Tong head structure for drill floor manipulator

Abstract

A tong head structure for a drill floor manipulator, comprising a tong head base (1), a push-pull tong head assembly (2), a clamping tong head assembly (3), and a tilting mechanism (4). The clamping tong head assembly is rotatably arranged on the tong head base, and the push-pull tong head assembly and the clamping tong head assembly are fixed in a fixed angle; and one end of the tilting mechanism is rotatably connected to the tong head base, the end of the clamping tong head assembly distant from a clamping part is rotatably connected to the other end of the tilting mechanism, and the tilting mechanism can adjust the clamping angle between the tong head base and the clamping tong head assembly. According to the tong head structure for the drill floor manipulator, a clamping mode and a push-pull mode can be rapidly and effectively switched by means of the tilting mechanism, so that a proper mode can be selected on the basis of drill rods and drill collars with different sizes, and the time for replacing a tong head can be effectively saved, thereby improving the construction efficiency and reducing the construction cost.

Description

A clamp head structure for drilling platform manipulator

[0001] This application claims priority to the Chinese invention patent application (application number: 202311582825.4) filed on November 24, 2023. Technical Field

[0002] The invention relates to the technical field of oil drilling rig automation tools, and in particular to a clamp head structure for a drilling platform manipulator. Background Art

[0003] With the increasing demand for automated pipe laying, there is a growing demand for drill floor manipulators. Current drill floor manipulators primarily feature push-and-support functions, but their operational efficiency is low and they cannot meet customers' high demands for drilling speed. Drill floor manipulators with clamping functions can work with pipe laying machines on the table to vertically move drill pipe, significantly reducing drilling time. However, due to their large size and weight, drill collars often cannot be clamped, making push-and-support mode more suitable.

[0004] The existing technology has the following problems:

[0005] 1. Currently, the equipment for clamping mode and pushing mode are separate. There is no one set of equipment that can meet the functions of both clamping and pushing. Switching between the two types of equipment during construction will not only reduce construction efficiency but also increase construction costs.

[0006] 2. When the clamp head is clamping the pipe, it will be damaged by the impact of the pipe weight, which will shorten the service life of the clamp. Summary of the Invention

[0007] The object of the present invention is to provide a pliers head structure for a drilling platform manipulator, which includes both a pushing pliers head assembly and a clamping pliers head assembly in a set of pliers head structures, so that the clamping mode and the pushing mode can be selected quickly and effectively. A connecting rod and a buffer device are arranged in the narrow space of the pliers head to prevent the pliers head from being damaged by the weight of the drilling tool when clamping the drilling tool, thereby effectively improving construction efficiency and reducing construction costs.

[0008] The present invention is achieved through the following technical solutions:

[0009] A pliers head structure for a drilling platform manipulator includes a pliers head base, a pushing pliers head assembly, a clamping pliers head assembly and a flipping mechanism, wherein the clamping pliers head assembly is rotatably arranged on the pliers head base, and the pushing pliers head assembly is fixed at a fixed angle to the clamping pliers head assembly, one end of the flipping mechanism is rotatably connected to the pliers head base, and the end of the clamping pliers head assembly away from the clamping part is rotatably connected to the other end of the flipping mechanism, and the flipping mechanism can adjust the angle between the pliers head base and the clamping pliers head assembly. In order to solve the above technical problems and achieve corresponding technical effects, the present invention can quickly and effectively realize the switching between the clamping mode and the pushing mode through the flipping mechanism, so that the appropriate mode can be selected according to the drill rods and drill collars of different sizes, thereby effectively saving the time of replacing the pliers head, thereby improving construction efficiency and reducing construction costs.

[0010] Further technical solutions:

[0011] The flip mechanism includes a connecting rod a, a connecting rod b and a flip cylinder, one end of the connecting rod a is hinged to one end of the connecting rod b, and the other end of the connecting rod a is hinged to the clamp head base, and the other end of the connecting rod b is hinged to the clamp head assembly;

[0012] Furthermore: the cylinder body of the flip cylinder is fixed to the clamp head base, and the movable shaft of the flip cylinder is connected to the hinge of the connecting rod a and the connecting rod b.

[0013] Further: the clamping pliers assembly includes a connecting member, which is provided with a first connecting part, a second connecting part and a third connecting part. The first connecting part is used to hinge the pliers base, the second connecting part is used to hinge the connecting rod b, and the third connecting part is used to fix the pushing pliers assembly.

[0014] Furthermore: the clamping pliers head assembly also includes a clamping pliers frame, the connecting member is slidably arranged on one side of the clamping pliers frame, and the clamping pliers head is fixedly installed on the other side of the clamping pliers frame.

[0015] Furthermore: a buffer device is also included, the buffer device includes a buffer cylinder and a buffer slide rail, the cylinder body of the buffer cylinder is fixed to the clamping clamp frame, and the movable shaft of the buffer cylinder is connected to the second connecting portion;

[0016] Furthermore: the buffer slide rail is arranged on the connecting piece, a torque resistance component is arranged in the clamping clamp frame, and the torque resistance component is rollingly clamped in the buffer slide rail.

[0017] Furthermore, a buffer rail is provided on both sides of the connector, and two sets of torque resistance components are correspondingly provided within the clamping clamp frame. The torque resistance components can resist both forward and backward torque and left and right torque, while reducing friction generated by the rail surface within the rail, thereby achieving a better buffering effect.

[0018] Furthermore: when the clamp head structure is in the clamping mode, the movable shaft of the flip cylinder contracts, the clamping clamp head assembly rotates to a horizontal position, the pushing clamp head assembly rotates to an inclined position, and the drill rod clamped by the clamping clamp head assembly does not interfere with the pushing clamp head assembly.

[0019] Furthermore: when the clamp head structure is in the push-support mode, the movable shaft of the flip cylinder is extended, the push-support clamp head assembly is rotated to a horizontal position, the clamping clamp head assembly is rotated to an inclined position, and the drill rod clamped by the push-support clamp head assembly does not interfere with the clamping clamp head assembly.

[0020] Furthermore: it also includes a guide pliers head, which is arranged below the clamping pliers head, and the guide pliers head is fixed to the clamping pliers frame.

[0021] Furthermore: the guide clamp head and the clamp head are coaxially arranged, and the pipeline is clamped in the clamp head after passing through the guide clamp head.

[0022] Furthermore, a limiting device is also included, the limiting device includes a limiting block and a limiting groove, the limiting block is arranged on the connecting piece, the limiting groove is opened on the clamping clamp frame, and the limiting block is slidably arranged in the limiting groove (37).

[0023] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0024] 1. The present invention provides a pliers head structure for a drilling platform manipulator, which can quickly and effectively switch between a clamping mode and a pushing mode through a flipping mechanism, so that the appropriate mode can be selected according to drill rods and drill collars of different sizes, thereby effectively saving the time of replacing the pliers head, thereby improving construction efficiency and reducing construction costs.

[0025] 2. The present invention provides a clamp head structure for a drilling rig manipulator. By providing a buffer cylinder, a buffer slide rail and a roller, the structure can effectively buffer the impact generated when the drill string touches the ground and is lifted, thereby improving the stability of clamping and lowering, and avoiding the impact and shaking of the drill rod on the drilling rig base and the manipulator body, thereby effectively protecting the equipment and avoiding damage to the equipment due to impact. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the examples. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be considered as limiting the scope. A person of ordinary skill in the art can also derive other relevant drawings based on these drawings without inventive effort. In the drawings:

[0027] Figure 1 is a schematic diagram of the clamp head structure in clamping mode;

[0028] Figure 2 is a schematic diagram of the clamp head structure in push-support mode;

[0029] Figure 3 is a schematic diagram of the partial structure of the flip mechanism;

[0030] Figure 4 is an exploded view of the clamping pliers assembly structure;

[0031] Figure 5 is a schematic diagram of the connector structure;

[0032] FIG6 is a schematic diagram of the structure of a second torque resistance component;

[0033] FIG7 is a schematic diagram of the structure of a third torque resistance component.

[0034] Markings and corresponding parts names in the accompanying drawings:

[0035] 1-clamp head base, 2-pushing clamp head assembly, 3-clamping clamp head assembly, 4-flipping mechanism, 5-guide clamp head, 31-connecting piece, 32-clamping clamp frame, 33-clamping clamp head, 34-buffer cylinder, 35-torque resistance assembly, 36-limiting block, 37-limiting groove, 41-connecting rod a, 42-connecting rod b, 43-flipping cylinder, 311-first connecting part, 312-second connecting part, 313-third connecting part, 314-buffer slide rail. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0037] In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that these specific details are not necessarily required to practice the present invention. In other embodiments, well-known structures, circuits, materials, or methods are not described in detail to avoid obscuring the present invention.

[0038] Throughout this specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Therefore, appearances of the phrases "one embodiment," "an embodiment," "an example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combinations and / or subcombinations. Furthermore, it will be understood by those of ordinary skill in the art that the figures provided herein are for illustrative purposes only and are not necessarily drawn to scale. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0039] In the description of the present invention, the terms "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0040] Example

[0041] As shown in Figures 1 to 5, the present invention provides a pliers structure for a drilling rig manipulator, comprising a pliers base 1, a pushing pliers assembly 2, a clamping pliers assembly 3 and a flipping mechanism 4. The clamping pliers assembly 3 is rotatably arranged on the pliers base 1, and the pushing pliers assembly 2 is fixed at a fixed angle to the clamping pliers assembly 3. One end of the flipping mechanism 4 is rotatably connected to the pliers base 1, and the end of the clamping pliers assembly 3 away from the clamping part is rotatably connected to the other end of the flipping mechanism 4, and the flipping mechanism 4 can adjust the angle between the pliers base 1 and the clamping pliers assembly 3. In this embodiment, the tongs base 1 not only provides a place for installing structures such as the pushing and supporting tongs assembly 2, the clamping tongs assembly 3 and the flipping mechanism 4, but also serves to connect to the manipulator structure; the pushing and supporting tongs assembly 2 includes a pushing and supporting tongs structure, which can be used to push and support larger drill collars; the clamping tongs assembly 3 includes a clamping tongs structure, which can be used to clamp some small drill collars or drill rods. In order to facilitate the rapid conversion of the structure between the clamping mode and the pushing and supporting mode, in this embodiment, the pushing and supporting tongs assembly 2 and the clamping tongs assembly 3 are fixed into a whole and driven to rotate by the flipping mechanism 4, thereby achieving rapid conversion between the clamping mode and the pushing and supporting mode. Specifically, the flip mechanism 4 includes a connecting rod a41, a connecting rod b42, and a flip cylinder 43. One end of the connecting rod a41 is hinged to one end of the connecting rod b42, and the other end of the connecting rod a41 is hinged to the clamp head base 1, and the other end of the connecting rod b42 is hinged to the clamp head assembly 3. The cylinder body of the flip cylinder 43 is fixed to the clamp head base 1, and the movable shaft of the flip cylinder 43 is connected to the hinge of the connecting rods a41 and b42. The extension and contraction of the movable shaft of the flip cylinder 43 drives the rotation of the connecting rods a41 and b42, achieving the change of the angle of the connecting rods a41 and b42, thereby achieving the change of the position of the pushing and supporting clamp head assembly 2 and the clamping clamp head assembly 3, and realizing the rapid switching between the clamping mode and the pushing and supporting mode. In summary, the clamp head structure can effectively buffer the impact generated when the drill string touches the ground and is lifted, improve the stability of clamping and lowering, and avoid the impact and shaking of the drill rod on the drilling rig base and the manipulator body, thereby effectively protecting the equipment and avoiding damage caused by impact.

[0042] The clamping pliers assembly 3 includes a connecting member 31, which is provided with a first connecting portion 311, a second connecting portion 312 and a third connecting portion 313. The first connecting portion 311 is used to hinge the pliers base 1, the second connecting portion 312 is used to hinge the connecting rod b42, and the third connecting portion 313 is used to fix the pushing and supporting pliers assembly 2. In this embodiment, by fixing the pushing and supporting pliers assembly 2 at the third connecting portion 313, the clamping pliers assembly 3 and the pushing and supporting pliers assembly 2 are connected into a linked whole. At the same time, by hinged connection of the first connecting portion 311 with the pliers base 1 and hinged connection of the second connecting portion 312 with the connecting rod b42, the rotation of the clamping pliers assembly 3 and the pushing and supporting pliers assembly 2 is driven by the flip cylinder 43, thereby realizing rapid switching between the clamping mode and the pushing and supporting mode.

[0043] When the drill floor manipulator is vertically moving the drill string, it needs to lift and lower the drill string. When the drill string touches the ground or is suddenly lifted, it will cause impact and shaking to the drill rig base and the manipulator body. To solve the above problem, a buffer device is provided in this embodiment. Specifically, the buffer device includes a buffer cylinder 34 and a buffer slide rail 314. The cylinder body of the buffer cylinder 34 is fixed to the clamping clamp frame 32, and the movable shaft of the buffer cylinder 34 is connected to the second connecting portion 312.

[0044] The buffer rail 314 is mounted on the connector 31. A torque resistance assembly 35 is installed within the clamping clamp frame 32 and is rotatably engaged within the buffer rail 314. The sliding movement of the connector 31 partially offsets impact. To enhance the device's cushioning effect, when lifting a drill pipe, the weight of the drill pipe is applied to the clamp head. The buffer cylinder 34, under the weight of the drill pipe, stretches downward, slowing the device's descent and providing a buffer to prevent damage to the equipment. When lowering the drill pipe, the load on the drill pipe decreases the instant it contacts the standpipe box. The buffer cylinder 34, sensing the reduced downward weight, slowly retracts and returns to its initial position. Furthermore, a buffer rail 314 is installed on each side of the connector 31, and two sets of torque resistance assemblies 35 are correspondingly located within the clamping clamp frame 32. The torque resistance assemblies 35 and buffer rail 314 effectively limit the sliding direction, preventing deviation and resulting in sliding jams. Specifically, in this embodiment, preferably, as shown in FIG4 , each set of torque resistance components 35 includes at least two rollers and two sliders, and each buffer slide 314 is provided with at least two rollers and two sliders. In this embodiment, two rollers and two sliders are preferably provided. As shown in FIG4 , the two rollers and the two sliders are symmetrically arranged in the buffer slide 314, that is, the two sliders are arranged between the two rollers or the two rollers are arranged between the two sliders. The positions of the four rollers and the four sliders in the two buffer slides 314 are adapted in pairs, wherein the sliders resist the torque in the left-right direction, and the rollers resist the torque in the front-back direction.

[0045] In other embodiments, the torque resistance component 35 may also be configured as follows:

[0046] Each set of torque resistance components 35 includes more than two rollers, four of which are the best. As shown in Figure 6, the second torque resistance component structure has four rollers arranged in each buffer rail 314. The positions of the eight rollers in the two buffer rails 314 are adapted in pairs. The eight rollers can resist torque in the front and rear directions as well as torque in the left and right directions.

[0047] Each set of anti-torque components 35 includes at least one slider. As shown in the third torque resistance component structure in Figure 7, a slider is set in each buffer slide rail 314, and the length of the slider is adapted to the length of the buffer slide rail 314. The two sliders can resist torque in the front and rear directions as well as torque in the left and right directions.

[0048] Each set of torque resistance components 35 includes at least two composite rollers. In the fourth torque resistance component structure, each set of torque resistance components 35 includes two composite rollers. Each composite roller consists of a roller body and a lateral roller integrated with the roller body, or each composite roller consists of a roller body and a lateral slider integrated with the roller body. Each buffer slide 314 is provided with a set of composite rollers. The positions of the four composite rollers in the two buffer slides 314 are adapted to each other. The four composite rollers can resist both forward and backward torque and left and right torque. The lateral rollers or lateral sliders resist left and right torque, and the roller body resists forward and backward torque.

[0049] When the clamp head structure is in the clamping mode, the movable shaft of the tilting oil cylinder 43 retracts, the clamping clamp head assembly 3 rotates to a horizontal position, the pushing clamp head assembly 2 rotates to an inclined position, and the drill rod clamped by the clamping clamp head assembly 3 does not interfere with the pushing clamp head assembly 2. In this embodiment, specifically, when the movable shaft of the tilting oil cylinder 43 retracts, it drives the hinge point of the connecting rod a41 and the connecting rod b42 toward the side close to the oil cylinder, thereby driving the pushing clamp head assembly 2 and the clamping clamp head assembly 3 to rotate upward. When the movable shaft retracts into place, the clamping clamp head assembly 3 rotates to a horizontal position, and the pushing clamp head assembly 2 rotates to an inclined position, thereby switching to the clamping mode, and the clamping clamp head assembly 3 can be used for work.

[0050] When the tongs structure is in the push-support mode, the movable shaft of the tilting oil cylinder 43 extends, the push-support tongs assembly 2 rotates to a horizontal position, and the clamping tongs assembly 3 rotates to an inclined position, and the drill rod clamped by the push-support tongs assembly 2 does not interfere with the clamping tongs assembly 3. Similarly, when the movable shaft of the tilting oil cylinder 43 extends, it drives the hinge point of the connecting rod a41 and the connecting rod b42 toward the side away from the oil cylinder, thereby driving the push-support tongs assembly 2 and the clamping tongs assembly 3 to rotate downward. When the movable shaft retracts into place, the push-support tongs assembly 2 rotates to a horizontal position and the clamping tongs assembly 3 rotates to an inclined position, thereby switching to the push-support mode and allowing the push-support tongs assembly 2 to be used for work.

[0051] The drill string further includes a guide jaw 5, which is positioned below the clamping jaw and secured to the clamping jaw frame 32. The guide jaw 5 is coaxial with the clamping jaw 33, and the pipe is clamped thereafter after passing through the guide jaw 5. In this embodiment, the guide jaw 5 is specifically designed to ensure accurate guidance of the drill string into the clamping jaw.

[0052] It also includes a limiting device, which includes a limiting block 36 and a limiting groove 37. The limiting block 36 is set on the connecting member 31, and the limiting groove 37 is opened on the clamping clamp frame 32. The limiting block 36 is slidably set in the limiting groove 37.

[0053] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A clamp head structure for a drilling platform manipulator, characterized in that: The invention comprises a clamp head base (1), a pushing and supporting clamp head assembly (2), a clamp head clamp assembly (3) and a flipping mechanism (4); the clamp head clamp assembly (3) is rotatably arranged on the clamp head base (1), and the pushing and supporting clamp head assembly (2) and the clamp head clamp assembly (3) are fixed at a fixed angle; one end of the flipping mechanism (4) is rotatably connected to the clamp head base (1), and one end of the clamp head clamp assembly (3) away from the clamping part is rotatably connected to the other end of the flipping mechanism (4); and the flipping mechanism (4) can adjust the angle between the clamp head base (1) and the clamp head clamp assembly (3).

2. A tongs head structure for a drilling platform manipulator according to claim 1, characterized in that: The turning mechanism (4) comprises a connecting rod a (41), a connecting rod b (42) and a turning cylinder (43), one end of the connecting rod a (41) and one end of the connecting rod b (42) are hinged, the other end of the connecting rod a (41) is hinged to the clamp head base (1), and the other end of the connecting rod b (42) is hinged to the clamp head assembly (3); The cylinder body of the tilting oil cylinder (43) is fixed to the clamp head base (1), and the movable shaft of the tilting oil cylinder (43) is connected to the hinge of the connecting rod a (41) and the connecting rod b (42).

3. A tongs head structure for a drilling platform manipulator according to claim 2, characterized in that: The clamping pliers head assembly (3) comprises a connecting member (31), wherein the connecting member (31) is provided with a first connecting portion (311), a second connecting portion (312) and a third connecting portion (313), wherein the first connecting portion (311) is used for hingedly connecting the pliers head base (1), the second connecting portion (312) is used for hingedly connecting the connecting rod b (42), and the third connecting portion (313) is used for fixing the pushing pliers head assembly (2).

4. A tongs head structure for a drilling platform manipulator according to claim 3, characterized in that: The clamping pliers head assembly (3) further comprises a clamping pliers frame (32), the connecting member (31) is slidably arranged on one side of the clamping pliers frame (32), and a fixed clamping pliers head (33) is installed on the other side of the clamping pliers frame (32).

5. The tongs structure for a drilling platform manipulator according to claim 4, characterized in that: It also includes a buffer device, the buffer device including a buffer oil cylinder (34) and a buffer slide rail (314), the cylinder body of the buffer oil cylinder (34) is fixed to the clamp frame (32), and the movable shaft of the buffer oil cylinder (34) is connected to the second connecting part (312); The buffer slide rail (314) is arranged on the connecting member (31), a torque resistance component (35) is arranged in the clamping clamp frame (32), and the torque resistance component (35) is clamped in the buffer slide rail (314).

6. The tongs head structure for a drilling platform manipulator according to claim 5, characterized in that: A buffer slide rail (314) is provided on both sides of the connecting member (31), and two groups of torque resistance components (35) are correspondingly provided in the clamping clamp frame (32), and each group of torque resistance components (35) includes two or more rollers.

7. The tongs structure for a drilling platform manipulator according to claim 3, characterized in that: When the clamp head structure is in the clamping mode, the movable shaft of the tilting cylinder (43) contracts, the clamping clamp head assembly (3) rotates to a horizontal position, the pushing clamp head assembly (2) rotates to an inclined position, and the drill rod clamped by the clamping clamp head assembly (3) does not interfere with the pushing clamp head assembly (2).

8. The tongs structure for a drilling platform manipulator according to claim 3, characterized in that: When the clamp head structure is in the push-support mode, the movable shaft of the tilting cylinder (43) is extended, the push-support clamp head assembly (2) is rotated to a horizontal position, the clamp head assembly (3) is rotated to an inclined position, and the drill rod clamped by the push-support clamp head assembly (2) does not interfere with the clamp head assembly (3).

9. The tongs head structure for a drilling platform manipulator according to claim 1, characterized in that: It also comprises a guide clamp head (5), wherein the guide clamp head (5) is arranged below the clamp head, and the guide clamp head (5) is fixed to the clamp frame (32).

10. The tongs head structure for a drilling platform manipulator according to claim 9, characterized in that: The guide clamp head (5) and the clamp head (33) are coaxially arranged, and the pipeline is clamped by the clamp head (33) after passing through the guide clamp head (5).

11. The pliers head structure for a drilling platform manipulator according to claim 4, characterized in that: The clamping clamp also comprises a limiting device, the limiting device comprising a limiting block (36) and a limiting groove (37), the limiting block (36) being arranged on the connecting member (31), the limiting groove (37) being opened on the clamping clamp frame (32), and the limiting block (36) being slidably arranged in the limiting groove (37).

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