A mechanical gripper structure for adaptive drill pipe and collar outside diameter

Abstract

This utility model relates to the field of mechanical gripper technology, and provides a mechanical gripper structure that adapts to the outer diameter of drill rods and drill collars. It includes a base, arms, a gate mechanism, and a push block. The arms are mounted on both sides of the base, with the ends furthest from the base serving as clamping ends, forming an entrance between them. The gate mechanism is rotatably mounted on the clamping ends of the arms. The two gate mechanisms can rotate to move closer together to block the entrance or move further apart to open the entrance without requiring the arms to open significantly. The push block is slidably mounted on the base, located at the end closest to the base. After sliding, the push block can push the drill rod or drill collar located in the entrance, causing it to abut against the gate mechanism. An enclosing space is formed between the arms, the gate mechanism, and the push block. This technical solution solves the problem in the prior art where the overall size of the mechanical gripper increases significantly with the opening action, occupying additional lateral space.

Description

Technical Field

[0001] The embodiments of this utility model relate to the field of mechanical gripper technology, specifically, to a mechanical gripper structure that adapts to the outer diameter of the drill pipe collar. Background Technology

[0002] In the oil and gas energy extraction industry, as well as related pipeline laying and equipment maintenance operations, drill pipes and drill collars are key drilling tools, and their handling, assembly, and disassembly operations heavily rely on mechanical grippers. Existing mechanical grippers typically use a direct opening and closing of the arm to grasp drill pipes or drill collars. Traditional mechanical grippers have several drawbacks in practical applications: For arms with curved surfaces, to grip drill pipes or drill collars of different outer diameters, the arm needs to open laterally significantly. This causes the overall size of the mechanical gripper to increase significantly during operation, occupying a large amount of lateral space in limited work areas (such as drilling platforms, narrow downhole spaces, etc.). This not only increases the risk of interference with surrounding equipment or structures but may also restrict the operating space, affecting the normal operation of other related tasks. When the arm is straight, the mechanical gripper only uses the arm to abut against the drill pipe or drill collar. This gripping method results in a small contact area between the gripper and the drill pipe or drill collar, leading to an unstable grip and making it easy for the drill pipe or drill collar to tilt or fall off the gripper, creating a safety hazard. Utility Model Content

[0003] To overcome the above-mentioned defects, embodiments of this utility model provide a mechanical gripper structure that adapts to the outer diameter of the drill pipe and drill collar, solving the technical problem that the overall size of the mechanical gripper in the prior art increases significantly with the opening action, occupying additional lateral space. According to one aspect, at least one embodiment of this utility model provides a mechanical gripper structure that adapts to the outer diameter of the drill pipe and drill collar, comprising:

[0004] A base, on both sides of which are mounted arms; the ends of the two arms away from the base are clamping ends, and an entrance is formed between the two clamping ends;

[0005] The door blocking mechanism has two parts, which are rotatably disposed on the two clamping ends respectively. The two door blocking mechanisms can rotate to move closer to each other to block the entrance or rotate to move away from each other to open the entrance.

[0006] A push block is slidably disposed relative to the base and located at one end near the gate blocking mechanism. The push block can slide and push the drill rod or drill collar located in the entrance so that the drill rod or drill collar abuts against the gate blocking mechanism; an enclosing space is formed between the arm, the gate blocking mechanism and the push block.

[0007] For example, in a mechanical gripper structure for adaptive drill collar outer diameter provided in at least one embodiment of the present invention, the end of the gate mechanism facing the push block is an arc-shaped surface.

[0008] For example, in at least one embodiment of the present invention, a mechanical gripper structure for adaptive drill collar outer diameter further includes:

[0009] A pull rod is rotatably mounted on the arm, the axis of rotation of the pull rod is parallel to the extension direction of the arm, and one end of the pull rod is connected to the door blocking mechanism;

[0010] The rotating drive component has a transmission connection between the other end of the pull rod and the rotating drive component, which can drive the gate blocking mechanism to rotate through the pull rod.

[0011] For example, in a mechanical gripper structure for adaptive drill collar outer diameter provided in at least one embodiment of the present invention, the arm has a through hole extending along the extension direction, and a groove is provided at one end near the clamping end. The through hole communicates with the groove, the gate blocking mechanism is rotatably disposed in the groove, and one end of the pull rod can pass through the through hole and be connected to the gate blocking mechanism.

[0012] For example, in a mechanical gripper structure for adaptive drill collar outer diameter provided in at least one embodiment of the present invention, the base has an inner cavity, a first telescopic member is provided in the inner cavity, and the push block is provided on the first telescopic member.

[0013] For example, in at least one embodiment of the present invention, a mechanical gripper structure for adaptive drill collar outer diameter further includes:

[0014] The first link has at least two links, which are two sets located on both sides of the base. The two ends of each set of the first link are respectively hinged to the base and the arm located on the same side of the base.

[0015] The second link has two links located on both sides of the base. One end of the second link is hinged to the end of the base away from the clamping end, and the other end is hinged to the arm. The first link, the second link, the arm, and the base on the same side form a parallelogram mechanism. The first link and / or the second link on both sides can swing to adjust the distance between the two arms.

[0016] For example, in at least one embodiment of the present invention, a mechanical gripper structure for adaptive drill collar outer diameter further includes:

[0017] A slider is slidably disposed at one end of the base near the second connecting rod, and the sliding direction is parallel to the push block;

[0018] The third link has one end hinged to the arm and the other end hinged to the slider. The slider can slide and then drive the arm to move through the third link.

[0019] For example, in a mechanical gripper structure for adaptive drill collar outer diameter provided in at least one embodiment of the present invention, a second telescopic member is further included. The second telescopic member is disposed in the inner cavity, and the telescopic end of the second telescopic member is connected to the slider. The second telescopic member can extend and retract to drive the slider to slide.

[0020] For example, in a mechanical gripper structure for adaptive drill collar outer diameter provided in at least one embodiment of the present invention, the base is provided with a dovetail groove, and the slider is provided with a slide rail that is slidably connected to the dovetail groove.

[0021] For example, in at least one embodiment of the present invention, a mechanical gripper structure for adaptive drill rod and drill collar outer diameter is provided, which further includes a probe disposed on the base, the detection end of the probe facing the opening, and the probe is used to detect the position of the drill rod or drill collar.

[0022] The beneficial effects of the embodiments of this utility model are as follows: the gate-blocking mechanism itself has a small mass and low moment of inertia, and can be quickly driven to rotate by a small driving component to achieve instantaneous opening and closing of the entrance; the gate-blocking mechanism achieves the opening and closing of the entrance by its own rotation, and the arm does not need to move laterally. This design can control the overall size of the mechanical gripper within a smaller range, which is especially suitable for space-constrained scenarios, avoiding space waste and interference risks caused by the opening and closing of the arm, and solving the technical problem in the prior art that the overall size of the mechanical gripper increases significantly with the opening action, occupying additional lateral space. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of this utility model and these drawings without any creative effort.

[0024] Figure 1 This is a schematic diagram of a mechanical gripper structure for adaptive drill collar outer diameter in one embodiment of the present invention;

[0025] Figure 2 for Figure 1 An exploded view of a mechanical gripper structure for adaptive drill collar outer diameter in one embodiment;

[0026] Figure 3 This is a partial structural diagram of a mechanical gripper structure for adaptive drill collar outer diameter in one embodiment of the present invention.

[0027] In the picture:

[0028] 1. Base; 101. Inner cavity; 102. First telescopic component; 103. Second telescopic component; 2. Arm; 201. Through hole; 202. Groove; 203. Clamping end; 1000. Inlet; 2000. Enclosing space; 3. Door blocking mechanism; 4. Push block; 5. Pull rod; 6. Rotation drive component; 7. First connecting rod; 8. Second connecting rod; 9. Slider; 10. Third connecting rod; 11. Dovetail groove; 12. Slide rail; 13. Probe. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit its scope.

[0030] To keep the drawings concise, each drawing only schematically shows the parts relevant to the disclosure; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0031] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature 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 "under" the second feature includes the first feature 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.

[0033] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of description and simplification of operation, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0034] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] like Figures 1-3 As shown, this invention illustrates a mechanical gripper structure for adaptive drill rod and drill collar outer diameter in one embodiment. Initially, the gate mechanisms 3 are far apart, and the inlet 1000 is open. After the drill rod or drill collar enters the enclosing space 2000 through the inlet 1000, the gate mechanism 3 rotates, closing the inlet 1000. The push block 4 moves towards the gate mechanism 3, causing the arc surfaces on the gate mechanism 3 and the push block 4 to fully contact the drill rod or drill collar, thus gripping it. This device opens and closes the inlet 1000 through the rotation of the gate mechanism 3 itself, eliminating the need for the arm 2 to move laterally significantly. This keeps the overall size of the mechanical gripper within a smaller range, avoiding space waste and interference risks caused by the opening and closing of the arm 2.

[0036] The gate-blocking mechanism 3 features a modular rotating design, allowing the rotation axis to be adjusted to either parallel or perpendicular to the extension direction of the arm 2, depending on actual working conditions. When the rotation axis aligns with the extension direction of the arm 2, the gate-blocking mechanism 3 does not occupy space along the extension direction of the arm 2. The gate-blocking mechanism 3 can rotate 90 degrees within the space, making it particularly suitable for scenarios requiring blocking operations in narrow passages or complex spaces. This method saves more space compared to when the rotation axis of the gate-blocking mechanism 3 is perpendicular to the extension direction of the arm 2.

[0037] The mechanical gripper has a compact and coordinated structure. Arms 2 are located at both ends of the base 1. Arms 2 are connected to the base 1 via first connecting rods 7 and second connecting rods 8. There are at least two first connecting rods 7, located on opposite sides of the base 1. Each end of the first connecting rod 7 is hinged to the base 1 and the arm 2 on the same side as the base 1. One end of the second connecting rod 8 is hinged to the base 1 at the end furthest from the clamping end 203, and the other end is hinged to the arm 2. The first connecting rod 7, second connecting rod 8, arm 2, and base 1 on the same side form a parallelogram structure. The first connecting rods 7 and second connecting rod 8 on both sides can swing to adjust the distance between the two arms 2. The end of the arm 2 furthest from the base 1 is the clamping end 203, and an entrance 1000 is formed between the two clamping ends 203. The base 1 has an inner cavity 101, within which a first telescopic member 102 is provided. The first telescopic member 102 is positioned... Near one end of the gate-blocking mechanism 3, a push block 4 is connected. The push block 4, the arm 2, and the gate-blocking mechanism 3 form an enclosing space 2000. When the mechanical gripper grabs the drill rod or drill collar, the drill rod or drill collar enters the enclosing space 2000 through the inlet 1000. The inner cavity 101 is also provided with a second telescopic member 103. The telescopic end of the second telescopic member 103 is connected to the slider 9. The slider 9 is provided with a slide rail 12, which can cooperate with the dovetail groove 11 on the base 1 to achieve sliding movement. The slider 9 can slide on the base 1 through the slide rail 12. The sliding direction is parallel to the push block 4. At the same time, a third connecting rod 10 is hinged on the slider 9. The other end of the third connecting rod 10 is hinged to the arm 2. After the slider 9 slides, it drives the arm 2 to move synchronously through the third connecting rod 10, the first connecting rod 7, and the second connecting rod 8, so that the two arms 2 move closer or further apart. The base 1 is also provided with a probe 13 for detecting the position of the drill rod or drill collar.

[0038] In practical applications, the base 1 serves as the basic component of the mechanical gripper. Its internal first telescopic member 102 is connected to the push block 4, and the second telescopic member 103 is connected to the slider 9. The slider 9 slides along its own slide rail 12 and engages with the dovetail groove 11 on the base 1. This structural design provides a basis for the gripper's adaptive adjustment. Initially, the gate mechanisms 3 are in a mutually distant state, and the inlet 1000 is open. When it is necessary to grip a drill rod or drill collar, the drill collar or drill rod first enters the enclosing space 2000 through the inlet 1000 formed by the clamping end 203. The swing drive 6 (which can be a swing cylinder) is activated, driving the gate mechanism 3 to rotate and lower via the pull rod 5. The gate mechanism 3 and the arm 2 together form a semi-enclosed structure, bringing the drill rod or drill collar to be gripped into its enclosing space 2000. At this time, the second telescopic member 103 extends, pushing the slider 9 to slide backward along the dovetail groove 11. The slider 9 then drives the first connecting rod 7, which is hinged to it, to move. The movement of the first connecting rod 7 gradually reduces the distance between the two arms 2, further tightening the surrounding structure. Simultaneously, the first telescopic member 102 extends, and the push block 4 moves with the piston rod towards the drill rod or drill collar until it abuts against the drill rod or drill collar. Through the close cooperation of the arms 2, the gate mechanism 3, and the push block 4, the gripping and self-locking of drill rods or drill collars of different outer diameters are ultimately achieved, eliminating the need to pre-set the gripping dimensions and enabling convenient and quick completion of the gripping task.

[0039] The side of the push block 4 that abuts against the drill pipe or drill collar can be designed as an arc-shaped surface. The arc-shaped surface provides a larger contact area between the push block 4 and the drill pipe or drill collar, significantly enhancing the friction between the push block 4 and the drill string, effectively preventing slippage and displacement under complex working conditions such as directional drilling and deep well operations. At the same time, the arc-shaped surface can evenly distribute the applied thrust to the surface of the drill string, reducing the risk of wear and deformation caused by local stress concentration and extending the service life of the drill string.

[0040] The section of the gate-blocking mechanism 3 near the push block 4 can also be designed as an arc-shaped surface to facilitate its contact with the drill rod or drill collar. Its rotation is mounted on the arm 2 and can be disassembled and installed separately. When the size of the drill rod or drill collar to be gripped is too large or too small, the gate-blocking mechanism 3 with a more suitable arc-shaped surface can be replaced to make the shape of the surrounding space 2000 closer to the drill rod or drill collar, so that its contact surface fits better and the gripper's gripping effect on the drill rod or drill collar is more reliable.

[0041] The swing drive 6 can be installed inside the arm 2 with an embedded design, making full use of the unused space inside the arm 2, making the structure of the mechanical gripper more compact, effectively reducing the number of external connecting parts, and reducing the risk of failure due to loose parts; at the same time, this installation method can prevent the swing drive 6 from directly contacting the outside world, avoiding dust pollution, ensuring its relatively stable operation, and extending the service life of the swing drive 6.

[0042] A probe 13, such as an ultrasonic probe, can be installed on the base 1. When the drill rod or drill collar enters the enclosed space 2000, the push block 4, under the thrust of the first telescopic member 102, moves towards the gate mechanism 3 until it abuts the drill rod or drill collar. When the probe 13 detects that the drill rod or drill collar is completely abutted, the gate mechanism 3 is locked and closed, and the two arms 2 no longer move, making the mechanism self-locking.

[0043] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A mechanical gripper structure for adaptive drill pipe collar outer diameter, characterized in that, include: A base (1) is provided with arms (2) on both sides of the base (1); the ends of the two arms (2) away from the base (1) are clamping ends (203), and an entrance (1000) is formed between the two clamping ends (203). The door blocking mechanism (3) has two parts, which are rotatably disposed on the two clamping ends (203). The two door blocking mechanisms (3) can rotate and move closer to each other to block the entrance (1000) or rotate and move further apart to open the entrance (1000). Push block (4), which is slidably disposed relative to the base (1) and located at one end close to the gate mechanism (3), the push block (4) can slide and push the drill rod or drill collar located in the inlet (1000) so that the drill rod or drill collar abuts against the gate mechanism (3); an enclosing space (2000) is formed between the arm (2), the gate mechanism (3) and the push block (4).

2. The mechanical gripper structure for adaptive drill pipe collar outer diameter according to claim 1, characterized in that, The end of the door blocking mechanism (3) facing the push block (4) is an arc-shaped surface.

3. The mechanical gripper structure for adaptive drill pipe collar outer diameter according to claim 1, characterized in that, Also includes: A pull rod (5) is rotatably mounted on the arm (2). The rotation axis of the pull rod (5) is parallel to the extension direction of the arm (2). One end of the pull rod (5) is connected to the door blocking mechanism (3). The rotating drive (6) is connected to the other end of the pull rod (5) in a transmission connection. The rotating drive (6) can drive the gate blocking mechanism (3) to rotate through the pull rod (5).

4. The mechanical gripper structure for adaptive drill pipe collar outer diameter according to claim 3, characterized in that, The arm (2) has a through hole (201) extending along the extension direction, and a groove (202) is provided at one end near the clamping end (203). The through hole (201) communicates with the groove (202). The door blocking mechanism (3) is rotatably disposed in the groove (202). One end of the pull rod (5) can pass through the through hole (201) and connect with the door blocking mechanism (3).

5. The mechanical gripper structure for adaptive drill pipe collar outer diameter according to claim 1, characterized in that, The base (1) has an inner cavity (101), in which a first telescopic member (102) is provided, and the push block (4) is provided on the first telescopic member (102).

6. The mechanical gripper structure for adaptive drill pipe collar outer diameter according to claim 5, characterized in that, Also includes: The first link (7) has at least two links, which are two sets located on both sides of the base (1). The two ends of each set of the first link (7) are respectively hinged to the base (1) and the arm (2) located on the same side of the base (1). The second link (8) has two links and is located on both sides of the base (1). One end of the second link (8) is hinged to the end of the base (1) away from the clamping end (203), and the other end is hinged to the arm (2). The first link (7), the second link (8), the arm (2) and the base (1) on the same side form a parallelogram mechanism. The first link (7) and / or the second link (8) on both sides can swing to adjust the distance between the two arms (2).

7. The mechanical gripper structure for adaptive drill pipe collar outer diameter according to claim 6, characterized in that, Also includes: The slider (9) is slidably disposed on one end of the base (1) near the second connecting rod (8), and the sliding direction is parallel to the push block (4). The third link (10) is hinged at one end to the arm (2) and at the other end to the slider (9). The slider (9) can slide and then drive the arm (2) to move through the third link (10).

8. The mechanical gripper structure for adaptive drill pipe collar outer diameter according to claim 7, characterized in that, It also includes a second telescopic member (103), which is located in the inner cavity (101). The telescopic end of the second telescopic member (103) is connected to the slider (9). The second telescopic member (103) can extend and retract to drive the slider (9) to slide.

9. The mechanical gripper structure for adaptive drill pipe collar outer diameter according to claim 7, characterized in that, The base (1) is provided with a dovetail groove (11), and the slider (9) is provided with a slide rail (12) that is slidably connected to the dovetail groove (11).

10. The mechanical gripper structure for adaptive drill pipe collar outer diameter according to claim 1, characterized in that, It also includes a probe (13) disposed on the base (1), the detection end of the probe (13) facing the inlet (1000), the probe (13) being used to detect the position of the drill rod or drill collar.

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