CN213016242U - Pipe grabbing device - Google Patents

Abstract

The utility model provides a grab a tub device, includes top tube mechanism and top tube drive, top tube mechanism includes mechanism seat, pivot, link mechanism, swing arm, slider and gripper, the mechanism seat is fixed to be set up in the frame, in rotatable setting pivot on the mechanism seat, the mechanism seat with the pivot is passed through link mechanism with swing arm swing joint, in the activity sets up on the swing arm the slider with the gripper, top tube driven one end activity sets up in the frame, the top tube driven other end with pivot swing joint. Through the cooperation of being connected between first connecting rod, second connecting rod and the third connecting rod among this grab a tub device, can realize utilizing a power supply just to reach the purpose of wide-angle rotation, the gripper in addition to the centre gripping of pipe pole with loosen control, can play the pipe pole on the catwalk high-efficiently, the operation of pipe pole is played in high-efficient completion.

Description

Pipe grabbing device

Technical Field

The utility model relates to an oil bores, workover transportation equipment technical field, especially relates to a grab a tub device that is arranged in catwalk can high-efficient play pipe pole.

Background

Catwalks are indispensable in the drilling and workover processes. In recent years, with the continuous development of drilling and well repairing technologies, various automatic catwalks appear, and compared with manual operation, the automatic catwalk reduces the labor intensity of workers and improves the operation efficiency. However, the current automatic catwalk is playing the last pipe pole in-process, in order to put into the catwalk with the pipe pole and carry, the switching of operating mode about the catwalk needs to be carried out, and there is the step that the upset was set upright promptly in the catwalk, has greatly reduced the work efficiency who plays the last pipe pole, increases workman's intensity of labour. In addition, there is also setting of playing the pipe pole through playing the pipe mechanism to assist, but if will reach a great play pipe rotation angle, often need adopt several power supplies just can realize, this has increased use cost undoubtedly, and plays the pipe control process comparatively loaded down with trivial details.

Therefore, to above defect, need set up one kind and only need a power supply, set up the pipe grabbing mechanism that reaches the large-angle rotation through the connection of a plurality of connecting rods to the realization plays the purpose of upper hose stem on the catwalk.

Disclosure of Invention

An object of the utility model is to provide a grab a tub device, through should grab the cooperation of being connected between first connecting rod, second connecting rod and third connecting rod among the tub device, can realize utilizing a power supply just to reach the rotatory purpose in wide-angle, the gripper in addition to the centre gripping of pipe pole with loosen the control, can high-efficiently accomplish and play the operation of pipe pole.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a pipe grabbing device comprises a pipe feeding mechanism and a pipe feeding driver, wherein the pipe feeding mechanism comprises a mechanism seat, a rotating shaft, a connecting rod mechanism, a swinging arm, a sliding block and a mechanical claw, the mechanism seat is fixedly arranged on a rack, the rotating shaft is rotatably arranged on the mechanism seat, the mechanism seat and the rotating shaft are movably connected through the connecting rod mechanism and the swinging arm, the sliding block and the mechanical claw are movably arranged on the swinging arm, one end of the pipe feeding driver is movably arranged on the rack, and the other end of the pipe feeding driver is movably connected with the rotating shaft and used for driving the rotating shaft to rotate;

correspondingly, a connecting wing is fixedly arranged on the rotating shaft, a first connecting point and a second connecting point are arranged on the connecting wing, the connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, the upper end of the first connecting rod is movably connected to the mechanism seat, the lower end of the first connecting rod is movably connected with a first connecting end of the second connecting rod, a second connecting end of the second connecting rod is movably connected with the swing arm, a third connecting end is also arranged on the second connecting rod positioned at the first connecting end and the second connecting end, the third connecting end is movably connected with the connecting wing through the first connecting point, the connecting wing is movably connected with the upper end of the third connecting rod through the second connecting point, and the lower end of the third connecting rod is movably connected with the upper end of the swing arm; the connection mode can realize that the pipe feeding mechanism rotates the pipe rod by a large angle to realize the pipe feeding operation;

correspondingly, the sliding block comprises a sliding block body and a sliding block drive, the sliding block drive is connected with the sliding block body in a driving mode, the sliding block body is hinged with the swing arm and can slide up and down on the swing arm, the mechanical claw comprises an upper claw and a lower claw, the upper claw and the lower claw are rotatably installed in the installation seat, and one end of the upper claw and one end of the lower claw extend into the sliding block body;

correspondingly, an avoiding groove for enabling the slider body to slide up and down along the swing arm is formed in the center of the slider body, part of the swing arm is located in the avoiding groove, a limiting groove for limiting the sliding direction and distance of the slider body is formed in the side wall of the slider body, and a limiting part corresponding to the limiting groove is arranged on the swing arm; under the driving of the slider, the slider body can slide up and down on the swing arm in a limited direction and distance through the avoidance groove;

correspondingly, a hollow mounting seat is fixedly arranged at the lower end of the swing arm, operation windows are arranged on two side walls of the slider body, the upper claw and the lower claw respectively comprise a transition rod, an end head, an operation rod and a clamping claw, the transition rod is rotatably arranged in a casing of the mounting seat, the end head is arranged at one end, facing the slider body, of the transition rod, the end head is positioned in the slider body, the operation rod is arranged on the end head, the operation rod extends out of the operation window, and the clamping claw is arranged at the other end of the transition rod; the position of the operating window is deviated by sliding the sliding block, so that the operating rod is swung under the limiting action of the operating window on the operating rod, and the swing of the operating rod drives the clamping claw to swing, thereby realizing the switching between the clamping state and the non-clamping state of the clamping claw;

correspondingly, the mounting seat is a hollow splayed casing fixedly arranged on the swing arm.

The utility model has the advantages that:

grab a tub device through the setting, utilize top tube mechanism to carry the pipe pole centre gripping and carry in the conveyer trough of catwalk (for example V-arrangement groove or coaster), on the one hand for the conveyer trough on the catwalk need not carry out the switching of controlling the operating mode, and on the other hand still can realize utilizing a power supply just to reach the rotatory purpose of wide-angle through the relation of connection between a plurality of link mechanism, has greatly reduced the pipe cost, and has improved and has played a tub efficiency.

Drawings

Fig. 1 is a schematic structural view illustrating a pipe gripping device according to an embodiment of the present invention mounted on a frame;

fig. 2 is a schematic perspective view of a tube feeding mechanism according to an embodiment of the present invention;

fig. 3 is an enlarged schematic view of the structural connection among the mechanism seat, the rotating shaft, the link mechanism and the swing arm according to an embodiment of the present invention;

fig. 4 is a schematic perspective view illustrating a connection between the gripper and the mounting base according to an embodiment of the present invention;

fig. 5 and 6 are schematic perspective views of the slider body and the gripper according to an embodiment of the present invention at two angles;

fig. 7 is a schematic cross-sectional view illustrating a slider and a gripper disposed on a mounting base according to an embodiment of the present invention;

fig. 8 is an enlarged schematic view of a mechanical gripper according to an embodiment of the present invention in a non-clamping state;

fig. 9 is an enlarged schematic view of a gripper according to an embodiment of the present invention in a clamping state;

FIG. 10 is a diagram illustrating a tube loading mechanism according to an embodiment of the present invention;

in the figure:

1. a frame; 2. rotating and lifting driving; 3. a connecting rod; 4. lifting the slide way in a rotating way; 5. folding the slideway; 6. a pulley; 7. driving an upper pipe; 8. a pipe feeding mechanism;

81. a mechanism seat;

82. a rotating shaft; 821. a connecting wing;

83. a first link; 84. a second link; 85. a third link;

86. a swing arm; 861. a mounting seat;

87. a slider body; 871. an avoidance groove; 872. a limiting groove; 873. an operating window;

88. an upper jaw; 881. an upper transition bar; 882. an upper end head; 883. an upper operating lever; 884. an upper gripper jaw;

89. a lower jaw; 891. a lower transition bar; 892. a lower end head; 893. a lower operating lever; 894. and a lower gripper jaw.

Detailed Description

As shown in fig. 1, in an embodiment of the present invention, the pipe grabbing device includes a pipe loading mechanism and a pipe loading drive, in order to further understand the installation position and connection relationship of the pipe grabbing device in the catwalk, in this embodiment, the basic structure of one of the catwalks is introduced together, the catwalk further includes a frame 1, a rotary lifting drive 2, a connecting rod 3, a rotary lifting slide 4, one end of the rotary lifting drive 2 is movably connected to the frame 1, the other end is movably connected to the connecting rod 3, one end of the connecting rod 3 is movably connected to the frame 1, the other end is movably connected to the rotary lifting slide 4, one end of the rotary lifting slide 4 is slidably disposed in a chute 11 of the frame 1 through a sliding bearing 41, the other end of the rotary lifting slide 4 can also be movably disposed with a folding slide 5, in addition, a pulley 6 can also be slidably disposed on the rotary lifting slide 4, one end of the pipe, the other end of the upper tube driving device 7 is movably connected with the upper tube mechanism 8, the upper tube driving device 7 comprises a telescopic hydraulic rod, and the upper tube mechanism 8 is arranged on the rack 1 at the left side and the right side of the rotary lifting slide 4. In this embodiment, for simplifying the description, the movable connection is more embodied, and the movable connection can be realized in a hinged manner;

as shown in fig. 2, the tube loading mechanism 8 includes a mechanism seat 81, a rotating shaft 82, a link mechanism, a swing arm 86, a slider and a gripper, the mechanism seat 81 is fixedly disposed on the frame 1, the rotating shaft 82 is rotatably disposed on the mechanism seat 81, on one hand, the tube loading drive 7 is hinged to the rotating shaft 82 for driving the rotating shaft 82 to rotate, on the other hand, the mechanism seat 81 and the rotating shaft 82 are movably connected through the link mechanism and the swing arm 86, and the slider and the gripper are movably disposed on the swing arm 86, more specifically:

as shown in fig. 3, a connecting wing 821 is fixedly arranged on the rotating shaft 82, a first connecting point and a second connecting point are arranged on the connecting wing 821, the link mechanism includes a first link 83, a second link 84 and a third link 85, the upper end of the first link 83 is hinged to the mechanism seat 81, the lower end of the first link 83 is hinged to the first connecting end of the second link 84, the second connecting end of the second link 84 is hinged to the swing arm 86, a third connecting end is also arranged on the second link 84 located at the first connecting end and the second connecting end, the third connecting end is hinged to the connecting wing 821 through the first connecting point, the connecting wing 821 is hinged to the upper end of the third link 85 through the second connecting point, and the lower end of the third link 85 is hinged to the upper end of the swing arm 86;

as shown in fig. 4, a hollow mounting seat 861 is fixedly arranged at the lower end of the swing arm 86, for example, the mounting seat 861 is a hollow splayed sleeve fixedly arranged on the swing arm 86, and the mounting seat 861 is used for limiting the movement of the mechanical claw and only allowing the mechanical claw to rotate in the sleeve, so as to change the clamping state of the mechanical claw;

the slider comprises a slider body 87 and a slider drive, the slider drive is connected with the slider body 87 in a driving manner, as shown in fig. 5 and 6, one end of the slider body 87 is hinged with the swing arm 86, an avoidance groove 871 for enabling the slider body 87 to slide up and down along the swing arm 86 is arranged in the center of the slider body 87, part of the swing arm 86 and part of the gripper are accommodated by the avoidance groove 871, a limit groove 872 for limiting the sliding direction and distance of the slider body 87 is arranged on the side wall of the slider body 87, a limit part corresponding to the limit groove 872 is arranged on the swing arm 86 and can slide in the limit groove 872, and in addition, operation windows 873 for controlling the gripper to swing are further arranged on the two side walls of the slider body 87;

the robot claw includes an upper claw 88 and a lower claw 89, each of the upper claw 88 and the lower claw 89 includes a transition lever, a tip, an operation lever, and a gripping claw, as shown in fig. 4 to 7, the upper claw 88 includes an upper transition lever 881, an upper tip 882, an upper operation lever 883, and an upper gripping claw 884, the lower claw 89 includes a lower transition lever 891, a lower tip 892, a lower operation lever 893, and a lower gripping claw 894, the upper claw 88 is illustrated as an example, the upper transition lever 881 is rotatably disposed in a housing of the mount 861, the upper tip 882 is disposed at one end of the upper transition lever 881 facing the slider body 87, that is, the upper tip 882 is disposed in an escape groove 871 of the slider body 87, the upper operation lever 883 is disposed on the upper tip 882, and the upper operation lever 883 protrudes from the operation window 873 such that a turning range of the upper operation lever 883 is restricted by the operation window 873, the upper grip lever 884 is disposed at the other end of the upper transition lever 881, in the process in which the upper transition lever 883 and the upper transition lever 88, the upper gripper 884 and the upper lever 883 are also perpendicular to each other, and the upper gripper 884 and the upper transition lever 881 are not in the same plane, the upper lever 883 is swung by the restriction of the operating window 873 on the upper lever 883, the swing of the upper lever 883 drives the swing of the upper gripper 884 to turn, and the control of the lower gripper 89 is also the same, so that the switching between the gripping state and the non-gripping state of the gripper is realized.

According to the pipe gripping device of the embodiment, the following embodiments can be obtained:

to convey a sucker rod from the ground to the platform, and to illustrate the operation toward the right, as shown in fig. 8, the slider drives the slider body 87 to slide down on the swing arm 86 to the limit, the sliding down of the slider body 87 moves the operating window 873 down, so as to rotate the upper operating rod 883 of the upper jaw 88 and the lower operating rod 893 of the lower jaw 89, so as to turn the upper clamping jaw 884 of the upper jaw 88 and the lower clamping jaw 894 of the lower jaw 89 to one side, and at this time, the sucker rod is put between the mounting seats 861, as shown in fig. 9, the slider drives the slider body 87 to slide up on the swing arm 86 to the limit, the sliding up of the slider body 87 moves the operating window 873 up, so as to rotate the upper operating rod 883 of the upper jaw 88 and the lower operating rod 893 of the lower jaw 89, so as to relatively rotate the upper clamping jaw 884 of the upper jaw 88 and the lower clamping jaw 894 of the lower jaw 89, the sucker rod is clamped. (it should be noted that the upward and downward movement of the slider body 87 brings the clamping jaws into the non-clamping or clamping state, considering the steering arrangement of the operating rod in this embodiment, if the operating rods of the upper jaw 88 and the lower jaw 89 are in the reverse steering arrangement, the upward and downward movement of the slider body 87 will correspond to the clamping and non-clamping states of the clamping jaws, respectively).

After the mechanical gripper grabs the sucker rod, as shown in fig. 10, the upper tube drive 7 drives the rotating shaft 82 to rotate, the rotating shaft 82 drives the swinging arm 86 to rotate through the hinging action among the first connecting rod 83, the second connecting rod 84 and the third connecting rod 85, by adopting the connecting rod connection mode, the rotation of 270 degrees can be achieved, and compared with the existing 120-degree small-angle rotation mode, the rotation is more convenient and efficient, so that the mechanical gripper moves to the upper part of the pulley 6, at the moment, the clamping gripper is in a non-clamping state according to the operation, and the sucker rod falls into the pulley 6.

The foregoing is a detailed description of the present invention, and it will be apparent to those skilled in the art that modifications and variations can be made in the foregoing embodiments after reading the present specification, and such modifications and variations are considered to be within the scope of the present invention.

Claims (6)

1. The utility model provides a grab a tub device, includes top tube mechanism and top tube drive, its characterized in that, top tube mechanism includes mechanism seat, pivot, link mechanism, swing arm, slider and gripper, the mechanism seat is fixed to be set up in the frame, in rotatable setting pivot on the mechanism seat, the mechanism seat with the pivot is passed through link mechanism with swing arm swing joint, in the activity sets up on the swing arm the slider with the gripper, top tube driven one end activity sets up in the frame, the top tube driven other end with pivot swing joint for the rotation of drive pivot.

2. The pipe gripping device of claim 1, wherein the rotating shaft is fixedly provided with a connecting wing, the connecting wing is provided with a first connecting point and a second connecting point, the connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, the upper end of the first connecting rod is movably connected to the mechanism seat, the lower end of the first connecting rod is movably connected with the first connecting end of the second connecting rod, the second connecting end of the second connecting rod is movably connected with the swing arm, a third connecting end is arranged on the second connecting rod positioned at the first connecting end and the second connecting end, the third connecting end passes through first connecting point with connecting wing swing joint, the connecting wing passes through the second connecting point with third connecting rod upper end swing joint, third connecting rod lower extreme with the upper end swing joint of swing arm.

3. The pipe gripping device according to claim 1, wherein the slider comprises a slider body and a slider drive, the slider drive is connected with the slider body, the slider body and the swing arm are hinged and can slide up and down on the swing arm, a hollow mounting seat is fixedly arranged at the lower end of the swing arm, the mechanical claw comprises an upper claw and a lower claw, the upper claw and the lower claw are rotatably mounted in the mounting seat, and one end of the upper claw and one end of the lower claw extend into the slider body.

4. The pipe gripping device according to claim 3, wherein one end of the slider body is hinged to the swing arm, an avoiding groove is formed in the center of the slider body for allowing the slider body to slide up and down along the swing arm, a part of the swing arm is located in the avoiding groove, a limiting groove for limiting the sliding direction and distance of the slider body is formed in a side wall of the slider body, and a limiting part corresponding to the limiting groove is formed in the swing arm.

5. The pipe grabbing device of claim 3, wherein two side walls of the slider body are provided with operating windows, the upper jaw and the lower jaw each comprise a transition rod, an end, an operating rod and a clamping jaw, the transition rod is rotatably arranged in the casing of the mounting seat, the end is arranged at one end of the transition rod facing the slider body and is located in the slider body, the operating rod is arranged on the end, the operating rod extends out of the operating windows, and the clamping jaw is arranged at the other end of the transition rod.

6. A tube gripping apparatus according to claim 3, wherein the mounting seat is a hollow splayed housing fixedly disposed on the swing arm.

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