Tubular column grabbing mechanism

Abstract

The invention relates to a tubular column grabbing mechanism which comprises a gantry support, a pulley assembly, a telescopic assembly, a telescopic driving mechanism and a clamping jaw assembly. The pulley assembly is movably installed on the gantry support, the telescopic assembly is installed at the bottom of the pulley assembly, and the telescopic driving mechanism is installed on the pulley assembly and connected with the telescopic assembly. The clamping jaw assembly comprises a rotary drive, a clamping jaw support, an electromagnetic adsorption assembly and two pipe column anti-falling mechanisms. The clamping jaw support is installed at the bottom of the telescopic assembly through the rotary drive, the electromagnetic adsorption assembly is installed at the bottom of the clamping jaw support, and the two tubular column anti-falling mechanisms are installed at the two ends of the clamping jaw support. The telescopic driving mechanism drives the telescopic assembly to stretch and fold, and the electromagnetic adsorption assembly is driven to get close to and get away from the pipe column through rotation driving and the clamping jaw support. The tubular column anti-falling mechanism has the beneficial effects that the flexibility, the adaptability and the stability of tubular column grabbing are remarkably improved, and the efficient operation requirement of an oil and gas drilling site is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the oil and gas drilling technology field, and in particular to a pipe string grabbing mechanism. BACKGROUND

[0002] In oil and gas drilling operations, pipe string grabbing, transferring and positioning are one of the core operation links, which directly affect the efficiency and safety of drilling operations. As a key equipment for realizing the automatic processing of pipe strings, the pipe string grabbing mechanism needs to accurately complete the transfer of the pipe string from the storage platform to the operation station, while adapting to the grabbing requirements of pipe strings of different specifications, ensuring the stability and reliability of the grabbing process. With the development of oil and gas drilling technology towards automation and large-scale, the oil and gas drilling site operation environment is complex, the pipe string storage is dispersed, and the operation space is limited, which puts forward higher requirements for the flexibility, adaptability and safety of the pipe string grabbing mechanism.

[0003] The pipe string grabbing mechanisms disclosed in the prior art all adopt mechanical clamping structures, which have many limitations: the opening adjustment range of the clamping claws of such mechanisms is limited, and it is difficult to adapt to pipe strings of different diameters. When replacing the pipe string type, the clamping structure needs to be adjusted frequently, which is tedious and time-consuming, and seriously affects the operation efficiency. At the same time, the posture adjustment flexibility of the mechanical clamping mechanism is insufficient, and most of them can only realize single direction movement or rotation. It cannot quickly adjust the grabbing angle according to the different postures of the pipe string storage, resulting in low grabbing accuracy and easy occurrence of pipe string deviation, bumping and other problems. In addition, some mechanical clamping mechanisms lack effective anti-falling protection design, and only rely on clamping force to maintain the fixation of the pipe string. When the operation vibration or clamping structure wears, the pipe string is prone to slip, which poses a great safety hazard. Moreover, the moving trolley and telescopic assembly of the existing mechanism have poor coordination, and cannot quickly drive the clamping assembly to the target grabbing position, further reducing the operation continuity. SUMMARY

[0004] (I) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present application provides a pipe string grabbing mechanism, which solves the technical problem that the flexibility and adaptability of the prior art cannot meet the requirements.

[0006] (II) Technical solutions

[0007] In order to achieve the above-mentioned purposes, the main technical solutions adopted by the present application include:

[0008] This invention provides a tube gripping mechanism, including a gantry support, a trolley assembly, a telescopic assembly, a telescopic drive mechanism, and a gripper assembly. The trolley assembly is movably mounted on the gantry support, the telescopic assembly is mounted at the bottom of the trolley assembly, and the telescopic drive mechanism is mounted on and connected to the trolley assembly. The gripper assembly includes a rotary drive, a gripper bracket, an electromagnetic adsorption assembly, and two tube fall prevention mechanisms. The gripper bracket is mounted at the bottom of the telescopic assembly via the rotary drive, the electromagnetic adsorption assembly is mounted at the bottom of the gripper bracket, and the two tube fall prevention mechanisms are mounted at both ends of the gripper bracket. The trolley assembly can move along the extension direction of the gantry support. The telescopic drive mechanism can drive the telescopic assembly to extend and fold, and via the rotary drive and the gripper bracket, drive the electromagnetic adsorption assembly to approach and move away from the tube. The rotary drive can drive the electromagnetic adsorption assembly to rotate in the horizontal plane via the gripper bracket. The tube fall prevention mechanisms can selectively provide radial restraint to the tube.

[0009] 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.

[0010] Optionally, the limiting assembly includes two support rods, a first baffle, and a second baffle; one end of each of the two support rods is rotatably mounted on the fall arrestor, the first baffle is mounted on the free end of one support rod, and the second baffle is mounted on the free end of the other support rod; the fall arrestor drive assembly connects the two support rods to drive the two support rods to rotate, thereby causing the first baffle and the second baffle to rotate in the horizontal plane, and optionally forming a radial limiting space for the column with the two support rods.

[0011] Optionally, a spiral-shaped transmission groove is provided on the support rod; the fall protection drive assembly includes a fall protection driver, a transmission plate and two transmission rods; the fall protection driver is installed inside the fall protection bracket, the drive end of the fall protection driver is connected to the transmission plate, and the transmission plate is connected to the transmission grooves of the two support rods respectively through the two transmission rods; the fall protection driver can drive the transmission plate to move the transmission rods up and down, and the up and down movement of the transmission rods sliding in the transmission groove is converted into the rotation of the support rod.

[0012] Optionally, the length of the first baffle is greater than that of the second baffle; the first baffle has a first overlapping portion and the second baffle has a second overlapping portion; during operation, the two support rods respectively drive the first baffle and the second baffle to rotate until the first overlapping portion is above the second overlapping portion, and the first baffle and the second baffle are on the same straight line to form a limiting space.

[0013] Optionally, the telescopic assembly includes a linkage assembly and a telescopic bracket; the linkage assembly rotatably connects the trolley assembly and the telescopic bracket; the telescopic drive mechanism is connected to the telescopic bracket, and the gripper bracket is mounted on the bottom of the telescopic bracket via a rotary drive.

[0014] Optionally, the linkage assembly includes a first link, a second link, a third link, and a fourth link; the first link and the second link are arranged in a cross configuration, and their middle portions are rotatably connected by a first pin; the third link and the fourth link are arranged in a cross configuration, and their middle portions are rotatably connected by a second pin; one end of the first link and the second link are rotatably connected to the bottom of the trolley assembly, and the other ends of the first link and the second link are respectively rotatably connected to one end of the third link and the fourth link, and the other ends of the third link and the fourth link are rotatably connected to the telescopic bracket.

[0015] Optionally, the telescopic support has a first wire guide pulley and a second wire guide pulley; the lifting drive mechanism includes a winch and a fixed pulley; the winch is located on the trolley assembly, and the fixed pulley is located at one end of the trolley assembly; the free end of the winch's cable is connected to the other end of the trolley assembly, and the cable is connected to the fixed pulley, the first wire guide pulley and the second wire guide pulley; the winch releases and retracts the cable to realize the lifting and lowering of the telescopic support.

[0016] Optionally, the trolley assembly includes a trolley bracket, a trolley driver, and gears; the gantry bracket has a slide rail and a rack extending along its length, the trolley bracket is slidably mounted on the slide rail, the trolley driver is mounted on the trolley bracket, and the trolley driver is connected to the rack via gears to drive the gears to mesh with the racks and drive the trolley bracket to slide along the slide rails; the lifting drive mechanism is mounted on the trolley bracket, and the telescopic assembly is mounted on the bottom of the trolley bracket.

[0017] (III) Beneficial Effects

[0018] The beneficial effects of this invention are:

[0019] This invention provides a tube gripping mechanism that uses a gantry bracket to provide stable mobile support for a trolley assembly. The trolley assembly can be moved along the extension direction of the gantry bracket to achieve a wide range of position adjustments. In conjunction with a telescopic drive mechanism, the telescopic assembly can be extended and folded, allowing the gripper assembly to flexibly approach or move away from the tube, adapting to gripping needs at different heights. A rotary drive within the gripper assembly can rotate the gripper bracket and the electromagnetic adsorption component at the bottom in the horizontal plane, enabling flexible adjustment of the gripping angle to accommodate different storage postures of the tube. The electromagnetic adsorption component can quickly adsorb and grip the tube, while two tube fall prevention mechanisms can selectively form radial limits on the tube, creating a dual protection structure of adsorption and limiting, effectively preventing the risk of the tube slipping during transport and ensuring the safety of the gripping operation. The coordinated operation of all components enables comprehensive and flexible adjustment of the position, height, and angle during tube gripping, improving the efficiency and reliability of the gripping operation and adapting to the gripping needs of tubes of different specifications. Compared to existing technologies, its dual design of electromagnetic adsorption and anti-fall limiting, along with its multi-dimensional motion adjustment structure, significantly improves the flexibility, adaptability, and stability of string gripping, meeting the high-efficiency operation requirements of oil and gas drilling sites. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the column gripping mechanism of Embodiment 1 of the present invention when it is extended;

[0021] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0022] Figure 3 This is a schematic diagram of the folded structure of the column gripping mechanism in Embodiment 1 of the present invention;

[0023] Figure 4 This is a schematic diagram of the telescopic assembly of Embodiment 1 of the present invention;

[0024] Figure 5 This is a schematic diagram of the anti-fall mechanism for the tubular column according to Embodiment 1 of the present invention;

[0025] Figure 6 This is a structural schematic diagram of the column anti-fall mechanism of Embodiment 1 of the present invention from another angle.

[0026] [Explanation of Labels in the Attached Image]

[0027] 1: Gantry support; 11: Rack; 2: Trolley assembly; 21: Trolley support; 22: Trolley driver; 31: Rotary drive; 32: Gripper support; 33: Electromagnetic adsorption assembly; 34: Pipe column anti-fall mechanism; 341: Anti-fall support; 342: Swing cylinder; 343: Support rod; 344: First baffle; 345: Second baffle; 346: Anti-fall driver; 347: Transmission plate; 348: Transmission rod; 41: Telescopic support; 42: First connecting rod; 43: Second connecting rod; 44: Third connecting rod; 45: Fourth connecting rod; 46: First guide roller; 47: Second guide roller; 51: Winch; 52: Fixed pulley. Detailed Implementation

[0028] 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.

[0029] Example 1:

[0030] like Figure 1 and Figure 3 As shown, a specific embodiment of the present invention provides a pipe gripping mechanism, including a gantry support 1, a trolley assembly 2, a telescopic assembly, a telescopic drive mechanism, and a gripper assembly; the trolley assembly 2 is movably mounted on the gantry support 1, the telescopic assembly is mounted on the bottom of the trolley assembly 2, and the telescopic drive mechanism is mounted on the trolley assembly 2 and connected to the telescopic assembly; the gripper assembly includes a rotary drive 31, a gripper bracket 32, an electromagnetic adsorption component 33, and two pipe anti-fall mechanisms 34; the gripper bracket 32 ​​is mounted on the telescopic assembly via the rotary drive 31. At the bottom, the electromagnetic adsorption assembly 33 is installed at the bottom of the gripper bracket 32, and two tube column anti-fall mechanisms 34 are installed at both ends of the gripper bracket 32; the trolley assembly 2 can move along the extension direction of the gantry bracket 1; the telescopic drive mechanism can drive the telescopic assembly to extend and fold, and drive the electromagnetic adsorption assembly 33 to move closer to and away from the tube column via the rotary drive 31 and the gripper bracket 32; the rotary drive 31 can drive the electromagnetic adsorption assembly 33 to rotate in the horizontal plane via the gripper bracket 32; the tube column anti-fall mechanism 34 can selectively form a radial limit on the tube column.

[0031] Specifically, the gantry bracket 1 provides stable moving support for the trolley assembly 2. The trolley assembly 2 can move along the extension direction of the gantry bracket 1 to achieve a wide range of position adjustments. In conjunction with the telescopic drive mechanism, the telescopic assembly can be extended and folded, enabling the gripper assembly to flexibly approach or move away from the tube column, adapting to the gripping operation requirements at different heights. The rotary drive 31 in the gripper assembly can drive the gripper bracket 32 ​​and the electromagnetic adsorption component 33 at the bottom to rotate in the horizontal plane, realizing flexible adjustment of the gripping angle, which can adapt to different storage postures of the tube column. The electromagnetic adsorption component 33 can quickly achieve adsorption and gripping of the tube column. At the same time, the two tube column anti-fall mechanisms 34 can selectively form radial limits on the tube column, forming a double protection structure of adsorption and limit, effectively avoiding the risk of the tube column slipping during the transfer process and ensuring the safety of the gripping operation. The coordinated cooperation of all components realizes the all-round flexible adjustment of position, height and angle during the gripping process of the tube column, improving the efficiency and reliability of the gripping operation and adapting to the gripping requirements of tube columns of different specifications. Compared to existing technologies, its dual design of electromagnetic adsorption and anti-fall limiting, along with its multi-dimensional motion adjustment structure, significantly improves the flexibility, adaptability, and stability of string gripping, meeting the high-efficiency operation requirements of oil and gas drilling sites.

[0032] Furthermore, such as Figure 5 and Figure 6 As shown, the fall arrest mechanism 34 for the tubing includes a fall arrest bracket 341, a swing cylinder 342, a fall arrest drive assembly, and a limiting assembly. The fall arrest bracket 341 is mounted on the gripper bracket 32 ​​via the swing cylinder 342. The limiting assembly is rotatably mounted on the fall arrest bracket 341. The fall arrest drive assembly is mounted on the fall arrest bracket 341 and is connected to the limiting assembly to drive the limiting assembly to rotate and form a radial limiting space for the tubing. The anti-fall drive assembly is installed on the anti-fall bracket 341 and connected to the limiting assembly. It can stably drive the limiting assembly to rotate and form a radial limiting space for the tube column. Together with the electromagnetic adsorption assembly 33, it forms a dual protection structure of adsorption and mechanical limiting, effectively constraining the radial displacement of the tube column and preventing it from slipping during the transfer process due to operational vibration or electromagnetic adsorption failure, significantly enhancing the safety of the gripping operation. At the same time, the angle adjustment function of the swing cylinder 342 can drive the limiting assembly to flexibly avoid the tube column, without interfering with the electromagnetic adsorption assembly 33's rapid completion of the tube column's adsorption and release actions, and can quickly adjust to the limiting position after adsorption, improving the continuity and efficiency of the gripping operation. The coordinated cooperation of all components further consolidates the gripping stability and reliability of the gripper assembly, providing a more comprehensive safety guarantee for the tube column transfer operation.

[0033] Furthermore, such as Figure 5 and Figure 6As shown, the limiting assembly includes two support rods 343, a first baffle 344, and a second baffle 345. One end of each support rod 343 is rotatably mounted on the fall arrestor 341. The first baffle 344 is mounted on the free end of one support rod 343, and the second baffle 345 is mounted on the free end of the other support rod 343. The fall arrestor drive assembly connects the two support rods 343 to drive them to rotate, thereby causing the first baffle 344 and the second baffle 345 to rotate in the horizontal plane, and selectively forming a radial limiting space for the column with the two support rods 343. The anti-fall drive assembly drives two support rods 343 to rotate around the anti-fall bracket 341, thereby causing the first baffle 344 and the second baffle 345 to rotate synchronously in the horizontal plane. This allows for flexible adjustment of the size of the radial limiting space formed by the enclosure of the tube column, precisely adapting to the limiting requirements of tube columns with different diameters. The combination structure of the support rods 343 and the baffles increases the contact area between the limiting assembly and the tube column, forming a stable radial constraint on the tube column. Together with the electromagnetic adsorption assembly 33, it constructs a dual protection system of adsorption and mechanical limiting, effectively preventing the tube column from slipping due to vibration or adsorption failure during the transfer process. At the same time, the rotating structure design of the limiting assembly allows it to quickly switch to an avoidance posture, which will not interfere with the adsorption and release of the tube column by the electromagnetic adsorption assembly 33, and can quickly form a limiting space after adsorption is completed. This greatly improves the continuity and efficiency of tube column gripping and transfer operations, and further enhances the gripping stability and safety of the gripper assembly.

[0034] Furthermore, such as Figure 5 and Figure 6As shown, in this embodiment, a spiral-shaped transmission groove is provided on the support rod 343; the fall arrest drive assembly includes a fall arrest driver 346, a transmission plate 347, and two transmission rods 348; the fall arrest driver 346 is installed inside the fall arrest bracket 341, and the driving end of the fall arrest driver 346 is connected to the transmission plate 347. The transmission plate 347 is connected to the transmission grooves of the two support rods 343 respectively through the two transmission rods 348; the fall arrest driver 346 can drive the transmission plate 347 to drive the transmission rods 348 to move up and down, and the up and down movement of the transmission rods 348 sliding in the transmission groove is converted into the rotation of the support rod 343. The anti-fall actuator 346 drives the transmission plate 347 to move the two transmission rods 348 synchronously up and down. Combined with the spiral transmission groove on the support rod 343, the linear motion of the transmission rod 348 can be smoothly converted into the synchronous rotation of the two support rods 343. This, in turn, drives the first baffle 344 and the second baffle 345 to open and close precisely in the horizontal plane, realizing flexible adjustment of the limiting space size and adapting to the radial limiting requirements of pipe columns of different diameters. The transmission ratio of this spiral transmission structure is stable, the transmission process is smooth, and it can quickly complete the formation and release of the limiting space. Furthermore, the overall structure is compact and integrated within the fall arrestor 341, without occupying additional working space, making it suitable for the confined working environment of oil and gas drilling sites. At the same time, the synchronous drive characteristics of the transmission components ensure the consistency of the movements of the two support rods 343 and the baffle, avoiding the problem of limit failure caused by unilateral movement deviation. Combined with the electromagnetic adsorption component 33, it further enhances the dual protection effect of adsorption and mechanical limit, effectively improving the stability and safety of the tubing gripping and transfer process, and does not interfere with the adsorption and release actions of the electromagnetic adsorption component 33 on the tubing, ensuring the continuity of the operation.

[0035] Furthermore, such as Figure 5 and Figure 6 As shown, the length of the first baffle 344 is greater than that of the second baffle 345; the first baffle 344 has a first overlapping portion, and the second baffle 345 has a second overlapping portion; during operation, the two support rods 343 respectively drive the first baffle 344 and the second baffle 345 to rotate until the first overlapping portion is above the second overlapping portion, and the first baffle 344 and the second baffle 345 are on the same straight line to form a limiting space, effectively eliminating the potential for gaps in the limiting space and preventing the pipe column from slipping out of the baffle gap during the transfer process; the upper and lower overlapping structure design can limit the relative displacement of the two baffles, prevent the baffles from being misaligned due to operational vibration, and further enhance the stability and reliability of the limiting structure; at the same time, the length difference design combined with the overlapping fit can expand the adaptability range of the limiting space without increasing the rotation stroke of the support rod 343, meeting the limiting requirements of pipe columns of different diameter specifications, and the structure is flexible in switching, without interfering with the adsorption and release action of the electromagnetic adsorption component 33 on the pipe column, ensuring the continuity and safety of the pipe column gripping and transfer operation.

[0036] Furthermore, such as Figure 4As shown, the telescopic assembly includes a linkage assembly and a telescopic bracket 41; the linkage assembly is rotatably connected to the trolley assembly 2 and the telescopic bracket 41; the telescopic drive mechanism is connected to the telescopic bracket 41, and the gripper bracket 32 ​​is mounted on the bottom of the telescopic bracket 41 via a rotary drive 31. The trolley assembly 2 and the telescopic bracket 41 are rotatably connected by a linkage assembly. Combined with the telescopic drive mechanism, the telescopic bracket 41 can smoothly extend and fold, enabling the gripper assembly to flexibly lift and lower vertically, adapting to the gripping needs of pipe columns at different heights. The rotating connection structure of the linkage assembly optimizes the force transmission path during extension and retraction, reducing jamming and swaying, and providing a stable support foundation for the gripper assembly. Simultaneously, the telescopic bracket 41 provides a stable mounting platform for the rotary drive 31 and the gripper bracket 32, ensuring that the rotary drive 31 can smoothly rotate the gripper bracket 32, the electromagnetic adsorption assembly 33, and the pipe column anti-fall mechanism 34 in the horizontal plane, flexibly adjusting the gripping angle to adapt to the storage posture of the pipe column. The coordinated operation of all components further enhances the flexibility of the gripper assembly in terms of position, height, and angle, ensuring the continuity and reliability of pipe column gripping and subsequent transfer operations.

[0037] Furthermore, such as Figure 4As shown, the linkage assembly includes a first link 42, a second link 43, a third link 44, and a fourth link 45; the first link 42 and the second link 43 are arranged in a cross configuration, and their middle parts are rotatably connected by a first pin; the third link 44 and the fourth link 45 are arranged in a cross configuration, and their middle parts are rotatably connected by a second pin; one end of the first link 42 and the second link 43 is rotatably connected to the bottom of the trolley assembly 2, and the other end of the first link 42 and the second link 43 is rotatably connected to one end of the third link 44 and the fourth link 45, respectively; the other end of the third link 44 and the fourth link 45 is rotatably connected to the telescopic bracket 41. The linkage assembly adopts a structural design where the first link 42 and the second link 43 are arranged crosswise and rotatably connected in the middle by the first pin, and the third link 44 and the fourth link 45 are arranged crosswise and rotatably connected in the middle by the second pin. This forms a double-layer cross-link linkage system. Combined with the layout where one end of the first link 42 and the second link 43 is rotatably connected to the bottom of the trolley assembly 2, and the other end is rotatably connected to one end of the third link 44 and the fourth link 45 respectively, and the other end of the third link 44 and the fourth link 45 is rotatably connected to the telescopic bracket 41, a stable parallel four-bar linkage transmission structure is constructed. This structure allows the telescopic bracket 41 to move smoothly in the vertical direction under the drive of the telescopic drive mechanism. The linear lifting motion effectively eliminates jamming and swaying during the extension and retraction process, providing a stable support foundation for the bottom rotary drive 31, gripper bracket 32, and subsequent gripping components. Simultaneously, the double-layer cross-link design disperses the load during extension and retraction, enhancing the load-bearing capacity of the extension assembly and adapting to the gripping requirements of heavy tubing strings. Furthermore, the stable transmission ratio of this linkage assembly allows for precise control of the lifting stroke of the extension bracket 41, flexibly adjusting the height of the gripper assembly to accommodate tubing string gripping operations at different heights. The compact overall structure occupies little space, making it suitable for the confined working environment of oil and gas drilling sites, further enhancing the operational flexibility and reliability of the tubing string gripping mechanism.

[0038] Furthermore, such as Figure 4As shown, the telescopic support 41 has a first guide wheel 46 and a second guide wheel 47; the lifting drive mechanism includes a winch 51 and a fixed pulley 52; the winch 51 is disposed on the trolley assembly 2, and the fixed pulley 52 is disposed at one end of the trolley assembly 2; the free end of the cable of the winch 51 is connected to the other end of the trolley assembly 2, and the cable is connected to the fixed pulley 52, the first guide wheel 46 and the second guide wheel 47; the winch 51 releases and winds the cable to realize the lifting and lowering of the telescopic support 41. By setting a first guide wheel 46 and a second guide wheel 47 on the telescopic bracket 41, and cooperating with the winch 51 and fixed pulley 52 of the lifting drive mechanism to form an orderly cable transmission path, when the winch 51 releases or winds up the cable, the cable passes sequentially through the fixed pulley 52, the first guide wheel 46, and the second guide wheel 47. The guide wheels can provide stable guidance for the cable, effectively preventing the cable from tangling, deviating, or directly rubbing against components during transmission, significantly reducing the wear rate of the cable and extending the service life of the lifting drive mechanism; at the same time, the transmission ratio of this cable transmission structure is stable, and it can achieve stable transmission through winding. The precise extension and retraction of the winch 51 enables controllable adjustment of the lifting stroke of the telescopic support 41. Combined with the double-layer cross-linking structure of the connecting rod assembly, it further enhances the stability of the lifting process of the telescopic support 41, eliminating the jamming and shaking phenomena during the lifting action, and providing stable height adjustment support for the bottom gripper assembly. In addition, the entire drive structure is compactly laid out and integrated between the trolley assembly 2 and the telescopic support 41, without occupying extra working space. It is suitable for the confined working environment of oil and gas drilling sites, ensuring that the gripper assembly can be flexibly adjusted to different heights for gripping the tubing, improving the flexibility and reliability of tubing gripping operations.

[0039] Furthermore, such as Figure 1 and Figure 2As shown, the trolley assembly 2 includes a trolley bracket 21, a trolley driver 22, and gears; the gantry bracket 1 has a slide rail and a rack 11 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 11 through a gear to drive the gear to mesh with the rack 11 and drive the trolley bracket 21 to slide along the slide rail; 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. The drive gear 22 of the trolley actuator meshes with the rack 11 on the gantry bracket 1, and in conjunction with the sliding connection between the trolley bracket 21 and the slide rail of the gantry bracket 1, the trolley bracket 21 can be driven to move smoothly along the length of the gantry bracket 1. The gear and rack 11 meshing transmission method provides a stable transmission ratio and smooth movement without jamming, enabling a wide range of horizontal position adjustments to meet the gripping needs of different tubing positions. The trolley bracket 21 provides a stable mounting carrier for the lifting drive mechanism and the telescopic assembly, ensuring the stability of the coordinated action of the lifting drive mechanism, the telescopic assembly, and the trolley assembly 2, and avoiding gripping deviations caused by carrier shaking during operation. At the same time, the layout of the slide rail and rack 11 extending along the length of the gantry bracket 1 makes the movement path of the trolley assembly 2 clear and the movement trajectory controllable, adapting to the wide range of displacement requirements in the confined working environment of oil and gas drilling sites, further improving the operational flexibility and overall reliability of the tubing gripping mechanism.

[0040] The pipe gripping mechanism provided in this embodiment is used as follows: based on the position of the target pipe, the trolley driver 22 drives the gear and rack 11 to mesh and drive the trolley bracket 21 to move smoothly along the slide rail to directly above the target pipe, achieving precise horizontal positioning; then the hoist 51 of the lifting drive mechanism starts, winding or releasing the cable. The cable winds around the guide path formed by the fixed pulley 52, the first wire guide wheel 46 and the second wire guide wheel 47, and in conjunction with the telescopic drive mechanism, drives the telescopic assembly to move. The first link 42, the second link 43, the third link 44 and the fourth link 45 of the linkage assembly drive the telescopic bracket 41 to descend smoothly in the vertical direction through a cross linkage structure, without any jamming or shaking during the process; at the same time, the rotary drive 31 starts, driving the gripper bracket 32 ​​to rotate in the horizontal plane, adjusting the angle of the electromagnetic adsorption component 33 to align it with the axial direction of the pipe, ensuring that the adsorption surface is in contact with the outer wall of the pipe. When the electromagnetic adsorption component 33 descends to the preset height where it contacts the tubing, the electromagnetic adsorption component 33 is energized to generate an adsorption force, quickly adsorbing and fixing the tubing. Immediately afterwards, the swing cylinder 342 drives the anti-fall bracket to rotate in the vertical plane until the tubing is between the two support rods 343. The tubing anti-fall mechanism 34 is activated, and the anti-fall driver 346 drives the transmission plate 347 to move the two transmission rods 348 up and down synchronously. The transmission rods 348 slide in the spiral transmission groove of the support rods 343, which is converted into the synchronous rotation of the two support rods 343. This, in turn, drives the first baffle 344 and the second baffle 345 to rotate in the horizontal plane until the first overlapping part is above the second overlapping part and the two baffles are on the same straight line, forming a closed and gapless radial limiting space. Together with the electromagnetic adsorption component 33, this forms a dual protection structure of adsorption and mechanical limiting. The lifting drive mechanism drives the telescopic support 41 to rise, and the trolley assembly 2 drives the telescopic assembly and the gripper assembly to move along the gantry support 1 to the top of the work station. The anti-fall drive component reverses its action, driving the support rod 343 and the baffle to rotate to the avoidance posture, releasing the radial limit on the pipe column, and then cutting off the power to the electromagnetic adsorption component 33 to release the pipe column, completing the transfer operation of the pipe column from the storage platform to the work station.

[0041] Example 2:

[0042] This embodiment provides a pipe gripping mechanism, which includes all the structures of the pipe gripping mechanism described in Embodiment 1.

[0043] In this embodiment, the gantry support 1 is movably supported on the pipe column storage platform by a traveling assembly, and the movable direction of the gantry support 1 is perpendicular to the movable direction of the trolley assembly 2. Specifically, a traveling track and a traveling rack 11 are provided on the pipe column storage platform, and the traveling track and the traveling rack 11 are parallel. The traveling assembly includes a traveling driver, a driving gear, traveling wheels, a straightening wheel, and an anti-derailment assembly; the gantry support 1 is supported on the traveling track by the traveling wheels, the straightening wheel abuts against the side of the traveling track, the anti-derailment assembly is installed on the gantry support 1 and located on both sides of the traveling guide rail, the traveling driver is installed on the gantry support 1, and the traveling driver is connected to the traveling rack 11 through the driving gear, so that the driving gear meshes with the traveling rack 11 to drive the gantry support 1 to move along the traveling track. The anti-derailment assembly is located on both sides of the traveling track and is clearance-fitted with the traveling track, so that when the gantry support 1 has a tendency to derail and tip over, it abuts against the traveling track to form a limit and prevent the gantry support 1 from tipping over.

[0044] Example 3:

[0045] This embodiment provides a tubing transfer system, including the tubing gripping mechanism described in Embodiment 2.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A pipe gripping mechanism, characterized in that, include: Gantry support (1), trolley assembly (2), telescopic assembly, telescopic drive mechanism and gripper assembly; The trolley assembly (2) is movably mounted on the gantry bracket (1), the telescopic assembly is mounted on the bottom of the trolley assembly (2), the telescopic drive mechanism is mounted on the trolley assembly (2), and the telescopic drive mechanism is connected to the telescopic assembly; The gripper assembly includes a rotary drive (31), a gripper bracket (32), an electromagnetic adsorption assembly (33), and two column anti-fall mechanisms (34). The gripper bracket (32) is installed at the bottom of the telescopic assembly via a rotary drive (31), the electromagnetic adsorption assembly (33) is installed at the bottom of the gripper bracket (32), and the two column anti-fall mechanisms (34) are installed at both ends of the gripper bracket (32). The trolley assembly (2) can move along the extension direction of the gantry bracket (1); the telescopic drive mechanism can drive the telescopic assembly to extend and fold, and drive the electromagnetic adsorption assembly (33) to approach and move away from the tube column via the rotary drive (31) and the gripper bracket (32); the rotary drive (31) can drive the electromagnetic adsorption assembly (33) to rotate in the horizontal plane via the gripper bracket (32); the tube column anti-fall mechanism (34) can selectively form a radial limit on the tube column.

2. The tubing gripping mechanism as described in claim 1, characterized in that, The fall arrest mechanism (34) for the tubular column includes a fall arrest bracket (341), a swing cylinder (342), a fall arrest drive assembly, and a limit assembly; The fall arrestor (341) is mounted on the gripper bracket (32) via a swing cylinder (342). The limiting component is rotatably mounted on the fall arrestor (341). The fall arrestor drive component is mounted on the fall arrestor (341) and is connected to the limiting component to drive the limiting component to rotate and form a radial limiting space for the column.

3. The tubing gripping mechanism as described in claim 2, characterized in that, The limiting assembly includes two support rods (343), a first baffle (344), and a second baffle (345); One end of each of the two support rods (343) is rotatably mounted on the fall arrestor (341), the first baffle (344) is mounted on the free end of one support rod (343), and the second baffle (345) is mounted on the free end of the other support rod (343); The fall arrestor drive assembly connects two support rods (343) to drive the two support rods (343) to rotate, thereby causing the first baffle (344) and the second baffle (345) to rotate in the horizontal plane, and optionally forming a radial limiting space for the column with the two support rods (343).

4. The tubing gripping mechanism as described in claim 3, characterized in that, The support rod (343) has a spiral-shaped transmission groove; The fall arrestor drive assembly includes a fall arrestor drive (346), a transmission plate (347), and two transmission rods (438). The fall arrester (346) is installed inside the fall arrester bracket (341). The drive end of the fall arrester (346) is connected to the transmission plate (347). The transmission plate (347) is connected to the transmission grooves of the two support rods (343) through two transmission rods (438). The anti-fall actuator (346) can drive the transmission plate (347) to move the transmission rod (438) up and down. The up and down movement of the transmission rod (438) in the transmission groove is converted into the rotation of the support rod (343).

5. The tubing gripping mechanism as described in claim 3, characterized in that, The length of the first baffle (344) is greater than that of the second baffle (345); The first baffle (344) has a first overlapping portion, and the second baffle (345) has a second overlapping portion; During operation, the two support rods (343) respectively drive the first baffle (344) and the second baffle (345) to rotate until the first overlapping part is above the second overlapping part, and the first baffle (344) and the second baffle (345) are on the same straight line to form a limiting space.

6. The tubing gripping mechanism as described in claim 1, characterized in that, The telescopic assembly includes a linkage assembly and a telescopic bracket (41). The linkage assembly rotatably connects the trolley assembly (2) and the telescopic bracket (41). The telescopic drive mechanism is connected to the telescopic bracket (41), and the gripper bracket (32) is installed at the bottom of the telescopic bracket (41) via the rotary drive (31).

7. The tubing gripping mechanism as described in claim 6, characterized in that, The linkage assembly includes a first link (42), a second link (43), a third link (44), and a fourth link (45). The first link (42) and the second link (43) are arranged in an intersecting manner, and their middle parts are rotatably connected by the first pin; the third link (44) and the fourth link (45) are arranged in an intersecting manner, and their middle parts are rotatably connected by the second pin. One end of the first link (42) and the second link (43) are rotatably connected to the bottom of the trolley assembly (2), and the other ends of the first link (42) and the second link (43) are rotatably connected to one end of the third link (44) and the fourth link (45), respectively. The other ends of the third link (44) and the fourth link (45) are rotatably connected to the telescopic bracket (41).

8. The tubing gripping mechanism as described in claim 6, characterized in that, The telescopic bracket (41) has a first thread guide wheel (46) and a second thread guide wheel (47). The lifting drive mechanism includes a winch (51) and a fixed pulley (52); The winch (51) is located on the pulley assembly (2), and the fixed pulley (52) is located at one end of the pulley assembly (2); The free end of the cable of the winch (51) is connected to the other end of the trolley assembly (2), and the cable is connected to the fixed pulley (52), the first guide pulley (46) and the second guide pulley (47). The winch (51) releases and retracts the cable to achieve the lifting and lowering of the telescopic support (41).

9. The tubing gripping mechanism as described in claim 1, characterized in that, The trolley assembly (2) includes a trolley bracket (21), a trolley drive (22), and gears; The gantry support (1) has a slide rail and a rack (11) extending along its length. The trolley support (21) is slidably mounted on the slide rail. The trolley driver (22) is mounted on the trolley support (21). The trolley driver (22) is connected to the rack (11) by a gear to drive the gear to mesh with the rack (11) and drive the trolley support (21) to slide along the slide rail. The lifting drive mechanism is installed on the trolley bracket (21), and the telescopic assembly is installed on the bottom of the trolley bracket (21).

Images