Pipe column conveying robot

Abstract

The invention relates to a tubular column conveying robot which comprises a gantry support assembly, a tackle assembly, a telescopic pipe grabbing assembly, a tray translation mechanism and a turnover lifting mechanism. The gantry support assembly is movably installed on the tubular column storage platform, the pulley assembly is movably installed on the gantry support assembly, and the movable directions of the gantry support assembly and the pulley assembly are perpendicular to each other. The translation tray mechanism is movably installed on the gantry support assembly and located below the tackle assembly, and the movable direction of the translation tray mechanism is the same as the movable direction of the gantry support assembly. The telescopic pipe grabbing assembly is installed on the pulley assembly and used for grabbing and releasing the pipe column and driving the pipe column to move up and down, and pipe column transferring between the pipe column storage platform and the translation tray mechanism is achieved. The turnover lifting mechanism is installed on the gantry support assembly and used for grabbing the pipe columns on the horizontal moving tray mechanism to be connected or transferring the connected pipe columns to the horizontal moving tray mechanism. The device has the beneficial effects that the systematization level, the operation efficiency and the operation safety of oil and gas drilling pipe column conveying operation are improved.

Description

Technical Field

[0001] This invention relates to the field of oil and gas drilling technology, and in particular to a tubing delivery robot. Background Technology

[0002] In oil and gas drilling operations, the transport of tubing (including drill pipe, casing, tubing, etc.) is a core process throughout the entire drilling process, directly affecting drilling efficiency, operational safety, and labor cost control. As oil and gas drilling expands into deeper and more complex formations, and as the demand for automated and unmanned operations continues to increase, tubing needs to be frequently moved between the tubing storage platform and the drilling area (such as the wellhead and transfer station). This transport process must meet the core requirements of "precise positioning, smooth transport, and seamless connection." Especially in large-scale drilling operations, the continuity and stability of tubing transport have a significant impact on the overall drilling cycle.

[0003] Currently, the tubing transport equipment at oil and gas drilling sites generally suffers from poor structural coordination and low functional integration: most equipment can only achieve tubing transport in a single direction, lacking multi-directional vertical movement coordination design, making it difficult to cover the full-area retrieval and placement needs of the tubing storage platform, requiring frequent adjustments to the overall equipment layout, and resulting in long preparation times; the transfer between the tubing storage platform and the intermediate support structure lacks a dedicated connecting mechanism, relying heavily on manual assistance, which is not only labor-intensive but also prone to tubing offset and collision problems; overall, there is a lack of integrated tubing handover coordination, making it impossible to achieve the entire process of tubing grabbing from the storage platform, transferring to the target location, tubing processing, and stable handover, requiring a large amount of manual assistance to coordinate each link, seriously affecting operational efficiency. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a column conveying robot, which solves the technical problems of low integration and poor coordination in the prior art, thus affecting the work efficiency.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] This invention provides a tube column conveying robot, comprising a gantry frame assembly, a trolley assembly, a telescopic tube gripping assembly, a translation pallet mechanism, and a tilting and lifting mechanism. The gantry frame assembly is movably mounted on the tube column storage platform, and the trolley assembly is movably mounted on the gantry frame assembly, with their directions of movement perpendicular to each other. The translation pallet mechanism is movably mounted on the gantry frame assembly, located below the trolley assembly, and its direction of movement is the same as that of the gantry frame assembly. The telescopic tube gripping assembly is mounted on the trolley assembly and is used to grip and release tube columns and move the tube columns up and down, realizing the transfer of tube columns between the tube column storage platform and the translation pallet mechanism. The tilting and lifting mechanism is mounted on the gantry frame assembly and is used to grip tube columns on the translation pallet mechanism for handover, or to transfer the handed-over tube columns to the translation pallet mechanism.

[0009] Optionally, the pallet translation mechanism includes a pallet body, a translation driver, a first alignment mechanism, a pipe lifting mechanism, a pipe transfer mechanism, a second alignment mechanism, and a gauging mechanism; the pallet body is movably mounted on the gantry bracket assembly, and the translation driver connects the pallet body and the gantry bracket assembly; the pipe lifting mechanism is mounted on the pallet body to form a first workstation and a second workstation, the first alignment mechanism is mounted on the first workstation, and the second alignment mechanism, the gauging mechanism, and the pipe transfer mechanism are mounted on the pallet body; the telescopic pipe gripping assembly is used to place the pipe at the first workstation or to grip the pipe at the first workstation; the first alignment mechanism is used to drive the pipe at the first workstation to move along its axial direction to a target position; the pipe transfer mechanism is used to move the pipe between the first and second workstations; the second alignment mechanism is used to drive the pipe at the second workstation to move and position along its axial direction, and the gauging mechanism is used to gaug the pipe at the second workstation; the pipe lifting mechanism is used to lift the pipe at the second workstation to a target height.

[0010] Optionally, the tube column transfer mechanism includes a first support, a second support, a first transfer driver, and a second transfer driver. The first and second supports are movably mounted on the pallet body, arranged in parallel, with a tube column lifting mechanism located between them. The first and second transfer drivers are mounted on the pallet body, with the first driver connected to the first support and the second driver connected to the second support. The first support has a first inclined surface and a first plane extending along the first inclined surface, and the second support has a second inclined surface and a second plane extending along the second inclined surface. When the tube column needs to be transferred from the first workstation to the second workstation, the first transfer driver drives the first support to rise, the tube column abuts against the first inclined surface and rolls along the first inclined surface to the first plane, and the first transfer driver drives the first support to descend, placing the tube column at the second workstation. When the tube column needs to be transferred from the second workstation to the first workstation, the second transfer driver drives the second support to rise, the tube column abuts against the second inclined surface and rolls along the second inclined surface to the second plane, and the first transfer driver drives the second support to descend, placing the tube column at the first workstation.

[0011] Optionally, the pipe column lifting mechanism includes a lifting bracket, a first limiting roller, a second limiting roller, and a lifting driver; the lifting bracket is movably mounted on the pallet body, the lifting driver is mounted on the pallet body, and the lifting driver is connected to the lifting bracket; the first limiting roller is rotatably mounted on the lifting bracket, with its rotation axis oriented laterally to form a first workstation, and the second limiting roller is rotatably mounted on the lifting bracket, with its rotation axis oriented laterally to form a second workstation; a first alignment mechanism is mounted on the lifting bracket and connected to the first limiting roller, and by driving the first limiting roller to rotate, the pipe column at the first workstation is moved axially.

[0012] Optionally, the telescopic pipe gripping assembly includes a telescopic bracket, a linkage assembly, a telescopic drive assembly, and a pipe gripping mechanism; the telescopic bracket is connected to the trolley assembly via the linkage assembly, the telescopic drive assembly is mounted on the trolley assembly and connected to the telescopic bracket to drive the telescopic bracket to rise and fall; the pipe gripping mechanism is mounted on the bottom of the telescopic bracket.

[0013] Optionally, the pipe gripping mechanism includes a rotary drive, a pipe gripping bracket, an electromagnetic adsorption assembly, and two pipe column anti-fall mechanisms; the pipe gripping bracket is installed at the bottom of the telescopic bracket via the rotary drive, the electromagnetic adsorption assembly is installed at the bottom of the pipe gripping bracket, and the two pipe column anti-fall mechanisms are installed at both ends of the gripper bracket; after the electromagnetic adsorption assembly adsorbs the pipe column, the pipe column anti-fall mechanism can selectively form a radial limit on the pipe column.

[0014] Optionally, the fall arrest mechanism for the tubing includes a fall arrest bracket, a swing cylinder, a fall arrest drive assembly, and a limiting assembly; the fall arrest bracket is mounted on the gripper bracket via the swing cylinder, the limiting assembly is rotatably mounted on the fall arrest bracket, the fall arrest drive assembly is mounted on the fall arrest bracket, and the fall arrest drive assembly is connected to the limiting assembly to drive the limiting assembly to rotate and form a radial limiting space for the tubing.

[0015] Optionally, the tilting and lifting mechanism includes a front mast, a rear mast, a connecting frame, a bottom support, a tilting assembly, a tilting driver, and a clamping mechanism. The bottom support is mounted on the gantry support assembly. The bottom ends of the front mast and the rear mast are hinged to the bottom support, and the two ends of the connecting frame are hinged to the top ends of the front mast and the rear mast, respectively, to form a four-bar linkage. The tilting assembly is mounted on the front mast and the rear mast, the clamping mechanism is mounted on the tilting assembly, and the tilting driver is connected to the front mast and the bottom support. The tilting driver is used to drive the four-bar linkage to rotate in the vertical plane. The four-bar linkage drives the clamping mechanism to rotate in the vertical plane through the tilting assembly, thereby realizing the conversion of the column from a horizontal to a vertical position.

[0016] Optionally, the gantry crane assembly includes a crane body, a travel drive assembly, a travel assembly, and an anti-derailment assembly; the pipe column storage platform has a travel guide rail; the crane body is movably supported on the travel guide rail by the travel assembly, the anti-derailment assembly is installed on the crane body and is located on both sides of the travel guide rail, the travel drive assembly is installed on the crane body and can drive the crane body to move along the travel guide rail; the trolley assembly is movably installed on the crane body, the translation pallet mechanism is movably installed on the crane body, and the tilting and lifting mechanism is installed on the crane body.

[0017] Optionally, the walking assembly includes two walking wheels and four centering wheels; the support body is supported on the walking guide rail by the two walking wheels, and the two centering wheels are installed on the first edge of the support body, located on both sides of the walking guide rail and abutting against the walking guide rail; the other two centering wheels are installed on the second edge of the support body, located on both sides of the walking guide rail and abutting against the walking guide rail.

[0018] (III) Beneficial Effects

[0019] The beneficial effects of this invention are:

[0020] The present invention provides a tube column conveying robot that can achieve precise movement and positioning in two dimensions through the gantry support assembly and the trolley assembly. It can flexibly cover the tube column grasping needs of the entire tube column storage platform and can quickly and accurately move to the corresponding position of the target tube column without adjusting the overall layout of the equipment, which greatly reduces the time spent on position adjustment before tube column grasping. The telescopic pipe gripping assembly can stably complete the gripping, releasing, and lifting actions of the pipe column, accurately realizing the pipe column transfer operation between the pipe column storage platform and the translation pallet mechanism. The transfer process is smooth and without deviation, effectively avoiding pipe column collision damage. The translation pallet mechanism can move under the pipe column to receive the pipe column. After resetting, it can also complete the axial alignment and diameter processing of the pipe column, eliminating the need for additional processing stations and transfer links. This effectively simplifies the pipe column processing process, ensures the pipe column's posture is regular and the pipe column body is intact, and improves the convenience and effectiveness of pipe column pretreatment. The tilting and lifting mechanism can stably grip the pre-processed pipe column on the translation pallet mechanism and reliably drive the pipe column to rotate from a horizontal posture to a vertical posture, completing the pipe column's posture conversion. It can prepare for subsequent handover processes without manual assistance. The various assemblies form a highly coordinated operational linkage. The bidirectional movement of the gantry support assembly and the pulley assembly provides precise positional support for the tubing string gripping. The lifting and gripping action of the telescopic gripping assembly seamlessly connects with the receiving and pre-processing steps of the translational pallet mechanism. The tilting and lifting mechanism completes the tubing string posture conversion. The entire tubing string handling process can form an integrated operation of "gripping-transferring-receiving-pre-processing-posture conversion," requiring no manual intervention throughout. This effectively avoids the risks and operational errors of high-altitude operations caused by manual tubing string transfer and adjustment, reduces the ineffective travel of the tubing string in each process, significantly reduces the probability of thread damage and pipe wall collisions, ensures the structural integrity of the tubing string, and significantly shortens the overall processing cycle of a single tubing string. It also improves the continuity and efficiency of tubing string transportation operations, and is fully adaptable to the high-frequency, high-load tubing string transportation operations in oil and gas drilling sites. Compared with existing technologies, this technology, through the coordinated linkage design of multiple assemblies, significantly improves the systematization level, operational efficiency, and operational safety of oil and gas drilling tubing string transportation operations. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a tubular conveying robot according to Embodiment 1 of the present invention;

[0022] Figure 2 This is a schematic diagram of the translational pallet mechanism of Embodiment 1 of the present invention;

[0023] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0024] Figure 4 This is a schematic diagram of the translation pallet mechanism of Embodiment 1 of the present invention from another angle;

[0025] Figure 5 yes Figure 4 Enlarged view of point B in the middle;

[0026] Figure 6 This is a schematic diagram of the overall structure of a thickening groove according to Embodiment 1 of the present invention;

[0027] Figure 7 This is a front view of the telescopic pipe gripping assembly of Embodiment 1 of the present invention gripping a pipe column;

[0028] Figure 8 This is a schematic diagram of the anti-fall mechanism for the tubular column according to Embodiment 1 of the present invention;

[0029] Figure 9 This is a structural schematic diagram of the column anti-fall mechanism of Embodiment 1 of the present invention from another angle;

[0030] Figure 10 This is a front view of the handover of the tilting and lifting mechanism and the translational pallet mechanism in Embodiment 1 of the present invention when the pipeline column is being handed over;

[0031] Figure 11 This is a front view of the rotating lifting mechanism of Embodiment 1 of the present invention driving the column to rotate to a vertical position;

[0032] Figure 12 This is a partial structural schematic diagram of the gantry support assembly of Embodiment 1 of the present invention;

[0033] Figure 13 yes Figure 12 Enlarged view of point C in the middle;

[0034] Figure 14 This is a schematic diagram of the column transfer robot of Embodiment 2 of the present invention;

[0035] Figure 15 This is a schematic diagram of the tube tray mechanism in standby mode according to Embodiment 2 of the present invention;

[0036] Figure 16 This is a schematic diagram of the structure of the column pallet mechanism in Embodiment 2 of the present invention when supporting the column.

[0037] [Explanation of Labels in the Attached Image]

[0038] 1: Gantry support assembly; 11: Support body; 12: Traveling wheel; 13: Straightening wheel; 14: Connecting plate; 15: Hook plate; 16: Travel drive; 17: Travel gear;

[0039] 2: Pulley assembly; 21: Pulley bracket; 22: Pulley actuator;

[0040] 3: Pallet translation mechanism; 31: Pallet body; 32: Translation actuator; 33: First alignment mechanism; 34: Tube column lifting mechanism; 341: Lifting bracket; 342: First limiting roller; 343: Second limiting roller; 344: Lifting actuator; 35: Tube column transfer mechanism; 351: First bracket; 352: Second bracket; 353: First transfer actuator; 354: Second transfer actuator; 36: Second alignment mechanism; 37: Through-drilling mechanism;

[0041] 41: Telescopic support; 42: Rotary drive; 43: Pipe gripping support; 44: Electromagnetic adsorption assembly; 45: Pipe column anti-fall mechanism; 451: Anti-fall support; 452: Swing cylinder; 453: Support rod; 454: First baffle; 455: Second baffle; 456: Anti-fall actuator; 457: Transmission plate; 458: Transmission rod;

[0042] 5: Tilting and lifting mechanism; 51: Front mast; 52: Rear mast; 53: Connecting frame; 54: Bottom support; 55: Tilting drive; 56: Clamping mechanism; 57: Tripod; 58: Adjusting component; 59: Pushing component;

[0043] 6: Pipeline pallet mechanism; 61: Pallet support; 62: Support seat; 63: Rotating sleeve; 64: Pallet driver; 65: Transmission frame. Detailed Implementation

[0044] 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.

[0045] Example 1:

[0046] like Figure 1As shown, a specific embodiment of the present invention provides a tube column conveying robot, including a gantry support assembly 1, a trolley assembly 2, a telescopic tube gripping assembly, a translational pallet mechanism 3, and a tilting and lifting mechanism 5. The gantry support assembly 1 is movably mounted on the tube column storage platform, and the trolley assembly 2 is movably mounted on the gantry support assembly 1, with their movable directions perpendicular to each other. The translational pallet mechanism 3 is movably mounted on the gantry support assembly 1, located below the trolley assembly 2, and its movable direction is the same as that of the gantry support assembly 1. The telescopic tube gripping assembly is mounted on the trolley assembly 2 and is used to grip and release tube columns and drive the tube columns to move up and down, realizing the transfer of tube columns between the tube column storage platform and the translational pallet mechanism 3. The tilting and lifting mechanism 5 is mounted on the gantry support assembly 1 and is used to grip tube columns on the translational pallet mechanism 3 for handover, or to transfer the handed-over tube columns to the translational pallet mechanism 3.

[0047] Specifically, the process is as follows: the gantry support assembly 1 moves to the target position on the pipe storage platform, the trolley assembly 2 moves along the gantry support assembly 1 to the target position, then the telescopic pipe gripping assembly extends downward to grip the pipe on the pipe storage platform, and then lifts the pipe to the target height. Next, the translation pallet mechanism 3 moves horizontally to below the pipe, and the telescopic pipe gripping assembly places the pipe on the translation pallet mechanism 3. The translation pallet mechanism 3 moves horizontally to its reset position and performs axial alignment and diameter checks on the pipe. Then, the tilting and lifting mechanism 5 grips the pipe and rotates it from a horizontal to a vertical position, ready for handover to the next mechanism. Through the gantry support assembly 1 and the trolley assembly 2, precise movement and positioning in two dimensions can be achieved, flexibly covering the pipe gripping needs of the entire pipe storage platform. It can quickly and accurately move to the corresponding position of the target pipe without adjusting the overall equipment layout, significantly reducing the time spent on position adjustments before pipe gripping. The telescopic pipe gripping assembly can stably complete the gripping, releasing, and lifting actions of the pipe column, accurately realizing the pipe column transfer operation between the pipe column storage platform and the translation pallet mechanism 3. The transfer process is smooth and without deviation, effectively avoiding pipe column collision damage. The translation pallet mechanism 3 can move to the bottom of the pipe column to receive the pipe column. After resetting, it can also complete the axial alignment and diameter processing of the pipe column. There is no need to add additional processing stations and transfer links, effectively simplifying the pipe column processing process, ensuring the pipe column posture is regular and the pipe column body is intact, and improving the convenience and effectiveness of pipe column pre-processing. The tilting and lifting mechanism 5 can stably grip the pre-processed pipe column on the translation pallet mechanism 3 and reliably drive the pipe column to rotate from a horizontal posture to a vertical posture, completing the posture conversion of the pipe column. It can prepare for subsequent handover processes without manual assistance. The various assemblies form a highly coordinated operational linkage. The bidirectional movement of the gantry support assembly 1 and the pulley assembly 2 provides precise positional support for the tubing string grabbing. The lifting and grabbing action of the telescopic tubing grabbing assembly seamlessly connects with the receiving and pre-processing steps of the translational pallet mechanism 3. The tilting and lifting mechanism 5 completes the tubing string posture conversion. The entire tubing string processing flow can form an integrated operation of "grabbing-transferring-receiving-pre-processing-posture conversion," requiring no manual intervention throughout. This effectively avoids the risks and operational errors of high-altitude operations caused by manual tubing string transfer and adjustment, reduces the ineffective travel of the tubing string in each process, significantly reduces the probability of thread damage and pipe wall collisions, ensures the structural integrity of the tubing string, and significantly shortens the overall processing cycle of a single tubing string. It also improves the continuity and efficiency of tubing string transportation operations, and is fully adaptable to the high-frequency, high-load tubing string transportation operation conditions in oil and gas drilling sites. Compared with existing technologies, this technology, through the coordinated linkage design of multiple assemblies, significantly improves the systematization level, operational efficiency, and operational safety of oil and gas drilling tubing string transportation operations.

[0048] Furthermore, such as Figure 2As shown, the pallet-shifting mechanism 3 includes a pallet body 31, a shift driver 32, a first alignment mechanism 33, a pipe column lifting mechanism 34, a pipe column transfer mechanism 35, a second alignment mechanism 36, and a bore diameter mechanism 37. The pallet body 31 is movably mounted on the gantry support assembly 1, and the shift driver 32 connects the pallet body 31 and the gantry support assembly 1. The pipe column lifting mechanism 34 is mounted on the pallet body 31 to form a first workstation and a second workstation. The first alignment mechanism 33 is mounted on the first workstation, and the second alignment mechanism 36, the bore diameter mechanism 37, and the pipe column transfer mechanism 35 are mounted on the pallet body 31. The telescopic pipe gripping assembly is used to place the pipe column at the first workstation or to grip the pipe column at the first workstation. The first alignment mechanism... Mechanism 33 is used to drive the pipe column of the first station to move axially to the target position; pipe column transfer mechanism 35 is used to move the pipe column between the first station and the second station; second alignment mechanism 36 is used to drive the pipe column of the second station to move axially and position it; after the pipe column reaches the second station, the second alignment mechanism 36 drives the pipe column to move axially to the contact caliper 37, the caliper 37 is used to caliper the pipe column of the second station, and during the caliper process, the second alignment mechanism 36 axially positions the pipe column; pipe column lifting mechanism 34 is used to lift the pipe column of the second station to the target height, and the second alignment mechanism 36 continues to move the pipe column of the second station axially to the target position, waiting for the flipping lifting mechanism 5 to grab it. The pallet body 31 of the translation pallet mechanism 3 can be precisely moved to the pipe column receiving position by the translation driver 32, and efficiently cooperates with the telescopic pipe gripping assembly to complete the stable receiving and placement of the pipe column; the first alignment mechanism 33 of the first station can quickly drive the pipe column to move axially to the target position, realize the initial axial positioning of the pipe column, and lay the foundation for subsequent station transfer; the pipe column transfer mechanism 35 can smoothly complete the transfer of the pipe column between the first station and the second station without manual assistance, avoiding collision damage during the transfer of the pipe column; the second alignment mechanism 36 of the second station can not only drive the pipe column to move axially, but also form a reliable axial positioning of the pipe column during the caliper operation, ensuring that the caliper mechanism 37 accurately and efficiently detects the caliper of the pipe column, and ensuring that the internal passage of the pipe column is unobstructed; the pipe column lifting mechanism 34 can lift the calipered pipe column to the target height that is adapted to the flip lifting mechanism 5 to grab, and the second alignment mechanism 36 aligns the pipe column axially again, ensuring that the flip lifting mechanism 5 can accurately grab the target position of the pipe column, and achieve seamless connection with the subsequent handover process.Each mechanism on the pallet body 31 has a clear division of labor and works in concert, enabling the tubing string to complete an integrated pre-processing process on the translational pallet mechanism 3, which includes "tubing string acceptance - preliminary alignment - work station transfer - axial positioning - tubing string diameter adjustment - tubing string lifting - axial alignment for gripping". This eliminates the need for additional processing equipment and transfer links, significantly simplifying the tubing string pre-processing steps and improving the continuity and efficiency of tubing string processing. At the same time, it avoids the operational errors and tubing string damage risks caused by manual intervention. The diameter adjustment mechanism 37 can also detect internal defects in the tubing string in advance, ensuring the reliability of subsequent drilling operations. The overall structure is adapted to the high-frequency and high-load operating conditions of oil and gas drilling sites, providing key pre-processing and connection support for the tubing string transport robot to achieve fully automated closed-loop operation.

[0049] Furthermore, such as Figure 2 , Figure 3 and Figure 6As shown, the tube column transfer mechanism 35 includes a first support 351, a second support 352, a first transfer driver 353, and a second transfer driver 354. The first support 351 and the second support 352 are movably mounted on the pallet body 31, and the first support 351 and the second support 352 are arranged in parallel. The tube column lifting mechanism 34 is located between the first support 351 and the second support 352. The first transfer driver 353 and the second transfer driver are mounted on the pallet body 31. The first transfer driver 353 is connected to the first support 351, and the second transfer driver 354 is connected to the second support 352. The first support 351 has a first inclined surface and a first plane extending along the first inclined surface, and the second support 352 has a second inclined surface and a second plane extending along the second inclined surface. When the tubing needs to be transferred from the first workstation to the second workstation, the first transfer driver 353 drives the first support 351 to rise, the tubing abuts against the first inclined surface and rolls along the first inclined surface to the first plane, and the first transfer driver 353 drives the first support 351 to fall, placing the tubing at the second workstation; when the tubing needs to be transferred from the second workstation to the first workstation, the second transfer driver 354 drives the second support 352 to rise, the tubing abuts against the second inclined surface and rolls along the second inclined surface to the second plane, and the first transfer driver 353 drives the second support 352 to fall, placing the tubing at the first workstation. The first support 351 and the second support 352 of the tubing transfer mechanism 35 are arranged in parallel and can move up and down. This arrangement, combined with the tubing lifting mechanism 34 positioned between them, ensures that the lifting and lowering actions of the tubing lifting mechanism 34 are not interfered with, while also accurately receiving and transferring the tubing. The structural design of the first inclined surface and first plane of the first support 351, and the second inclined surface and second plane of the second support 352, utilizes the tubing's own weight to roll along the inclined surface to the plane, achieving smooth guidance during tubing transfer and avoiding tubing collisions and thread damage caused by forced pushing. The first transfer driver 353 independently drives the first support 351, and the second transfer driver 354 independently drives the second support 352. The drive design enables bidirectional transfer of the tubing from the first station to the second station and vice versa, eliminating the need for manual assistance and significantly improving transfer efficiency. The entire transfer process is achieved through the coordinated lifting of the support frame and the inclined plane guide, resulting in simple and controllable movements and smooth power transmission. This transfer mechanism works efficiently in conjunction with the first alignment mechanism 33 and the second alignment mechanism 36 of the translation pallet mechanism 3, ensuring that the tubing maintains its regular posture after being transferred between different stations. This lays the foundation for subsequent pre-processing procedures such as alignment and diameter checking, further enhancing the continuity and integration of the tubing pre-processing flow and ensuring the integrity and safety of the tubing transfer process.

[0050] Furthermore, such as Figures 4-6As shown, the pipe column lifting mechanism 34 includes a lifting bracket 341, a first limiting roller 342, a second limiting roller 343, and a lifting driver 344. The lifting bracket 341 is movably mounted on the pallet body 31, located between the first bracket 351 and the second bracket 352. The lifting driver 344 is mounted on the pallet body 31 and connected to the lifting bracket 341. The first limiting roller 342 is rotatably mounted on the lifting bracket 341, with its rotation axis oriented laterally to form a first workstation. The second limiting roller 343 is rotatably mounted on the lifting bracket 341, with its rotation axis oriented laterally to form a second workstation. The first alignment mechanism 33 is mounted on the lifting bracket 341 and connected to the first limiting roller 342. By driving the first limiting roller 342 to rotate, the pipe column at the first workstation is moved axially.The lifting bracket 341 of the pipe column lifting mechanism 34 is movably mounted on the pallet body 31 and positioned between the first bracket 351 and the second bracket 352 of the pipe column transfer mechanism 35. This arrangement does not interfere with the lifting and transferring actions of the first bracket 351 and the second bracket 352 of the pipe column transfer mechanism 35, and the lifting bracket 341 can be driven by the lifting driver 344 to complete a smooth lifting action. It can accurately lift the pipe column that has undergone caliper treatment at the second workstation to the target height that is suitable for the gripping of the flip lifting mechanism 5, providing reliable height adjustment support for the subsequent gripping and handover of the pipe column; the first limiting roller 342 and the second limiting roller 343 can both be rotatably mounted. The lifting bracket 341 and the rotation axes of both maintain a lateral orientation. The first limiting roller 342 surrounds the lifting bracket 341 to form the first station of the pipe column lifting mechanism 34, and the second limiting roller 343 surrounds the lifting bracket 341 to form the second station of the pipe column lifting mechanism 34. The two limiting rollers can form a stable lateral limiting constraint on the pipe column supported at the corresponding station, effectively preventing the pipe column from shifting laterally or rolling off during axial alignment, station transfer, and diameter detection, and ensuring that the pipe column is always placed in a regular and stable manner. The first alignment mechanism 33 is installed on the body of the lifting bracket 341 and establishes a transmission with the first limiting roller 342. The connection is achieved by directly driving the first limiting roller 342 to rotate through the first alignment mechanism 33. The rolling friction between the roller and the tube column drives the tube column, which is supported at the first workstation, to move smoothly along its own axis. This transmission method significantly reduces the frictional resistance between the tube column and the limiting structure during axial movement, avoiding damage to the outer wall and threads of the tube column caused by hard friction, while also achieving axial alignment and positioning of the tube column. This lays a precise positional foundation for the subsequent transfer of the tube column to the second workstation under the action of the tube column transfer mechanism 35. The components of the tube column lifting mechanism 34 have clearly defined functions and highly coordinated actions. The lifting action of the lifting bracket 341 can be synchronized with the tube column transfer machine. The gripping action of the support lifting and tilting lifting mechanism 5 of the structure 35 is seamlessly connected. The rotation characteristics of the first limit roller 342 and the second limit roller 343 can not only adapt to the rolling and transfer requirements of the pipe column, but also cooperate with the first alignment mechanism 33 and the second alignment mechanism 36 to complete the axial adjustment of the pipe column. The pipe column lifting mechanism 34 and other components of the translation pallet mechanism 3 form an efficient working collaboration, which further ensures the stability and smoothness of the pipe column in the entire process of receiving, axial alignment, diameter detection and lifting to be gripped on the translation pallet mechanism 3. It effectively avoids the collision damage of the pipe column in each process flow and improves the work efficiency of the pipe column pre-processing stage.

[0051] Furthermore, such as Figure 7As shown, the telescopic pipe gripping assembly includes a telescopic bracket 41, a connecting rod assembly, a telescopic drive assembly, and a pipe gripping mechanism. The telescopic bracket 41 is connected to the trolley assembly 2 via the connecting rod assembly. The telescopic drive assembly is installed on the trolley assembly 2 and connected to the telescopic bracket 41 to drive the telescopic bracket 41 to rise and fall. The pipe gripping mechanism is installed at the bottom of the telescopic bracket 41. Specifically, the pipe gripping mechanism includes a rotary drive 42, a pipe gripping bracket 43, an electromagnetic adsorption assembly 44, and two pipe column anti-fall mechanisms 45. The pipe gripping bracket 43 is installed at the bottom of the telescopic bracket 41 via the rotary drive 42. The electromagnetic adsorption assembly 44 is installed at the bottom of the pipe gripping bracket 43, and the two pipe column anti-fall mechanisms 45 are installed at both ends of the gripper bracket. After the electromagnetic adsorption assembly 44 adsorbs the pipe column, the pipe column anti-fall mechanism 45 can selectively form a radial limit on the pipe column.The telescopic drive assembly is connected to the trolley assembly 2 via a linkage assembly. It is installed on the trolley assembly 2 and establishes a transmission connection with the telescopic support 41, enabling stable driving of the telescopic support 41 to complete its rising and falling movements. The linkage assembly provides guidance and support for the lifting and lowering movements of the telescopic support 41, effectively buffering vibration interference at the oil and gas drilling site and ensuring that the lifting trajectory of the telescopic support 41 remains straight, preventing positional deviation of the pipe-gripping mechanism from affecting the accuracy of pipe string gripping. The pipe-gripping support 43 of the pipe-gripping mechanism is installed at the bottom of the telescopic support 41 via a rotary drive 42. The actuator 42 can drive the pipe gripping bracket 43 and all components on the pipe gripping bracket 43 to achieve multi-angle rotation adjustment, which can quickly adapt to different placement angles of the pipes on the pipe storage platform. Pipe alignment can be completed without adjusting the positions of the trolley assembly 2 and the gantry bracket assembly 1, significantly reducing the time spent on position adjustment before pipe gripping and improving the flexibility of the gripping operation. The electromagnetic adsorption component 44 is installed at the bottom of the pipe gripping bracket 43, using a magnetic adsorption method to form a stable adsorption of the pipe. There is no hard clamping contact between the component and the pipe, which can effectively avoid collisions to the pipe wall and threaded parts caused by hard clamping. To prevent crushing damage, the structural integrity of the pipe column is guaranteed to the maximum extent. Two pipe column anti-fall mechanisms 45 are installed at both ends of the pipe gripping bracket 43. After the electromagnetic adsorption component 44 adsorbs the pipe column, the pipe column anti-fall mechanism 45 can selectively form a reliable radial limit constraint on the pipe column, fundamentally eliminating the risk of slippage and falling of the pipe column due to sudden situations such as on-site vibration and magnetic adsorption failure during lifting and transportation. Through the dual protection structure of magnetic adsorption and radial limit, the operational safety during pipe column gripping and transportation is greatly improved. The various components of the telescopic pipe gripping assembly With clear division of labor and highly coordinated actions, the overall structure is compact and possesses strong structural rigidity and resistance to dust and vibration, enabling it to withstand the harsh working conditions at oil and gas drilling sites. Its integrated functions of lifting adjustment, angle rotation, magnetic gripping, and anti-fall limit can complete the gripping and lifting of the tubing on the tubing storage platform. It can also seamlessly connect with the translation pallet mechanism 3 to complete the lowering and transfer of the tubing, further improving the accuracy of tubing gripping, transfer stability, and work efficiency of the entire tubing transport robot, while effectively reducing the probability of damage to the tubing during the gripping and transfer process.

[0052] Furthermore, such as Figure 7As shown, the linkage assembly includes a first link, a second link, a third link, and a fourth link; the first and second links are arranged crosswise, and their middle parts are rotatably connected by a first pin; the third and fourth links are arranged crosswise, and their middle parts are rotatably connected by a second pin; one end of the first and second links is rotatably connected to the bottom of the trolley assembly 2, and the other ends of the first and second links are respectively rotatably connected to one end of the third and fourth links, and the other ends of the third and fourth links are rotatably connected to the telescopic bracket 41. The telescopic bracket 41 has a first guide pulley and a second guide pulley; the telescopic drive assembly includes a winch and a fixed pulley; the winch is disposed on the trolley assembly 2, and the fixed pulley is disposed at one end of the trolley assembly 2; the free end of the winch cable is connected to the other end of the trolley assembly 2, and the cable is connected to the fixed pulley, the first guide pulley, and the second guide pulley; the winch releases and retracts the cable to realize the lifting and lowering of the telescopic bracket 41. The first and second links of the linkage assembly are arranged in a cross configuration, with their middle sections rotatably connected by a first pin. The third and fourth links are also arranged in a cross configuration, with their middle sections rotatably connected by a second pin. This double-cross hinge structure forms a stable parallelogram linkage mechanism. One end of the first and second links is rotatably connected to the bottom of the trolley assembly 2, and the other end is rotatably connected to one end of the third and fourth links, respectively. The other ends of the third and fourth links are rotatably connected to the telescopic bracket 41. This segmented hinged connection method provides precise linear guidance for the lifting and lowering action of the telescopic bracket 41, ensuring that the telescopic bracket 41 always rises and falls smoothly vertically without deviation, effectively avoiding deviation in the gripping position of the pipe gripping mechanism. Furthermore, the coordinated distribution of force by multiple links significantly improves the structural rigidity and overall stability of the linkage assembly. The load-bearing capacity can stably support the entire weight of the telescopic support 41, the pipe-grabbing mechanism, and the gripped pipe string. At the same time, the rotatable characteristics of each link can effectively buffer the vibration and impact at the oil and gas drilling site, reduce the impact of vibration on the lifting accuracy of the telescopic support 41, and ensure the smoothness of power transmission. The first and second cable guide wheels on the telescopic support 41, together with the winch on the trolley assembly 2 and the fixed pulley at one end of the trolley assembly 2, form a regular and orderly cable guiding transmission system. This system can change the force direction of the winch cable, optimize the power transmission path, and effectively disperse the cable tension through the distribution effect of the cable guide wheels. This prevents the cable from wearing or breaking due to localized force concentration, and also prevents the cable from getting tangled or stuck during the lifting of the telescopic support 41. This system is suitable for the dusty and compact working environment at oil and gas drilling sites.The winch of the telescopic drive assembly drives the telescopic support 41 to complete the lifting and lowering action by releasing and retracting the cable. This drive method provides stable and highly controllable power output, enabling precise adjustment of the lifting stroke of the telescopic support 41. It can flexibly adapt to the needs of grabbing pipes at different heights on the pipe storage platform, achieving precise pipe docking without additional equipment position adjustments, reducing the operation time for lifting and alignment. Furthermore, the cable drive structure has no complex mechanical meshing parts, resulting in fewer potential failure points, convenient maintenance, and good dust and wear resistance. The guiding and supporting function of the connecting rod assembly and the power drive function of the telescopic drive assembly work in perfect synergy, allowing the lifting and lowering action of the telescopic support 41 to be stable, precise, and flexible, with adjustable lifting stroke. With a wider adjustment range and more sensitive action response, it can quickly complete the gripping, lifting, lowering, and transferring of the tubing string. The combined structure of this linkage assembly and telescopic drive assembly has strong resistance to deformation and fatigue, and can withstand the high temperature, vibration, and high-frequency operation conditions at the drilling site, effectively reducing the occurrence of transmission failures. Together, they provide reliable lifting support and power drive for the telescopic tubing gripping assembly, ensuring that the telescopic support 41 can smoothly drive the gripping mechanism to complete the gripping and transferring of the tubing string, further improving the accuracy of the telescopic tubing gripping assembly in gripping the tubing string and the stability of the transfer, while reducing the probability of collision damage to the tubing string during lifting and lowering, ensuring the structural integrity of the tubing string itself, and providing solid support for the efficient operation of the entire tubing string transport robot.

[0053] Furthermore, such as Figure 8 and Figure 9As shown, the fall arrest mechanism 45 for the tubing includes a fall arrest bracket 451, a swing cylinder 452, a fall arrest drive assembly, and a limiting assembly. The fall arrest bracket 451 is mounted on the gripper bracket via the swing cylinder 452. The limiting assembly is rotatably mounted on the fall arrest bracket 451. The fall arrest drive assembly is mounted on the fall arrest bracket 451 and is connected to the limiting assembly to drive the limiting assembly to rotate and form a radial limiting space for the tubing. The fall arrestor 451 is installed on the pipe gripping bracket 43 via a swing cylinder 452. The swing cylinder 452 only drives the fall arrestor 451 to switch between the limit and avoidance states. When the pipe needs to be limited for protection, it swings to the working position; when the pipe does not need to be limited, it swings to the avoidance position. It does not interfere with the adsorption and release action of the electromagnetic adsorption component 44 on the pipe. The action switching is smooth and there is no operational interference. The fall arrestor drive component is installed on the fall arrestor 451 and drives the limit component to rotate. After the limit component rotates to the position, it encloses and forms a radial limit space for the pipe, forming a stable radial limit constraint on the pipe after it is adsorbed by the electromagnetic adsorption component 44, effectively preventing the pipe from slipping and moving during lifting and transportation. This mechanism, together with the electromagnetic adsorption component 44, forms a dual protective structure of magnetic adsorption and radial limiting, fundamentally eliminating the risk of the pipe column falling due to on-site vibration or magnetic failure. It not only avoids damage to the pipe column from impacts but also effectively eliminates on-site operational safety risks. The two pipe column anti-fall mechanisms 45 are symmetrically installed at both ends of the pipe gripping bracket 43, providing a more balanced limiting force on the pipe column. This ensures the stability of the pipe column's posture during transport, and the response of each component is sensitive. The limiting and releasing process does not increase the operation time and does not affect the overall operating efficiency of the telescopic pipe gripping assembly.

[0054] Further, in this embodiment, the limiting component includes two support rods 453, a first baffle 454, and a second baffle 455; one end of each support rod 453 is rotatably mounted on the fall arrestor 451, the first baffle 454 is mounted on the free end of one support rod 453, and the second baffle 455 is mounted on the free end of the other support rod 453; the fall arrestor drive component connects the two support rods 453 to drive them to rotate, thereby causing the first baffle 454 and the second baffle 455 to rotate in the horizontal plane, selectively forming a radial limiting space for the column with the two support rods 453. A helical transmission groove is provided on the support rod 453; for example... Figure 8 and Figure 9As shown, the fall arrestor drive assembly includes a fall arrestor 456, a transmission plate 457, and two transmission rods 458. The fall arrestor 456 is installed inside the fall arrestor bracket 451. The drive end of the fall arrestor 456 is connected to the transmission plate 457. The transmission plate 457 is connected to the transmission grooves of the two support rods 453 through the two transmission rods 458. The fall arrestor 456 can drive the transmission plate 457 to move the transmission rods 458 up and down. The up and down movement of the transmission rods 458 and their sliding in the transmission grooves are converted into the rotation of the support rods 453. Specifically, the length of the first baffle 454 is greater than that of the second baffle 455; the first baffle 454 has a first overlapping portion, and the second baffle 455 has a second overlapping portion; during operation, the pipe column is located between the two support rods 453, and the anti-fall actuator 456 drives the two support rods 453 via two transmission rods 458 to drive the first baffle 454 and the second baffle 455 to rotate until the first overlapping portion is above the second overlapping portion, and the first baffle 454 and the second baffle 455 are located on the same straight line to form a limiting space. The fall arrester 456 drives the transmission plate 457 to move the two transmission rods 458 up and down synchronously. The transmission rods 458 slide in the spiral transmission groove of the support rod 453, which can convert the vertical linear motion of the transmission rods 458 into the rotational motion of the support rods 453. This transmission method provides direct power transmission and a stable transmission trajectory, enabling the two support rods 453 to complete the opening and closing actions synchronously, ensuring the consistency and accuracy of the overall action of the limiting component. The length of the first baffle 454 is greater than that of the second baffle 455. During operation, the two support rods 453 respectively drive the first baffle 454 and the second baffle 455 to rotate until the first overlapping part overlaps above the second overlapping part, and the first baffle 454 and the second baffle 455 are on the same straight line, thus forming a radial limiting space that fits the outer diameter of the pipe column. This overlapping structural design makes the enclosure structure of the limiting space more complete and the limiting constraint more stable. The design effectively prevents radial movement and slippage of the tube column. The combined design of the transmission structure and the overlapping limiting structure ensures smooth and precise opening and closing of the limiting components. After the electromagnetic adsorption component 44 adsorbs the tube column, it can quickly form a reliable limiting position, and it can also quickly release the limiting position after the tube column is in place. The entire process does not interfere with the adsorption and release action of the electromagnetic adsorption component 44 on the tube column, nor does it increase the operation time of the telescopic tube gripping assembly. The coaxial limiting structure formed by the two support rods 453 driving the baffles simultaneously provides uniform limiting of the tube column and maintains the stability of the tube column's posture. While achieving reliable radial limiting protection, it will not exert hard pressure on the tube column, effectively avoiding collision damage to the tube column. The dual protection structure formed with the electromagnetic adsorption component 44 can completely eliminate the risk of falling during the tube column transfer process, further improving the operational safety and stability of the telescopic tube gripping assembly in grabbing and transferring the tube column.

[0055] Furthermore, such as Figure 10 and Figure 11As shown, the tilting and lifting mechanism 5 includes a front mast 51, a rear mast 52, a connecting frame 53, a bottom support 54, a tilting assembly, a tilting driver 55, and a clamping mechanism 56. The bottom support 54 is mounted on the gantry support assembly 1. The bottom ends of the front mast 51 and the rear mast 52 are respectively hinged to the bottom support 54, and the two ends of the connecting frame 53 are respectively hinged to the top ends of the front mast 51 and the rear mast 52 to form a four-bar linkage. The tilting assembly is mounted on the front mast 51 and the rear mast 52, the clamping mechanism 56 is mounted on the tilting assembly, and the tilting driver 55 is connected to the front mast 51 and the bottom support 54. The tilting driver 55 is used to drive the four-bar linkage to rotate in the vertical plane. The four-bar linkage drives the clamping mechanism 56 to rotate in the vertical plane through the tilting assembly, thereby realizing the conversion of the column from a horizontal posture to a vertical posture. Specifically, a short diagonal tie rod and a long diagonal tie rod are also provided between the front mast 51 and the rear mast 52. One end of the short diagonal tie rod and the long diagonal tie rod are hinged together, the other end of the short diagonal tie rod is hinged to the front mast 51, and the other end of the long diagonal tie rod is hinged to the rear mast 52. The hinged structure of the double diagonal tie rods effectively enhances the overall structural rigidity and connection stability of the four-bar linkage, disperses the stress load during the column attitude conversion process, prevents deformation or swaying of the front mast 51 and rear mast 52, significantly improves the overall load-bearing capacity of the tilting and lifting mechanism 5, and can stably support the column to complete the attitude conversion action; the tilting component and the clamping mechanism 56 work together to always form a stable clamp on the column during the tilting process, effectively preventing the column from slipping or being damaged by collision, and ensuring the integrity of the column body structure; the tilting action of the entire tilting and lifting mechanism 5 is responsive and smooth, and can accurately receive the pre-processed column on the translation pallet mechanism 3. After completing the attitude conversion, it can quickly connect with the subsequent handover mechanism without the need for manual adjustment of the column attitude, effectively reducing the operation connection time, and efficiently linking with the other mechanisms of the column conveying robot, further improving the automation connection efficiency of the column conveying operation and the reliability of the column attitude conversion.

[0056] Furthermore, such as Figure 10 and Figure 11As shown, the flipping assembly includes a tripod 57, an adjusting member 58, and a pushing member 59. The first hinge point of the tripod 57 is hinged to the front mast 51, the second hinge point of the tripod 57 is hinged to the rear mast 52 via the pushing member 59, one end of the adjusting member 58 is hinged to the second hinge point of the tripod 57, and the third hinge point of the tripod 57 and the other end of the adjusting member 58 are both hinged to the clamping mechanism 56. Tripod 57 is hinged to the front mast 51 via a first hinge point and to the rear mast 52 via a pusher 59 via a second hinge point. An adjusting member 58 is hinged at one end to the second hinge point of tripod 57 and at the other end to the clamping mechanism 56. The third hinge point of tripod 57 is also hinged to the clamping mechanism 56. This multi-hinged linkage structure allows for synchronous linkage with the flipping action of the four-bar linkage, enabling the clamping mechanism 56 to smoothly complete the pipe column posture transformation. The cooperation between tripod 57 and pusher 59 transmits force and maintains the stability of the flipping assembly. The adjusting member 58 flexibly compensates for the clamping angle of the clamping mechanism 56, ensuring that the clamping mechanism 56 maintains a close and stable clamping state on the pipe column throughout the entire posture transformation process, from horizontal to vertical and from vertical to horizontal, effectively preventing pipe column displacement, slippage, or impact damage. The smooth linkage transmission of each hinge component and the distributed force buffering during the flipping process ensure the stability of the pipe column posture transformation.

[0057] Furthermore, such as Figure 1 and Figure 7 As shown, the trolley assembly 2 includes a trolley bracket 21, a trolley driver 22, and gears; the gantry bracket assembly 11 has a slide rail and a rack extending along its length direction, the trolley bracket 21 is slidably mounted on the slide rail, the trolley driver 22 is mounted on the trolley bracket 21, and the trolley driver 22 is connected to the rack through the gears to drive the gears to mesh with the racks and drive the trolley bracket 21 to slide along the slide rails; the lifting drive mechanism is mounted on the trolley bracket 21, and the telescopic assembly is mounted on the bottom of the trolley bracket 21.

[0058] Furthermore, such as Figure 12 and Figure 13As shown, the gantry support assembly 1 includes a support body 11, a travel drive assembly, a travel assembly, and an anti-derailment assembly; the tubing storage platform has a travel guide rail; the support body 11 is movably supported on the travel guide rail by the travel assembly, providing guidance for the movement of the gantry support assembly 1, effectively reducing frictional resistance and trajectory deviation risks during movement, and ensuring that the support body 11 moves smoothly and stably along the travel guide rail; the anti-derailment assembly is installed on the support body 11 and is located on both sides of the travel guide rail, which can firmly restrict the lateral displacement of the support body 11, avoid derailment hazards caused by vibration and bumps at the oil and gas drilling site, and greatly improve the operational safety of the mechanism; the travel drive assembly is installed on the support body 11, which can drive the support body 11 to move along the travel guide rail, with direct power transmission and sensitive response, enabling the positioning and smooth speed adjustment of the support body 11, and can quickly adapt to the tubing processing needs of different areas of the tubing storage platform, reducing the operation time of area switching; the trolley assembly 2 is movably installed on the support body 11. The support body 11 serves as the mounting carrier for the trolley assembly 2. Its stable movement and the movement of the trolley assembly 2 along the vertical direction of the support body 11 form a multi-dimensional synergy, significantly expanding the operational coverage of the tubing handling. Target tubing at different locations can be reached without adjusting the overall equipment layout. The components of the entire gantry support assembly 1 have clear division of labor and are compactly connected. The guiding characteristics of the walking component, the safety protection of the anti-derailment component, the power output of the walking drive component, and the load-bearing function of the support body 11 form an efficient linkage. At the same time, it can reduce transmission failures and downtime maintenance frequency, ensuring the continuity of high-frequency tubing handling. Furthermore, through horizontal movement and positioning, combined with the extension and rotation of the telescopic assembly, the accuracy and operational efficiency of tubing gripping and transportation are further improved, providing a stable, safe, and efficient mobile support foundation for automated tubing handling in oil and gas drilling.

[0059] Furthermore, such as Figure 12 and Figure 13As shown, the walking assembly includes two walking wheels 12 and four straightening wheels 13; the support body 11 is supported on the walking guide rail by the two walking wheels 12, and the two straightening wheels 13 are installed on the first edge of the support body 11, the two straightening wheels 13 are located on both sides of the walking guide rail and abut against the walking guide rail; the other two straightening wheels 13 are installed on the second edge of the support body 11, the two straightening wheels 13 are located on both sides of the walking guide rail and abut against the walking guide rail. Two traveling wheels 12 support the support body 11 on the travel guide rail of the tubing storage platform, providing a stable load-bearing foundation for the gantry support assembly 1. At the same time, rolling friction significantly reduces the resistance of the support body 11 during movement, ensuring smooth and efficient movement along the guide rail. Four straightening wheels 13 are symmetrically installed in two groups on the first and second edges of the support body 11, with each group of straightening wheels 13 located on both sides of the travel guide rail and abutting against the guide rail, forming a two-way clamping straightening structure. This not only restricts the lateral displacement of the support body 11, but also reduces frictional interference during movement through rolling contact, effectively resisting the shaking interference caused by vibration and bumps at the oil and gas drilling site. The load-bearing movement of the traveling wheels 12 and the two-way straightening of the four straightening wheels 13 work together to ensure that the movement trajectory of the support body 11 along the travel guide rail always maintains precise straightness, completely avoiding the risk of derailment, while dispersing the local pressure of the guide rail on the support body 11 and reducing structural wear.

[0060] Furthermore, such as Figure 12 and Figure 13 As shown, the travel drive assembly includes a travel driver 16 and a travel gear 17; the tubing storage platform also has a travel rack parallel to the travel guide rail; the travel driver 16 is mounted on the support body 11, and the travel driver 16 is connected to the travel rack through the travel gear 17, so as to drive the travel gear 17 to mesh with the travel rack and move the support body 11 along the travel guide rail. Through the meshing transmission of the travel gear 17 and the travel rack parallel to the travel guide rail on the tubing storage platform, the power transmission is direct and the torque output is stable, which can provide a continuous and strong driving force for the movement of the support body 11 along the travel guide rail. At the same time, the transmission characteristics of the gear and rack meshing ensure that the movement speed is adjustable and the positioning accuracy is high, which can realize the precise displacement of the support body 11 and quickly adapt to the tubing processing needs of different areas of the tubing storage platform; the travel drive assembly has a simple structure and few failure points. The meshing structure of the gear and rack has strong wear resistance and dust resistance, can withstand the working environment of the drilling site, reduce transmission jamming, failure and other faults, and ensure the continuity of high-frequency operations. The walking drive component works in synergy with the walking component and anti-derailment component of the gantry bracket assembly 1, making the movement of the bracket body 11 both smooth and precise, and providing reliable power support for the vertical movement of the trolley assembly 2 and the precise operation of the telescopic assembly.

[0061] Further, as shown in the figure, the anti-derailment assembly includes a connecting plate 14 and a hook plate 15. The connecting plate 14 is fixed to the support body 11 by bolts. The hook plate 15 is disposed on the lower surface of the connecting plate 14, and the end of the hook plate 15 bends towards the direction of the travel guide rail and extends to the lower part of the transverse wing plate of the travel guide rail. The hook plate 15 is in clearance fit or abuts against the lower surface of the transverse wing plate, so that when the support body 11 tends to lift, the hook plate 15 and the lower surface of the transverse wing plate form a vertical limiting fit, preventing the support body 11 from vertically detaching from the travel guide rail. The connecting plate 14 is bolted to the support body 11, ensuring a robust and reliable connection that can withstand the impact of vibrations and bumps at the oil and gas drilling site. This ensures the stability of the connection between the anti-derailment component and the support body 11, preventing loosening and detachment during long-term, high-frequency operations. The hook plate 15 is located on the lower surface of the connecting plate 14, with its end bent towards the travel guide rail and extending below the transverse wing plate. Through a gap fit with the lower surface of the transverse wing plate, it creates a limiting effect. When the support body 11 tends to lift due to vibration or impact, the hook plate 15 can quickly contact and limit the movement of the lower surface of the transverse wing plate, preventing the support body 11 from detaching from the travel guide rail and eliminating the safety hazard of derailment. This anti-derailment component has a simple and compact structure. The bending design of the hook plate 15 does not interfere with the movement of the travel wheels 12 and the centering wheels 13 of the travel component, nor does it affect the smooth movement of the support body 11 along the travel guide rail. Furthermore, it forms a safe synergy with the travel component and travel drive component of the gantry support assembly 1, further improving the reliability and safety of the entire trolley telescopic mechanism.

[0062] Furthermore, as shown in the figure, the support body 1 has a first crossbeam and a second crossbeam arranged in parallel, with a certain distance between them. A slide rail is provided on the first crossbeam and extends along the length of the first crossbeam; the bottom support 54 is fixedly provided on the first crossbeam and the second crossbeam. When the tilting and lifting mechanism 5 grabs the pipe column of the second work station, it drives the clamping mechanism 56 to pass between the first crossbeam and the second crossbeam to grab the pipe column. The double crossbeam installation layout provides a stable load-bearing support for the tilting and lifting mechanism 5, effectively distributing the force and improving the installation stability and overall load-bearing capacity of the tilting and lifting mechanism 5. When the tilting and lifting mechanism 5 grabs the pipe column of the second station, it can drive the clamping mechanism 56 to smoothly pass through the gap between the first and second crossbeams and complete the pipe column grabbing action. The gap avoidance structure design ensures that the grabbing action of the clamping mechanism 56 does not interfere with the crossbeam structure of the gantry support assembly 1, ensuring smooth connection of the grabbing action. At the same time, this layout makes full use of the structural gap of the gantry support assembly 1, optimizes the spatial layout of the equipment, and makes the operation connection between the tilting and lifting mechanism 5 and the translation pallet mechanism 3 more compact.

[0063] Example 2:

[0064] This embodiment provides a tubular delivery robot, such as Figure 14As shown, it includes all the structures of the column conveying robot described in Example 1.

[0065] like Figures 14-16 As shown, this embodiment also includes a tube column pallet mechanism 6, which includes a pallet support 61, a support base 62, a rotating sleeve 63, a pallet driver 64, and a transmission frame 65. The pallet support 61 is fixedly installed on the second crossbeam. The pallet support 61 has a guide rod extending vertically inside. The support pallet is rotatably installed on the guide rod via the rotating sleeve 63. A spiral groove is formed on the outer circumferential surface of the guide rod, and the rotating sleeve 63 is connected to the spiral groove. The pallet driver 64 is installed at the bottom of the pallet support 61. The transmission frame 65 is slidably installed on the pallet support 61. The top end of the transmission frame 65 is connected to the rotating sleeve 63, and the bottom end of the transmission frame 65 is connected to the pallet driver 64. The pallet driver 64 drives the transmission frame 65 to slide up and down, causing the rotating sleeve 63 to slide up and down along the guide rod. Under the limiting action of the rotating groove, the support pallet rotates. Its main function is to support the bottom end of the tube column by the support pallet when the flipping and lifting mechanism 5 grabs the tube column and flips it to a vertical state for handover. The pallet support 61 of the tube column pallet mechanism is fixedly installed on the second crossbeam of the support body 11, forming a stable installation support based on the second crossbeam. The layout is compact and makes full use of the existing structural space of the equipment, without occupying additional working space for tube column conveying. The pallet support 61 is provided with a guide rod extending vertically. The support seat 62 is rotatably installed on the guide rod through a rotating sleeve 63. The spiral groove on the outer circumference of the guide rod cooperates with the rotating sleeve 63. The pallet driver 64 is installed at the bottom of the pallet support 61 and connected to the rotating sleeve 63 through a transmission frame 65. When the pallet driver 64 drives the transmission frame 65 to slide up and down along the pallet support 61, it can drive the rotating sleeve 63 to complete the vertical lifting and lowering action along the guide rod. Under the limiting action of the spiral groove, it synchronously drives the support seat 62 to rotate. This structure can accurately convert the linear motion of the transmission frame 65 into a composite action of lifting and rotating the support seat 62. The action transmission is precise and the controllability is good. This column pallet mechanism can precisely support the bottom end of the column through the support seat 62 when the tilting and lifting mechanism 5 grabs the column and flips it into a vertical position for handover. This provides reliable bottom support for the vertical column, effectively distributing the clamping load of the column's own weight on the clamping mechanism 56 of the tilting and lifting mechanism 5. This prevents the clamping mechanism 56 from loosening or deforming due to continuous load, and also prevents the bottom end of the vertical column from swaying or shifting, ensuring the regularity of the column's vertical posture and providing a precise positional reference for subsequent column handover processes. The rotation and lifting movements of the support seat 62 can flexibly adapt to the placement angle and support height of the column, working efficiently in conjunction with the tilting and lifting mechanism 5. Without interfering with the column's posture transformation and handover actions, it significantly improves the structural stability of the column in the vertical handover stage, further enhancing the operational reliability of the column conveying robot in the column handover process.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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 tubular column conveying robot, characterized in that, include: Gantry support assembly (1), trolley assembly (2), telescopic gripping pipe assembly, translation pallet mechanism (3) and tilting lifting mechanism (5); The gantry support assembly (1) is movably installed on the column storage platform, and the trolley assembly (2) is movably installed on the gantry support assembly (1), and the movable directions of the two are perpendicular to each other; The pallet translating mechanism (3) is movably mounted on the gantry bracket assembly (1), located below the trolley assembly (2), and the pallet translating mechanism (3) has the same movable direction as the gantry bracket assembly (1); The telescopic pipe gripping assembly is installed on the trolley assembly (2) and is used to grip and release the pipe column and drive the pipe column to move up and down, so as to realize the transfer of the pipe column between the pipe column storage platform and the translation pallet mechanism (3); The tilting and lifting mechanism (5) is installed on the gantry bracket assembly (1) to grab the pipe column on the translation pallet mechanism (3) for handover, or to transfer the handed-over pipe column to the translation pallet mechanism (3).

2. The tubular conveying robot as described in claim 1, characterized in that, The pallet translation mechanism (3) includes a pallet body (31), a translation driver (32), a first alignment mechanism (33), a pipe column lifting mechanism (34), a pipe column transfer mechanism (35), a second alignment mechanism (36), and a bore diameter mechanism (37). The pallet body (31) is movably mounted on the gantry support assembly (1), and the translation drive (32) connects the pallet body (31) and the gantry support assembly (1); the pipe column lifting mechanism (34) is mounted on the pallet body (31) to form a first station and a second station, the first alignment mechanism (33) is mounted on the first station, and the second alignment mechanism (36), the bore diameter mechanism (37), and the pipe column transfer mechanism (35) are mounted on the pallet body (31). The telescopic pipe gripping assembly is used to place the pipe column at the first station or to grip the pipe column at the first station; the first alignment mechanism (33) is used to drive the pipe column at the first station to move along its axial direction to the target position; the pipe column transfer mechanism (35) is used to move the pipe column between the first station and the second station; the second alignment mechanism (36) is used to drive the pipe column at the second station to move along its axial direction and to position it; the gauging mechanism (37) is used to gaug the pipe column at the second station; and the pipe column lifting mechanism (34) is used to lift the pipe column at the second station to the target height.

3. The tubular conveying robot as described in claim 2, characterized in that, The tubing transfer mechanism (35) includes a first support (351), a second support (352), a first transfer driver (353), and a second transfer driver (354); The first support (351) and the second support (352) are movably mounted on the pallet body (31). The first support (351) and the second support (352) are arranged in parallel. The column lifting mechanism (34) is located between the first support (351) and the second support (352). The first transfer driver (353) and the second transfer driver (354) are mounted on the pallet body (31). The first transfer driver (353) is connected to the first support (351), and the second transfer driver (354) is connected to the second support (352). The first support (351) has a first inclined surface and a first plane extending along the first inclined surface, and the second support (352) has a second inclined surface and a second plane extending along the second inclined surface.

4. The tubular conveying robot as described in claim 2, characterized in that, The column lifting mechanism (34) includes a lifting bracket (341), a first limiting roller (342), a second limiting roller (343), and a lifting driver (344). The lifting bracket (341) is movable up and down on the pallet body (31), the lifting driver (344) is installed on the pallet body (31), and the lifting driver (344) is connected to the lifting bracket (341); the first limiting roller (342) is rotatably installed on the lifting bracket (341), and its rotation axis is oriented laterally to form a first work station; the second limiting roller (343) is rotatably installed on the lifting bracket (341), and its rotation axis is oriented laterally to form a second work station; The first alignment mechanism (33) is installed on the lifting bracket (341) and connected to the first limiting roller (342). By driving the first limiting roller (342) to rotate, the pipe column of the first station can be moved axially.

5. The tubular conveying robot as described in claim 1, characterized in that, The telescopic pipe gripping assembly includes a telescopic bracket (41), a linkage assembly, a telescopic drive assembly, and a pipe gripping mechanism; The telescopic support (41) is connected to the trolley assembly (2) via a linkage assembly. The telescopic drive assembly is installed on the trolley assembly (2) and is connected to the telescopic support (41) to drive the telescopic support (41) to rise and fall. The pipe gripping mechanism is installed at the bottom of the telescopic support (41).

6. The tubular conveying robot as described in claim 5, characterized in that, The pipe gripping mechanism includes a rotary drive (42), a pipe gripping bracket (43), an electromagnetic adsorption assembly (44), and two pipe column anti-fall mechanisms (45). The pipe gripping bracket (43) is installed at the bottom of the telescopic bracket (41) via a rotary drive (42), the electromagnetic adsorption assembly (44) is installed at the bottom of the pipe gripping bracket (43), and the two pipe column anti-fall mechanisms (45) are installed at both ends of the gripper bracket. After the electromagnetic adsorption component (44) adsorbs the tubing, the tubing anti-fall mechanism (45) can selectively form a radial limit on the tubing.

7. The tubular conveying robot as described in claim 6, characterized in that, The fall arrest mechanism (45) includes a fall arrest bracket (451), a swing cylinder (452), a fall arrest drive assembly, and a limit assembly; The fall arrestor (451) is mounted on the gripper bracket via a swing cylinder (452). The limiting component is rotatably mounted on the fall arrestor (451). The fall arrestor drive component is mounted on the fall arrestor (451) and is connected to the limiting component to drive the limiting component to rotate and form a radial limiting space for the column.

8. The tubular conveying robot as described in claim 1, characterized in that, The tilting and lifting mechanism (5) includes a front mast (51), a rear mast (52), a connecting frame (53), a bottom support (54), a tilting assembly, a tilting drive (55), and a clamping mechanism (56). The bottom bracket (54) is installed on the gantry bracket assembly (1) (1). The bottom ends of the front gantry (51) and the rear gantry (52) are respectively hinged to the bottom bracket (54). The two ends of the connecting frame (53) are respectively hinged to the top ends of the front gantry (51) and the rear gantry (52) to form a four-bar linkage. The flip assembly is mounted on the front mast (51) and the rear mast (52), the clamping mechanism (56) is mounted on the flip assembly, and the flip drive (55) is connected to the front mast (51) and the bottom bracket (54). The flipping actuator (55) is used to drive the four-bar linkage to rotate in the vertical plane. The four-bar linkage drives the clamping mechanism (56) to rotate in the vertical plane through the flipping assembly, thereby realizing the conversion between the horizontal and vertical postures of the pipe column.

9. The tubular conveying robot as described in claim 1, characterized in that, The gantry support assembly (1) includes a support body (11), a travel drive assembly, a travel assembly, and an anti-derailment assembly; The pipe storage platform has a walking guide rail; the support body (11) is movably supported on the walking guide rail by the walking component, the anti-derailment component is installed on the support body (11) and the anti-derailment component is located on both sides of the walking guide rail, the walking drive component is installed on the support body (11) and the walking drive component can drive the support body (11) to move along the walking guide rail; The trolley assembly (2) is movably mounted on the support body (11), the pallet translating mechanism (3) is movably mounted on the support body (11), and the tilting and lifting mechanism (5) is mounted on the support body.

10. The tubular conveying robot as described in claim 9, characterized in that, The walking assembly includes two walking wheels (12) and four centering wheels (13); The support body (11) is supported on the travel guide rail by two traveling wheels (12), and two straightening wheels (13) are installed on the first edge of the support body (11). The two straightening wheels (13) are located on both sides of the travel guide rail and abut against the travel guide rail; the other two straightening wheels (13) are installed on the second edge of the support body (11). The two straightening wheels (13) are located on both sides of the travel guide rail and abut against the travel guide rail.

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