Manipulator clamp device for drill floor surface

Abstract

The utility model provides a mechanical arm clamp device for a drill floor. The mechanical arm clamp device comprises a drilling tool detection assembly, a clamp sliding block assembly, a clamp support and a driving structure. The drilling tool detection assembly is mounted on the clamp bracket; the clamp sliding block assembly comprises a left clamping jaw, a right clamping jaw, a hinge assembly and a push block, the left clamping jaw and the right clamping jaw are symmetrically installed at an inner port of the clamp support, and the ends, away from the clamping end, of the left clamping jaw and the right clamping jaw are hinged to the push block through the hinge assembly. The push block is arranged in the clamp support, one end of the push block is connected with the driving end of the driving structure, the other end of the push block moves towards the outside of the port of the clamp support through the driving structure, and a clamping area is defined by the push block, the left clamping jaw and the clamping end of the left clamping jaw. According to the clamp device, a double-cam curve and linear groove matching structure is used, centering clamping is achieved, the requirement that a common drilling tool is accurately buckled at a well opening to conduct combined drilling tool operation is met, and for a small-diameter three-joint unit, the three-joint unit can be vertically placed and does not interfere with an adjacent three-joint unit.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of oil drilling, especially to a drilling floor mechanical hand clamp device. BACKGROUND

[0002] With the improvement of the automation level of oil drilling operation, manual pushing and supporting drilling tools have low efficiency in make-up operation at the wellhead position; the conventional drilling floor mechanical hand clamp cannot be directly placed vertically due to the interference with the adjacent drill pipe, and the stand is placed obliquely in the stand box during the operation process, increasing the control process. Manual pushing and supporting drilling tools have high labor intensity during the make-up and stand discharge process at the wellhead position; in rainy and snowy weather, there are safety hazards. Therefore, a clamp device that can clamp the pipe tool position more accurately is needed to improve the operation efficiency and reduce the labor intensity. SUMMARY

[0003] The utility model aims at providing a drilling floor mechanical hand clamp device that can overcome the safety hazards and low operation efficiency of existing manual operation, and the problem that the clamp of the existing drilling floor mechanical hand on the market cannot extend into the stand box to complete the placement of the stand.

[0004] To solve the above technical problems, the utility model provides a drilling floor mechanical hand clamp device, which comprises a drilling tool detection assembly, a clamp sliding block assembly, a clamp support and a driving structure, the driving structure is connected with the clamp support, the drilling tool detection assembly is connected with the clamp support through a pin shaft,

[0005] The clamp sliding block assembly comprises left clamping jaws, right clamping jaws, a hinged component and a push block, the left clamping jaws and the right clamping jaws are symmetrically and rotatably installed at the inner port of the clamp support, and one end of the left clamping jaws and the right clamping jaws away from the clamping end is hinged to the push block through the hinged component.

[0006] The push block is arranged in the clamp support, one end of the push block is connected with the driving end of the driving structure, the other end of the push block is moved outward from the port of the clamp support through the driving structure, and the clamping end of the left clamping jaws and the right clamping jaws is enclosed to form a clamping area.

[0007] Further, the hinged component comprises a left side pressing block, a right side pressing block, a first sliding pin shaft, a first pin shaft, a second roller, a second sliding pin shaft,

[0008] The left side pressing block and the right side pressing block are symmetrically and rotatably installed in the clamp support through the first pin shaft, long slot holes are symmetrically formed in the left side pressing block and the right side pressing block, the first sliding pin shaft is symmetrically installed on the push block, and the first sliding pin shaft is arranged in the long slot hole and can move freely along the long slot hole.

[0009] The left and right side pressing blocks are symmetrically provided with short slot holes on one side of the left and right clamping jaws, and the second sliding pin shafts are symmetrically installed on the left and right clamping jaws and arranged in the short slot holes and freely movable along the short slot holes.

[0010] The second rollers are installed on the left and right clamping jaws through the pin shafts, and the second rollers are in contact with the end edges of the push block and movable along the end edges of the push block.

[0011] Further, the push block is composed of a fishtail type push block and a rectangular push block, and the fishtail type push block is arranged away from the driving structure.

[0012] Further, during the movement of the push block out of the clamping jaw support port,

[0013] When the second rollers roll along the curved end edges of the fishtail type push block, the clamping end heads of the left and right clamping jaws move towards each other.

[0014] When the second rollers roll along the curved end edges of the fishtail type push block to the straight end edges of the rectangular push block, the clamping end heads of the left and right clamping jaws abut each other.

[0015] When the second rollers roll along the straight end edges of the rectangular push block, the clamping end heads of the left and right clamping jaws abut each other, and the push block continues to move towards the clamping end heads of the left and right clamping jaws, so that the clamping area is reduced.

[0016] Further, the long slot hole is composed of a curved slot hole and a straight slot hole, and the straight slot hole is arranged away from the driving structure; the short slot hole is a straight slot hole.

[0017] Further, it further includes a guide block, the guide block is installed in the clamping jaw support through bolts, the push block is provided with a sunken groove, the guide block is inserted into the sunken groove, and the push block can move back and forth repeatedly along the guide block through the sunken groove.

[0018] Further, it further includes a copper plate and a camera, the copper plate is installed in the clamping jaw support through countersunk screws; the camera is installed at the bottom of the clamping jaw support.

[0019] Further, it further includes a motor shield, the motor shield is connected with the clamping jaw support through bolts to form an integral whole, the driving structure is installed in the motor shield, and the driving structure adopts a servo cylinder.

[0020] Further, the drilling tool detection assembly includes a trigger gantry, a sensor, a first roller, and a double torsion spring, one end of the double torsion spring is connected with the clamping jaw support, the other end is connected with one end of the trigger gantry, the other end of the trigger gantry is connected with the first roller; the sensor is installed on the top of the clamping jaw support through bolts.

[0021] Further, the left and right clamping jaws are respectively rotatably installed in the inner port of the clamp support through a left pin shaft and a right pin shaft.

[0022] With the above technical solution, the utility model has the following beneficial effects:

[0023] (1) The clamp device can realize the clamping of 11-inch to 2-3 / 8-inch pipes, and can also realize the centering clamping of 11-inch to 5-inch pipes, the clamping position of the drill pipe is within an error of 2 mm, the program control of the rig floor manipulator is simplified, the drill pipe can be clamped in the stand box, and does not interfere with the adjacent stand, the automatic drilling rig can accurately clamp the pipe during the automatic combination and disassembly of the stand, the success rate of pipe make-up is high, the stands are arranged in order when being placed in the stand box, and the efficiency and safety of the drilling operation are improved.

[0024] (2) The clamp device can accurately grab, carry and place the stand through the centering feature, the assembly and disassembly of the stand and the placement of the stand can be completed without manual intervention, and the operation efficiency is improved.

[0025] (3) Compared with the existing rig floor manipulator clamp, the drill pipe make-up is more accurate, the structure is effectively designed, the centering clamping feature is realized, the camera detection and the drill pipe detection device are used in cooperation, a logical, safe and efficient control process is provided, and the safety and efficiency of the drilling operation are improved.

[0026] (4) The clamp device realizes the centering clamping through the use of a double-cam curve plus straight slot cooperation structure, can accurately make-up the pipe at the wellhead for the combination pipe operation, can vertically place the small-diameter stand, and does not interfere with the adjacent stand, a control process is developed, the drill pipe detection device and the camera mechanical vision are used in cooperation, the control process is simplified, the safety hidden danger of the existing manual operation is overcome, the operation time is shortened, and the operation efficiency is improved.

[0027] (5) The clamp device can center the stand, carry and place the stand, can complete the assembly and disassembly of the stand without manual intervention, improves the operation efficiency, and effectively avoids the risk of personnel and equipment. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the specific embodiments or the prior art. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0029] Figure 1 The structure diagram of the drilling rig floor mechanical hand clamp device provided by the present application is shown in the figure.

[0030] Figure 2 The clamp sliding block connection diagram of the present application is shown in the figure.

[0031] Figure 3 The drilling tool detection and clamp support diagram of the present application is shown in the figure.

[0032] Figure 4 The centering and clamping diagram of the present application is shown in the figure.

[0033] Figure 5 The small drilling tool clamping diagram of the present application is shown in the figure.

[0034] Figure 6 The drilling tool detection and camera working diagram of the present application is shown in the figure.

[0035] Reference signs:

[0036] 1-drilling tool detection assembly, 2-clamp sliding block assembly, 3-clamp support assembly, 4-servo cylinder, 11-trigger gantry, 12-sensor, 13-first roller, 14-double torsional spring, 21-left clamp jaw, 22-left pin shaft, 23-right clamp jaw, 24-right pin shaft, 25-push block, 26-left side pressing block, 27-right side pressing block, 28-middle pin shaft, 29-first sliding pin shaft; 30-first pin shaft, 31-second roller, 32-motor shield, 33-second sliding pin shaft, 34-guiding block, 35-copper plate, 36-camera. DETAILED DESCRIPTION

[0037] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0038] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the device or element indicated must have a particular orientation, construct and operate in a particular orientation, therefore, it cannot be understood as the limitation of the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0039] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the device or element indicated must have a particular orientation, construct and operate in a particular orientation, therefore, it cannot be understood as the limitation of the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0040] The utility model will be further explained in conjunction with specific implementation.

[0041] As Figures 1-2 The utility model provides a kind of drilling floor mechanical hand clamp device, it includes

[0042] drilling tool detection assembly 1, clamp sliding block assembly 2, clamp support 3 and drive structure 4, drive structure 4 is connected with clamp support 3;Drilling tool detection assembly 1 is connected by pin with clamp support 3;

[0043] Clamp sliding block assembly 2 includes left jaw 21, right jaw 23, hinged component and push block 25, the left jaw 21 and right jaw 23 are symmetric and rotatably installed at the inner port of clamp support 3, the left jaw 21 and right jaw 23 are hinged with push block 25 by hinged component at the end away from clamping end;

[0044] The push block 25 is located in clamp support 3, one end of the push block 25 is connected with the driving end of drive structure 4, the other end moves to the port outside of clamp support 3 by drive structure 4, and with the clamping end of left jaw 21 and right jaw 23 encloses to form clamping area.

[0045] In the above embodiment, the left gripper 21 and the right gripper 23 are rotatably mounted at the inner port of the clamp bracket via the left pin 22 and the right pin 24, respectively. The push block 25 reciprocates within the clamp bracket 3 via the drive structure 4. When the push block 25 moves outward from the port of the clamp bracket 3 via the drive structure 4, it can be joined with the gripping ends of the left gripper 21 and the right gripper 23 through the hinge assembly to form a gripping area. In addition, the drive structure adopts a servo electric cylinder, and the push block 25 is connected to the servo electric cylinder 4 as a whole via the intermediate pin 28.

[0046] As a preferred embodiment of the above technical solution, such as Figure 2 As shown, the hinge assembly includes a left pressure block 26, a right pressure block 27, a first sliding pin 29, a first pin 30, a second roller 31, and a second sliding pin 33. The left pressure block 26 and the right pressure block 27 are symmetrically rotated and installed in the clamp bracket 3 via the first pin 30. The left pressure block 26 and the right pressure block 27 are symmetrically provided with elongated slots. The push block 25 is symmetrically provided with the first sliding pin 29, which is located in the elongated slot and can move freely along the elongated slot.

[0047] The left pressure block 26 and the right pressure block 27 are symmetrically provided with short slots on the side near the left gripper 21 and the right gripper 23. The left gripper 21 and the right gripper 23 are symmetrically provided with second sliding pins 33. The second sliding pins 33 are provided in the short slots and can move freely along the short slots.

[0048] The left gripper 21 and the right gripper 23 are each equipped with a second roller 31 via a pin. The second roller 31 is in contact with the end edge of the push block 25 and can roll along the end edge of the push block 25.

[0049] The push block 25 is composed of a fishtail-shaped push block and a rectangular push block, with the fishtail-shaped push block positioned away from the drive structure 4.

[0050] In the above technical solution, the end edge of the fishtail-shaped push block is a cam curve, and the end edge of the rectangular push block is a straight line. During the movement of the push block 25 toward the port of the clamp bracket 3, when the second roller 31 rolls along the curved end edge of the fishtail-shaped push block, the clamping ends of the left jaw 21 and the right jaw 23 move towards each other; when the second roller 31 rolls along the curved end edge of the fishtail-shaped push block to the straight end edge of the rectangular push block, the clamping ends of the left jaw 21 and the right jaw 23 abut against each other; when the second roller 31 rolls along the straight end edge of the rectangular push block, the clamping ends of the left jaw 21 and the right jaw 23 abut against each other, and the push block 25 continues to move toward the clamping ends of the left jaw 21 and the right jaw 23, thus reducing the clamping area.

[0051] Reference Figure 2 , Figure 3The clamp device realizes 11-inch to 5-inch pipe centering and 2-3 / 8-inch to 5-inch pipe clamping through the combination of cam curves and straight lines processed on the push block 25, and due to the centering characteristics, accurate grabbing, carrying, bucking and other operations are realized.

[0052] The long slot hole is composed of a curved slot hole and a straight slot hole, and the straight slot hole is arranged away from the end of the driving structure; and the short slot hole is a straight slot hole.

[0053] As shown in Figure 3 , it further comprises a guide block 34 mounted in the clamp bracket 3 by bolts, the push block 25 is provided with a sink groove, the guide block 34 is inserted into the sink groove and bears lateral force, and the push block 25 can repeatedly move back and forth along the guide block 34 through the sink groove.

[0054] As shown in Figure 3 , it further comprises a copper plate 35 mounted in the clamp bracket 3 by a countersunk screw and a camera 36 mounted at the bottom of the clamp bracket 3.

[0055] As shown in Figure 2 , it further comprises a motor guard 32 connected to the clamp bracket 3 by bolts, the driving structure 4 is mounted in the motor guard 32, and the driving structure 4 adopts a servo cylinder.

[0056] As shown in Figure 3 , the drill tool detection assembly 1 comprises a trigger gantry 11, a sensor 12, a first roller 13 and a double torsion spring 14, one end of the double torsion spring 14 is connected with the clamp bracket 3, the other end is connected with one end of the trigger gantry 11, the other end of the trigger gantry 11 is connected with the first roller 13, and the sensor 12 is mounted on the top of the clamp bracket 3 by bolts.

[0057] The implementation principle of the utility model is as follows:

[0058] The action of the clamp as a whole is as shown in Figure 4 , Figure 5As shown, within the cam curve stroke of push block 25, servo cylinder 4 extends and pushes push block 25 forward along guide block 34. Simultaneously, since the second roller 31 connected to the left jaw 21 and right jaw 23 fits the curve of push block 25, the first sliding pin 29 installed on push block 25 and the second sliding pin 33 installed on the left jaw 21 and right jaw 23 respectively cooperate with the long slot and short slot on the left pressure block 26 and right pressure block 27 (the longer long slot is a cam curve slot plus a straight slot, and the short slot is a straight slot), so that push block 25 moves forward. The first sliding pin 29 slides in the cam curve slot, driving the left pressure block 26 and right pressure block 27 to rotate. The rotation of the left pressure block 26 and right pressure block 27 causes the second sliding pin 33 on the left and right jaws to rotate along the short slot, so that push block 25 moves synchronously with the left and right jaws, so as to achieve centering and clamping of 11-inch to 5-inch pipes. To meet the requirements for clamping and placing the 5-inch to 2-3 / 8 drill bit, a straight section is machined at the rear end of the push block 25. As the servo cylinder continues to extend, the first sliding pin 29 on the push block 25 enters the straight groove on the left pressure block 26 and the right pressure block 27. At this time, the left and right chucks remain stationary. As the push block 25 extends, the 2-3 / 8 drill bit is clamped.

[0059] like Figure 6 As shown, the drill pipe detection assembly detects whether the drill bit has entered the clamping range of the chuck. At the same time, it automatically judges whether the drill pipe is within the clamping position distance set by the chuck through camera vision. If both conditions are met, the servo electric cylinder extends, simplifying the control process and realizing the clamping of 11-inch to 2-3 / 8-inch drill bits and the centering clamping of 11-inch to 5-inch drill bits.

[0060] This utility model discloses a drilling platform robotic gripper device, employing a double-cam curved and straight-groove mating structure to achieve centering and clamping. This allows for accurate alignment and assembly of commonly used drilling tools at the wellhead. For small-diameter standpipes, it enables vertical placement without interference with adjacent standpipes. A control process has been developed, utilizing a drill tool detection device and camera-based mechanical vision to simplify the process, overcome safety hazards associated with existing manual operations, shorten operation time, and improve efficiency. In summary, this utility model's drilling platform robotic gripper device features a reasonable and safe operating procedure, significantly reducing manual labor, alleviating workload, and improving the safety and efficiency of drilling operations.

[0061] The clamping device described in this utility model is installed on the drilling platform robot arm for drilling platform operations. It can meet the load of 800Kg and is suitable for pipe clamping and pushing operations. It can accurately grasp, transport and place the standpipes, and can complete the assembly and disassembly of the standpipes without human intervention, thereby improving work efficiency and effectively avoiding risks to personnel and equipment.

[0062] The utility model discloses a through each structural component connection, realizes that the clamp can center gripping, carries and places the stand, can complete the assembly and disassembly of stand without manual intervention, improves the operation efficiency, and effectively avoided the risk of personnel and equipment.

[0063] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the utility model, and are not limited thereto; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A rig floor manipulator tong apparatus, comprising: It includes The drill tool detection assembly (1), the clamp slider assembly (2), the clamp support (3) and the driving structure (4), the drill tool detection assembly (1) is installed on the clamp support (3); The clamp slider assembly (2) includes left jaw (21), right jaw (23), hinged assembly and push block (25), the left jaw (21) and right jaw (23) are symmetrically installed in the inner port of clamp support (3), the left jaw (21) and right jaw (23) are hinged with push block (25) through hinged assembly in the end away from the clamping end, The push block (25) is arranged in the clamp support (3), one end of the push block (25) is connected with the driving end of the driving structure (4), the other end is moved to the outer port of the clamp support (3) through the driving structure (4), and the clamping end of the left jaw (21) and the right jaw (23) is combined to form a clamping area.

2. The rig floor manipulator clamp apparatus of claim 1, wherein, The hinged assembly includes left side pressure block (26), right side pressure block (27), first sliding pin shaft (29), first pin shaft (30), second roller (31), second sliding pin shaft (33), The left side pressure block (26) and the right side pressure block (27) are symmetrically rotatably installed in the clamp support (3) through the first pin shaft (30) respectively, the left side pressure block (26) and the right side pressure block (27) are symmetrically provided with long slot holes, the push block (25) is symmetrically provided with first sliding pin shaft (29), the first sliding pin shaft (29) is arranged in the long slot hole and can move freely along the long slot hole; The left side pressure block (26) and the right side pressure block (27) are symmetrically provided with short slot holes on the side close to the left jaw (21) and the right jaw (23), the left jaw (21) and the right jaw (23) are symmetrically provided with second sliding pin shaft (33), the second sliding pin shaft (33) is arranged in the short slot hole and can move freely along the short slot hole; The left jaw (21) and the right jaw (23) are both provided with second roller (31) through pin shaft, the second roller (31) is in contact with the end edge of the push block (25) and can roll along the end edge of the push block (25).

3. The rig floor manipulator clamp apparatus of claim 2, wherein, The push block (25) is composed of a fish tail type push block and a rectangular push block, the fish tail type push block is arranged on the side away from the driving structure (4).

4. The rig floor manipulator clamp apparatus of claim 3, wherein, During the movement of the push block (25) towards the outer port of the clamp support (3), When the second roller (31) rolls along the curved end edge of the fish tail type push block, the clamping ends of the left jaw (21) and the right jaw (23) move towards each other; When the second roller (31) rolls along the curved end edge of the fish tail type push block to the straight end edge of the rectangular push block, the clamping ends of the left jaw (21) and the right jaw (23) abut each other; When the second roller (31) rolls along the straight end edge of the rectangular push block, the clamping ends of the left jaw (21) and the right jaw (23) abut each other, and the push block (25) continues to move towards the clamping end of the left jaw (21) and the right jaw (23).

5. The rig floor manipulator clamp apparatus of claim 4, wherein, The long slot hole is composed of a curved slot hole and a straight slot hole, and the straight slot hole is arranged on the side away from the driving structure; the short slot hole is a straight slot hole.

6. The rig floor manipulator clamp apparatus of claim 1, wherein, It further comprises a guide block (34) which is bolted in the clamp support (3), a sunk groove is arranged on the push block (25), the guide block (34) is inserted into the sunk groove, and the push block (25) can move back and forth along the guide block (34) through the sunk groove.

7. The rig floor manipulator clamp apparatus of claim 1, wherein, It further comprises a copper plate (35) and a camera (36), the copper plate (35) is bolted in the clamp support (3), and the camera (36) is installed at the bottom of the clamp support (3).

8. The rig floor manipulator clamp apparatus of claim 1, wherein, It further comprises a motor shield (32) which is connected with the clamp support (3) into an integrated body through bolts, the driving structure (4) is installed in the motor shield (32), and the driving structure (4) adopts a servo electric cylinder.

9. The rig floor manipulator clamp apparatus of claim 1, wherein, The drill tool detection assembly (1) comprises a trigger gantry (11), a sensor (12), a first roller (13) and a double torsion spring (14), one end of the double torsion spring (14) is connected with the clamp support (3), the other end is connected with one end of the trigger gantry (11), the other end of the trigger gantry (11) is connected with the first roller (13), and the sensor (12) is bolted on the top of the clamp support (3).

10. The rig floor manipulator clamp apparatus of claim 1, wherein, The left clamping jaw (21) and the right clamping jaw (23) are respectively rotatably installed at the inner port of the clamp support through a left pin shaft (22) and a right pin shaft (24).

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