阅读说明：本技术 可适用于多种管杆直径规格的管杆抓取装置 (Pipe pole grabbing device applicable to various pipe pole diameter specifications ) 是由 戴巧利 许晓强 王新明 徐健 倪晋杰 寇敏 于 2021-08-11 设计创作，主要内容包括：本发明涉及一种管杆抓取装置,包括：夹持组件,所述夹持组件用于夹持抽油杆或油管；驱动组件,所述驱动组件用于驱动所述夹持组件在夹紧位置和打开位置之间移动,所述抓取装置被设计为,在抓取处于预设直径范围内的不同直径的抽油杆或油管时,在夹紧状态下,所述抽油杆或油管的中心到基准面的距离基本相同。由此,可以用一种简单可靠的结构同时适用于多种规格抽油杆和油管的抓取作业。(The invention relates to a pipe pole grabbing device, which comprises: the clamping assembly is used for clamping a sucker rod or an oil pipe; the gripping device comprises a gripping assembly, a driving assembly and a clamping device, wherein the gripping assembly is used for gripping sucker rods or oil pipes with different diameters in a preset diameter range, and the distance from the center of the sucker rod or the oil pipe to a reference surface is basically the same in a clamping state. Therefore, the grabbing device can be simultaneously suitable for grabbing operations of sucker rods and oil pipes of various specifications by using a simple and reliable structure.)

1. A pipe pole gripping device, comprising:

the clamping assembly is used for clamping a sucker rod or an oil pipe (9);

a drive assembly (1) for driving the gripping assembly between a clamping position and an open position,

it is characterized in that the preparation method is characterized in that,

the gripping device is designed such that, when gripping sucker rods or oil pipes of different diameters within a preset diameter range, the distance from the center of the sucker rod or oil pipe to the reference surface is substantially the same in the clamped state.

2. The pipe stick gripping apparatus of claim 1,

the clamping assembly comprises a first manipulator (3) and a second manipulator (4), the first manipulator (3) and the second manipulator (4) each comprise a clamping portion at one end and are pivotably connected with a fixed part at the other end remote from the clamping portion.

3. A pipe stick gripping apparatus according to claim 2,

the manipulator is characterized by further comprising two supporting rods (6), wherein the two supporting rods (6) are respectively and pivotally connected with the first manipulator (3) and the second manipulator (4) at one ends, and are pivotally connected with the movable part (11) of the driving assembly (1) at the other ends.

4. A pipe stick gripping apparatus according to claim 2,

the supporting rod (6) is pivotally connected to a positioning seat (5) arranged at the tail end of the movable part (11).

5. A pipe stick gripping apparatus according to claim 3 or 4,

the length between the branch both ends is 83mm, just branch with the hookup location of first manipulator (3) and second manipulator (4) arrives first manipulator (3) and second manipulator (4) with the distance of fixed part's hookup location is 40 mm.

6. A pipe stick gripping apparatus according to any one of claims 2-4,

the fixed part is an ear seat (2), and the ear seat (2) is connected with the fixed part of the driving assembly (1).

7. A pipe stick gripping apparatus according to any one of claims 2-4,

the clamping portion is provided with a roughened portion.

8. A pipe stick gripping apparatus according to any one of claims 1-4,

the drive assembly (1) takes the form of a hydraulic cylinder.

Technical Field

The invention belongs to the field of workover rigs, and particularly relates to a pipe rod grabbing device applicable to various pipe rod diameter specifications.

Background

In pipe tripping operations of automated or intelligent workover operations, automated pipe-rod interface modules are used to enable automated placement of sucker rods or oil pipes (which may be collectively referred to herein as "pipe rods"). The pipe rod connection module is an important component of a workover rig, and aims to discharge a sucker rod or an oil pipe to a fixed position and accurately position a single sucker rod or oil pipe.

The grabbing of the sucker rod and the oil pipe is carried out through a grabbing device. The prior art pipe stick gripping devices typically include hydraulic means for providing power, pairs of robots and corresponding connecting means. The hydraulic system provides power to realize the opening and closing of the paired mechanical arms. The working process of the gripping device can be decomposed into: firstly, an oil cylinder of a hydraulic system is at an initial position, and a manipulator is opened; secondly, the sensor confirms that the sucker rod and the oil pipe enter the grabbing position; and thirdly, the oil cylinder acts, the manipulator is closed, and the sucker rod or the oil pipe is gripped.

However, the existing gripping device can only adapt to a single specification of sucker rod and oil pipe. When carrying out workover, in order to snatch the sucker rod and the oil pipe of different diameter specifications, need once carry multiple specification threading die and change the threading die of different models and adapt to the sucker rod and the oil pipe of different diameters, degree of automation is lower, and manual operation intensity is big, and the operating efficiency is low, and the field work environment has certain risk simultaneously, influences oilfield operation's security.

Disclosure of Invention

Aiming at the technical problems, the invention provides the manipulator which can adapt to sucker rods and oil pipes with different specifications.

Specifically, the present invention proposes the following technical solutions.

A pipe pole gripping device, comprising:

the clamping assembly is used for clamping a sucker rod or an oil pipe;

a drive assembly for driving the clamp assembly between a clamped position and an open position,

the gripping device is designed such that, when gripping sucker rods or oil pipes of different diameters within a preset diameter range, the distance from the center of the sucker rod or oil pipe to the reference surface is substantially the same in the clamped state.

In the present invention, the "clamped state" is a state in which the gripping device is already in a fully closed state and the sucker rod or oil pipe cannot move further in the gripping device.

As a refinement of the invention, the clamping assembly comprises a first robot and a second robot, which each comprise a clamping section at one end and are pivotably connected to the fixing part at the other end remote from the clamping section.

As a refinement of the invention, it further comprises two struts which are each pivotably connected at one end to the first and second manipulator and at the other end to the movable part of the drive assembly.

As a refinement of the invention, the strut is pivotably connected to a positioning socket provided at the end of the movable part.

As a modification of the present invention, the length between both ends of the strut is 83mm, and the distance from the connecting position of the strut to the first manipulator and the second manipulator to the connecting position of the first manipulator and the second manipulator to the fixing member is 40 mm.

As a refinement of the invention, the fixing element is an ear mount which is connected to the fixing part of the drive assembly.

As a refinement of the invention, the clamping portion is provided with a roughness.

As a refinement of the invention, the drive assembly takes the form of a hydraulic cylinder.

The pipe rod gripping device has the advantages that the pipe rod gripping device can grip the sucker rods and the oil pipes with different diameters, so that when the pipe rod gripping device is in a clamping state, the distances from the centers of the gripped sucker rods and the oil pipes to a reference surface are basically the same. Therefore, the grabbing device can be simultaneously suitable for grabbing operations of sucker rods and oil pipes of various specifications by using a simple and reliable structure.

Drawings

Exemplary embodiments of the invention are described with reference to the accompanying drawings, in which:

fig. 1 schematically shows a perspective view of the pipe stick gripping device of the present invention in an open state of the robot.

Fig. 2 schematically shows a perspective view of the pipe stick gripping device of the present invention in a robot closed state.

Fig. 3 schematically shows a front view of the pipe stick gripping device of the present invention.

All the figures are purely diagrammatic and not drawn to scale, and moreover they show only those parts which are necessary in order to elucidate the invention, other parts being omitted or merely mentioned. That is, the present invention may include other components in addition to those shown in the drawings.

Detailed Description

The technical solution of the present invention will be described in detail below with reference to the accompanying drawings. The following detailed description is intended to explain the general principles of the invention to facilitate understanding by those skilled in the art and is not intended to limit the invention to its construction and possible embodiments.

Referring to fig. 1, the pipe pole gripping apparatus of the present invention mainly includes a driving assembly 1 and a clamping assembly. The drive assembly may, for example, take the form of a hydraulic ram for powering the operation of the gripper assembly. Of course, the drive assembly may take other types of forms, such as a pneumatic form or other mechanical drive, so long as it is capable of powering the operation of the clamping assembly. The clamping assembly comprises a pair of manipulators consisting of a first manipulator 3 and a second manipulator 4. The gripping portion 33 of the first robot 3 (the reference numeral is shown in figure 3) cooperates with a corresponding gripping portion of the second robot 4 to grip the tubular when the pair of robots are closed. The ends of the first robot arm 3 and the second robot arm 4 remote from the clamping portion (hereinafter "fixed ends") are pivotably connected to a fixed portion of the drive assembly 1, for example, by connecting pins to the ear mount 2 fixed to the drive assembly 1 (for simplicity, only the ear mount connecting pin 31 on the first robot arm 3 is shown in fig. 3). Thereby, the first and second manipulators 3, 4 can be pivoted about the fixed end to effect opening or closing of the pair of manipulators under the action of the drive assembly 1.

As a preferred embodiment, the connection between the drive assembly 1 and the clamping assembly can be seen more clearly in connection with fig. 1 and 3. As can be seen from fig. 3, a positioning socket 5 is provided on a movable part 11 of the drive assembly 1, for example a piston rod of a hydraulic cylinder, to which positioning socket 5 the first robot arm 3 and the second robot arm 4 are each connected by a strut 6. One end of the supporting rod 6 is pivotally arranged on the positioning seat 5, and the other end of the supporting rod is pivotally connected to the corresponding first manipulator 3 or second manipulator 4. For example, the strut 6 connected to the first robot arm 3 may be connected to the positioning socket 5 via the intermediate pin 8, and may be connected to the first robot arm 3 via the strut connecting pin 32 (for the sake of clarity, reference numerals are only drawn in fig. 3 for corresponding parts of the first robot arm). The movable part 11 can also be fixed with the positioning socket by means of the intermediate pin 8.

Advantageously, in order to increase the gripping force, a roughness is provided on the first robot 3 and the second robot 4 in order to increase the friction when the robots are in contact with the sucker rod or tubing 9 when gripping. Similarly, a rough portion may be provided at a portion where the positioning socket 5 contacts the sucker rod or the oil pipe 9. The roughness on the first and second manipulators 3, 4 and the positioning socket 5 may be knurled surfaces directly formed on the respective surfaces, or may be separate components arranged thereon, such as knurled plates.

In an initial state, the driving assembly drives the clamping assembly to enable the pair of manipulators to be in an open state. When it is confirmed that the pipe gripping device is in place, that is, when the pipe gripping device and the sucker rod or the oil pipe are close to each other so that the pipe reaches a position between the pair of robot arms 3, 4 to be able to grip the sucker rod or the oil pipe when the robot arms are closed, then the first robot arm 3 and the second robot arm 4 are closed by the driving of the driving assembly 1 to grasp the sucker rod or the oil pipe.

Whether the tube rod gripping device is in place may be determined in a number of ways. The distance between the sucker rod or oil pipe and the pipe rod gripping device can be detected or obtained by providing a proximity switch, a distance sensor, an image recognition device, or the like, for example.

With the particular construction shown in the figures, when performing the clamping action, the drive assembly 1 operates so that the movable part 11 of the drive assembly 1 moves away from its fixed part (i.e. the piston rod extends relative to the cylinder in the case of a hydraulic cylinder of the drive assembly 1), thereby bringing the positioning socket 5 to move away from the fixed part of the drive assembly 1. Because the positioning seat 5 is connected with two manipulators through the branch 6 to the stiff end of manipulator passes through connecting pin 31 and is connected with ear seat 2, consequently along with the removal of positioning seat 5, first manipulator 3 and second manipulator 4 use connecting pin 31 to pivot as the center under the drive of branch 6, thereby make the manipulator closed, realize snatching sucker rod or oil pipe 9.

Of course, the positioning socket 5 is not necessarily a component. One end of the strut 6 may be directly connected to the movable part 11, also being able to bring the robot to pivot under the movement of the movable part 11.

In the grabbing process, because the oil pumping rods or the oil pipes to be grabbed have different diameter specifications respectively and the diameter difference between the oil pumping rods and the oil pipes is large, in order to grab the oil pumping rods and the oil pipes with different specifications, the structural size of the pipe rod grabbing device is designed, so that the distances from the centers of the grabbed oil pumping rods and the grabbed oil pipes to a reference plane are the same in a clamping state. The reference surface is, for example, a cylinder flange surface using a hydraulic cylinder. Of course, other reference surfaces may be chosen as the reference surface, as long as the reference surface is stationary with respect to the stationary part of the drive assembly 1. In particular, for the particular configuration shown in fig. 3, the stroke of the movable portion 11 of the drive assembly 1, the length of the strut 6 and the distance between the strut connecting pin and the ear connecting pin can be designed such that when a grip of a range of diameters of a sucker rod or tubing is taken, the distance from the centre of the sucker rod or tubing to the datum plane is substantially the same when the grip is reached.

As an exemplary embodiment, in conjunction with fig. 3, the present invention proposes a specific size in which the effective length of the strut 6 is designed to be 83mm, and the center-to-center distance between the ear seat connection pin 31 and the strut connection pin 32 is 40 mm. Here, the effective length of the strut 6 refers to the distance between the pivot centers of both ends of the strut 6; in fig. 3, this distance refers to the center-to-center distance between the intermediate pin 8 and the strut connecting pin 32.

For sucker rod/oil tubes having diameters between 16-89mm listed in Table 1 below, the stroke of the corresponding hydraulic cylinder piston was designed to be 32-40mm in a tube gripping device having the specific dimensions shown above. That is, the stroke of the piston is 32mm for an oil pipe with a diameter of 89mm, and 40mm for a sucker rod with a diameter of 16 mm. For sucker rod/oil pipe diameters between 89-16mm, the piston stroke is between 32-40 mm.

In the above specific embodiment, after the manipulator is completely closed and the sucker rod/oil pipe abuts against the positioning seat 5, the distance of the center of the gripped sucker rod/oil pipe from the reference surface is measured, and the result is shown in table 1. As can be seen from Table 1, for sucker rod/tubing diameters ranging from 16-89mm, the difference between the distances of the centers of sucker rod/tubing diameters in the clamped state from the reference surface is within 30mm, which is consistent with the operating error of the elevator and thus feasible.

Furthermore, it is possible to detect whether the corresponding sucker rod/tubing has been gripped by the robot by providing a proximity switch on the positioning socket 5 or on the movable part 11 of the drive assembly 1 or the like. Whether the sucker rod/oil pipe is in a clamping state can also be judged by a pressure sensor arranged on the movable part of the driving assembly; for example, when the drive assembly 1 takes the form of a hydraulic ram, the pressure sensor may be mounted on a hydraulic control valve block. In this case, the sucker rod/oil line is clamped in the clamped state by the first and second manipulators 3, 4 and the movable part 11 of the drive assembly 1 or the positioning socket 5 (when the positioning socket 5 is provided).

TABLE 1 pipe (rod) diameter size and distance from the center of gravity (center of circle) of the grabbed rear pipe (rod) to the reference

Pipe (rod) diameter size/mm	Distance/mm from tube (rod) center of gravity (circle center) to datum
		89	300.46
73	295.06
		25	276.28
22	274.96
		19	273.62
16	272.28

Although the above description is given by taking the example of the gripping of sucker rods and oil pipes, those skilled in the art will appreciate that the gripping device of the present invention can be used for other cylindrical components.

Similarly, although the gripping device is specifically dimensioned for sucker rod/oil pipe sizes in the range of 16-89mm, the skilled person will be able to correspondingly design the gripping device for other cylindrical parts such as sucker rod/oil pipe sizes in other diameter ranges, so that the centers of the respective gripped cylindrical parts are substantially at the same distance from the reference plane when the cylindrical parts in the diameter range are in the gripping state.

Having clearly and fully described the present invention with reference to the above illustrative embodiments, it should be understood by those skilled in the art that various other embodiments may be devised which do not depart from the spirit and scope of the invention by modifying the disclosed technology. Such embodiments should be understood to fall within the scope of the present invention as determined based on the claims and any equivalents thereof.