Drill floor pipe grabbing manipulator with self-adaptive size

Abstract

The invention provides a size self-adaptive drill floor pipe grabbing manipulator which is characterized in that a composite gear train speed reducer is arranged in a base and drives an output outer shaft and an output inner shaft which are opposite in rotation direction, clamping mechanisms are arranged on the two sides of the base, and the middle of the clamping mechanism on one side is hinged to a top cover through a connecting rod; the connecting rods at the tail ends of the clamping mechanisms on the two sides are connected with an output outer shaft and an output inner shaft which are opposite in rotating direction respectively, and the two connecting rods, the clamping mechanisms and the base form a parallelogram mechanism. The pipe grabbing manipulator can be applied to an automatic pipe arranging system of a drill floor, and pipe columns with different pipe diameters can be grabbed in a self-adaptive mode. System power is transmitted to the composite gear train speed reducer through the input shaft, the power is output from two coaxial output shafts under the action of a cycloidal-pin gear speed reducing mechanism and a harmonic gear speed reducing mechanism in the composite gear train speed reducer, and the rotation directions of the two output shafts are opposite. The tail ends of two fingers in the clamping mechanism are connected with the two output shafts correspondingly to achieve opening and closing of the fingers.

Description

technical field [0001] The invention relates to the field of pipe grasping manipulators, in particular to a dimension adaptive drill floor pipe grasping manipulator. Background technique [0002] In the process of oil drilling, tripping, tripping in and discharge of drilling tools is a production activity with a single manual action and high repetition. With the development of automatic drilling rig technology, the mechanical arm has also become an important part of the automatic pipe arrangement device. It can not only greatly improve the production efficiency while reducing the work intensity of oil workers, but also reduce the damage caused by manual operation errors. Accident risk rate. As an important part of the manipulator, the manipulator can assist the manipulator to complete a series of operations such as picking up, carrying, flipping, and squeezing the target object. The existing drill floor manipulators in China mainly use the ring grip, and the opening and cl...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to provide a size-adaptive drill floor pipe grasping manipulator, which solves the problem that the existing drill floor manipulator mainly uses ring gripping, and the opening and closing degree of the fingers is small. It is necessary to replace the manipulator, which seriously affects the efficiency of automatic pipe arrangement

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