CN117536563A - Pliers head switching device and drilling and workover equipment - Google Patents

Abstract

The invention discloses a clamp head switching device and drilling and workover equipment, wherein the clamp head switching device comprises a driving assembly, a pushing clamp head, a lifting clamp head and a main shaft, wherein the lifting clamp head is connected with the pushing clamp head through a bracket, and the lifting clamp head and the pushing clamp head are arranged at an included angle; one end of the main shaft is connected with the output end of the driving component, the other end of the main shaft is connected with the bracket, the driving component drives the main shaft to rotate so as to enable the bracket to rotate, and the bracket rotates so as to enable the pushing and holding clamp head or the lifting clamp head to rotate to a position corresponding to a workpiece to be clamped. According to the invention, the pushing and holding clamp head and the lifting clamp head are integrated, the driving assembly is arranged to drive the main shaft to rotate, the main shaft drives the support to rotate, and the support rotates to enable the pushing and holding clamp head or the lifting clamp head to rotate to a position corresponding to a workpiece to be clamped, so that the pushing and holding clamp head and the lifting clamp head can be rapidly switched according to different workpieces to be clamped, and the drilling working efficiency is improved.

Description

Pliers head switching device and drilling and workover equipment

Technical Field

The invention relates to the field of drilling and workover equipment, in particular to a clamp head switching device and drilling and workover equipment.

Background

At present, with the development of petroleum equipment technology, the requirements of the market on the multifunctional, high-efficiency, high-intelligent and high-unmanned operation flow of tubular column treatment are higher and higher, and more automatic and intelligent technologies are applied to drilling and workover operations in petroleum equipment. The drilling floor manipulator is used as a core device of ground equipment in a pipe column automatic processing system, and plays a vital role in the development of the whole pipe column processing system. The existing drilling floor manipulators in the market can be connected with the common drilling rods in a lifting mode, but the derrick is stressed, so that the large drilling tools can still be connected in a traditional pushing mode. Therefore, when the cross-connecting operation is carried out on different drilling tools, different gripper heads need to be replaced, and the working efficiency of drilling is reduced.

Disclosure of Invention

The invention mainly aims to provide a clamp head switching device and drilling and repairing equipment, so as to solve the problem that different clamp heads of different drilling tools need to be replaced, and the working efficiency of drilling is reduced.

In order to achieve the above purpose, the clamp head switching device provided by the invention comprises a driving assembly, a pushing clamp head, a lifting clamp head and a main shaft, wherein the lifting clamp head is connected with the pushing clamp head through a bracket, and the lifting clamp head and the pushing clamp head are arranged at an included angle; one end of the main shaft is connected with the output end of the driving assembly, the other end of the main shaft is connected with the support, the driving assembly drives the main shaft to rotate so as to enable the support to rotate, and the support rotates so as to enable the pushing and holding clamp head or the lifting clamp head to rotate to a position corresponding to a workpiece to be clamped.

Optionally, the binding clip auto-change over device still includes the frame, the one end of main shaft rotationally pass the frame and with leg joint, drive assembly includes switching drive spare and gyration speed reducer, switching drive spare's output with gyration speed reducer is connected, gyration speed reducer's stiff end with the frame is connected, gyration speed reducer's active end with the main shaft is connected, switching drive spare is used for the drive gyration speed reducer rotates, so as to drive the main shaft rotates.

Optionally, a connecting flange is arranged between the rotary speed reducer and the main shaft, and the movable end of the rotary speed reducer is connected with the connecting flange; the main shaft is provided with a connecting protrusion, the connecting flange is provided with a connecting groove, and the connecting protrusion is clamped into the connecting groove.

Optionally, the clamp head switching device further includes a monitoring structure, where the monitoring structure is used to monitor a rotation angle of the pushing clamp head and the lifting clamp head.

Optionally, the lifting clamp head comprises a clamping clamp head and a righting clamp head, wherein the clamping clamp head comprises a first driving piece, two clamping jaws and two first connecting rods;

the two ends of the clamping jaws are respectively a first end and a second end, the first ends are hinged with the bracket, a clamping opening is formed between the second ends of the two clamping jaws, and the clamping jaws are provided with connecting hinge points;

the two first connecting rods are arranged in one-to-one correspondence with the two clamping jaws, one ends of the two first connecting rods are hinged with the corresponding connecting hinge points of the clamping jaws, and the other ends of the two first connecting rods are both hinged with the output end of the first driving piece; the first driving piece drives the first connecting rod to rotate and drives the clamping jaw to rotate so as to change the size of the clamping opening.

Optionally, the output end of the first driving piece is provided with a guide block, a chute extending along the first direction is formed on the bracket, and the guide block is slidably arranged in the chute.

Optionally, the centralizing pliers head comprises a second driving piece and two centralizing pliers claws, a centralizing opening is formed between the two centralizing pliers claws, and the centralizing opening is arranged corresponding to the clamping opening; the output end of the second driving piece is connected with the two centralizing clamp claws, the two centralizing clamp claws are hinged with the support, and the second driving piece is used for driving the two centralizing clamp claws to rotate so as to change the size of the centralizing opening.

Optionally, the output end of the second driving piece is connected with a sliding block, the bracket is provided with a sliding rail extending along the first direction, and the sliding block is in sliding connection with the sliding rail; the centering clip further comprises two second connecting rods, the two second connecting rods are arranged in one-to-one correspondence with the two centering jaws, one end of each second connecting rod is hinged with the sliding block, and the other end of each second connecting rod is hinged with the corresponding centering jaw.

Optionally, push away and hold up binding clip includes two and push away and hold up the claw, each push away and hold up claw and all include the first connecting portion and the second connecting portion that are connected and are the contained angle setting, first connecting portion with the support articulates, rotate on the support and be connected with the main gyro wheel that holds up, rotate on the first connecting portion and be connected with first gyro wheel, rotate on the second connecting portion and be connected with the second gyro wheel, two the second gyro wheel dislocation set in vertical direction.

In addition, the invention also provides drilling and workover equipment which comprises the arm support and the clamp head switching device, wherein the clamp head switching device is arranged at the end part of the arm support.

In the technical scheme of the invention, one end of the bracket is connected with the lifting clamp head, the other end of the bracket is connected with the pushing clamp head, the lifting clamp head and the pushing clamp head are mounted and fixed by being connected with the bracket, and an included angle is formed between the lifting clamp head and the pushing clamp head. The output end of the driving component is connected with the main shaft, the driving component is used as a power source, the driving component is used for driving the main shaft to rotate, and the main shaft is connected with the bracket. The driving assembly drives the main shaft to rotate, the main shaft drives the support to rotate, and the support drives the lifting clamp head and the pushing clamp head to rotate, so that the pushing clamp head or the lifting clamp head rotates to a position corresponding to a workpiece to be clamped.

When the lifting clamp head or the pushing clamp head rotates to the horizontal direction, the lifting clamp head or the pushing clamp head corresponds to the workpiece to be clamped. When the lifting clamp head is needed, the driving assembly drives the main shaft to rotate, the main shaft drives the support to rotate, and the support drives the lifting clamp head to rotate, so that the lifting clamp head rotates to a position corresponding to a workpiece to be clamped, the workpiece can be conveniently clamped by the lifting clamp head, the lifting clamp head can be matched with the racking platform manipulator to be synchronous up and down, vertical connection of a drill rod between a wellhead and the stand box is realized, and compared with an inclined connection mode, the efficiency is greatly improved.

When the pushing and holding clamp head is required to be used, the driving assembly drives the main shaft to rotate, the main shaft drives the support to rotate, and the support drives the pushing and holding clamp head to rotate, so that the pushing and holding clamp head rotates to a position corresponding to a workpiece to be clamped, namely the pushing and holding clamp head rotates to a horizontal direction, and the workpiece is conveniently clamped by the pushing and holding clamp head.

According to the clamp head switching device, the pushing clamp head and the lifting clamp head are integrated, the driving assembly is arranged to drive the main shaft to rotate, the main shaft drives the support to rotate, and the support rotates to enable the pushing clamp head or the lifting clamp head to rotate to a position corresponding to a workpiece to be clamped, so that the pushing clamp head and the lifting clamp head can be rapidly switched according to different workpieces to be clamped, and the drilling working efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram illustrating a lifting state of a clamp head switching device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a pushing state of a clamp head switching device according to an embodiment of the present invention;

FIG. 3 is an exploded view of a clamp head switching device according to an embodiment of the invention;

FIG. 4 is a schematic diagram of a clamp head in a clamp head switching device according to an embodiment of the invention;

FIG. 5 is a schematic diagram of a righting clip in a clip switching device according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a pushing and holding clamp in a clamp switching device according to an embodiment of the invention;

fig. 7 is a schematic structural diagram of a drilling and workover rig according to an embodiment of the present invention.

Reference numerals illustrate:

reference numerals	Name of the name	Reference numerals	Name of the name
				100	Clamp head switching device	313	First connecting rod
10	Driving assembly	314	Clamp teeth
				11	Switching driving piece	315	Clamping opening
12	Rotary speed reducer	316	Guide block
				13	Connecting flange	32	Righting binding clip
131	Connection groove	321	Second driving member
				14	Fixing flange	322	Righting claw
20	Pushing clamp head	323	Strengthening mouth
				21	Pushing and holding claw	324	Sliding block
211	First connecting part	325	Second connecting rod
				212	Second connecting part	40	Main shaft
22	Main pushing and supporting roller	41	Connection protrusion
				23	First roller	50	Support frame
24	Second roller	51	Sliding chute
				30	Lifting clamp head	52	Sliding rail
31	Clamping pliers head	60	Rack
				311	First driving member	70	Monitoring structure
312	Clamping jaw	80	Induction structure
				3121	First end	200	Drilling and workover equipment
3122	Second end	201	Arm support
				3123	Connecting hinge point

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.

The description of the orientations of "up", "down", "front", "rear", "left", "right", etc. in the present invention is based on the orientation shown in fig. 1, and is merely for explaining the relative positional relationship between the components in the posture shown in fig. 1, and if the specific posture is changed, the directional indication is changed accordingly.

The invention provides a clamp head switching device and drilling and workover equipment.

In an embodiment, as shown in fig. 1 to 7, the clamp head switching device 100 includes a driving assembly 10, a pushing clamp head 20, a lifting clamp head 30 and a main shaft 40, wherein the lifting clamp head 30 is connected with the pushing clamp head 20 through a bracket 50, and the lifting clamp head 30 and the pushing clamp head 20 form an included angle; one end of the main shaft 40 is connected with the output end of the driving assembly 10, the other end of the main shaft 40 is connected with the bracket 50, the driving assembly 10 drives the main shaft 40 to rotate so as to enable the bracket 50 to rotate, and the bracket 50 rotates so as to enable the pushing and holding clamp head 20 or the lifting clamp head 30 to rotate to a position corresponding to a workpiece to be clamped.

One end of a bracket 50 is connected with the lifting clamp head 30, the other end of the bracket 50 is connected with the pushing clamp head 20, the lifting clamp head 30 and the pushing clamp head 20 are mounted and fixed through being connected with the bracket 50, and an included angle is formed between the lifting clamp head 30 and the pushing clamp head 20. The output end of the driving assembly 10 is connected with the main shaft 40, the driving assembly 10 is used as a power source, the driving assembly 10 is used for driving the main shaft 40 to rotate, and the main shaft 40 is connected with the bracket 50. The driving assembly 10 drives the spindle 40 to rotate, the spindle 40 drives the bracket 50 to rotate, and the bracket 50 drives the lifting clamp head 30 and the pushing clamp head 20 to rotate, so that the pushing clamp head 20 or the lifting clamp head 30 rotates to a position corresponding to a workpiece to be clamped.

Referring to fig. 1 in combination, fig. 1 is a schematic structural diagram of a lifting state of a clamp head switching device according to an embodiment of the invention, in which a workpiece to be clamped extends in an up-down direction, and the workpiece to be clamped may be a drilling tool or a casing. When the lifting clamp head 30 or the pushing clamp head 20 rotates to the horizontal direction, the lifting clamp head 30 or the pushing clamp head 20 corresponds to the workpiece to be clamped. When the lifting clamp head 30 is required to be used, the driving assembly 10 drives the main shaft 40 to rotate, the main shaft 40 drives the support 50 to rotate, and the support 50 drives the lifting clamp head 30 to rotate, so that the lifting clamp head 30 rotates to a position corresponding to a workpiece to be clamped, the lifting clamp head 30 can conveniently clamp the workpiece, the lifting clamp head 30 can be matched with the racking platform manipulator to be synchronous up and down, vertical connection of a drill rod between a wellhead and a stand box is realized, and compared with an inclined connection mode, the efficiency is greatly improved.

Referring to fig. 2 in combination, fig. 2 is a schematic structural diagram of a pushing state of the clamp head switching device according to an embodiment of the invention, when the pushing clamp head 20 is needed, the driving assembly 10 drives the spindle 40 to rotate, the spindle 40 drives the bracket 50 to rotate, and the bracket 50 drives the pushing clamp head 20 to rotate, so that the pushing clamp head 20 rotates to a position corresponding to a workpiece to be clamped, i.e. the pushing clamp head 20 rotates to a horizontal direction, so that the pushing clamp head 20 can clamp the workpiece conveniently.

The clamp head switching device 100 integrates the pushing clamp head 20 and the lifting clamp head 30, the driving assembly 10 is arranged to drive the main shaft 40 to rotate, the main shaft 40 drives the bracket 50 to rotate, and the bracket 50 rotates to enable the pushing clamp head 20 or the lifting clamp head 30 to rotate to a position corresponding to a workpiece to be clamped, so that the rapid switching of the pushing clamp head 20 and the lifting clamp head 30 according to different workpieces to be clamped is realized, and the drilling working efficiency is improved.

In an embodiment, referring to fig. 1 to 3 in combination, the clamp head switching device 100 further includes a frame 60, one end of the main shaft 40 rotatably passes through the frame 60 and is connected to the bracket 50, the driving assembly 10 includes a switching driving member 11 and a rotary speed reducer 12, an output end of the switching driving member 11 is connected to the rotary speed reducer 12, a fixed end of the rotary speed reducer 12 is connected to the frame 60, a movable end of the rotary speed reducer 12 is connected to the main shaft 40, and the switching driving member 11 is used for driving the rotary speed reducer 12 to rotate so as to drive the main shaft 40 to rotate.

The rear end of the main shaft 40 rotatably passes through the frame 60 and is coupled to the bracket 50 such that the main shaft 40 can rotate relative to the frame 60. The output end of the switching driving member 11 is connected to the swing speed reducer 12, and the switching driving member 11 serves as a switching power source. Specifically, the switching driver 11 may be a motor or a cylinder, and the specific structure of the switching driver 11 is not limited in the present invention. The swing speed reducer 12 is a general type speed reducing transmission mechanism which integrates swing, speed reduction and driving functions, and is simple in structure and convenient to manufacture and maintain. The fixed end of the swing speed reducer 12 is connected with the frame 60, thereby realizing the installation and fixation of the swing speed reducer 12. The movable end of the rotary speed reducer 12 is connected with the main shaft 40, the switching driving piece 11 drives the rotary speed reducer 12 to rotate, the rotary speed reducer 12 drives the main shaft 40 to rotate, and the main shaft 40 rotates to drive the bracket 50 to rotate, so that the switching of the lifting clamp head 30 and the pushing clamp head 20 is realized.

Specifically, a fixed flange 14 is arranged between the fixed end of the rotary speed reducer 12 and the frame 60, the fixed flange 14 is connected with the frame 60, the fixed end of the rotary speed reducer 12 is detachably connected with the fixed flange 14 through a fastener, and the contact area between the rotary speed reducer 12 and the frame 60 is increased through the fixed flange 14, so that the connection between the rotary speed reducer 12 and the frame 60 is stable and reliable. In addition, the rotary speed reducer 12 is detachably connected with the fixed flange 14, so that the rotary speed reducer 12 can be conveniently replaced after being worn, and the use flexibility of the rotary speed reducer 12 is improved. The fastener is the bolt, and the bolt has the advantage of easily drawing materials and easy to assemble.

Specifically, the clamp head switching device 100 further includes a hand shaking device, and when the switching driving member 11 is stopped, the hand shaking device can manually rotate the bracket 50 to switch the lifting clamp head 30 and push the holding clamp head 20.

In another embodiment, the switching driving member 11 may be a motor with a band-type brake, the switching driving member 11 is connected with a standby power supply, and the clamp head switching device 100 further includes a hand-operated device. When the switching driving piece 11 is stopped, the switching driving piece 11 is a motor with a band-type brake, so that the stopping state is kept, and the bracket 50 is prevented from rotating by self gravity under the stopping state of the switching driving piece 11. Then, the switching driving part 11 is connected to the standby power supply to release the brake, and at this time, the stand 50 can be manually rotated by the hand shaking device.

In an embodiment, referring to fig. 3, a connecting flange 13 is disposed between the rotary speed reducer 12 and the main shaft 40, and a movable end of the rotary speed reducer 12 is connected with the connecting flange 13; the main shaft 40 is provided with a coupling protrusion 41, and the coupling flange 13 is formed with a coupling groove 131, and the coupling protrusion 41 is caught in the coupling groove 131.

The connecting flange 13 is arranged between the rotary speed reducer 12 and the main shaft 40, the movable end of the rotary speed reducer 12 is connected with the connecting flange 13, and the rotary speed reducer 12 drives the connecting flange 13 to rotate. The front end of the main shaft 40 is provided with a connecting protrusion 41, the connecting flange 13 is provided with a connecting groove 131, the connecting groove 131 is matched with the connecting flange 13 in shape, the connecting protrusion 41 is clamped into the connecting groove 131, and the connecting protrusion 41 is matched with the connecting groove 131 to enable the connection between the main shaft 40 and the connecting flange 13 to be stable and reliable.

Specifically, the spindle 40 is detachably connected with the connecting flange 13 through the fastener, so that the spindle 40 is convenient to replace after being worn, and the connecting flange 13 is convenient to replace after being worn, so that the spindle 40 and the connecting flange 13 are more flexible and convenient to use. The fastener is the bolt, and the bolt has the advantage of easily drawing materials and easy to assemble.

In an embodiment, referring to fig. 1 and 3 in combination, the clamp head switching device 100 further includes a monitoring structure 70, and the monitoring structure 70 is used for monitoring the rotation angles of the pushing clamp head 20 and the lifting clamp head 30.

The clamp head switching device 100 monitors the rotation angles of the pushing and holding clamp heads 20 and the lifting clamp heads 30 by arranging the monitoring structure 70 so as to monitor whether the pushing and holding clamp heads 20 or the lifting clamp heads 30 rotate in place, namely, rotate to the positions corresponding to the workpieces to be clamped, and the reliability and the stability of the clamp head switching device 100 are improved by arranging the monitoring structure 70.

Specifically, the monitoring structure 70 may be a camera, a photo sensor, or other monitoring structure 70. The monitoring structure 70 is mounted and secured by being mounted on the housing 60.

In an embodiment, referring to fig. 4, the lifting clamp head 30 includes a clamping clamp head 31 and a centering clamp head 32, and the clamping clamp head 31 includes a first driving member 311, two clamping jaws 312, and two first links 313; the two ends of the clamping jaw 312 are respectively provided with a first end 3121 and a second end 3122, the first end 3121 is hinged with the bracket 50, a clamping opening 315 is formed between the second ends 3122 of the two clamping jaws 312, and the clamping jaw 312 is provided with a connecting hinge point 3123; the two first connecting rods 313 are arranged in one-to-one correspondence with the two clamping jaws 312, one ends of the two first connecting rods 313 are hinged with the connecting hinge points 3123 of the corresponding clamping jaws 312, and the other ends of the two first connecting rods 313 are both hinged with the output end of the first driving piece 311; the first driving member 311 drives the first link 313 to rotate and drives the clamping jaw 312 to rotate so as to change the size of the clamping opening 315.

The lifting clamp head 30 comprises a clamping clamp head 31 and a centralizing clamp head 32, wherein the clamping clamp head 31 and the centralizing clamp head 32 are arranged at intervals along the up-down direction, and the centralizing clamp head 32 is positioned below the clamping clamp head 31. The righting clamp head 32 is used for righting the workpiece to be clamped and preventing the workpiece to be clamped from tilting; the clamping jaw 31 is used for clamping a workpiece to be clamped. The clamp head 31 includes a first driving member 311, two clamp jaws 312, and two first links 313, the two first links 313 are disposed in one-to-one correspondence with the two clamp jaws 312, and the two clamp jaws 312 are disposed at intervals in the front-rear direction. The left end of the clamp jaw 312 is a first end 3121, the right end of the clamp jaw 312 is a second end 3122, and a clamp opening 315 is formed between the second ends 3122 of the two clamp jaws 312. The middle position of the holding jaw 312 is provided with a connection hinge point 3123. The first end 3121 is hinged to the bracket 50 such that the clamp jaw 312 can be rotated relative to the bracket 50 to vary the size of the clamp opening 315. One end of the two first links 313 is hinged to the connection hinge point 3123 of the corresponding grip jaw 312, and the other end of the two first links 313 is hinged to the output end of the first driving member 311. The first driving piece 311 is used as a power source for driving the clamping jaw 312 to rotate, and specifically, the first driving piece 311 is an air cylinder, and the air cylinder has the advantages of stable output and convenient installation.

The first driving member 311 drives the first connecting rod 313 to move rightward, and the first connecting rod 313 drives the clamping jaws 312 to rotate, so that the second ends 3122 of the two clamping jaws 312 are away from each other, the clamping opening 315 is enlarged, and the workpiece to be clamped conveniently enters the clamping opening 315. After the workpiece to be clamped enters the clamping opening 315, the first driving member 311 drives the first link 313 to move leftwards, and the first link 313 drives the clamping jaws 312 to rotate, so that the second ends 3122 of the two clamping jaws 312 are close to each other, and the clamping opening 315 is reduced, so that the clamping jaws 312 clamp the workpiece to be clamped.

Specifically, the second ends 3122 of the two clamping jaws 312 are each provided with a jaw 314, and the bracket 50 is also provided with a jaw 314, and three points of clamping are formed by the cooperation of the three jaws 314. When the clamping jaw 312 clamps a workpiece to be clamped, the jaw 314 and the workpiece to be clamped are released to generate local deformation, so that friction force is increased to resist the weight of the workpiece to be clamped.

In one embodiment, referring to fig. 4 in combination, the first direction is the left-right direction in fig. 1. The output end of the first driving member 311 is provided with a guide block 316, a chute 51 extending along the first direction is formed on the bracket 50, and the guide block 316 is slidably disposed in the chute 51.

The guide block 316 is disposed at the output end of the first driving member 311, a chute 51 is formed on the bracket 50, the chute 51 extends in the left-right direction, the guide block 316 matches the shape of the chute 51, and the guide block 316 is slidably disposed in the chute 51. The guide block 316 is matched with the sliding groove 51 to guide the output end of the first driving piece 311 in the process of moving in the left-right direction, so that the first connecting rod 313 can move more stably and reliably, and the stability and reliability of the clamping jaw 31 are improved.

In an embodiment, referring to fig. 5 in combination, the centering clip 32 includes a second driving member 321 and two centering jaws 322, a centering opening 323 is formed between the two centering jaws 322, and the centering opening 323 is disposed corresponding to the clamping opening 315; the output end of the second driving member 321 is connected to two centralizing jaws 322, the two centralizing jaws 322 are hinged to the bracket 50, and the second driving member 321 is used for driving the two centralizing jaws 322 to rotate so as to change the size of the centralizing opening 323.

The righting clip 32 includes a second driving member 321 and two righting jaws 322, and the second driving member 321 is used as a power source for driving the two righting jaws 322 to rotate. Specifically, the second driving member 321 is a cylinder, and the cylinder has the advantages of stable output and convenient installation. A centralizing opening 323 is formed between the two centralizing pliers 322, and the centralizing opening 323 is arranged corresponding to the clamping opening 315. The output end of the second driving member 321 is connected to two centering jaws 322, and the two centering jaws 322 are hinged to the bracket 50, such that the centering jaws 322 can rotate relative to the bracket 50 to change the size of the centering opening 323. The second driver 321 drives the two centralizing jaws 322 to rotate to change the size of the centralizing cup 323. The second driving piece 321 drives the two centralizing pliers 322 to rotate along the direction of approaching each other, so that the centralizing hole 323 is narrowed; the second driving member 321 drives the two centralizing pliers 322 to rotate in opposite directions away from each other, so that the centralizing hole 323 is widened.

In an embodiment, referring to fig. 5 in combination, an output end of the second driving member 321 is connected to a sliding block 324, a sliding rail 52 extending along a first direction is disposed on the bracket 50, and the sliding block 324 is slidably connected to the sliding rail 52; the centralizing pliers head 32 further comprises two second connecting rods 325, the two second connecting rods 325 are arranged in one-to-one correspondence with the two centralizing pliers jaws 322, one end of each second connecting rod 325 is hinged with the sliding block 324, and the other end of each second connecting rod 325 is hinged with the corresponding centralizing pliers jaw 322.

The sliding block 324 is connected with the output end of the second driving piece 321, the support 50 is provided with a sliding rail 52, the sliding rail 52 extends along the left-right direction, and the sliding block 324 is in sliding connection with the sliding rail 52. The two second connecting rods 325 are arranged in one-to-one correspondence with the two centralizing pliers 322, one end of each second connecting rod 325 is hinged with the sliding block 324, and the other end of each second connecting rod 325 is hinged with the corresponding centralizing pliers 322. The second driving piece 321 drives the sliding block 324 to move along the left-right direction relative to the sliding rail 52, the sliding block 324 drives the second connecting rod 325 to rotate, and the second connecting rod 325 drives the corresponding centralizing jaw 322 to rotate, so that the two centralizing jaws 322 are close to or far away from each other, and the size of the centralizing hole 323 is changed. The two centralizing jaws 322 approach each other to reduce the size of the centralizing hole 323, so that the workpiece to be clamped is gradually centralized.

In an embodiment, referring to fig. 5, a sensing structure 80 is disposed on the bracket 50, the sensing structure 80 is used for sensing whether the workpiece to be clamped moves to a sensing position of the sensing structure 80, the second driving member 321 is used for driving the two centering jaws 322 to rotate according to a sensing result of the sensing structure 80 so as to reduce the size of the centering opening 323, and the first driving member 311 is used for driving the clamping jaws 312 to rotate according to a sensing result of the sensing structure 80 so as to clamp the workpiece to be clamped.

The sensing structure 80 is used for sensing whether a workpiece to be clamped moves to a sensing position of the sensing structure 80, when the sensing structure 80 senses that the workpiece to be clamped moves to the sensing position of the sensing structure 80, the second driving piece 321 drives the two centralizing jaws 322 to rotate so as to reduce the size of the centralizing opening 323, so that the workpiece to be clamped is gradually centralized, and the first driving piece 311 drives the two clamping jaws 312 to rotate so that the two clamping jaws 312 are close to each other to clamp the workpiece to be clamped. Whether the workpiece to be clamped moves to the induction position of the induction structure 80 is induced by the induction structure 80, the first driving piece 311 and the second driving piece 321 are driven according to the induction result of the induction structure 80, so that the clamping efficiency is improved, and the stability and the reliability of the clamp head switching device 100 are improved.

In an embodiment, referring to fig. 6 in combination, the pushing and holding head 20 includes two pushing and holding jaws 21, each pushing and holding jaw 21 includes a first connecting portion 211 and a second connecting portion 212 connected to each other and disposed at an included angle, the first connecting portion 211 is hinged to the bracket 50, the bracket 50 is rotatably connected with a main pushing and holding roller 22, the first connecting portion 211 is rotatably connected with a first roller 23, the second connecting portion 212 is rotatably connected with a second roller 24, and the two second rollers 24 are disposed in a staggered manner in a vertical direction.

In this embodiment, the drill rod is taken as an example, the main pushing roller 22, the first roller 23 and the second roller 24 are used for being in rolling contact with the drill rod, friction with the drill rod is reduced in a rolling manner, and when the drill rod is lifted, the pushing and supporting clamp head 20 and the drill rod are prevented from breaking the arm support 201 due to overlarge friction force. In the pipe discharging process, the main pushing roller 22 and the two pushing clamp claws 21 are enclosed to form a first embracing opening, and the drill rod cannot be separated from the two pushing clamp claws 21, but can move in a small range in the first embracing opening, so that when the top end of the drill rod vertically moves under the action of the elevator, the bottom end of the drill rod can correspondingly move in the first embracing opening. Under the drive of cantilever crane 201, remove the bottom of drilling rod to the well head drilling rod directly over, do not need the drilling rod at this moment to have a small circle activity space in first cohesion mouth, can make the owner push away and hold up gyro wheel 22 and two push away and hold up claw 21 enclose into the second and hold up mouthful, the owner pushes away holds up gyro wheel 22 and two push away and hold up claw 21 clamp the drilling rod, guarantee that the drilling rod can only be under the effect of elevator vertical movement, guarantee to be grabbed the drilling rod and accurate butt joint between the well head drilling rod, improve work efficiency.

Because the two second rollers 24 are arranged in a staggered manner in the vertical direction, the two second rollers 24 cannot interfere with each other, and for a drill rod with a larger size, the drill rod is fixed through the main pushing roller 22 and the two second rollers 24; for the drilling rod with smaller size, the drilling rod is fixed through the main pushing and supporting roller 22 and the two first rollers 23, so that accurate alignment of drilling rods with different specifications is realized, and the use flexibility of the pushing and supporting clamp head 20 is improved.

In addition, referring to fig. 7 in combination, the present invention further provides a drilling and repairing apparatus 200, where the drilling and repairing apparatus 200 includes a boom 201 and the clamp head switching device 100 as described above, and the clamp head switching device 100 is disposed at an end of the boom 201. The specific structure of the clamp head switching device 100 refers to the above embodiment, and because the drilling and repairing device 200 adopts all the technical solutions of the above embodiment, at least has all the beneficial effects brought by the technical solutions of the above embodiment, and will not be described in detail herein.

The foregoing description of the preferred embodiments of the present invention should not be construed as limiting the scope of the invention, but rather utilizing equivalent structural changes made in the present invention description and drawings or directly/indirectly applied to other related technical fields are included in the scope of the present invention.

Claims (10)

1. The clamp head switching device is characterized by comprising a driving assembly (10), a pushing clamp head (20), a lifting clamp head (30) and a main shaft (40), wherein the lifting clamp head (30) is connected with the pushing clamp head (20) through a bracket (50), and the lifting clamp head (30) and the pushing clamp head (20) form an included angle; one end of the main shaft (40) is connected with the output end of the driving assembly (10), the other end of the main shaft (40) is connected with the support (50), the driving assembly (10) drives the main shaft (40) to rotate so as to enable the support (50) to rotate, and the support (50) rotates so as to enable the pushing and supporting clamp head (20) or the lifting clamp head (30) to rotate to a position corresponding to a workpiece to be clamped.

2. The binding clip switching device according to claim 1, further comprising a frame (60), wherein one end of the main shaft (40) rotatably penetrates through the frame (60) and is connected with the bracket (50), the driving assembly (10) comprises a switching driving member (11) and a rotary speed reducer (12), an output end of the switching driving member (11) is connected with the rotary speed reducer (12), a fixed end of the rotary speed reducer (12) is connected with the frame (60), a movable end of the rotary speed reducer (12) is connected with the main shaft (40), and the switching driving member (11) is used for driving the rotary speed reducer (12) to rotate so as to drive the main shaft (40) to rotate.

3. The clamp head switching device according to claim 2, characterized in that a connecting flange (13) is arranged between the rotary speed reducer (12) and the main shaft (40), and the movable end of the rotary speed reducer (12) is connected with the connecting flange (13); the spindle (40) is provided with a connecting protrusion (41), the connecting flange (13) is provided with a connecting groove (131), and the connecting protrusion (41) is clamped into the connecting groove (131).

4. The binding clip switching device according to claim 1, further comprising a monitoring structure (70), the monitoring structure (70) being adapted to monitor the rotation angle of the pushing head (20) and the lifting head (30).

5. A clamp head switching device according to any one of claims 1 to 4, wherein,

the lifting clamp head (30) comprises a clamping clamp head (31) and a righting clamp head (32), and the clamping clamp head (31) comprises a first driving piece (311), two clamping clamp claws (312) and two first connecting rods (313);

the two ends of the clamping jaws (312) are respectively provided with a first end (3121) and a second end (3122), the first end (3121) is hinged with the bracket (50), a clamping opening (315) is formed between the second ends (3122) of the two clamping jaws (312), and the clamping jaws (312) are provided with a connecting hinge point (3123);

the two first connecting rods (313) are arranged in one-to-one correspondence with the two clamping jaws (312), one ends of the two first connecting rods (313) are hinged with the corresponding connecting hinge points (3123) of the clamping jaws (312), and the other ends of the two first connecting rods (313) are both hinged with the output end of the first driving piece (311); the first driving piece (311) drives the first connecting rod (313) to rotate and drives the clamping jaw (312) to rotate so as to change the size of the clamping opening (315).

6. The binding clip switching device according to claim 5, wherein the output end of the first driving member (311) is provided with a guide block (316), the bracket (50) is formed with a chute (51) extending along the first direction, and the guide block (316) is slidably disposed in the chute (51).

7. The binding clip switching device according to claim 5, wherein the righting binding clip (32) comprises a second driving member (321) and two righting jaws (322), a righting opening (323) is formed between the two righting jaws (322), and the righting opening (323) is arranged corresponding to the clamping opening (315); the output end of the second driving piece (321) is connected with the two centralizing clamp claws (322), the two centralizing clamp claws (322) are hinged with the bracket (50), and the second driving piece (321) is used for driving the two centralizing clamp claws (322) to rotate so as to change the size of the centralizing opening (323).

8. The clamp head switching device according to claim 7, wherein the output end of the second driving member (321) is connected with a sliding block (324), the bracket (50) is provided with a sliding rail (52) extending along a first direction, and the sliding block (324) is slidably connected with the sliding rail (52); the righting binding clip (32) further comprises two second connecting rods (325), the two second connecting rods (325) are arranged in one-to-one correspondence with the two righting binding clips (322), one end of each second connecting rod (325) is hinged with the corresponding sliding block (324), and the other end of each second connecting rod (325) is hinged with the corresponding righting clip (322).

9. The binding clip switching device according to any one of claims 1 to 4, wherein the pushing and holding binding clip (20) comprises two pushing and holding binding clips (21), each pushing and holding clip (21) comprises a first connecting part (211) and a second connecting part (212) which are connected and are arranged in an included angle, the first connecting part (211) is hinged with the support (50), a main pushing and holding roller (22) is rotatably connected on the support (50), a first roller (23) is rotatably connected on the first connecting part (211), a second roller (24) is rotatably connected on the second connecting part (212), and the two second rollers (24) are arranged in a staggered manner in the vertical direction.

10. Drilling and workover rig, characterized in that the drilling and workover rig comprises a boom (201) and a head switching device according to any of claims 1 to 9, the head switching device (100) being arranged at an end of the boom (201).