pipe conveying frame assembly, a sleeve frame assembly, a large trolley assembly, a small trolley assembly, and a pipe straightening mechanism. The sleeve frame assembly can be selectively fitted onto the pipe conveying frame assembly at a height. The large trolley assembly is vertically movable and installed inside the pipe conveying frame assembly. The small trolley assembly is installed inside the large trolley assembly, and the pipe straightening mechanism is installed on top of the large trolley assembly. A ground-based pipe-laying robot vertically moves the pipe into the large trolley assembly, with the bottom of the pipe placed in the small trolley assembly. The pipe straightening mechanism clamps the pipe. The large trolley assembly can drive the small trolley assembly and the pipe to move vertically, and the small trolley assembly can drive the pipe to move vertically.

[0010] Optionally, the pipeline frame assembly includes a large trolley track and rack extending along its length; the large trolley assembly includes a large trolley frame, a lifting trolley, a large trolley driver, and a transmission gear; a pipe straightening mechanism is located on top of the large trolley frame, and a small trolley assembly is located inside the large trolley frame; the large trolley frame is located on top of the lifting trolley, and the large trolley driver and transmission gear are located inside the lifting trolley; the lifting trolley is movably mounted on the large trolley track, and the large trolley driver is connected to the rack via the transmission gear; the large trolley driver can drive the transmission gear to mesh with the rack, thereby moving the lifting trolley up and down along the large trolley guide rail.

[0011] Optionally, the large trolley frame has a small trolley track extending along its length; the small trolley assembly includes a small trolley drive cylinder, a lifting small trolley, and a transmission assembly; the lifting small trolley is movably mounted on the small trolley track, the cylinder rod end of the small trolley drive cylinder is located in the large trolley frame, and the small trolley drive cylinder is connected to the lifting small trolley through the transmission assembly to drive the lifting small trolley to move vertically up and down along the small trolley track.

[0012] Optionally, the transmission assembly includes a first sprocket, a second sprocket, a first chain, and a second chain; the first sprocket and the second sprocket are rotatably mounted at both ends of the cylinder of the small trolley drive cylinder; the two ends of the first chain are fixedly connected to the middle of the large trolley frame and the lifting small trolley, and the first chain is driven by the first sprocket; the two ends of the second chain are fixedly connected to the middle of the large trolley frame and the lifting small trolley, and the second chain is driven by the second sprocket; the small trolley drive cylinder drives the lifting small trolley to move up and down along the small trolley track through the cylinder, while simultaneously driving the first sprocket and the second sprocket to mesh with the first chain and the second chain respectively, thereby driving the lifting small trolley to move between the first sprocket and the second sprocket.

[0013] Optionally, a core-filling assembly is provided on the top of the lifting trolley; the core-filling assembly includes multiple core-filling rings arranged concentrically from the inside to the outside.

[0014] Optionally, the pipeline frame assembly includes a base, a first pipeline frame, and a second pipeline frame; the first pipeline frame is vertically fixed to the base, and the second pipeline frame is vertically fixed to the top of the first pipeline frame; the mounting frame assembly can be selectively fitted and installed on the second pipeline frame at a specific height.

[0015] Optionally, a plurality of elliptical hole connectors are provided on the first side of the second pipeline frame, which are evenly arranged along its length, and a plurality of circular hole connectors are provided on the second side of the second pipeline frame, which are evenly arranged along its length.

[0016] The third side of the assembly frame, which is opposite to the first side, is provided with at least two elliptical hole mating seats, and the fourth side of the assembly frame, which is opposite to the second side, is provided with at least two round hole mating seats. The assembly frame is connected to two adjacent elliptical hole connecting seats on the first side of the second pipeline frame through the two elliptical hole mating seats on the third side, and to two adjacent round hole connecting seats on the second side of the second pipeline frame through the two round hole mating seats on the fourth side.

[0017] Optionally, the side of the frame assembly is provided with a side plate for connecting the derrick.

[0018] Optionally, the pipe straightening mechanism includes a mounting bracket, a straightening actuator, a straightening transmission assembly, and two clamps; the mounting bracket is located on top of the large trolley assembly, the straightening actuator and the straightening transmission assembly are mounted on the mounting bracket, the two clamps are rotatably mounted on the mounting bracket, the straightening actuator is connected to the two clamps through the straightening transmission assembly to drive the two clamps to rotate in the vertical plane to perform clamping and releasing actions; when the two clamps clamp the pipe, they can only limit the pipe laterally.

[0019] Optionally, the straightening transmission assembly includes a guide rod, a slider, and two connecting rods; the guide rod is vertically mounted on the bracket, the slider is slidably mounted on the guide rod, the slider is rotatably connected to two clamps via two connecting rods, and the straightening driver is connected to the slider to drive the slider to slide up and down along the guide rod. The sliding of the slider is converted into the rotation of the clamps through the connecting rods.

[0020] (III) Beneficial Effects

[0021] The beneficial effects of this invention are:

[0022] This invention provides a pipe transport mechanism that, through the coordinated operation of a pipe transport frame assembly, a selectable height-adjustable set frame assembly, a double-layer pulley structure (large pulley assembly and small pulley assembly), and a pipe straightening mechanism, effectively adapts to the vertical transport requirements of pipe handling operations in oil and gas drilling. The set frame assembly can flexibly select its installation height within the pipe transport frame assembly according to the well site operating environment (such as the wellhead platform height and the location of docking equipment at different heights), allowing for rapid adjustment of the overall height of the pipe transport mechanism to meet the adaptability requirements for pipe movement at different heights. When the surface pipe-laying robot vertically moves the pipe into the large pulley assembly, the bottom of the pipe is supported by the small pulley assembly, while the pipe straightening mechanism clamps the pipe at the top of the large pulley assembly, forming a stable limit from the top of the pipe to prevent radial swaying or offset during subsequent lifting and lowering movements. During transport, the large pulley assembly... This system allows for the vertical movement of the small trolley assembly and pipes along the entire pipeline frame assembly, enabling long-distance, high-altitude pipe transport. The small trolley assembly can also independently move the pipes up and down within the large trolley assembly, allowing for precise height adjustments during pipe docking and ensuring accurate alignment between the pipes and the docking equipment. Furthermore, the combination of the clamping action of the pipe straightening mechanism and the stable movement of the double-layer trolleys maintains the vertical orientation of the pipes throughout their transport from the ground to the wellhead platform, preventing scratches on the pipe's outer surface from impacts with the frame or equipment and ensuring the pipe's lifespan and sealing performance. Compared to existing technologies, this pipe transport mechanism, through its height-adjustable frame, stable clamping structure, and double-layer trolley design, significantly improves the adaptability, stability, and adjustment flexibility of pipe transport, thereby reducing the difficulty of pipe docking, increasing operational efficiency, and meeting the actual needs of oil and gas drilling pipe handling operations. Attached Figure Description

[0023] Figure 1 This is a front view schematic diagram of the pipe conveying mechanism according to Embodiment 1 of the present invention;

[0024] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0025] Figure 3 This is a side view schematic diagram of the pipe conveying mechanism according to Embodiment 1 of the present invention;

[0026] Figure 4 yes Figure 3 Enlarged view of point B in the middle;

[0027] Figure 5 This is a schematic diagram of the large trolley assembly and the small trolley assembly in Embodiment 1 of the present invention;

[0028] Figure 6 yes Figure 5 Enlarged view of point C in the middle;

[0029] Figure 7 This is a cross-sectional schematic diagram of the large trolley assembly and the small trolley assembly in Embodiment 1 of the present invention;

[0030] Figure 8 yes Figure 7 Enlarged view of point D in the middle;

[0031] Figure 9 This is a schematic diagram of the structure of the small trolley assembly at its highest point according to Embodiment 1 of the present invention;

[0032] Figure 10 This is a top view schematic diagram of the lifting trolley in Embodiment 1 of the present invention;

[0033] Figure 11 This is a front view schematic diagram of the second pipeline frame according to Embodiment 1 of the present invention;

[0034] Figure 12 This is a side view of the second pipeline frame of Embodiment 1 of the present invention;

[0035] Figure 13 This is a schematic diagram of the frame assembly of Embodiment 1 of the present invention.

[0036] [Explanation of Labels in the Attached Image]

[0037] 1: Pipeline frame assembly; 11: Large trolley track; 12: Rack; 13: Base; 14: First pipeline frame; 15: Second pipeline frame; 16: Elliptical hole connector; 17: Round hole connector;

[0038] 2: Kit frame assembly; 21: Oval hole mating seat; 22: Side plate; 23: Round hole mating seat;

[0039] 3: Large trolley assembly; 31: Large trolley frame; 32: Lifting trolley; 33: Large trolley drive unit; 34: Small trolley track;

[0040] 4: Small trolley assembly; 41: Small trolley drive cylinder; 42: Lifting small trolley; 43: First sprocket; 44: Second sprocket; 45: First chain; 46: Second chain; 47: Core ring;

[0041] 5: Pipe straightening mechanism; 51: Mounting bracket; 52: Straightening actuator; 53: Clamp; 54: Guide rod; 55: Slider; 56: Connecting rod. Detailed Implementation

[0042] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0043] Example 1:

[0044] like Figures 1-4 As shown, a specific embodiment of the present invention provides a pipe conveying mechanism, including a pipe conveying frame assembly 1, a sleeve frame assembly 2, a large trolley assembly 3, a small trolley assembly 4, and a pipe straightening mechanism 5; the sleeve frame assembly 2 can be selectively fitted onto the pipe conveying frame assembly 1 at a selectable height, the large trolley assembly 3 is vertically movable and installed inside the pipe conveying frame assembly 1, the small trolley assembly 4 is installed inside the large trolley assembly 3, and the pipe straightening mechanism 5 is installed on the top of the large trolley assembly 3; a ground pipe-laying robot vertically moves the pipe into the large trolley assembly 3, with the bottom of the pipe placed in the small trolley assembly 4, and the pipe straightening mechanism 5 clamps the pipe; the large trolley assembly 3 can drive the small trolley assembly 4 and the pipe to move up and down, and the small trolley assembly 4 can drive the pipe to move up and down.

[0045] Specifically, through the coordinated operation of the pipeline frame assembly 1, the adjustable-height mounting frame assembly 2, the double-layer pulley structure (large pulley assembly 3 and small pulley assembly 4), and the pipe straightening mechanism 5, the system effectively adapts to the vertical transport requirements of pipes in oil and gas drilling pipe handling operations. The mounting frame assembly 2 can flexibly select its installation height within the pipeline frame assembly 1 according to the well site operating environment (such as the wellhead platform height and the location of docking equipment at different heights), allowing for rapid adjustment of the overall height of the pipe transport mechanism to meet the adaptability requirements for pipe movement at different heights. When the surface pipe-laying robot vertically moves the pipe into the large pulley assembly 3, the bottom of the pipe is supported by the small pulley assembly 4, while the pipe straightening mechanism 5 clamps the pipe at the top of the large pulley assembly 3, forming a stable limit from the top of the pipe to prevent radial swaying or offset during subsequent lifting and lowering movements. During transport, the large pulley assembly... The large trolley assembly 3 can drive the small trolley assembly 4 and the pipe fittings to move up and down along the entire pipeline frame assembly 1, enabling long-distance high-altitude transport of the pipe fittings. The small trolley assembly 4 can independently drive the pipe fittings up and down within the large trolley assembly 3, allowing for precise height adjustment when docking the pipe fittings with the equipment, ensuring accurate alignment between the pipe fittings and the docking equipment. Furthermore, the clamping action of the pipe fitting straightening mechanism 5, combined with the stable movement of the double-layer trolley, maintains the vertical posture of the pipe fittings throughout the entire process of lifting them vertically from the ground and moving them to the wellhead platform. This prevents scratches on the outer surface of the pipe fittings due to shaking and collisions with the frame or equipment, ensuring the service life and sealing performance of the pipe fittings. Compared to existing technologies, this pipe fitting transport mechanism, through its height-adjustable frame, stable straightening clamping structure, and double-layer trolley structure, significantly improves the adaptability, stability, and adjustment flexibility of pipe fitting transport, thereby reducing the difficulty of pipe fitting docking, increasing operational efficiency, and meeting the actual needs of oil and gas drilling pipe fitting processing operations.

[0046] Furthermore, such as Figures 1-4 as well as Figure 11As shown, the pipeline frame assembly 1 is provided with a large trolley track 11 and a rack 12 extending along its length; the large trolley assembly 3 includes a large trolley frame 31, a lifting large trolley 32, a large trolley driver 33, and a transmission gear; the pipe straightening mechanism 5 is located on the top of the large trolley frame 31, and the small trolley assembly 4 is located inside the large trolley frame 31; the large trolley frame 31 is located on the top of the lifting large trolley 32, and the large trolley driver 33 and the transmission gear are located inside the lifting large trolley 32. The lifting large trolley 32 is movably mounted on the large trolley track 11, and the large trolley driver 33 is connected to the rack 12 through the transmission gear; the large trolley driver 33 can drive the transmission gear to mesh with the rack 12 to move the lifting large trolley 32 up and down along the large trolley guide rail. The meshing transmission of gears and racks 12 can avoid jamming caused by sliding friction and ensure that the lifting trolley 32 moves smoothly; the trolley track 11 limits the direction of movement and prevents the lifting trolley 32 from deviating, thereby ensuring the vertical posture of the straightening mechanism and pipe on the trolley frame 31; the overall structure can bear the combined weight of the pipe, the small trolley and the straightening mechanism, providing a stable foundation for subsequent fine adjustment.

[0047] Furthermore, such as Figure 5 and Figure 7 As shown, the large trolley frame 31 has a small trolley track 34 extending along its length. The small trolley assembly 4 includes a small trolley drive cylinder 41, a lifting small trolley 42, and a transmission assembly. The lifting small trolley 42 is movably mounted on the small trolley track 34. The cylinder rod end of the small trolley drive cylinder 41 is located inside the large trolley frame 31. The small trolley drive cylinder 41 is connected to the lifting small trolley 42 through the transmission assembly to drive the lifting small trolley 42 to move vertically up and down along the small trolley track 34. The small trolley assembly 4 can operate independently of the large trolley assembly 3, allowing for fine-tuning of the pipe height without moving the large trolley, adapting to height differences in the docking equipment. The small trolley track 34 ensures that the lifting small trolley 42 moves vertically, preventing the pipe from tilting during fine-tuning and improving docking compatibility.

[0048] Furthermore, such as Figure 7 and Figure 9As shown, the transmission assembly includes a first sprocket 43, a second sprocket 44, a first chain 45, and a second chain 46. The first sprocket 43 and the second sprocket 44 are rotatably mounted at both ends of the cylinder of the small trolley drive cylinder 41. The two ends of the first chain 45 are fixedly connected to the middle of the large trolley frame 31 and the lifting small trolley 42, and the first chain 45 is driven by the first sprocket 43. The two ends of the second chain 46 are fixedly connected to the middle of the large trolley frame 31 and the lifting small trolley 42, and the second chain 46 is driven by the second sprocket 44. The small trolley drive cylinder 41 drives the lifting small trolley 42 to move up and down along the small trolley track 34 through the cylinder, while simultaneously driving the first sprocket 43 and the second sprocket 44 to mesh with the first chain 45 and the second chain 46 respectively, thereby driving the lifting small trolley 42 to move between the first sprocket 43 and the second sprocket 44. When the drive cylinder extends and retracts, causing the cylinder barrel to move, the sprocket moves synchronously with the cylinder barrel. The chain, under the meshing action of the sprocket, pulls the lifting trolley 42 up and down along the track. The symmetrical double-chain transmission ensures balanced force distribution. The meshing transmission between the chain and sprocket provides cushioning, reducing the impact force when the drive cylinder operates and preventing vibration of the lifting trolley 42. The symmetrical double-chain layout ensures consistent force at both ends of the lifting trolley 42, preventing it from tilting along the track and ensuring the bottom of the pipe remains horizontally supported, further improving the stability of pipe transport.

[0049] Furthermore, such as Figure 10 As shown, a core-filling assembly is provided on the top of the lifting trolley 42; the core-filling assembly includes multiple core-filling rings 47 arranged concentrically from the inside to the outside. This allows for the adaptation of various sizes of pipes without replacing the lifting trolley 42, significantly improving the versatility of the mechanism; the close fit between the core-filling rings 47 and the pipes prevents the pipes from swaying on the top of the lifting trolley 42, further limiting the radial displacement of the pipes, and forming a dual-stabilization structure with bottom support and upper limiting in conjunction with the subsequent straightening mechanism.

[0050] Specifically, the large trolley assembly 3 achieves long-distance lifting and lowering of the pipe along the pipeline frame track, while the small trolley assembly 4 independently performs fine-tuning of the pipe height within the large trolley frame 31, with neither action interfering with the other. The core-filling component that lifts the top of the small trolley 42 adapts to pipes of different diameters, providing stable support for the bottom of the pipe. Combined with the stable movement of the large trolley and the fine adjustment of the small trolley, a collaborative link is formed for long-distance transport, fine alignment, and adaptive support. Adapting the pipe docking height can be completed without frequent adjustments to the large trolley, significantly improving operational efficiency. The support of the core-filling component and the guidance of the trolley track work together to ensure that the pipe remains vertical during long-distance transport and fine adjustment, avoiding deviation or tilting and reducing the risk of pipe collision.

[0051] Furthermore, such as Figures 1-4As shown, the pipeline frame assembly 1 includes a base 13, a first pipeline frame 14, and a second pipeline frame 15. The first pipeline frame 14 is vertically fixed to the base 13, and the second pipeline frame 15 is vertically fixed to the top of the first pipeline frame 14. The modular frame assembly 2 can be selectively fitted onto the second pipeline frame 15 at a height. The second pipeline frame 15 provides the mounting foundation and height adjustment support for the modular frame. The layered design ensures the overall structural strength of the frame. Compared to an integral frame, the layered frame structure is easier to assemble and maintain. The base 13 and the first pipeline frame 14 provide stable bottom support for the entire mechanism, preventing the frame from tipping over. The independent setting of the second pipeline frame 15 means that the height adjustment of the modular frame only needs to be applied to the upper structure without modifying the bottom foundation, improving operational convenience.

[0052] Furthermore, such as Figure 11 As shown, the first side of the second pipeline frame 15 is provided with a plurality of elliptical hole connectors 16 evenly arranged along its length direction, and the second side of the second pipeline frame 15 is provided with a plurality of circular hole connectors 17 evenly arranged along its length direction; the third side of the assembly 2 opposite to the first side is provided with at least two elliptical hole mating seats 21, and the fourth side of the assembly 2 opposite to the second side is provided with at least two circular hole mating seats 22. The assembly 2 is connected to two adjacent elliptical hole connectors 16 on the first side of the second pipeline frame 15 through the two elliptical hole mating seats 21 on the third side, and to two adjacent circular hole connectors 17 on the second side of the second pipeline frame 15 through the two circular hole mating seats 22 on the fourth side. The elliptical hole connectors 16 and round hole connectors 17 of the second pipeline frame 15 are evenly arranged along the length direction, providing multiple height installation options for the kit frame assembly 2. According to the height requirements of the derrick platform, the kit frame assembly 2 can be installed at the appropriate height of the elliptical hole connectors 16 and round hole connectors 17, which greatly improves the adaptability to different operating scenarios.

[0053] Furthermore, such as Figure 12 As shown, the side of the kit frame assembly 2 is provided with a side plate 22 for connecting to the derrick. Since the kit frame is only connected to the second pipeline frame 15 through the docking seat 21, the independent connection is prone to shaking due to the weight of the pipe or external vibration. Therefore, the side plate 22 can be fixedly connected to the derrick through bolts or a snap-fit ​​structure, providing additional support to the kit frame with the stability of the derrick and enhancing the stability of the kit frame itself. This effectively solves the problem of insufficient stability of the kit frame connected only by the docking seat 21, especially when the pipe is heavy or there is vibration at the well site, it can prevent the kit frame from swaying or shifting radially along the second pipeline frame 15; the fixed connection with the derrick also reduces the dependence of the kit frame on the connection strength of the second pipeline frame 15, avoiding wear of the docking seat 21 and the connecting seat 16 due to excessive force after long-term use, and extending the service life of the frame components.

[0054] Furthermore, such as Figure 6 and Figure 8 As shown, the pipe straightening mechanism 5 includes a mounting frame 51, a straightening actuator 52, a straightening transmission assembly, and two clamps 53. The mounting frame 51 is located on top of the large trolley assembly 3. The straightening actuator 52 and the straightening transmission assembly are mounted on the mounting frame 51. The two clamps 53 are rotatably mounted on the mounting frame 51. The straightening actuator 52 is connected to the two clamps 53 through the straightening transmission assembly to drive the two clamps 53 to rotate in the vertical plane to perform clamping and releasing actions. After the pipe enters, when the two clamps 53 clamp the pipe, they can only limit the pipe laterally, without affecting the pipe's vertical lifting and lowering actions. Lateral limiting can effectively prevent the pipe from radially swaying due to gravity offset or vibration during lifting and lowering, and avoid surface scratches caused by collisions between the pipe and the frame and track. The design of only lateral limiting ensures that the straightening mechanism does not obstruct the vertical transport of the pipe, ensuring the smoothness of the transport process, while avoiding damage to the pipe due to excessive clamping.

[0055] Furthermore, such as Figure 6 and Figure 8 As shown, the straightening transmission assembly includes a guide rod 54, a slider 55, and two connecting rods 56. The guide rod 54 is vertically mounted on the bracket, and the slider 55 is slidably mounted on the guide rod 54. The slider 55 is rotatably connected to two clamps 53 via the two connecting rods 56. The straightening driver 52 is connected to the slider 55 to drive the slider 55 to slide up and down along the guide rod 54. The sliding of the slider 55 is converted into the rotation of the clamps 53 through the connecting rods 56. The guide rod 54 limits the direction of movement of the slider 55, ensuring that the slider 55 slides only in the vertical direction, avoiding asynchronous opening and closing of the clamps 53 due to slider 55 offset. The two connecting rods 56 symmetrically connect the slider 55 and the two clamps 53, so that the two clamps 53 are subjected to balanced force, and can evenly fit the outer surface of the pipe when closed, improving clamping stability, while preventing excessive force on one side from causing the pipe to tilt.

[0056] In this embodiment, the pipe conveying mechanism is used as follows: Before operation, the installation height of the mounting frame assembly 2 is adjusted according to the height of the wellhead platform or the position of the subsequent docking equipment. The mounting frame assembly 2 is then fitted onto the outside of the second pipe conveying frame 15. The mounting frame assembly 2 is slid so that the docking seat 21 on it is aligned with the adjacent connecting seat 16 at the corresponding height on the second pipe conveying frame 15. Then, the connecting pin is passed through the pin holes of the docking seat 21 and the connecting seat 16 and locked. The rigid connection of the connecting pin ensures that the two are firmly fixed, which facilitates quick height adjustment and can withstand the lateral force of the mounting frame assembly 2 and subsequent pipe conveying. After the adjustment is completed, the side plate 22 on the side of the mounting frame assembly 2 is bolted to the derrick. The stability of the derrick is used to further strengthen the support of the mounting frame assembly 2 and prevent the frame from shaking due to the weight or vibration of the pipe during subsequent conveying. During operation, the pipe enters the large trolley assembly 3, and the bottom of the pipe is placed in the core ring 47 of the lifting trolley 42, completing the initial positioning of the bottom of the pipe. At this time, the pipe straightening mechanism 5 is activated, and the straightening driver 52 drives the slider 55 to slide down along the guide rod 54. The slider 55 pulls the two clamps 53 to rotate relative to each other in the vertical plane through the two connecting rods 56 until the clamps 53 are evenly attached to the outer surface of the pipe, forming a lateral limit on the pipe and preventing the pipe from radially shifting due to inertia or vibration during the lifting process. Then, the large trolley assembly 3 is started, and the large trolley driver 33 outputs power, driving the transmission gear to roll along the rack 12 in the pipe frame. The large trolley 32 is lifted and rises smoothly along the large trolley track 11 with the transmission gear, simultaneously driving the large trolley frame 31, the small trolley assembly 4 and the pipe to rise to the target height. The cylinder of the small trolley drive cylinder 41 retracts, driving the first sprocket 43 and the second sprocket 44 at both ends to rise synchronously and engage the first chain 45 and the second chain 46 respectively, thereby driving the small trolley 42 to rise from a position close to the second sprocket 44 to a position close to the first sprocket 43, so that the pipe is raised to the designated position.

[0057] Example 2:

[0058] This embodiment provides a pipe conveying mechanism, which includes all the structures of the pipe conveying mechanism described in Embodiment 1.

[0059] In this embodiment, a lifting robot is also included. The lifting robot is fixedly installed on the top of the kit frame assembly 2. The pipe can be vertically transported upward to the gripping position of the lifting robot through the large trolley assembly 3 and the small trolley assembly 4. The lifting robot can then grip the pipe and move it to the wellhead position.

[0060] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0063] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0064] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A pipe conveying mechanism, characterized in that, include: It includes a pipe frame assembly (1), a set frame assembly (2), a large pulley assembly (3), a small pulley assembly (4), and a pipe straightening mechanism (5). The frame assembly (2) can be fitted onto the pipe frame assembly (1) at an adjustable height. The large trolley assembly (3) can be installed inside the pipe frame assembly (1) with vertical movement. The small trolley assembly (4) is installed inside the large trolley assembly (3). The pipe straightening mechanism (5) is installed on the top of the large trolley assembly (3). The ground pipe-laying robot vertically moves the pipe into the large trolley assembly (3), with the bottom of the pipe placed in the small trolley assembly (4), and the pipe straightening mechanism (5) clamps the pipe; the large trolley assembly (3) can drive the small trolley assembly (4) and the pipe to move up and down, and the small trolley assembly (4) can drive the pipe to move up and down.

2. The pipe conveying mechanism as described in claim 1, characterized in that, The pipeline frame assembly (1) is provided with a large trolley track (11) and a rack (12) extending along its length. The large trolley assembly (3) includes a large trolley frame (31), a lifting large trolley (32), a large trolley drive (33), and a transmission gear; The pipe straightening mechanism (5) is located on the top of the large trolley frame (31), and the small trolley assembly (4) is located inside the large trolley frame (31); the large trolley frame (31) is located on the top of the lifting large trolley (32), the large trolley drive (33) and the transmission gear are located inside the lifting large trolley (32), the lifting large trolley (32) is movably installed on the large trolley track (11), and the large trolley drive (33) is connected to the rack (12) through the transmission gear; The large trolley driver (33) can drive the transmission gear to mesh with the rack (12) to move the lifting trolley (32) up and down along the large trolley guide rail.

3. The pipe conveying mechanism as described in claim 2, characterized in that, The large trolley frame (31) has a small trolley track (34) extending along its length. The small trolley assembly (4) includes a small trolley drive cylinder (41), a lifting small trolley (42), and a transmission assembly; The lifting trolley (42) is movably mounted on the trolley track (34). The cylinder rod end of the trolley drive cylinder (41) is located inside the large trolley frame (31). The trolley drive cylinder (41) is connected to the lifting trolley (42) through a transmission assembly to drive the lifting trolley (42) to move vertically up and down along the trolley track (34).

4. The pipe conveying mechanism as described in claim 3, characterized in that, The transmission assembly includes a first sprocket (43), a second sprocket (44), a first chain (45), and a second chain (46); The first sprocket (43) and the second sprocket (44) are rotatably mounted on both ends of the cylinder of the small trolley drive cylinder (41); the two ends of the first chain (45) are fixedly connected to the middle of the large trolley frame (31) and the lifting small trolley (42), and the first chain (45) is driven by the first sprocket (43); the two ends of the second chain (46) are fixedly connected to the middle of the large trolley frame (31) and the lifting small trolley (42), and the second chain (46) is driven by the second sprocket (44); the small trolley drive cylinder (41) drives the lifting small trolley (42) to move up and down along the small trolley track (34) through the cylinder, and at the same time drives the first sprocket (43) and the second sprocket (44) to mesh with the first chain (45) and the second chain (46) respectively, and drives the lifting small trolley (42) to move between the first sprocket (43) and the second sprocket (44).

5. The pipe conveying mechanism as described in claim 3, characterized in that, A core-filling assembly is provided on the top of the lifting trolley (42); The core-filling assembly includes multiple core-filling rings (47) arranged concentrically from the inside out.

6. The pipe conveying mechanism as described in claim 1, characterized in that, The pipeline frame assembly (1) includes a base (13), a first pipeline frame (14), and a second pipeline frame (15); The first pipeline frame (14) is vertically fixed to the base (13), and the second pipeline frame (15) is vertically fixed to the top of the first pipeline frame (14); The kit frame assembly (2) can be selectively mounted at a height onto the second pipeline frame (15).

7. The pipe conveying mechanism as described in claim 6, characterized in that, The first side of the second pipeline frame (15) is provided with a plurality of elliptical hole connectors (16) evenly arranged along its length direction, and the second side of the second pipeline frame (15) is provided with a plurality of circular hole connectors (17) evenly arranged along its length direction. The third side of the frame assembly (2) opposite to the first side is provided with at least two elliptical hole mating seats (21), and the fourth side of the frame assembly (2) opposite to the second side is provided with at least two round hole mating seats (22). The frame assembly (2) is connected to two adjacent elliptical hole connecting seats (16) on the first side of the second pipeline frame (15) through the two elliptical hole mating seats (21) on the third side, and is connected to two adjacent round hole connecting seats (17) on the second side of the second pipeline frame (15) through the two round hole mating seats (22) on the fourth side.

8. The pipe conveying mechanism as described in claim 7, characterized in that, The side of the frame assembly (2) is provided with a side plate (22) for connecting the derrick.

9. The pipe conveying mechanism as described in claim 1, characterized in that, The pipe straightening mechanism (5) includes a mounting bracket (51), a straightening actuator (52), a straightening transmission assembly, and two clamps (53). The mounting bracket (51) is located on the top of the large trolley assembly (3). The straightening drive (52) and the straightening transmission assembly are mounted on the mounting bracket (51). The two clamps (53) are rotatably mounted on the mounting bracket (51). The straightening drive (52) is connected to the two clamps (53) through the straightening transmission assembly to drive the two clamps (53) to rotate in the vertical plane to perform clamping and releasing actions. When the two clamps (53) hold the pipe, they can only limit the pipe laterally.

10. The pipe conveying mechanism as described in claim 9, characterized in that, The straightening transmission assembly includes a guide rod (54), a slider (55), and two connecting rods (56). The guide rod (54) is vertically mounted on the bracket, and the slider (55) is slidably mounted on the guide rod (54). The slider (55) is rotatably connected to the two clamps (53) through two connecting rods (56). The straightening driver (52) is connected to the slider (55) to drive the slider (55) to slide up and down along the guide rod (54). The sliding of the slider (55) is converted into the rotation of the clamps (53) through the connecting rods (56).

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