Single-arm buffer manipulator for pushing and supporting pipes

Abstract

The utility model relates to a single-arm buffer manipulator for pushing a pipe. The single-arm buffer manipulator comprises a mounting seat, a connecting arm, a first driver, a second driver and a clamping jaw assembly, the mounting seat can be fixed on a derrick, one end of the connecting arm is rotatably arranged on the mounting seat, and the two ends of the first driver are rotatably connected to the mounting seat and the connecting arm so as to drive the connecting arm to rotate in a vertical plane; the clamping jaw assembly is installed at the free end of the connecting arm through a second driver, and the second driver can drive the clamping jaw assembly to rotate in the vertical plane. The device has the beneficial effects that the collision or mutual interference with a hydraulic elevator can be avoided, so that the smoothness and the safety of the whole derrick operation are improved.

Description

Technical Field

[0001] This utility model relates to the field of oil and gas drilling technology, and in particular to a single-arm buffer manipulator for pushing and supporting pipe tools. Background Technology

[0002] In oil and gas extraction operations, the pushing and manipulating of pipe tools is a crucial and frequently performed task. Traditional methods of pipe tool pushing often rely on manual assistance, which is not only inefficient but also poses high safety risks, as workers are prone to injury from heavy physical labor and complex working environments. With the development of automation technology, robotic arms have been widely used in pipe tool pushing, greatly improving operational efficiency and safety.

[0003] Currently, commonly used buffer manipulators for pushing and supporting pipe tools still exhibit numerous problems in practical applications. In situations where derrick operating space is limited, the coordination between traditional buffer manipulators and other equipment is particularly problematic. For example, hydraulic lifting clamps, as crucial equipment for lifting and lowering pipe tools in derrick operations, are closely related to the operation process of pipe tool handling manipulators. However, when in standby mode, the gripper positions of existing buffer manipulators are often fixed or unable to effectively avoid obstacles, easily hindering the operation of hydraulic lifting clamps. This not only reduces overall operational efficiency, prolongs the time for a single pipe tool operation, and increases mining costs, but may also lead to collisions and damage between equipment, causing safety accidents and posing a serious threat to personnel and property safety. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a single-arm buffer manipulator for pushing and supporting pipe tools, which solves the technical problem that the prior art is prone to affecting the operation of hydraulic lifting tools.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0008] This utility model provides a single-arm buffer manipulator for pushing and supporting pipe tools, including a mounting base, a connecting arm, a first driver, a second driver, and a gripper assembly; the mounting base can be fixed on the derrick, one end of the connecting arm is rotatably mounted on the mounting base, and the two ends of the first driver are rotatably connected to the mounting base and the connecting arm to drive the connecting arm to rotate in a vertical plane; the gripper assembly is mounted on the free end of the connecting arm through the second driver, and the second driver can drive the gripper assembly to rotate in a vertical plane.

[0009] Optionally, the gripper assembly includes a bracket, a central roller, a gripping driver, and two grippers; the bracket is connected to the second driver, the central roller is rotatably mounted in the middle of the bracket, and the two grippers are rotatably mounted on the bracket, with the two grippers located on both sides of the central roller; the gripping driver is slidably mounted inside the bracket, and the two ends of the gripping driver are respectively connected to the two grippers to drive the two grippers to rotate in the horizontal plane to achieve gripping and release; when the gripping parts of the two grippers and the central roller grip the pipe, the pipe can move along its axial direction.

[0010] Optionally, a slider is provided inside the bracket, and a slide bar is provided on the clamping driver. The clamping driver is slidably connected to the slider via the slide bar.

[0011] Optionally, the gripping part of the gripper is a limiting roller.

[0012] Optionally, the second driver can drive the gripper assembly to rotate in a vertical plane by an angle of 0° to 120°.

[0013] Optionally, the mounting base is also equipped with an explosion-proof electrical control box and a main hydraulic valve assembly.

[0014] Optionally, the first actuator is an explosion-proof electric push rod; the second actuator is a swing hydraulic cylinder.

[0015] Optionally, an energy storage device is also provided at the free end of the connecting arm.

[0016] Optionally, the connecting arm is L-shaped.

[0017] (III) Beneficial Effects

[0018] The beneficial effects of this utility model are:

[0019] This utility model provides a single-arm buffer manipulator for pushing and supporting pipe tools. Its first actuator drives the connecting arm to rotate in a vertical plane, allowing the manipulator to flexibly adjust the angle of the connecting arm according to the position and height of the pipe tool and actual operational needs. When gripping the pipe tool, the connecting arm can rotate to a suitable position, facilitating the approach of the gripper assembly to the pipe tool, greatly improving the manipulator's ability to grip pipe tools at different heights and positions on the derrick. The second actuator drives the gripper assembly to rotate in a vertical plane, giving the gripper assembly flexible posture adjustment capabilities based on the connecting arm, ensuring that the gripper can stably and accurately grip the pipe tool. Moreover, in standby mode, the second actuator can drive the gripper assembly to rotate to a vertical position, effectively avoiding interference with the hydraulic lifting clamp operation. In derrick operations, the hydraulic lifting clamp needs to lift and lower pipe tools within a certain space. With the gripper assembly rotated to a vertical position, its space occupation is minimized, providing ample working space for the hydraulic lifting clamp and preventing collisions or mutual interference during operation, thereby improving the smoothness and safety of the entire derrick operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the single-arm buffer robot used for pushing and supporting pipes in Embodiment 1 of this utility model;

[0021] Figure 2 This is a front view schematic diagram from another angle of the single-arm buffer robot used for pushing and supporting the tube in Embodiment 1 of this utility model;

[0022] Figure 3 This is a schematic diagram of the single-arm buffer manipulator used for pushing and supporting pipes in Embodiment 1 of this utility model when it is in standby mode.

[0023] Figure 4 This is a schematic diagram of the gripper assembly in Embodiment 1 of this utility model.

[0024] [Explanation of Labels in the Attached Image]

[0025] 1: Mounting base; 2: Connecting arm; 3: First driver; 4: Second driver; 5: Gripper assembly; 51: Bracket; 52: Center roller; 53: Gripper; 54: Gripper; 55: Limit roller; 6: Explosion-proof electrical control box; 7: Main hydraulic valve assembly; 8: Accumulator. Detailed Implementation

[0026] 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.

[0027] Example 1:

[0028] like Figures 1-3As shown, this embodiment provides a single-arm buffer manipulator for pushing and supporting pipe tools, including a mounting base 1, a connecting arm 2, a first driver 3, a second driver 4, and a gripper assembly 5. The mounting base 1 can be fixed on the derrick. One end of the connecting arm 2 is rotatably mounted on the mounting base 1. The first driver 3 is rotatably connected to the mounting base 1 and the connecting arm 2 at both ends to drive the connecting arm 2 to rotate in a vertical plane. The gripper assembly 5 is mounted on the free end of the connecting arm 2 via the second driver 4, which can drive the gripper assembly 5 to rotate in a vertical plane. In this embodiment, the first driver 3 is an explosion-proof electric actuator. The explosion-proof electric actuator is suitable for flammable and explosive working environments, ensuring driving force while avoiding sparks that could cause danger. Furthermore, the explosion-proof electric actuator in this embodiment is driven by a servo motor. The servo motor has high positioning accuracy, ensuring that the gripper assembly accurately engages at the wellhead and rat hole positions when pushing and supporting pipe tools, reducing engagement time, improving pipe tool engagement accuracy and pipe tool processing efficiency, thereby improving the overall efficiency of oil drilling operations. The second drive 4 is a swing hydraulic cylinder; the swing hydraulic cylinder has the characteristics of compact structure and large output torque, which can accurately drive the gripper assembly 5 to rotate in the vertical plane, meeting the precise operation requirements of the robot in complex working environments.

[0029] Specifically, the first actuator 3 drives the connecting arm 2 to rotate in the vertical plane, allowing the robot to flexibly adjust the angle of the connecting arm 2 according to the position and height of the pipe and actual operational needs. When gripping the pipe, the connecting arm 2 can rotate to a suitable position, facilitating the approach of the gripper assembly 5 to the pipe, greatly improving the robot's ability to grip pipes at different heights and positions on the derrick. The second actuator 4 drives the gripper assembly 5 to rotate in the vertical plane, giving the gripper assembly 5 a more flexible attitude adjustment capability based on the connecting arm 2, ensuring that the gripper can grip the pipe stably and accurately. Moreover, in standby mode, the second actuator 4 can drive the gripper assembly 5 to rotate to a vertical position, effectively avoiding interference with the hydraulic lifting operation. During derrick operations, the hydraulic lifting operation needs to lift and lower pipes within a certain space. After the gripper assembly 5 rotates to a vertical position, it can minimize the space occupied by the hydraulic lifting operation, providing sufficient working space for the hydraulic lifting operation and avoiding collisions or mutual interference between the two during operation, thereby improving the smoothness and safety of the entire derrick operation.

[0030] Furthermore, such as Figure 4As shown, the gripper assembly 5 includes a bracket 51, a central roller 52, a gripping driver 53, and two grippers 54. The bracket 51 is connected to the second driver 4. The central roller 52 is rotatably mounted in the middle of the bracket 51. The two grippers 54 are rotatably mounted on the bracket 51, and are located on both sides of the central roller 52. The gripping driver 53 is slidably mounted inside the bracket 51. The two ends of the gripping driver 53 are respectively connected to the two grippers 54 to drive the two grippers 54 to rotate in the horizontal plane to achieve gripping and release. When the gripping parts of the two grippers 54 and the central roller 52 grip the pipe, the pipe can move along its axial direction. The cooperation of the two grippers 54 and the central roller 52 can achieve a stable pushing and supporting effect on the pipe, ensuring the smoothness and safety of pipe movement and handover.

[0031] Furthermore, such as Figure 4 As shown, in this embodiment, the gripping part of the gripper 54 is a limiting roller 55. When the limiting roller 55 contacts the pipe, it generates rolling friction, which not only cooperates with the central roller 52 to push the pipe, but also reduces damage to the surface of the pipe, ensuring the integrity and quality of the pipe and avoiding scratches and wear caused by gripping.

[0032] Furthermore, in this embodiment, the second actuator 4 can drive the gripper assembly 5 to rotate in the vertical plane by an angle of 0° to 120°. In standby mode, the gripper assembly 5 can be rotated to a vertical position of 0° to avoid the hydraulic lifting clamp; during operation, the second actuator 4 adjusts the gripper assembly 5 from the 0° standby position to the 120° working position, while the first actuator 3 adjusts the position of the gripper assembly 5. The first actuator 3 and the second actuator 4 work together to ensure that the pipe can be accurately positioned.

[0033] Furthermore, such as Figure 2 As shown, in this embodiment, the mounting base 1 is also equipped with an explosion-proof electrical control box 6 and a main hydraulic valve assembly 7. The explosion-proof electrical control box 6 can effectively prevent explosions caused by sparks generated by electrical equipment, ensuring the safety of equipment and personnel. The main hydraulic valve assembly 7 can centrally control the hydraulic system of the robot, improving the stability and reliability of the hydraulic system and ensuring the normal operation of the robot. Centralizing the explosion-proof electrical control box 6 and the main hydraulic valve assembly 7 on the mounting base 1 facilitates operation and monitoring, and also facilitates the inspection and maintenance of the electrical and hydraulic systems, improving the maintainability of the equipment.

[0034] Furthermore, such as Figure 1As shown, in this embodiment, an energy accumulator 8 is also provided at the free end of the connecting arm 2. The energy accumulator 8 can absorb and store energy when the robot performs actions such as grasping and handling, playing a role in buffering and shock absorption. The energy accumulator 8 can store the energy generated by the impact force when grasping the pipe or the vibration encountered during handling, avoiding damage to the robot and the pipe and extending the service life of the equipment.

[0035] Furthermore, such as Figures 1-3 As shown, in this embodiment, the connecting arm 2 is L-shaped. This allows the connecting arm 2 to be more rationally arranged within the limited space of the derrick, avoiding interference with other equipment, and also enabling it to bypass some obstacles, thereby improving the coverage and operational flexibility of the robotic arm during derrick operations.

[0036] This embodiment provides a single-arm buffer robot for pushing and supporting pipes. Before operation, the gripper assembly 5 is in a vertical standby state. When it is necessary to grasp the pipe, the first driver 3 is activated, pushing the connecting arm 2 to rotate in the vertical plane, adjusting to a suitable angle according to the pipe's position, so that the gripper assembly 5 approaches the pipe. Simultaneously, the second driver 4 operates, driving the gripper assembly 5 to rotate in the vertical plane from the standby position to the working position. Subsequently, the clamping driver 53 slides on the slider within the bracket 51 via a slide bar, driving the two grippers 54 to rotate in the horizontal plane. The limit rollers 55 clamp the pipe, and the center roller 52 assists in stabilization, ensuring the pipe is reliably grasped.

[0037] Example 2:

[0038] This embodiment provides a single-arm buffer manipulator for pushing and supporting pipes, which includes all the structures of the single-arm buffer manipulator described in Embodiment 1. In this embodiment, a slider is provided inside the bracket 51, and a sliding rod is provided on the clamping driver 53. The clamping driver 53 is slidably connected to the slider through the sliding rod.

[0039] In the description of this utility model, 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 utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0040] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," 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. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0041] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" 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," and "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.

[0042] 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.

[0043] 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 single-arm buffer manipulator for pushing and supporting pipes, characterized in that, It includes a mounting base (1), a connecting arm (2), a first driver (3), a second driver (4), and a gripper assembly (5); The mounting base (1) can be fixed on the derrick. One end of the connecting arm (2) is rotatably mounted on the mounting base (1). The first driver (3) is rotatably connected to the mounting base (1) and the connecting arm (2) at both ends to drive the connecting arm (2) to rotate in the vertical plane. The gripper assembly (5) is mounted on the free end of the connecting arm (2) through the second driver (4). The second driver (4) can drive the gripper assembly (5) to rotate in the vertical plane.

2. The single-arm buffer manipulator for pushing and supporting pipes as described in claim 1, characterized in that, The gripper assembly (5) includes a bracket (51), a center roller (52), a gripping driver (53), and two grippers (54); The bracket (51) is connected to the second driver (4), the central roller (52) is rotatably mounted in the middle of the bracket (51), and the two grippers (54) are rotatably mounted on the bracket (51) and located on both sides of the central roller (52); the clamping driver (53) is slidably mounted in the bracket (51), and the two ends of the clamping driver (53) are respectively connected to the two grippers (54) to drive the two grippers (54) to rotate in the horizontal plane to achieve clamping and release; When the gripping parts of the two grippers (54) and the center roller (52) grip the pipe, the pipe can move along its axial direction.

3. The single-arm buffer manipulator for pushing and supporting pipes as described in claim 2, characterized in that, The bracket (51) has a slider inside, and the clamping driver (53) has a slide bar. The clamping driver (53) is slidably connected to the slider through the slide bar.

4. The single-arm buffer manipulator for pushing and supporting pipes as described in claim 2, characterized in that, The gripping part of the gripper (54) is a limiting roller (55).

5. The single-arm buffer manipulator for pushing and supporting pipes as described in claim 1, characterized in that, The second driver (4) can drive the gripper assembly (5) to rotate in the vertical plane by an angle of 0° to 120°.

6. The single-arm buffer manipulator for pushing and supporting pipes as described in claim 1, characterized in that, The mounting base (1) is also equipped with an explosion-proof electrical control box (6) and a main hydraulic valve assembly (7).

7. The single-arm buffer manipulator for pushing and supporting pipes as described in claim 1, characterized in that, The first driver (3) is an explosion-proof electric push rod; the second driver (4) is a swing hydraulic cylinder.

8. The single-arm buffer manipulator for pushing and supporting pipes as described in claim 1, characterized in that, An energy storage device (8) is also provided at the free end of the connecting arm (2).

9. The single-arm buffer manipulator for pushing and supporting pipes as described in claim 1, characterized in that, The connecting arm (2) is L-shaped.

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