Boom system

Abstract

The utility model discloses a boom system, which relates to the technical field of drilling and repairing equipment, wherein the boom system includes a boom body and a driving mechanism, the boom body includes a frame, a first connecting rod mechanism, a connecting seat assembly, a second connecting rod mechanism and a clamp assembly which are hinged in sequence, and the clamp assembly is arranged on one side of the frame, the driving mechanism is hinged to the first connecting rod mechanism and hinged to the second connecting rod mechanism; the driving mechanism can drive the first connecting rod mechanism and the second connecting rod mechanism to move in a direction close to each other so that the clamp assembly moves in a direction close to the frame, and can drive the first connecting rod mechanism and the second connecting rod mechanism to move in a direction away from each other so that the clamp assembly moves in a direction away from the frame. The technical solution of the utility model can solve the problem that the clamp assembly cannot operate at a long distance.

Description

Technical Field

[0001] The utility model relates to the technical field of drilling and repairing well equipment, in particular to a boom system. Background Art

[0002] With the development trend of domestic drilling platform pipe handling systems, the market has higher and higher requirements for multifunctional, high-efficiency, high-intelligence and high-unmanned operation processes for pipe string processing. As the core equipment of ground equipment in the pipe string automation processing system, the drilling platform manipulator plays a vital role in the development of the entire pipe string processing system. In order to meet the needs of grabbing, lifting and feeding of relatively light-loaded drilling tools, as well as grabbing, pushing and feeding of relatively heavy-loaded drilling tools, a multifunctional clamp head assembly is now designed, but the existing multifunctional clamp head assembly has the problem of being unable to operate over long distances.

[0003] Therefore, it is necessary to provide a new boom system to solve the above technical problems. Utility Model Content

[0004] The main purpose of the utility model is to provide an arm support system, aiming to solve the problem in the prior art that the multifunctional clamp head assembly cannot be operated over a long distance.

[0005] In order to achieve the above-mentioned purpose, the utility model proposes a boom system, comprising:

[0006] The arm frame body comprises a frame, a first connecting rod mechanism, a connecting seat assembly, a second connecting rod mechanism and a clamp head assembly which are hinged in sequence, and the clamp head assembly is arranged on one side of the frame;

[0007] A driving mechanism, wherein the driving mechanism is hinged to the first link mechanism and is hinged to the second link mechanism; the driving mechanism can drive the first link mechanism and the second link mechanism to move in directions approaching each other so that the clamp head assembly moves in a direction approaching the frame, and can drive the first link mechanism and the second link mechanism to move in directions away from each other so that the clamp head assembly moves in a direction away from the frame.

[0008] In one embodiment, the first link mechanism includes a first link and a second link arranged in parallel, the two ends of the first link are respectively hinged to the frame and the connecting seat assembly, and the two ends of the second link are respectively hinged to the frame and the connecting seat assembly;

[0009] The second connecting rod mechanism comprises a third connecting rod and a fourth connecting rod which are arranged in parallel, the two ends of the third connecting rod are respectively hinged to the clamp head assembly and the connecting seat assembly, and the two ends of the fourth connecting rod are respectively hinged to the clamp head assembly and the connecting seat assembly;

[0010] The driving mechanism is hinged to the first connecting rod and is hinged to the third connecting rod.

[0011] In one embodiment, the arm body further includes a fifth connecting rod; one end of the fifth connecting rod is hinged to the first connecting rod, and the other end of the fifth connecting rod is hinged to the third connecting rod.

[0012] In one embodiment, the connecting seat assembly includes a driving component and a connecting seat body, the clamp head assembly has a lifting state and a pushing state, the driving component is hinged to the connecting seat body and to the fourth connecting rod, and the two ends of the third connecting rod are respectively hinged to the connecting seat body and the clamp head assembly; the driving component can drive the fourth connecting rod to move to drive the clamp head assembly to switch between the lifting state and the pushing state.

[0013] In one embodiment, the driving assembly includes a driving body, a sixth connecting rod and a seventh connecting rod, the driving body is hinged to the connecting seat body, the two ends of the sixth connecting rod are respectively hinged to the connecting seat body and an end of the driving body away from the connecting seat body, and the two ends of the seventh connecting rod are respectively hinged to the sixth connecting rod and the fourth connecting rod.

[0014] In one embodiment, the driving assembly includes a driving body, which is hinged to the connecting seat body and hinged to the fourth connecting rod.

[0015] In one embodiment, the second link mechanism further includes an eighth link, and two ends of the eighth link are respectively hinged to the third link and the fourth link.

[0016] In one embodiment, a ninth connecting rod is disposed on one side of the eighth connecting rod, and two ends of the ninth connecting rod are hinged to the third connecting rod and the fourth connecting rod respectively.

[0017] In one embodiment, the driving mechanism includes a cylinder body and a telescopic rod telescopically arranged on the cylinder body, the cylinder body is hinged to the first connecting rod, and the telescopic rod is hinged to the third connecting rod.

[0018] In one embodiment, the pliers head assembly includes a mounting seat, a push-support pliers head and a lifting pliers head, the mounting seat is hinged to the second connecting rod mechanism, and the push-support pliers head and the lifting pliers head are cross-arranged on the mounting seat.

[0019] The technical solution of the utility model drives the first link mechanism and the second link mechanism to move in the direction of approaching or moving away from each other through a driving mechanism, so that the clamp head assembly moves in the direction of approaching or moving away from the frame to adjust the distance between the clamp head assembly and the frame, which can solve the problem that the clamp head assembly cannot operate at a long distance. Specifically, the arm system includes a frame, a first link mechanism, a connecting seat assembly, a second link mechanism and a clamp head assembly that are hinged in sequence, and the driving mechanism is hinged to the first link mechanism and hinged to the second link mechanism, wherein the driving mechanism can drive the first link mechanism and the second link mechanism to move in the direction of approaching or moving away from each other, so that the clamp head assembly moves in the direction of approaching or moving away from the frame to adjust the distance between the clamp head assembly and the frame. During long-distance operation, the driving mechanism can drive the first connecting rod mechanism and the second connecting rod mechanism to move in directions away from each other, so that the clamp head assembly moves in a direction away from the frame, so as to increase the distance between the clamp head assembly and the frame, and meet the long-distance operation requirements of the clamp head assembly; during close-distance operation, the driving mechanism can drive the first connecting rod mechanism and the second connecting rod mechanism to move in directions close to each other, so that the clamp head assembly moves in a direction close to the frame, so as to reduce the distance between the clamp head assembly and the frame, and meet the close-distance operation requirements of the clamp head assembly; and, the two ends of the driving mechanism are respectively hinged to the first connecting rod mechanism and the second connecting rod mechanism, so that the boom system can be completely folded up, the turning radius of the clamp head assembly can be reduced, and the drilling tool can be prevented from colliding with other components during transportation, wherein the turning radius refers to the distance between the rotation axis of the clamp head assembly and the frame when the drilling tool is transported. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0021] Figure 1 This is a structural schematic diagram of the first embodiment of the utility model when the arm system is unfolded and the clamp head assembly is in a push-support state;

[0022] Figure 2 for Figure 1 A magnified image of point A;

[0023] Figure 3 It is a structural schematic diagram of the arm support system provided by the utility model when it is folded and the clamp head assembly is in a pushing state;

[0024] Figure 4 It is a structural schematic diagram of the boom system provided by the utility model when it is unfolded and the clamp head assembly is in a lifted state;

[0025] Figure 5 This is a structural schematic diagram of the clamp head assembly provided by the utility model.

[0026] Description of Figure Numbers:

[0027] 100, arm body; 110, frame; 120, first connecting rod mechanism; 121, first connecting rod; 122, second connecting rod; 130, connecting seat assembly; 131, driving assembly; 1311, driving body; 1312, sixth connecting rod; 1313, seventh connecting rod; 132, connecting seat body; 140, second connecting rod mechanism; 141, third connecting rod; 142, fourth connecting rod; 143, eighth connecting rod; 144, ninth connecting rod; 150, clamp head assembly; 151, mounting seat; 152, pushing clamp head; 153, lifting clamp head; 160, fifth connecting rod; 200, driving mechanism; 210, cylinder body; 220, telescopic rod.

[0028] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that satisfies both A and B.

[0032] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0033] In the related art, in order to meet the needs of grabbing, lifting and feeding of relatively light-loaded drilling tools, as well as grabbing, pushing and feeding of heavier-loaded drilling tools, a multifunctional clamp head assembly is currently designed. However, most of the existing multifunctional clamp head assemblies are directly fixed on the frame, that is, the position of the clamp head assembly and the frame is relatively fixed, and it can usually only be used for close-range operations. When working at a long distance, it is often necessary to move the entire drilling rig and transport the clamp head assembly to a designated location for operation (for example, transporting the clamp head assembly to the drilling site), which will affect the work efficiency of the drilling tool transportation operation.

[0034] The utility model provides an arm support system, aiming to solve the problem in the prior art that the multifunctional clamp head assembly cannot be operated over a long distance.

[0035] See also Figure 1 and Figure 3 In one embodiment of the utility model, the arm system includes an arm body 100 and a driving mechanism 200, the arm body 100 includes a frame 110, a first connecting rod mechanism 120, a connecting seat assembly 130, a second connecting rod mechanism 140 and a clamp head assembly 150 which are hinged in sequence, and the clamp head assembly 150 is arranged on one side of the frame 110, the driving mechanism 200 is hinged to the first connecting rod mechanism 120 and is hinged to the second connecting rod mechanism 140; the driving mechanism 200 can drive the first connecting rod mechanism 120 and the second connecting rod mechanism 140 to move in a direction approaching each other so that the clamp head assembly 150 moves in a direction approaching the frame 110, and can drive the first connecting rod mechanism 120 and the second connecting rod mechanism 140 to move in a direction away from each other so as to drive the clamp head assembly 150 to move in a direction away from the frame 110.

[0036] The technical solution of the utility model drives the first link mechanism 120 and the second link mechanism 140 to move in the direction of approaching or moving away from each other through the driving mechanism 200, so that the clamp head assembly 150 moves in the direction of approaching or moving away from the frame 110, so as to adjust the distance between the clamp head assembly 150 and the frame 110, and can solve the problem that the clamp head assembly 150 cannot operate at a long distance. Specifically, the arm system includes the frame 110, the first link mechanism 120, the connecting seat assembly 130, the second link mechanism 140 and the clamp head assembly 150 which are hinged in sequence, and the driving mechanism 200 is hinged to the first link mechanism 120 and hinged to the second link mechanism 140, wherein the driving mechanism 200 can drive the first link mechanism 120 and the second link mechanism 140 to move in the direction of approaching or moving away from each other, so that the clamp head assembly 150 moves in the direction of approaching or moving away from the frame 110, so as to adjust the distance between the clamp head assembly 150 and the frame 110. During long-distance operation, the driving mechanism 200 can drive the first link mechanism 120 and the second link mechanism 140 to move in a direction away from each other, so that the clamp head assembly 150 moves in a direction away from the frame 110, so as to increase the distance between the clamp head assembly 150 and the frame 110, thereby meeting the long-distance operation requirements of the clamp head assembly 150; during short-distance operation, the driving mechanism 200 can drive the first link mechanism 120 and the second link mechanism 140 to move in a direction close to each other, so that the clamp head assembly 150 moves close to the frame 110. , so as to reduce the distance between the clamp head assembly 150 and the frame 110, thereby meeting the close-range operation requirements of the clamp head assembly 150; and, the two ends of the driving mechanism 200 are respectively hinged to the first connecting rod mechanism 120 and the second connecting rod mechanism 140, so that the arm system can be completely folded up, reducing the turning radius of the clamp head assembly 150, and avoiding the collision of the drilling tool with other parts during the transportation process, wherein the turning radius refers to the distance between the rotation axis of the clamp head assembly 150 and the frame 110 when the drilling tool is transported.

[0037] See also Figure 1In one embodiment of the utility model, the first link mechanism 120 includes a first link 121 and a second link 122 arranged in parallel, and the two ends of the first link 121 are respectively hinged to the frame 110 and the connecting seat assembly 130, and the two ends of the second link 122 are respectively hinged to the frame 110 and the connecting seat assembly 130; the second link mechanism 140 includes a third link 141 and a fourth link 142 arranged in parallel, and the two ends of the third link 141 are respectively hinged to the clamp head assembly 150 and the connecting seat assembly 130, and the two ends of the fourth link 142 are respectively hinged to the clamp head assembly 150 and the connecting seat assembly 130; the driving mechanism 200 is hinged to the first link 121 and to the third link 141. The frame 110 and the connecting seat assembly 130, as well as the connecting seat assembly 130 and the clamp head assembly 150, are connected by a parallelogram connecting rod structure, which can improve the stability of the boom system when unfolding and folding; the two ends of the driving mechanism 200 are respectively hinged to the first connecting rod 121 and the third connecting rod 141, so that the boom system can be completely folded, the turning radius of the clamp head assembly 150 can be reduced, and the drilling tool can be prevented from colliding with other components during transportation.

[0038] See also Figure 1 In one embodiment of the utility model, the arm body 100 further includes a fifth link 160; one end of the fifth link 160 is hinged to the first link 121, and the other end is hinged to the third link 141. The fifth link 160 connects the first link 121 and the third link 141, that is, the fifth link 161 connects the first link mechanism 120 and the second link mechanism 140, which can ensure that the driving mechanism 200 can drive the first link mechanism 120 to move synchronously while driving the second link mechanism 140 to move, and make the parallelogram structure of the first link mechanism 120 and the second link mechanism 140 stable; in the embodiment of the utility model, the hinge points among the driving assembly 131, the first link 121, the connecting seat assembly 130, the frame 110, and the third link 141 do not overlap.

[0039] See also Figure 2 In one embodiment of the present utility model, the connection seat assembly 130 includes a drive assembly 131 and a connection seat body 132, and the clamp head assembly 150 has a lifting state (such as Figure 4 as shown) and the push and support status (as shown Figure 1As shown in the figure, the driving assembly 131 is hinged to the connecting seat body 132 and to the fourth connecting rod 142, and the two ends of the third connecting rod 141 are respectively hinged to the connecting seat body 132 and the clamp head assembly 150; the driving assembly 131 can drive the fourth connecting rod 142 to move, so as to drive the clamp head assembly 150 to switch between the lifting state and the pushing state, wherein the fourth connecting rod 142 is hinged to the connecting seat body 132 through the driving assembly 131. The driving component 131 can drive the fourth connecting rod 142 to move, thereby pushing the clamp head assembly 150 to rotate around the hinge point between the third connecting rod 141 and the clamp head assembly 150, so that the clamp head assembly 150 switches between the lifting state and the pushing state, thereby realizing the functional switching of the clamp head assembly 150; in the related art, the structure for driving the clamp head assembly 150 to switch functions is usually installed on the clamp head assembly 150, but since both the clamp head assembly 150 and the switching mechanism need to arrange pipelines, it will cause the layout space of the pipelines to be tight, and the arm system installs the driving component 131 that drives the clamp head assembly 150 to switch functions on the connecting seat body 132, which can solve the problem of tight layout space for pipelines; in an embodiment of the utility model, the two ends of the first connecting rod 121 are respectively hinged to the frame 110 and the connecting seat body 132, and the two ends of the second connecting rod 122 are respectively hinged to the frame 110 and the connecting seat body 132.

[0040] See also Figure 2 and Figure 4 In one embodiment of the utility model, the driving assembly 131 includes a driving body 1311, a sixth connecting rod 1312 and a seventh connecting rod 1313. The driving body 1311 is hinged to the connecting seat body 132. The two ends of the sixth connecting rod 1312 are respectively hinged to the connecting seat body 132 and one end of the driving body 1311 away from the connecting seat body 132. The two ends of the seventh connecting rod 1313 are respectively hinged to the sixth connecting rod 1312 and the fourth connecting rod 142. When the driving assembly 131 drives the fourth connecting rod 142 to move, the driving body 1311 first drives the sixth connecting rod 1312 to rotate, changing the angle between the driving body 1311 and the sixth connecting rod 1312 (such as Figure 2 ), and drives the seventh connecting rod 1313 to move, thereby driving the fourth connecting rod 142 to move, pushing the clamp head assembly 150 to rotate around the hinge point between the third connecting rod 141 and the clamp head assembly 150, so that the clamp head assembly 150 switches between the lifting state and the pushing state; specifically, the driving body 1311 can be selected from an oil cylinder, an air cylinder, an electric cylinder or a linear actuator, etc.

[0041] In another embodiment of the utility model, the driving assembly 131 includes a driving body 1311, which is hinged to the connecting seat body 132 and hinged to the fourth connecting rod 142. The driving body 1311 can drive the fourth connecting rod 142 to move, thereby pushing the clamp head assembly 150 to rotate around the hinge point between the third connecting rod 141 and the clamp head assembly 150, so that the clamp head assembly 150 switches between the lifting state and the pushing state; specifically, the driving body 1311 can be selected from a cylinder, a pneumatic cylinder, an electric cylinder or a linear actuator.

[0042] See also Figure 1 In one embodiment of the utility model, the second link mechanism 140 further includes an eighth link 143, and the two ends of the eighth link 143 are respectively hinged to the third link 141 and the fourth link 142. The third link 141, the clamp assembly 150, the fourth link 142 and the eighth link 143 are connected to form a parallelogram structure, which can further improve the stability of the arm system when it is unfolded and folded; and the eighth link 143 can limit the position of the fourth link 142, so that the third link 141 and the fourth link 142 are always parallel, which can improve the stability of the driving assembly 131 when driving the clamp assembly 150 to switch functions.

[0043] See also Figure 1 In one embodiment of the utility model, a ninth connecting rod 144 is provided on one side of the eighth connecting rod 143, and the two ends of the ninth connecting rod 144 are respectively hinged to the third connecting rod 141 and the fourth connecting rod 142. The ninth connecting rod 144 provided on one side of the eighth connecting rod 143 can improve the structural strength of the second connecting rod mechanism 140, and improve the stability of the driving component 131 when driving the clamp head assembly 150 to switch functions; in the embodiment of the utility model, for each hinge point between the third connecting rod 141, the fourth connecting rod 142, the sixth connecting rod 1312, the seventh connecting rod 1313, the eighth connecting rod 143, the ninth connecting rod 144 and the driving body 1311, except for the hinge point between the eighth connecting rod 143 and the third connecting rod 141 and the hinge point between the third connecting rod 141 and the connecting seat body 132, the other hinge points do not overlap.

[0044] See also Figure 1 In one embodiment of the utility model, the driving mechanism 200 includes a cylinder body 210 and a telescopic rod 220 telescopically arranged on the cylinder body 210, the cylinder body 210 is hinged to the first connecting rod 121, and the telescopic rod 220 is hinged to the third connecting rod 141. The telescopic cylinder is used to drive the first connecting rod mechanism 120 and the second connecting rod mechanism 140 to move toward or away from each other. The telescopic cylinder has the characteristics of simple structure and low manufacturing cost, which can simplify the structure of the boom system and reduce the production cost; specifically, the driving mechanism 200 can be selected from oil cylinders, air cylinders, electric cylinders, etc.

[0045] See also Figure 4 In one embodiment of the utility model, the clamp head assembly 150 includes a mounting seat 151, a pushing clamp head 152 and a lifting clamp head 153. The mounting seat 151 is hinged to the second connecting rod mechanism 140, and the pushing clamp head 152 and the lifting clamp head 153 are cross-arranged on the mounting seat 151. Specifically, when the clamp head assembly 150 is in the lifting state, the lifting clamp head 153 is in a horizontal position, and when the clamp head assembly 150 is in the pushing state, the pushing clamp head 152 is in a horizontal position.

[0046] In an embodiment of the utility model, the pushing and supporting clamp head 152 includes two first clamping jaws, and rollers are provided on the inner sides of the two first clamping jaws and at the positions of the frame 110 corresponding to the first clamping jaws. When the drill tool is transported to the drilling site, the three rollers are used to clamp and fix the drill tool at three points, thereby realizing the centering function of the drill tool and the wellhead drill tool female buckle; the lifting clamp head 153 includes two second clamping jaws, and the inner sides of the two second clamping jaws and at the positions of the frame 110 corresponding to the second clamping jaws are provided with clamping blocks. When the drill tool is transported to the drilling site, the drill tool is clamped by the three clamping blocks, and the clamping blocks will produce local deformation after clamping contact with the drill tool, thereby increasing the friction force to resist the weight of the drill tool; specifically, the structures of the pushing and supporting clamp head 152 and the lifting clamp head 153 can refer to the pushing and supporting clamp head 152 and the lifting clamp head 153 in the prior art.

[0047] The utility model provides two embodiments, the difference between the two embodiments is that the structure of the driving assembly 131 provided in the connecting seat assembly 130 is different, as follows: Figures 1 to 4 In the first embodiment of the present utility model, the driving assembly 131 includes a driving body 1311, a sixth connecting rod 1312 and a seventh connecting rod 1313. The driving body 1311 is hinged to the connecting seat assembly 130. The two ends of the sixth connecting rod 1312 are respectively hinged to the connecting seat assembly 130 and one end of the driving body 1311 away from the connecting seat assembly 130. The two ends of the seventh connecting rod 1313 are respectively hinged to the sixth connecting rod 1312 and the fourth connecting rod 142. In the second embodiment of the present utility model, the driving assembly 131 includes a driving body 1311. The driving body 1311 is hinged to the connecting seat assembly 130 and is hinged to the fourth connecting rod 142.

[0048] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A boom system, characterized in that: include: A boom body (100), the boom body (100) comprising a frame (110), a first connecting rod mechanism (120), a connecting seat assembly (130), a second connecting rod mechanism (140) and a clamp head assembly (150) which are hinged in sequence, and the clamp head assembly (150) is arranged on one side of the frame (110); A driving mechanism (200), wherein the driving mechanism (200) is hinged to the first connecting rod mechanism (120) and is hinged to the second connecting rod mechanism (140); the driving mechanism (200) is capable of driving the first connecting rod mechanism (120) and the second connecting rod mechanism (140) to move in a direction approaching each other so that the clamp head assembly (150) moves in a direction approaching the frame (110), and is capable of driving the first connecting rod mechanism (120) and the second connecting rod mechanism (140) to move in a direction away from each other so that the clamp head assembly (150) moves in a direction away from the frame (110).

2. The boom system according to claim 1, characterized in that: The first connecting rod mechanism (120) comprises a first connecting rod (121) and a second connecting rod (122) which are arranged in parallel, wherein two ends of the first connecting rod (121) are respectively hinged to the frame (110) and the connecting seat assembly (130), and two ends of the second connecting rod (122) are respectively hinged to the frame (110) and the connecting seat assembly (130); The second connecting rod mechanism (140) comprises a third connecting rod (141) and a fourth connecting rod (142) which are arranged in parallel, the two ends of the third connecting rod (141) are respectively hinged to the clamp head assembly (150) and the connecting seat assembly (130), and the two ends of the fourth connecting rod (142) are respectively hinged to the clamp head assembly (150) and the connecting seat assembly (130); The driving mechanism (200) is hinged to the first connecting rod (121) and is hinged to the third connecting rod (141).

3. The boom system according to claim 2, characterized in that: The arm body (100) further comprises a fifth connecting rod (160); one end of the fifth connecting rod (160) is hinged to the first connecting rod (121), and the other end of the fifth connecting rod (160) is hinged to the third connecting rod (141).

4. The boom system according to claim 2, characterized in that: The connecting seat assembly (130) comprises a driving component (131) and a connecting seat body (132); the clamp head assembly (150) has a lifting state and a pushing state; the driving component (131) is hinged to the connecting seat body (132) and to the fourth connecting rod (142); the two ends of the third connecting rod (141) are respectively hinged to the connecting seat body (132) and the clamp head assembly (150); the driving component (131) can drive the fourth connecting rod (142) to move, so as to drive the clamp head assembly (150) to switch between the lifting state and the pushing state.

5. The boom system according to claim 4, characterized in that: The driving assembly (131) includes a driving body (1311), a sixth connecting rod (1312) and a seventh connecting rod (1313); the driving body (1311) is hinged to the connecting seat body (132); two ends of the sixth connecting rod (1312) are respectively hinged to the connecting seat body (132) and one end of the driving body (1311) away from the connecting seat body (132); and two ends of the seventh connecting rod (1313) are respectively hinged to the sixth connecting rod (1312) and the fourth connecting rod (142).

6. The boom system according to claim 4, characterized in that: The driving assembly (131) comprises a driving body (1311), wherein the driving body (1311) is hinged to the connecting seat body (132) and is hinged to the fourth connecting rod (142).

7. The boom system according to claim 2, characterized in that: The second link mechanism (140) further comprises an eighth link (143), the two ends of the eighth link (143) being respectively hinged to the third link (141) and the fourth link (142).

8. The boom system according to claim 7, characterized in that: A ninth connecting rod (144) is provided on one side of the eighth connecting rod (143), and two ends of the ninth connecting rod (144) are respectively hinged to the third connecting rod (141) and the fourth connecting rod (142).

9. The boom system according to claim 2, characterized in that: The driving mechanism (200) comprises a cylinder body (210) and a telescopic rod (220) telescopically arranged on the cylinder body (210); the cylinder body (210) is hinged to the first connecting rod (121); and the telescopic rod (220) is hinged to the third connecting rod (141).

10. The boom system according to any one of claims 1 to 9, characterized in that: The clamp head assembly (150) comprises a mounting seat (151), a pushing clamp head (152) and a lifting clamp head (153); the mounting seat (151) is hinged to the second connecting rod mechanism (140); the pushing clamp head (152) and the lifting clamp head (153) are cross-arranged on the mounting seat (151).

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