Drill floor surface pipe pushing and supporting robot

Abstract

The utility model relates to a drill floor face pipe pushing and supporting robot which comprises a moving trolley, a mechanical arm and a pushing and supporting clamp. The moving trolley can be movably mounted on a drill floor surface, and the mechanical arm is rotatably mounted on the moving trolley; the pushing clamp comprises a chuck and two clamp arms; the chuck is detachably installed at the tail end of the mechanical arm, the two clamp arms are installed on the chuck in a staggered mode, and the mechanical arm can drive the chuck to rotate to be switched between a receding state and a pushing state. The pipe pushing and supporting device has the beneficial effects that the pipe position change in the tripping engineering can be met through the moving trolley and the mechanical arm, and the pushing and supporting pliers in a detachable mounting form can enable the functions of the moving trolley and the mechanical arm to be more diversified and are not limited to pipe pushing and supporting operation; the pushing pliers are simpler and more reasonable in structure and easy to maintain in the later period.

Description

Technical Field

[0001] The utility model relates to the technical field of oil and gas drilling, in particular to a drilling platform pipe pushing and supporting robot. Background Art

[0002] At present, with the development of oil and gas drilling technology, more and more mechanized equipment is used in the drilling process, such as top drive, hydraulic elevator, second-layer manipulator, drill floor manipulator, iron roughneck, etc. Among them, the drill floor manipulator is used for pipe pushing and supporting operations, and it cooperates with the second-layer manipulator to realize the movement of pipes.

[0003] The patent with application number CN202011061642.4 discloses a small repair platform oil pipe pushing and supporting manipulator device and use method, which relates to the technical field of special equipment for wellhead devices of oilfield repair platforms, and is a special manipulator device for repair platforms. The device is installed on the wellhead platform device through a fixed plate, and the hydraulic cylinder drives the mechanical arm to perform telescopic movement in the horizontal direction. A manipulator is provided at the end of the mechanical arm, and the manipulator is provided with finger clamps and telescopic cylinders, which perform grasping and releasing actions under the drive of the telescopic cylinder. It uses a fully mechanized structure to replace manual pipe pushing and supporting operations, thereby improving the efficiency of pipe pushing and supporting operations, but the telescopic stroke of its mechanical arm is limited, and the operating range has certain limitations, which cannot fully meet the changes in the position of pipes during the drilling process; and its finger clamp structure is relatively complex and not easy to maintain later.

[0004] Therefore, there is an urgent need for a drilling platform pipe pushing robot that has a wide operating range and is easy to maintain. Utility Model Content

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the utility model provides a drilling table pipe pushing and supporting robot, which solves the technical problems of the prior art that the operating range is limited and the subsequent maintenance is not easy.

[0007] (II) Technical solution

[0008] In order to achieve the above-mentioned purpose, the main technical solutions adopted by the utility model include:

[0009] The utility model provides a drilling table pipe pushing robot, comprising a mobile trolley, a mechanical arm and a pushing tongs; the mobile trolley can be movably installed on the drilling table, and the mechanical arm can be rotatably installed on the mobile trolley; the pushing tongs comprises a chuck and two tongs arms; the chuck is detachably installed on the end of the mechanical arm, and the two tongs arms are staggeredly installed on the chuck, and the mechanical arm can drive the chuck to rotate and switch between a yielding state and a pushing state.

[0010] Optionally, the shape of the clamp arm is curved, and the two clamp arms are installed in opposite directions.

[0011] Optionally, the clamp arm includes a first curved arm and a second curved arm that are integrally formed; the first curved arm is fixedly mounted on the chuck.

[0012] Optionally, the bending degree of the first curved arm is the same as the bending degree of the second curved arm.

[0013] Optionally, the mobile trolley includes a trolley body and a slewing drive; the slewing drive is installed on the top of the trolley body, and the mechanical arm is rotatably installed on the slewing drive to drive the mechanical arm to rotate through the slewing drive.

[0014] Optionally, the drilling table is paved with tracks, and the mobile trolley is movably mounted on the tracks.

[0015] Optionally, the back of the chuck is provided with a quick-change tool tray, and the end of the robot arm is provided with a quick-change main tray, and the chuck can be quickly installed and removed through the quick-change tool tray and the quick-change main tray.

[0016] Optionally, a torque sensor is provided on the quick-change main disc.

[0017] Optionally, the robotic arm is a six-degree-of-freedom robotic arm.

[0018] (III) Beneficial effects

[0019] The beneficial effects of the utility model are:

[0020] The utility model provides a drilling table pipe pushing robot, which can drive the pushing tongs to various positions of the pipes during the drilling process through a mobile trolley and a mechanical arm, meeting the pipe pushing needs during the drilling process; and when the pipe pushing is not needed, the pushing tongs can be removed and stored, and the mobile trolley and the mechanical arm can be used for other activities on the drilling table, with more diversified functions. The pushing tongs formed by the chuck and the two clamping arms can meet the pushing function while having a simpler structure, small size and light weight, and are easy to maintain later. Compared with the prior art, it can meet the position changes of the pipes in the drilling project through the mobile trolley and the mechanical arm, and the push tongs in the form of detachable installation can make the functions of the mobile trolley and the mechanical arm more diversified, and are not limited to the pipe pushing operation; the structure of the pushing tongs is simpler and more reasonable, and is easy to maintain later. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a drilling table pipe pushing robot in a specific embodiment of the utility model;

[0022] Figure 2It is a structural schematic diagram of the push-support pliers in a specific embodiment of the utility model;

[0023] Figure 3 It is a schematic diagram of a pipe entering a push-pull clamp in a specific embodiment of the utility model;

[0024] Figure 4 It is a schematic diagram of the front view of the pipe entering the push-support tongs in a specific embodiment of the utility model;

[0025] Figure 5 It is a top view schematic diagram of the push-support pliers in a specific implementation manner of the utility model, holding the pipe in a push-support state.

[0026] [Description of Reference Numerals]

[0027] 1: mobile trolley; 11: trolley body; 12: rotary drive;

[0028] 2: Robotic arm; 21: Quick change main disk;

[0029] 31: chuck; 32: clamp arm. DETAILED DESCRIPTION

[0030] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0031] like Figure 1 As shown, this specific embodiment provides a drilling table pipe pushing robot, including a mobile trolley 1, a mechanical arm 2 and a pushing clamp; the mobile trolley 1 can be movably installed on the drilling table, and the mechanical arm 2 can be rotatably installed on the mobile trolley 1; the pushing clamp includes a chuck 31 and two clamp arms 32; the chuck 31 is detachably installed at the end of the mechanical arm 2, and the two clamp arms 32 are staggered and installed on the chuck 31, and the shape of the clamp arm 32 is a curve, and the two clamp arms 32 are installed in opposite directions; the mechanical arm 2 can drive the chuck 31 to rotate and switch between the yielding state and the pushing state. In this specific embodiment, the mechanical arm 2 is a six-degree-of-freedom mechanical arm; the back of the chuck 31 is provided with a quick-change tool disk, and the end of the mechanical arm 2 is provided with a quick-change main disk 21, and the chuck 31 can be quickly installed and removed through the quick-change tool disk and the quick-change main disk 21; the quick-change main disk 21 is also provided with a torque sensor to determine the torque when the pipe is pushed.

[0032] Specifically, the push-support tongs can be driven by the mobile trolley 1 and the mechanical arm 2 to reach various positions of the pipes during the drilling process, meeting the need for pushing and supporting the pipes during the drilling process; and when the pipes are not needed for pushing and supporting, the push-support tongs can be removed and stored, and the mobile trolley 1 and the mechanical arm 2 can perform other activities on the drilling table, with more diverse functions. The push-support tongs formed by the chuck 31 and the two clamping arms can meet the pushing and supporting function while having a simpler structure, small size and light weight, and are convenient for later maintenance. Compared with the prior art, the push-support tongs can meet the position changes of the pipes during the drilling process through the mobile trolley 1 and the mechanical arm 2, and the push-support tongs in the form of detachable installation can make the functions of the mobile trolley 1 and the mechanical arm 2 more diversified, and are not limited to the pushing and supporting operation of the pipes; the structure of the push-support tongs is simpler and more reasonable, and is easy for later maintenance.

[0033] Furthermore, if Figure 1-Figure 4 As shown, the shape of the clamp arm 32 is a curve, and the two clamp arms 32 are installed in opposite directions. Specifically, the clamp arm 32 includes a first curved arm and a second curved arm formed in one piece; the first curved arm is fixedly installed on the chuck 31; the bending degree of the first curved arm is the same as that of the second curved arm, and the bending degree of the first curved arm and the second curved arm is smaller than the bending degree of the connection between the two; thus, the two clamp arms 32 can fit the pipe more closely in the pushing state, thereby improving the stability during the pushing process.

[0034] Furthermore, if Figure 1 As shown, the mobile trolley 1 includes a trolley body 11 and a slewing drive 12; the slewing drive 12 is mounted on the top of the trolley body 11, and the mechanical arm 2 is rotatably mounted on the slewing drive 12 to drive the mechanical arm 2 to rotate through the slewing drive 12. In this specific embodiment, a track is laid on the drilling table, and the mobile trolley 1 is movably mounted on the track. Specifically, the trolley body 11 is movably supported on the track to drive the mechanical arm 2 to move along the track.

[0035] The utility model provides a drilling table pipe pushing and supporting robot that works as follows: the mobile trolley 1 and the mechanical arm 2 drive the pushing and supporting clamp to approach the target pipe, the mechanical arm 2 drives the pushing and supporting clamp to rotate from the yielding state to the pushing and supporting state, the mobile trolley 1 moves along the track, and the mechanical arm 2 and the pushing and supporting clamp push the target pipe to the target position, and then the mechanical arm 2 drives the pushing and supporting clamp to rotate from the pushing and supporting state to the yielding state to release the pipe, and the mobile trolley 1 and the mechanical arm 2 drive the pushing and supporting clamp to return to the standby position.

[0036] In the description of the present utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present utility model, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0039] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0040] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A drilling platform pipe pushing robot, characterized in that: It comprises a mobile trolley (1), a mechanical arm (2) and a push-pull clamp; The mobile trolley (1) can be movably mounted on the drilling table, and the mechanical arm (2) can be rotatably mounted on the mobile trolley (1); The push-pull pliers include a chuck (31) and two pliers arms (32); The chuck (31) is detachably mounted on the end of the mechanical arm (2), and the two clamp arms (32) are staggeredly mounted on the chuck (31). The mechanical arm (2) can drive the chuck (31) to rotate and switch between a yielding state and a pushing state.

2. The drilling floor pipe pushing robot according to claim 1, characterized in that: The shape of the clamp arm (32) is a curve, and the two clamp arms (32) are installed in opposite directions.

3. The drilling floor pipe pushing robot according to claim 1, characterized in that: The clamp arm (32) comprises a first curved arm and a second curved arm formed in one piece; The first curved arm is fixedly mounted on the chuck (31).

4. The drilling floor pipe pushing robot according to claim 3, characterized in that: The bending degree of the first curved arm is the same as the bending degree of the second curved arm.

5. The drilling floor pipe pushing robot according to claim 1, characterized in that: The mobile vehicle (1) comprises a vehicle body (11) and a rotary drive (12); The rotary drive (12) is installed on the top of the trolley body (11), and the mechanical arm (2) is rotatably installed on the rotary drive (12) so as to drive the mechanical arm (2) to rotate through the rotary drive (12).

6. The drilling floor pipe pushing robot according to claim 1, characterized in that: The drilling table is paved with a track, and the movable vehicle (1) is movably mounted on the track.

7. The drilling floor pipe pushing robot according to claim 1, characterized in that: The back of the chuck (31) is provided with a quick-change tool tray, and the end of the mechanical arm (2) is provided with a quick-change main tray (21), and the chuck (31) can be quickly installed and removed through the quick-change tool tray and the quick-change main tray (21).

8. The drilling floor pipe pushing robot according to claim 7, characterized in that: The quick-change main disc (21) is provided with a torque sensor.

9. The drilling floor pipe pushing robot according to claim 1, characterized in that: The mechanical arm (2) is a six-degree-of-freedom mechanical arm.

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