Pulley mechanism for tubular column treatment

Abstract

The invention relates to a pulley mechanism for pipe column treatment. The pulley mechanism comprises a translation tray, a jacking assembly, a forward pipe conveying assembly and a reverse pipe conveying assembly. The translation tray is movably arranged on a frame body of the tubular column conveying robot in the left-right direction and used for switching working poses. At least two jacking assemblies are arranged on the translation tray in the front-back direction at intervals, the upper portion of the translation tray is provided with a first supporting station and a second supporting station which are arranged side by side, and the jacking assemblies can reciprocate in the vertical direction so as to jack the tubular column to the preset grabbing height. In addition, a forward pipe feeding assembly and a reverse pipe feeding assembly are further arranged on the translation tray and used for jacking and moving the pipe column from the first station to the second station or reversely moving the pipe column from the second station to the first station. According to the pulley mechanism, through horizontal movement of the translation tray, height adjustment of the jacking assembly and transverse transposition of the pipe conveying assembly, automatic circulation and accurate positioning of the multiple pipe columns among multiple stations can be achieved, and the operation efficiency of the pulley mechanism for conveying the pipe columns is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of oil tubing conveying equipment, and more particularly to a pulley mechanism for tubing handling. Background Technology

[0002] In oil drilling and completion operations, tubing string is a broad term that refers to all tubular tools and equipment used in drilling, casing, completion, and workover processes. Tubing string includes, but is not limited to: drill pipe, weighted drill pipe, drill collars, casing, tubing, and tailpipe.

[0003] Chinese patent document CN120626086A discloses a translational drill rod transport robot, specifically comprising a frame, a gripping mechanism, a moving mechanism, a support mechanism, and a tilting and lifting mechanism. The support mechanism is slidably connected to the frame and reciprocates along the moving mechanism's direction to receive the drill rod gripped by the gripping mechanism. The tilting and lifting mechanism grips the horizontally placed drill rod on the support mechanism and lifts and rotates it to a vertical position. The support mechanism includes a support frame and a second drive assembly / drill rod moving assembly. The support frame is located above the frame and is slidably connected to it. The fixed end of the second drive assembly is connected to the frame, and the second drive assembly drives the support frame to reciprocate along the frame's moving direction. The drill rod moving assembly is mounted on the support frame to support the drill rod and drive it to move along its axial direction. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] The present invention aims to provide a trolley mechanism for handling tubular columns with a different structure, which solves the technical problems of the existing technology where the support mechanism can support a small number of tubular columns and the transportation efficiency is low.

[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 trolley mechanism for handling tubular columns, mounted on the frame of a tubular column conveying robot, comprising:

[0009] A sliding tray is movably mounted on the frame in the left-right direction;

[0010] At least two lifting components are spaced apart on the translation tray in the front-to-back direction. The lifting components are capable of reciprocating in the vertical direction to lift the tube column to the gripping position. The upper part of the lifting components has a first support station and a second support station arranged side by side in the left-to-right direction for placing the tube column.

[0011] At least two forward tube feeding assemblies are spaced apart on the translation tray in a front-to-back direction. The forward tube feeding assemblies are configured to lift a tube column located in the first support station and move it towards the second support station; and

[0012] At least two reverse tube feeding assemblies are spaced apart on the translation tray in the front-to-back direction. The reverse tube feeding assemblies are configured to lift the tube column located in the second support station and move it toward the first support station.

[0013] Optionally, the lifting assembly includes a column bracket, a first telescopic drive component, and two first rollers;

[0014] The first telescopic drive component is vertically disposed inside the translational tray, and its output end is connected to the column bracket; the first roller is V-shaped and is respectively disposed on the upper part of the column bracket at the positions corresponding to the first support station and the second support station, and the first support station and the second support station are formed by the V-shaped groove of the first roller.

[0015] Optionally, the forward pipe feeding assembly includes a second telescopic drive and a first pipe feeding frame. The second telescopic drive is vertically disposed inside the translational tray, and its output end is connected to the first pipe feeding frame. The upper part of the first pipe feeding frame is provided with a first U-shaped frame with an upward opening, and the inner bottom wall of the first U-shaped frame is constructed as an inclined surface that is inclined toward the second support station.

[0016] The reverse tube feeding assembly includes a third telescopic drive and a second tube feeding frame. The third telescopic drive is vertically arranged inside the translational tray, and its output end is connected to the second tube feeding frame. The upper part of the second tube feeding frame is provided with a second U-shaped frame with an upward opening. The inner bottom wall of the second U-shaped frame is constructed as an inclined surface that is inclined toward the first support station.

[0017] Optionally, the front and rear sides of the pipe column bracket, the first pipe feeder, and the second pipe feeder are respectively provided with second rollers;

[0018] The interior of the translation tray is provided with a first roller guide rail extending vertically at the position corresponding to each of the second rollers. The second rollers roll in cooperation with the first roller guide rail to guide the pipe column bracket, the first pipe feeder, or the second pipe feeder vertically.

[0019] Optionally, it also includes a drive motor and an alignment baffle;

[0020] The output end of the drive motor is connected to the first roller located at the first support station, and is used to drive the first roller to rotate so as to move the tube column in the front-back direction.

[0021] The alignment baffle is fixedly disposed at one end of the translation tray and corresponds to the first support station, and is used to limit the end position of the column located in the first support station.

[0022] Optionally, it also includes a puncture baffle, a fourth telescopic drive, and a tubing bore assembly;

[0023] The puncturing baffle and the fourth telescopic drive are disposed at one end of the translation tray and correspond to the second support position. The output end of the fourth telescopic drive is connected to the puncturing baffle and is used to drive the puncturing baffle to move in the front-back direction to push the tube column to move along its axial direction.

[0024] The pipe diameter assembly is located at the other end of the translation tray and corresponds to the second support station, and is used to perform diameter detection on the pipe located in the second support station.

[0025] Optionally, it also includes a control system;

[0026] The first telescopic drive component integrates a displacement sensor, which is configured to detect the real-time telescopic extension and contraction of the first telescopic drive component; the control system is connected to the displacement sensor and the first telescopic drive component respectively, and is configured to adjust the stroke of the first telescopic drive component based on the feedback signal of the displacement sensor to compensate for the size difference of different pipe diameters, so that the central axis of the pipe column of different specifications is located at the same preset height after being lifted.

[0027] The fourth telescopic drive component is associated with a pull-wire encoder, which is configured to detect the real-time position of the alignment baffle along the front-back direction. The control system is connected to the pull-wire encoder and the fourth telescopic drive component, and is configured to control the fourth telescopic drive component to move based on the feedback signal of the pull-wire encoder until the tubing is pushed until its male thread end is aligned with a preset axial reference plane.

[0028] Optionally, the pipe string bore assembly includes a bore chain box and a bore gauge;

[0029] The gauge chain box is fixedly installed inside the translational tray. A rigid chain is wound inside the gauge chain box. The rigid chain has a fixed end and a free end. The fixed end is located inside the gauge chain box, and the free end extends out of the gauge chain box and is detachably connected to the gauge gauge.

[0030] The fourth telescopic drive is configured to push one end of the tube column through the aligning baffle, so that the other end of the tube column abuts against the side wall of the gauging chain box. The gauging chain box is configured to drive the rigid chain to extend, so as to drive the gauging gauge through the inner cavity of the tube column.

[0031] Optionally, it also includes a horizontal guide assembly and a fifth telescopic drive;

[0032] The horizontal guide assembly includes a third roller disposed on the front and rear faces of the translation tray, and a second roller guide rail disposed on the frame and extending in the left-right horizontal direction, wherein the third roller cooperates with the second roller guide rail;

[0033] One end of the fifth telescopic drive component is connected to the translational tray, and the other end is connected to the frame, for driving the translational tray to reciprocate between the extended position and the retracted position in the left-right direction.

[0034] Optionally, the forward pipe feeding assembly and the reverse pipe feeding assembly are arranged alternately relative to the lifting assembly;

[0035] The forward pipe feeding assembly is located on one side of the lifting assembly along the front-back direction, and the reverse pipe feeding assembly is located on the other side of the lifting assembly along the front-back direction.

[0036] (III) Beneficial Effects

[0037] The beneficial effects of the present invention are as follows: The trolley mechanism for tube processing of the present invention, due to the structural design of the lifting component combined with the forward and reverse tube feeding components, forms the first and second support stations side by side on the upper part of the lifting component. Compared with the prior art, it can realize the temporary storage, station transfer and parallel processing of multiple tubes on the same translation pallet (that is, while the first support station is axially aligned, the second support station is used for diameter detection or preparation for grabbing), which achieves the technical effect of significantly shortening the processing cycle of a single tube and greatly improving the efficiency of tube conveying and operation.

[0038] The trolley mechanism for handling the tubing of the present invention, by employing a first telescopic drive component with an integrated displacement sensor and a fourth telescopic drive component with an integrated wire encoder, and cooperating with a control system for closed-loop feedback control, can, compared with the prior art, perform lifting height compensation for tubing of different diameters and precise axial position pushing for tubing of different lengths. This ensures that the central axis height of tubing of different specifications is consistent and that the male thread ends are aligned with the same axial reference plane, thereby providing a reliable positioning guarantee for the accurate and stable gripping of the subsequent gripping mechanism.

[0039] The trolley mechanism for tube processing of the present invention, by using a tube diameter assembly integrated on a translational tray in conjunction with a movable puncture baffle, can directly complete the diameter inspection operation by utilizing the dwell time of the tube on the trolley, without the need for an additional inspection station, thereby improving the functional integration of the equipment, optimizing the work process, and reducing the overall space occupied by the equipment.

[0040] The trolley mechanism for tube column processing of the present invention, by employing a roller guide rail combined with a roller guiding structure and a V-shaped roller supporting structure, can provide stable guidance and automatic centering function during the lifting, feeding and moving of the tube column, compared with the prior art, thereby reducing mechanical friction loss, improving the smoothness of mechanism operation and repeatability positioning accuracy. Attached Figure Description

[0041] Figure 1 This is a perspective view of Embodiment 1 of the trolley mechanism for handling the tube column of the present invention, showing the tube column located at the first support position of the lifting assembly;

[0042] Figure 2 for Figure 1 An enlarged schematic diagram of the pulley mechanism for the tubular column treatment at point A;

[0043] Figure 3 This is another perspective view of Embodiment 1 of the trolley mechanism for handling the tubing of the present invention, showing the tubing moving from the first support station to the second support station;

[0044] Figure 4 for Figure 3 An enlarged schematic diagram of the pulley mechanism for the tubular column treatment at point B;

[0045] Figure 5 for Figure 1 Another perspective view of embodiment 1 of the trolley mechanism for handling the tubing shows the puncture baffle and the tubing bore assembly respectively abutting against both ends of the tubing;

[0046] Figure 6 Another perspective view of Embodiment 1 of the trolley mechanism for handling the tubing of the present invention shows the lifting assembly lifting the tubing to the gripping position;

[0047] Figure 7 Another perspective view of Embodiment 1 of the trolley mechanism for handling the tubular column of the present invention, showing two tubular columns placed on the lifting assembly;

[0048] Figure 8 Another perspective view of Embodiment 1 of the trolley mechanism for handling the tube column of the present invention shows two tube columns placed on the lifting assembly, and one of the tube columns being moved to the middle position of the translation tray by the alignment baffle.

[0049] Figure 9 for Figure 8 A cross-sectional view of the trolley mechanism for tube handling at the alignment baffle shows the specific structures of the fourth telescopic drive, the lifting assembly, the forward tube feeding assembly, and the reverse tube feeding assembly.

[0050] Figure 10for Figure 9 An enlarged schematic diagram of the pulley mechanism for the tubular column treatment at point C;

[0051] Figure 11 for Figure 9 An enlarged schematic diagram of the pulley mechanism for the tubular column treatment at point D;

[0052] Figure 12 This is a perspective view of Embodiment 2 of the tube column conveying robot of the present invention, showing that the tube column conveying robot includes a frame, a gripping mechanism, a moving mechanism, a trolley mechanism and a tube column transfer mechanism, and the tube column transfer mechanism is in a folded position.

[0053] Figure 13 This is another perspective view of Embodiment 2 of the tubular conveying robot of the present invention, wherein the tubular transfer mechanism is in the lifting position;

[0054] Figure 14 for Figure 13 Another three-dimensional schematic diagram of the tubular transfer mechanism in the middle;

[0055] Figure 15 This is a side view of the tubular transfer mechanism of the present invention in the folded position.

[0056] Figure 16 This is a side view of the tubular transfer mechanism of the present invention during the upward process;

[0057] Figure 17 This is a side view of the tubular transfer mechanism of the present invention in the lifting position.

[0058] [Explanation of Labels in the Attached Image]

[0059] 1: Pipe column; 2: Frame; 21: Gripping slot; 3: Bottom support; 4: Front gantry; 5: Rear gantry; 6: Connecting frame; 7: Sixth telescopic drive component; 8: Short diagonal tie rod; 9: Long diagonal tie rod; 10: First hinge seat; 11: Second hinge seat; 12: Tripod; 13: Adjusting component; 14: Pushing component; 15: Robotic arm; 16: Support column; 17: Clamp assembly; 18: Connecting column; 19: Hinge column; 20: Gripping mechanism; 22: Moving mechanism; 23: Trolley mechanism; 24: Pipe column transfer mechanism; 25: Translation. 26: Tray; 27: Third roller; 28: Fifth telescopic drive; 29: Lifting assembly; 30: Forward pipe feeding assembly; 31: Reverse pipe feeding assembly; 32: First telescopic drive; 33: Pipe column bracket; 34: First pipe feeding rack; 35: Third telescopic drive; 36: Second pipe feeding rack; 37: Alignment baffle; 38: Drive motor; 39: First roller; 40: Alignment baffle; 41: Fourth telescopic drive; 42: Pipe column diameter assembly; 43: Second roller; 44: First roller guide rail. Detailed Implementation

[0060] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "upper," "lower," "left," "right," "front," and "rear" are used interchangeably. Figure 1 The orientation is used as a reference.

[0061] Example 1:

[0062] like Figures 1 to 12 As shown, this embodiment provides a trolley mechanism 23 for handling tubing columns, which is mounted on the frame 2 of a tubing column conveying robot. It is used for carrying, aligning, repositioning, diameter detection, and lifting of horizontally placed tubing columns 1 to a gripping position. The trolley mechanism 23 includes a translation tray 25, at least two lifting components 28, at least two forward tubing feeding components 29, and at least two reverse tubing feeding components 30; and preferably also includes a drive motor 38, an alignment baffle 37, a puncture baffle 40, a fourth telescopic drive component 41, a tubing diameter component 42, a horizontal guide component, and a fifth telescopic drive component 27.

[0063] Specifically, in this embodiment, the translational tray 25 is movably mounted on the frame 2 in the left-right direction. The translational tray 25 is preferably a long strip frame structure, with its length direction consistent with the front-back direction, and is used to support components such as the lifting assembly 28, the forward pipe feeding assembly 29, and the reverse pipe feeding assembly 30.

[0064] Combination Figure 8 , Figure 9 As shown, the horizontal guide assembly includes third rollers 26 disposed on the front and rear faces of the translation tray 25, and a second roller guide rail (not labeled) disposed on the frame 2 and extending horizontally in the left and right directions. The third rollers 26 and the second roller guide rails roll in cooperation to guide the left and right translation of the translation tray 25. One end of the fifth telescopic drive member 27 is connected to the translation tray 25, and the other end is connected to the frame 2. It is used to drive the translation tray 25 to reciprocate between the extended position and the retracted position in the left and right directions, thereby realizing the switching of the trolley mechanism 23 between different working postures.

[0065] like Figure 1 , Figure 2 , Figure 6 , Figures 9 to 11 As shown, the lifting components 28 are spaced apart on the translation tray 25 along the front-to-back direction. In this embodiment, there are preferably two lifting components 28, located at the front and rear of the translation tray 25 respectively, so as to form multi-point support in the length direction of the column 1, reduce deflection and improve lifting stability.

[0066] Each lifting assembly 28 includes a tube column bracket 32, a first telescopic drive component 31, and two first rollers 39. The first telescopic drive component 31 is vertically disposed within the translation tray 25, and its output end is connected to the bottom of the tube column bracket 32. It is used to drive the tube column bracket 32 ​​to reciprocate in the vertical direction, thereby lifting the tube column 1 to a preset gripping position (see [reference]). Figure 6 Two first rollers 39 are V-shaped and are respectively set on the upper part of the column bracket 32 ​​in a side-by-side position in the left and right direction. The V-shaped grooves of the two first rollers 39 respectively form the first support station and the second support station, which are used to limit and support the column 1 and realize automatic centering.

[0067] It should be noted that the upper part of the column bracket 32 ​​is wavy, with two troughs in the left and right directions, and the first roller 39 is rotatably installed at the trough.

[0068] Furthermore, the trolley mechanism 23 in this embodiment also includes a control system. The first telescopic drive member 31 integrates a displacement sensor, which is configured to detect the real-time telescopic extension and retraction of the first telescopic drive member 31. The control system is connected to the displacement sensor and the first telescopic drive member 31 respectively, and is configured to adjust the stroke of the first telescopic drive member 31 based on the feedback signal of the displacement sensor to compensate for the size difference of different pipe diameters, so that the central axis of the pipe column 1 of different specifications is located at the same preset height (i.e., the gripping position) after being lifted, so as to facilitate the stable gripping of the subsequent gripping mechanism 20.

[0069] like Figures 1 to 4 , Figure 9 , Figure 10 As shown, the forward tube feeding assembly 29 and the reverse tube feeding assembly 30 are both spaced apart on the translation tray 25 in the front-to-back direction. In this embodiment, it is preferable to provide two of each of the forward tube feeding assembly 29 and the reverse tube feeding assembly 30, and arrange them near the two lifting assemblies 28 respectively, so that the tube column 1 can be lifted at both the front and back during the repositioning process, avoiding the tube column 1 from tilting or getting stuck.

[0070] Specifically, the forward tube feeding assembly 29 in this embodiment includes a second telescopic drive member 33 and a first tube feeding frame 34. The second telescopic drive member 33 is vertically disposed within the translation tray 25, and its output end is connected to the first tube feeding frame 34. The upper part of the first tube feeding frame 34 is provided with a first U-shaped frame with an upward opening, and the inner bottom wall of the first U-shaped frame is constructed as an inclined surface oriented towards the second support station. During operation, the second telescopic drive member 33 moves upward, and the first U-shaped frame lifts the tube column 1 located in the first support station, causing the tube column 1 to roll along the inclined surface towards the second support station under its own weight, thereby realizing the lateral repositioning of the tube column 1 from the first support station to the second support station (see [reference]). Figure 3 , Figure 4 ).

[0071] Furthermore, the reverse tube feeding assembly 30 includes a third telescopic drive 35 and a second tube feeding frame 36. The third telescopic drive 35 is vertically disposed within the translation tray 25, and its output end is connected to the second tube feeding frame 36. The upper part of the second tube feeding frame 36 is provided with a second U-shaped frame with an upward opening, and the inner bottom wall of the second U-shaped frame is constructed as an inclined surface oriented towards the first support station. During operation, the third telescopic drive 35 moves upward, and the second U-shaped frame lifts the tube column 1 located in the second support station, causing the tube column 1 to roll in the opposite direction along the inclined surface to the first support station, thereby realizing the reverse displacement of the tube column 1 from the second support station to the first support station.

[0072] In addition, such as Figure 1 As shown, the forward pipe feeding assembly 29 and the reverse pipe feeding assembly 30 are staggered relative to the lifting assembly 28 in the front-back direction. The forward pipe feeding assembly 29 is located on one side of the lifting assembly 28 in the front-back direction, and the reverse pipe feeding assembly 30 is located on the other side of the lifting assembly 28 in the front-back direction. This reduces the length of the mechanism in the front-back direction while ensuring the repositioning function, and also reduces the risk of interference between components.

[0073] like Figure 10 , Figure 11 As shown, in this embodiment, the front and rear sides of the pipe column bracket 32, the first pipe feeding frame 34, and the second pipe feeding frame 36 are all provided with second rollers 43; the interior of the translation tray 25 is provided with first roller guide rails 44 extending vertically at the positions corresponding to each second roller 43. The second rollers 43 and the first roller guide rails 44 roll in cooperation to guide the vertical reciprocating motion of the pipe column bracket 32, the first pipe feeding frame 34, and the second pipe feeding frame 36, reducing friction and improving the stability and repeatability of the lifting and pipe feeding process.

[0074] like Figure 1 , Figure 2 As shown, in this embodiment, one end of the translation tray 25 is fixedly provided with an alignment baffle 37 corresponding to the first support station, which is used to limit the end position of the tube column 1 located in the first support station. The output end of the drive motor 38 is connected to the first roller 39 located at the first support station (which can be achieved by means of coupling, synchronous belt or chain drive, etc.). The drive motor 38 drives the first roller 39 to rotate. Under the friction between the first roller 39 and the tube column 1, the tube column 1 moves in the front-back direction (i.e., its axial direction) until the end of the tube column 1 abuts the alignment baffle 37, thereby realizing the axial alignment and positioning of the tube column 1 at the first support station. In addition, it should be noted that the body of the drive motor 38 can be fixedly mounted on the tube column bracket 32.

[0075] like Figure 5 , Figures 8 to 11As shown, in this embodiment, one end of the translation tray 25 is provided with a puncture baffle 40 and a fourth telescopic drive member 41 corresponding to the second support station. The body of the fourth telescopic drive member 41 is fixedly disposed inside the translation tray 25 in the front-back direction. The output end of the fourth telescopic drive member 41 is connected to the puncture baffle 40 and is used to drive the puncture baffle 40 to move in the front-back direction, so as to push the tube column 1 located in the second support station to move along its axial direction, thereby realizing puncture positioning or pushing to the detection position.

[0076] Preferably, the fourth telescopic drive member 41 is equipped with a wire encoder, and the control system is connected to both the wire encoder and the fourth telescopic drive member 41 via signal connection. In this configuration, the wire encoder can detect the axial position of the alignment baffle 40 in real time and feed it back to the control system. The control system performs closed-loop control based on the length parameters of the tubing 1 and the position feedback signal, precisely adjusting the stroke of the fourth telescopic drive member 41. This ensures that after tubing 1 of different lengths is pushed, its male end is aligned with the preset axial reference plane in both the front and rear directions, providing positioning assurance for the accurate and stable gripping of the subsequent gripping mechanism 20.

[0077] Furthermore, at the other end of the translation tray 25 in this embodiment, a pipe column diameter assembly 42 is provided corresponding to the second support station for performing diameter detection on the pipe column 1 located in the second support station to verify the compliance, integrity and availability of the internal channel of the pipe column 1.

[0078] Specifically, the pipe string gauging assembly 42 includes a gauging chain box and a gauging gauge. The gauging chain box is fixedly installed inside the translational tray 25. A rigid chain is wound inside the gauging chain box. The rigid chain has a fixed end and a free end. The fixed end is fixed inside the gauging chain box, and the free end extends out of the gauging chain box and is detachably connected to the gauging gauge. During gauging, the fourth telescopic drive member 41 drives the alignment baffle 40 to push one end of the pipe string 1, so that the other end of the pipe string 1 abuts against the side wall of the gauging chain box to form a reference positioning. Then, the gauging chain box drives the rigid chain to extend, driving the gauging gauge through the inner cavity of the pipe string 1. After the gauging is completed, the rigid chain is driven to retract and reset.

[0079] In this embodiment, the first telescopic drive member 31, the second telescopic drive member 33, the third telescopic drive member 35, the fourth telescopic drive member 41, and the fifth telescopic drive member 27 are preferably hydraulic cylinders. The control system is electrically connected to the hydraulic systems of the first telescopic drive member 31, the second telescopic drive member 33, the third telescopic drive member 35, the fourth telescopic drive member 41, and the fifth telescopic drive member 27 to control the execution actions of each hydraulic cylinder.

[0080] Combination Figures 1 to 8 The working process of the pulley mechanism 23 for handling the tubular column in this embodiment is as follows:

[0081] Initially, the translation tray 25 is in the retracted position. At the start of operation, the fifth telescopic drive 27 drives the translation tray 25 to move laterally to the extended position. At this time, the lifting assembly 28 is in a lowered position to receive the pipe column 1 placed externally (e.g., by the gripping mechanism 20). The pipe column 1 falls into the first support position of the lifting assembly 28 and is supported by the V-shaped first roller 39.

[0082] After the tubing column 1 is in place, the drive motor 38 starts, which drives the first roller 39 at the first support station to rotate. The friction force drives the tubing column 1 to move axially until one end of the tubing column 1 abuts against the fixed alignment baffle 37 at the end of the translation tray 25, thus completing the axial positioning of the tubing column 1 at the first support station.

[0083] After axial alignment, multiple forward tube feeding assemblies 29 rise synchronously under the drive of the second telescopic drive 33, and the first U-shaped frame on top of them lifts the tube column 1 from the first support position. The tube column 1 rolls laterally along the inclined surface at the bottom of the first U-shaped frame under its own weight, smoothly sliding into the second support position. Subsequently, the forward tube feeding assemblies 29 fall back to their original positions, and the tube column 1 rests securely on the V-shaped first roller 39 at the second support position (see...). Figure 3 , Figure 4 ).

[0084] After the pipe column 1 in the first support station enters the second support station, the first support station can receive another pipe column 1. Simultaneously, the fourth telescopic drive component 41 drives the alignment baffle 40 to push the pipe column 1 in the second support station axially, causing the other end of the pipe column 1 to abut against the side wall of the gauging chain box of the pipe column gauging assembly 42. Subsequently, the pipe column gauging assembly 42 drives the gauging gauge through the inner cavity of the pipe column 1, completing the gauging operation (see...). Figure 5 , Figure 8 ).

[0085] After the caliper inspection is completed, the fourth telescopic drive 41 drives the alignment baffle 40 to retract moderately to release the end restriction. Immediately afterwards, the first telescopic drive 31 drives the lifting assembly 28 to rise as a whole, lifting the tubing 1 to a preset height. The built-in displacement sensor ensures that tubing 1 of different specifications can reach a uniform gripping height, i.e., a gripping position. Subsequently, the fourth telescopic drive 41 again fine-tunes the position of the alignment baffle 40 to ensure that the male thread end of the tubing 1 in the second support station of different lengths remains at a preset axial coordinate point before entering subsequent processes, so that the gripping mechanism 20 can perform precise and stable gripping (see...). Figure 6 ).

[0086] In summary, the trolley mechanism 23 for tube column processing in this embodiment, due to the first and second support stations arranged side by side on the lifting assembly 28 and equipped with independent tube feeding and alignment mechanisms, can simultaneously support two tube columns 1 on the same translation tray 25 through the cyclic execution of the above steps, and achieve parallel processing of "axial alignment at the first support station and diameter detection at the second support station" (see...). Figure 7 , Figure 8 This multi-station transfer mechanism greatly shortens the processing cycle of a single tubing column and significantly improves overall operational efficiency.

[0087] Example 2:

[0088] Please refer to Figures 12 to 17 This embodiment provides a tube column conveying robot, which includes a frame 2, a gripping mechanism 20, a moving mechanism 22, a tube column transfer mechanism 24, and a trolley mechanism 23 as described in Embodiment 1.

[0089] Specifically, the frame 2 is mounted on the moving mechanism 22, which can drive the frame 2 to move linearly back and forth between the tube stack and the drilling platform. The gripping mechanism 20, the trolley mechanism 23, and the tube transfer mechanism 24 are all mounted on the frame 2. The gripping mechanism 20 can move vertically to grip the tube 1 in the tube stack and place it on the trolley mechanism 23. The trolley mechanism 23 is slidably connected to the frame 2 and moves back and forth along the moving direction of the moving mechanism to receive the tube 1 gripped by the gripping mechanism 20. The tube transfer mechanism 24 is used to grip the horizontally placed tube 1 on the trolley mechanism 23 and lift and rotate it to a vertical state.

[0090] In this embodiment, the tubing transfer mechanism 24 includes a lifting assembly, a tilting assembly, and a robotic arm 15.

[0091] like Figure 12 , Figure 13 As shown, the frame 2 has a gripping slot 21 extending along its length. The gripping slot 21 provides a passage for the robot arm 15 when it is in the folded position, so that the robot arm 15 can extend from the top of the frame 2 to the bottom of the frame 2 or the internal area of ​​the frame 2 to grip and grasp the column 1.

[0092] Preferably, the gripping slot 21 is located in the middle of the frame 2 to facilitate the central placement of the robotic arm 15, thereby reducing the lateral load moment during the lifting and flipping process. It should be noted that the length direction of the frame 2 is parallel to the front-to-back direction.

[0093] like Figures 15 to 17 As shown, a bottom bracket 3 is provided on the upper surface of the frame 2. The bottom bracket 3 serves as a hinged mounting base for the lifting assembly and provides force support for the lifting assembly.

[0094] like Figures 12 to 17 As shown, the lifting assembly is mounted on the frame 2 and includes a multi-link folding structure and a sixth telescopic drive component 7. The multi-link folding structure is symmetrically arranged along the left and right sides of the gripping slot 21 to form a linkage group, and an accommodating space is formed between the left and right linkage groups. The flipping assembly and the robot arm 15 are arranged in this accommodating space, thereby enabling the robot arm 15 to be centered and subjected to force.

[0095] In this embodiment, the multi-link folding structure includes a front mast 4, a rear mast 5, and a connecting frame 6. The bottom end of the front mast 4 is hinged to one end of the bottom support 3, and the bottom end of the rear mast 5 is hinged to the other end of the bottom support 3. The two ends of the connecting frame 6 are respectively hinged to the top ends of the front mast 4 and the rear mast 5, thereby forming a four-bar linkage together with the bottom support 3, enabling the front mast 4, rear mast 5, and connecting frame 6 to smoothly switch between the folding position and the lifting position.

[0096] Furthermore, the front gantry 4 may structurally include a first frame segment and a second frame segment integrally formed with the first frame segment and arranged at an obtuse angle, in order to provide suitable hinge arrangement space and motion envelope for the tilting assembly (see reference). Figure 16 , Figure 17 (Posture changes). In addition, it should be noted that in the lifting position, the first frame section extends upward, while the second frame section simultaneously tilts and extends upward and backward.

[0097] The sixth telescopic drive component 7 is connected between the bottom bracket 3 and the front mast 4, and is used to drive the multi-link folding structure to switch between the folding position and the lifting position. Specifically, the fixed end of the sixth telescopic drive component 7 is hinged to the middle of the bottom bracket 3, and its telescopic end is hinged to the aforementioned second frame section of the front mast 4; the sixth telescopic drive component 7 can be a hydraulic cylinder, an electric cylinder, or other telescopic drive structure, preferably a hydraulic cylinder.

[0098] Preferably, such as Figure 14 As shown, the multi-link folding structure may further include a short diagonal brace 8 and a long diagonal brace 9. One end of the short diagonal brace 8 is hinged to the second frame section of the front mast 4, and the other end is hinged to one end of the long diagonal brace 9. The other end of the long diagonal brace 9 is hinged to the rear mast 5. Through the cooperation of the short diagonal brace 8 and the long diagonal brace 9, the front mast 4 and the rear mast 5 can be limited, and the overall stability of the multi-link folding structure in the lifting position can be improved.

[0099] Additionally, refer to Figure 14In one optional implementation, the front mast 4, rear mast 5, and connecting frame 6 each include two parallel hinged columns 19 and a connecting column 18 connecting the two hinged columns 19. The hinged columns 19 of the front mast 4, rear mast 5, and connecting frame 6 are sequentially connected to form the aforementioned linkage group. Furthermore, it should be noted that the hinged columns 19 and the connecting column 18 constitute a portal frame structure, which ensures sufficient space while enhancing torsional strength.

[0100] like Figures 15 to 17 As shown, in this embodiment, the flipping assembly is hinged to the upper part of the multi-link folding structure and located within the aforementioned accommodating space. The robot arm 15 is connected to the flipping assembly and is used to drive the column 1 to flip from a horizontal posture to a vertical posture during the lifting process.

[0101] In this embodiment, the flipping assembly includes a tripod 12, an adjusting member 13, and a pushing member 14. A first hinge seat 10 is provided at the upper end of the second frame section of the front gantry 4, and the first hinge seat 10 is hinged to the first hinge point of the tripod 12. A second hinge seat 11 is provided at the upper end of the rear gantry 5, and the second hinge seat 11 is hinged to one end of the pushing member 14, while the other end of the pushing member 14 is hinged to the second hinge point of the tripod 12. The second hinge point of the tripod 12 is also connected to one end of the adjusting member 13.

[0102] The robotic arm 15 in this embodiment includes a support column 16 and clamp assemblies 17 disposed at both ends of the support column 16. The clamp assemblies 17 are used to clamp the tubular column 1. The other end of the adjusting member 13 and the third hinge point of the tripod 12 are respectively connected to the support column 16, and the axis of the adjusting member 13 is perpendicular to the axis of the support column 16, so as to constrain and transmit the posture of the robotic arm 15 during the flipping process. The pushing member 14 can be a fixed-length connecting rod, and the adjusting member 13 is an adjustable-length connecting member, so as to adjust the grasping posture of the robotic arm 15 in this embodiment.

[0103] Since the flipping assembly and the robot arm 15 are arranged in the space between the left and right linkages, and the robot arm 15 is located in the central area of ​​the frame 2 and the lifting assembly when gripping, lifting and flipping, this significantly reduces lateral load and improves the stability of lifting and flipping.

[0104] The working process of the tubing transfer mechanism 24 in this embodiment is as follows:

[0105] (1) Folding position and gripping: Refer to Figure 12 , Figure 15 When the multi-link folding structure is in the folded position, the front mast 4, rear mast 5 and connecting frame 6 are arranged close to the frame 2 as a whole. The robot arm 15 is in a horizontal position and at least partially passes through the gripping slot 21, extending into the area below the frame 2 or inside the frame 2, so that the clamp assembly 17 can clamp and grab the column 1 in the second support station on the trolley mechanism 23.

[0106] (2) Lifting and synchronous flipping: Refer to Figure 16 , Figure 17 When the sixth telescopic drive component 7 moves from the retracted state to the extended state, it drives the front gantry 4 to rotate around its hinge point with the bottom support 3, and drives the connecting frame 6 and the rear gantry 5 to unfold in conjunction, thereby switching the multi-link folding structure from the folded position to the lifting position. During this switching process, the tripod 12 swings at the first hinge seat 10, and at the same time, under the cooperation of the push component 14 and the adjusting component 13, it drives the manipulator 15 to gradually rotate from the horizontal posture to the vertical posture; since the tubing string 1 is clamped and fixed by the clamp assembly 17, the tubing string 1 is lifted and rotated to the vertical position synchronously with the manipulator 15, so as to facilitate subsequent docking with the wellhead, standby box or other transfer station.

[0107] (3) Return to folded position: After docking or transfer is completed, the sixth telescopic drive 7 reverses its movement, the multi-link folding structure returns from the lifting position to the folded position, and the flipping component drives the robot arm 15 to return to the horizontal posture, thus preparing for the next grasping cycle.

[0108] The remaining parts that are the same as in Example 1 will not be repeated here.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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 trolley mechanism for handling tubular columns, mounted on the frame (2) of a tubular column conveying robot, characterized in that: include: A translational tray (25) is movably mounted on the frame (2) in the left-right direction; At least two lifting components (28) are spaced apart on the translation tray (25) in the front-to-back direction. The lifting components (28) can reciprocate in the vertical direction to lift the tube column (1) to the gripping position. The upper part of the lifting components (28) has a first support station and a second support station arranged side by side in the left-to-right direction for placing the tube column (1). At least two forward tube feeding assemblies (29) are spaced apart on the translation tray (25) in a front-to-back direction. The forward tube feeding assemblies (29) are configured to lift the tube column (1) located in the first support station and move it towards the second support station; and At least two reverse tube feeding assemblies (30) are spaced apart on the translation tray (25) in the front-to-back direction. The reverse tube feeding assemblies (30) are configured to lift the tube column (1) located in the second support station and move it toward the first support station.

2. The pulley mechanism for tubular processing as described in claim 1, characterized in that: The lifting assembly (28) includes a column bracket (32), a first telescopic drive (31), and two first rollers (39). The first telescopic drive member (31) is vertically arranged inside the translation tray (25), and its output end is connected to the column bracket (32); the first roller (39) is V-shaped and is respectively arranged on the upper part of the column bracket (32) corresponding to the first support station and the second support station, and the first support station and the second support station are formed by the V-shaped groove of the first roller (39).

3. The pulley mechanism for tubular processing as described in claim 2, characterized in that: The forward pipe feeding assembly (29) includes a second telescopic drive (33) and a first pipe feeding frame (34). The second telescopic drive (33) is vertically arranged inside the translational tray (25), and its output end is connected to the first pipe feeding frame (34). The upper part of the first pipe feeding frame (34) is provided with a first U-shaped frame with an upward opening, and the inner bottom wall of the first U-shaped frame is constructed as an inclined surface that is inclined toward the second support station. The reverse tube feeding assembly (30) includes a third telescopic drive (35) and a second tube feeding frame (36). The third telescopic drive (35) is vertically arranged inside the translation tray (25), and its output end is connected to the second tube feeding frame (36). The upper part of the second tube feeding frame (36) is provided with a second U-shaped frame with an upward opening, and the inner bottom wall of the second U-shaped frame is constructed as an inclined surface that is inclined toward the first support station.

4. The pulley mechanism for tubular processing as described in claim 3, characterized in that: The front and rear sides of the pipe column bracket (32), the first pipe feeder (34) and the second pipe feeder (36) are respectively provided with second rollers (43). The interior of the translation tray (25) is provided with a first roller guide rail (44) extending vertically at the position corresponding to each of the second rollers (43). The second rollers (43) and the first roller guide rail (44) roll in cooperation to guide the pipe column bracket (32), the first pipe feeder (34) or the second pipe feeder (36) vertically.

5. The pulley mechanism for tubular processing as described in claim 2, characterized in that: It also includes a drive motor (38) and an alignment baffle (37); The output end of the drive motor (38) is connected to the first roller (39) located at the first support station, and is used to drive the first roller (39) to rotate so as to move the column (1) in the front-back direction; The alignment baffle (37) is fixedly disposed at one end of the translation tray (25) and corresponds to the first support station, and is used to limit the end position of the column (1) located in the first support station.

6. The pulley mechanism for tubular processing as described in claim 5, characterized in that: It also includes a puncture baffle (40), a fourth telescopic drive (41), and a pipe bore assembly (42). The puncture baffle (40) and the fourth telescopic drive (41) are disposed at one end of the translation tray (25) and correspond to the second support station. The output end of the fourth telescopic drive (41) is connected to the puncture baffle (40) and is used to drive the puncture baffle (40) to move in the front-back direction to push the column (1) to move along its axial direction. The pipe column diameter assembly (42) is located at the other end of the translation tray (25) and corresponds to the second support station, and is used to perform diameter detection on the pipe column (1) located in the second support station.

7. The pulley mechanism for tubular processing as described in claim 6, characterized in that: It also includes the control system; The first telescopic drive (31) integrates a displacement sensor, which is configured to detect the real-time telescopic extension of the first telescopic drive (31); the control system is connected to the displacement sensor and the first telescopic drive (31) respectively, and is configured to adjust the stroke of the first telescopic drive (31) based on the feedback signal of the displacement sensor, so as to compensate for the size difference of different pipe diameters, so that the central axis of the pipe column (1) of different specifications is located at the same preset height after being lifted; The fourth telescopic drive (41) is associated with a wire encoder, which is configured to detect the real-time position of the alignment baffle (40) in the front-back direction. The control system is connected to the wire encoder and the fourth telescopic drive (41) respectively, and is configured to control the fourth telescopic drive (41) to move based on the feedback signal of the wire encoder until the column (1) is pushed until its male end is aligned with the preset axial reference plane.

8. The pulley mechanism for tubular processing as described in claim 6, characterized in that: The pipe string bore assembly (42) includes a bore chain box and a bore gauge; The gauging chain box is fixedly installed inside the translation tray (25). A rigid chain is wound inside the gauging chain box. The rigid chain has a fixed end and a free end. The fixed end is installed inside the gauging chain box, and the free end extends out of the gauging chain box and is detachably connected to the gauging gauge. The fourth telescopic drive (41) is configured to push one end of the tube column (1) through the puncture baffle (40) so that the other end of the tube column (1) abuts against the side wall of the gauging chain box. The gauging chain box is configured to drive the rigid chain to extend so as to drive the gauging gauge through the inner cavity of the tube column (1).

9. The pulley mechanism for handling tubular columns as described in any one of claims 1 to 8, characterized in that: It also includes a horizontal guide assembly and a fifth telescopic drive (27); The horizontal guide assembly includes a third roller (26) disposed on the front and rear faces of the translation tray (25), and a second roller guide rail disposed on the frame (2) and extending in the left and right horizontal direction, wherein the third roller (26) cooperates with the second roller guide rail. One end of the fifth telescopic drive member (27) is connected to the translation tray (25), and the other end is connected to the frame (2), for driving the translation tray (25) to move back and forth between the extended position and the retracted position in the left and right direction.

10. The pulley mechanism for tubular processing as described in claim 1, characterized in that: The forward pipe feeding assembly (29) and the reverse pipe feeding assembly (30) are arranged alternately relative to the lifting assembly (28); The forward pipe feeding assembly (29) is located on one side of the lifting assembly (28) along the front-back direction, and the reverse pipe feeding assembly (30) is located on the other side of the lifting assembly (28) along the front-back direction.

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