CN204588531U - A kind of knuckle hangs - Google Patents

Abstract

The utility model relates to the field of petroleum machinery, in particular to a novel articulated crane, which includes a support mechanism fixedly connected with the foundation, a connection mechanism movably connected with the support mechanism and a clamping device movably connected with the connection mechanism , the support mechanism includes a base fixing seat, a first slewing support and a base slewing seat, and the connecting mechanism includes a main arm, a main arm hydraulic cylinder, a secondary arm, a secondary arm hydraulic cylinder, a telescopic arm, a telescopic arm hydraulic cylinder, A damping liquid cylinder and a pin sensor, the clamping device includes a conversion joint, a telescopic jacket, a mounting frame, a second slewing support, a sliding frame, a beam, a clamping mechanism, a sliding driver and a clamping mechanism reducer. The purpose of the utility model is to provide a new type of joint crane which is not limited by the discharge direction of drilling tools, realizes automatic operation and improves work efficiency.

Description

A new type of joint hanger

technical field

The utility model relates to the field of petroleum machinery, in particular to a novel jointed crane.

Background technique

At present, onshore oil drilling mostly uses cranes and wire ropes to move drilling tools. Using this method to move drilling tools has low moving efficiency, high labor intensity for operators, and considerable safety hazards. In offshore oil drilling modules, drilling tools are often moved by means of lifting equipment and drilling tool clamping devices, but most of the existing joint cranes have the following defects when clamping drilling tools: 1. There is a large arc at the front end of the gripper, which makes it difficult to insert the pipe into the pile when grabbing a single piece. 2. The clamped drilling tool lacks the support and fixation of its third point. Usually, the drilling tool can only be fixed by the arc surface of the clamping part. When the size of the drilling tool differs greatly from the clamping part size, Its fixing effect is very unstable, and it is easy to cause the drilling tool to slip; 3. Since the clamping device itself cannot rotate, when there is an angle between the longitudinal centerline of the clamping device and the axial centerline of the drilling tool, the operation is more troublesome and usually requires manual labor. After adjustment, clamping is carried out, the degree of automation is low, and the work efficiency is low. 4. Although the clamping mechanism that adopts a fixed claw and a movable claw can grasp a single pipe, the opening and closing range is too small to meet the requirements of grasping multiple pipes at the same time.

Utility model content

Aiming at the problems existing in the prior art, the purpose of the invention of the utility model is to provide a new type of jointed crane that is not restricted by the discharge direction of drilling tools, realizes automatic operation, and improves work efficiency.

In order to achieve the above object, the technical solution adopted by the utility model is:

A novel articulated crane, comprising a support mechanism fixedly connected to the foundation; a connection mechanism movably connected with the support mechanism and a clamping device movably connected with the connection mechanism, characterized in that:

The support mechanism includes a base fixing seat fixedly connected to the foundation, a first slewing support fixedly connected to the base fixing seat, and a base slewing seat fixedly connected to the first slewing support. The support mechanism is the fixed basis for the entire joint crane work;

The connection mechanism includes a main arm connected with the base revolving seat through a pin shaft, a main arm hydraulic cylinder connected with the main arm and the base revolving seat through a pin shaft respectively, and a main arm hydraulic cylinder connected with the main arm through a pin shaft. The auxiliary arm connected with the shaft, the auxiliary arm hydraulic cylinder connected with the auxiliary arm and the main arm respectively through pin shafts, the telescopic arm slidingly connected with the auxiliary arm, and the auxiliary arm respectively connected with the auxiliary arm in the auxiliary arm A telescopic arm hydraulic cylinder fixedly connected to the end of the telescopic arm, damping hydraulic cylinders provided on both sides of the connection between the telescopic arm and the clamping device, and a cylinder connecting the telescopic arm and the clamping device The pin sensor, the damping cylinder is used to prevent the clamping device from violently swinging, the main arm can rotate together with the base slewing seat, and the lifting of the main arm assembly can also be realized through the expansion and contraction of the main arm hydraulic cylinder , the lifting of the auxiliary arm is realized by the expansion and contraction of the auxiliary arm hydraulic cylinder, and the telescopic movement of the telescopic arm on the inner side of the auxiliary arm is realized by the expansion and contraction of the telescopic arm hydraulic cylinder. The expansion and contraction of the telescopic arm can be used to fine-tune the lifting height;

The clamping device includes a conversion joint, a telescopic outer casing connected to the conversion joint through a pin shaft, a mounting frame slidably connected to the telescopic casing, a second slewing support fixedly connected to the mounting frame, and The second slewing support is fixedly connected to the sliding frame, the beam is slidably connected to the sliding frame, and two clamping mechanisms are fixedly connected to the two ends of the beam, and two drive the sliding frame The sliding drive device that slides relative to the crossbeam, the conversion joint can rotate around the pin shaft to relieve the rigid damage to the pin shaft when the clamping device shakes when lifting heavy objects, the installation The sliding connection between the frame and the telescopic jacket can buffer the rigid impact when the clamping device lifts or puts down the suspended object, and the sliding connection between the sliding frame and the beam is to adjust the center of gravity of the object to be grasped , when the center of gravity of the object to be grasped is unstable, the center of gravity of the object to be grasped can be adjusted by sliding the sliding frame to prevent the object from overturning. The sliding frame is fixedly connected with the fixed frame, and the sliding driving device is activated when the center of gravity of the grasped object needs to be adjusted, and drives the sliding frame to slide along the crossbeam.

Preferably, the clamping mechanism includes two clamping jaws that can be opened and closed symmetrically, two clamping drivers that can drive the opening and closing of the clamping jaws, and one that keeps the two clamping jaws synchronized. Connecting rod, a fixing frame for fixing the clamping clamp, the clamping clamp is made up of a support plate and an arc plate, the support plate and the arc plate are fixedly connected, the fixing frame is connected with the The beam is fixedly connected.

Preferably, the clamping mechanism further includes a fixed support fixedly connected with the clamping pliers, a movable support slidably connected with the fixed support, and the circular arc plate is composed of two sections of curved plates with opposite bending directions Composition, the clamping mechanism uses two clamping pliers to cooperate to grasp, and at the same time, a special curved surface transition design is made for the circular arc plate of the clamping pliers. The upper half of the circular arc plate is close to the clamping driver Part of it is mainly used to clamp large-diameter pipes. The lower half of the arc plate, which is the first part in contact with the object to be grasped, is mainly for the convenience of grasping from the middle of the pipes when the pipes are tightly arranged. Take a single pipe.

Preferably, a first-stage damping liquid cylinder is respectively provided on both sides of the telescopic casing, and the piston rod and the cylinder body of the primary damping liquid cylinder are respectively connected to the conversion joint and the telescopic casing through pin shafts, so that The first-stage damping cylinder is to prevent the severe swing of the part below the telescopic jacket when the clamped object is hoisted and moved.

Preferably, the telescopic jacket is connected to the installation frame through a first pin shaft, waist-shaped holes are opened on the front and rear side walls of the installation frame, and the first pin shaft passes through the waist-shaped hole It is fixed with the telescopic jacket through a chuck, and the first pin shaft slides up and down in the waist-shaped hole to buffer the rigid impact when the clamping device lifts or lowers the clamped object.

Preferably, the four side walls of the installation frame are provided with vertical downward chute, the number of the chute is ≥ 4, and the number of chute on each side wall is ≥ 1, the telescopic A circular slider is installed on the jacket corresponding to the position of the chute, and the circular slider slides up and down in the chute, and the circular slider is pressed by the circular slider baffle plate, the circular slider cover plate and the screw. It is arranged in the chute, and the structure that the chute cooperates with the circular slider ensures that the installation frame can slide safely and smoothly.

Preferably, the two ends of the connecting rod are respectively connected to the two clamping pliers through pin shafts, and the connecting rods are arranged obliquely. The setting of the connecting rods here is to ensure the synchronous action of the two clamping pliers , so as to avoid eccentricity when clamping the clamped object, the connecting rod can only be set obliquely here, and cannot be set horizontally or vertically.

Preferably, the contact surface between the sliding frame and the beam is a semi-enveloping surface, and the three surfaces of the semi-enveloping surface are fixed with sliders as inner linings, and the sliders are all fixed with screws or other fixed on the semi-enveloping surface of the sliding frame in contact with the beam, each surface has one, and the lubricating substance is evenly applied on the slider to make the sliding of the sliding frame convenient , accessible.

Preferably, the first slewing support includes an inner ring gear and an outer ring, the inner ring gear and the outer ring are relatively rotatable, the inner ring gear is fixedly connected to the base fixing seat, and the outer ring The ring is fixedly connected with the base revolving seat, and the inner ring gear of the first slewing support is driven to rotate through a hydraulic motor and a reduction mechanism installed in the base revolving seat, and the inner ring gear and the The outer ring is connected by rollers. When the inner ring gear is driven, the outer ring and the inner ring gear rotate relative to each other, so that the base rotary seat drives the connecting mechanism and the clamping device to rotate .

Preferably, the second slewing support includes an inner ring and an outer ring gear, the sliding frame is fixedly connected to the outer ring gear by screws, and the mounting frame is fixedly connected to the inner ring by screws, The inner ring and the outer ring gear can rotate relative to each other, the second slewing support is provided with a clamping mechanism reducer, and the clamping mechanism reducer drives the outer ring gear to rotate, so that the outer gear The ring rotates relative to the inner ring. When the outer ring gear and the inner ring rotate relative to each other, the sliding frame and the following components can rotate relative to the installation frame. The outer ring gear and the inner ring are connected by rollers. When the outer ring gear rotates under the drive of the clamping mechanism reducer, the outer ring gear and the inner ring rotate relatively through the rollers, in order to reduce the contact between the rollers and the outer ring gear and The friction between the inner rings is equipped with a special oil feeding device to lubricate the rollers.

Using the joint hanger, when the pipes are densely packed, the clamping pliers can realize the grabbing of the pipes without manual intervention during work, and single grabbing can be realized from both sides and the middle, and then The complete positioning of the pipe tool is realized through the fixed support and mobile support device, which has strong adaptability and can reduce the space occupied by the discharge drilling tool.

Compared with the existing technology, the articulated crane can adapt to the tight discharge of drilling tools and realize the grabbing of pipes without manual intervention. Single grabbing can be realized from both sides and the middle, and then the pipes can be realized through the support device. Complete positioning, strong adaptability, can reduce the space occupied by the discharge drilling tool.

The articulated crane uses double-action clamping clamps and moving supports to cooperate, and can carry out single, double, and triple pipe grabbing (with three pipes, the diameter of which is within 5 7/8") and transfer work. It can clamp different drilling tools within a large outer diameter range, and the working capacity covers pipes with a diameter of 88.9mm to 508mm, and the clamping is stable.

When the joint crane is moving or stopping, a rotation damping system is installed inside the clamping mechanism, so that when the whole joint crane rotates or stops, the inside of the clamp will not produce a large shake, and the clamping pipe is increased. safety, while improving the performance of the clamping device itself.

The joint hanger is equipped with a swing damping mechanism between the clamping device and the telescopic arm, so that the clamping device and the clamping pipe will not produce a large shake during the luffing process of the joint hanger, and the safety of the clamping pipe will be enhanced. It improves the applicability of the joint hanging itself.

The joint hanger adds an inclination adjustment mechanism in the clamping mechanism. When the center of gravity of the drilling tool is not in the center of the clamping device and tilts after being hoisted, the center of the drilling tool can be fine-tuned through the inclination adjustment mechanism to make it tend to be horizontal. Facilitate the movement of drilling tools.

Description of drawings:

Fig. 1 is a schematic diagram of the overall structure of the utility model;

Fig. 2 is a perspective view of the clamping device of the present invention;

Fig. 3 is the front view of the clamping device of the present invention;

Fig. 4 is a side view of the clamping device of the present invention;

Fig. 5 is a sectional view of the clamping device A-A of the present invention;

Fig. 6 is a top view of the clamping device of the present invention;

Fig. 7 is a partial sectional view of the clamping device X of the present invention;

Fig. 8 is a B-B sectional view of the clamping device of the present invention;

Fig. 9 is a schematic diagram of joint hanging of the first slewing support sectional view of the clamping device of the present invention;

Fig. 10 is a partially enlarged view of the connection between the clamping device and the telescopic arm of the present invention;

Marks in the figure: 1-support mechanism, 11-base fixing seat, 12-first slewing support, 13-base slewing seat, 2-connection mechanism, 21-main arm, 22-main arm hydraulic cylinder, 23-pair Arm, 24-Jib Cylinder, 25-Telescopic Arm, 26-Telescopic Arm Cylinder, 27-Damping Cylinder, 28-Pin Sensor, 3-Clamping Device, 31-Conversion Joint, 32-Telescopic Jacket, 321 -The first pin shaft, 322-round slider, 323-round slider baffle plate, 324-round slider cover plate, 325-first-stage damping cylinder, 33-installation frame, 331-waist hole, 332-chute, 34 -Second slewing support, 341-outer ring gear, 342-inner ring, 35-sliding frame, 351-slider, 36-beam, 37-clamping mechanism, 371-clamping pliers, 3711-support plate, 3712 -arc plate, 372-clamping driver, 373-connecting rod, 374-fixed support, 375-moving support, 376-fixed frame, 38-sliding drive, 39-clamping mechanism reducer.

Detailed ways

The utility model will be further described in detail below in conjunction with examples and specific implementation methods. However, it should not be understood that the scope of the above-mentioned themes of the present utility model is limited to the following embodiments, and all technologies realized based on the content of the present utility model belong to the scope of the present utility model.

As shown in Figure 1-10, a new type of articulated crane is mainly composed of a supporting mechanism 1, a connecting mechanism 2 and a clamping device 3.

Referring to Fig. 1, Fig. 2 and Fig. 10, in this embodiment, the supporting mechanism 1 is composed of a base fixing seat 11, a first slewing support 12 and a pedestal slewing seat 13, and the connecting mechanism 2 is composed of a main arm 21, a main arm fluid Cylinder 22, auxiliary arm 23, auxiliary arm hydraulic cylinder 24, telescopic arm 25, telescopic arm hydraulic cylinder 26, damping liquid cylinder 27 and pin sensor 28, clamping device 3 is composed of conversion joint 31, telescopic jacket 32, mounting frame 33 , The second rotary support 34, the sliding frame 35, the beam 36, the clamping mechanism 37, the sliding driver 38 and the clamping mechanism reducer 39 are composed.

The base fixing seat 11 is fixedly connected to the foundation, the first slewing support 12 is fixedly connected to the base fixing seat 11, the base slewing seat 13 is fixedly connected to the first slewing support 12, and the first slewing support 12 is formed by the ring gear and the outer ring, the inner gear ring and the outer ring can rotate relatively, the inner gear ring is fixedly connected to the base fixing seat 11, the outer ring is fixedly connected to the base slewing seat 13, and the inner gear ring and the outer ring are connected through rollers. The inner ring gear of the first slewing support 12 is driven to rotate through the hydraulic motor and the speed reduction mechanism installed inside the base slewing seat 13, thereby driving the relative rotation between the inner ring gear and the inner ring, because the outer ring and the base slewing seat 13 is fixedly connected, so the rotation of the outer ring drives the base swivel seat 13 to rotate, so that the base swivel seat 13 drives the connecting mechanism 2 and the clamping device 3 to rotate, and the support mechanism 1 is the fixed basis for the entire joint crane work.

The main arm 21 is respectively movably connected with the base revolving seat 13 and the auxiliary arm 23 through the pin shaft, and in addition, the main arm hydraulic cylinder 22 is connected between the main arm 21 and the base revolving seat 13 through the pin shaft to realize the lifting and lowering of the main arm 21 , the lifting of the main arm 21 is completed by the expansion and contraction of the main arm hydraulic cylinder 22, and the auxiliary arm hydraulic cylinder 24 that realizes the lifting of the auxiliary arm 23 is connected between the main arm 21 and the auxiliary arm 23 through a pin shaft, and the lifting of the auxiliary arm 23 Complete by the expansion and contraction of the secondary arm hydraulic cylinder 24, the telescopic arm 25 is installed inside the secondary arm 23, the telescopic arm 25 and the secondary arm 23 are connected with the telescopic arm hydraulic cylinder 26 by the pin shaft, and the telescopic arm 25 is in the secondary arm 23. Sliding is accomplished through the expansion and contraction of the telescopic arm hydraulic cylinder 26, and the expansion and contraction of the telescopic arm 25 can be used for fine-tuning of the lifting height.

Referring to Fig. 2 to Fig. 9, in this embodiment, the clamping device 3 includes a conversion joint 31, a telescopic outer casing 32 connected with the conversion joint 31 through a pin shaft, a mounting frame 33 slidingly connected with the telescopic casing 32, and a mounting frame 33 the second slewing support 34 that is fixedly connected, the sliding frame 35 that is fixedly connected with the second slewing support, the beam 36 that is slidably connected with the sliding frame 35 and the two clamping frames that are fixedly connected with the two ends of the beam 36 Mechanism 37, two sliding drive devices 38 that drive the sliding frame 35 and the beam 36 to slide relative to each other. In this embodiment, the sliding driving device 38 is a hydraulic cylinder, and the conversion joint 31 can rotate around the pin shaft to ease the lifting. When the clamping device 3 shakes for heavy objects, the rigidity damage to the pin shaft will be caused. The sliding connection between the mounting frame 33 and the telescopic jacket 32 can buffer the rigid impact when the clamping device 3 is hoisted or put down the suspended object. The sliding frame 35 The way of sliding connection with the beam 36 is to adjust the center of gravity of the object to be grasped. When the center of gravity of the object to be grasped is unstable when the center of gravity is lifted, the center of gravity of the object to be grasped can be adjusted by sliding the sliding frame 35 to prevent the object from being grasped Overturning occurs, the two ends of the sliding drive device 38 are fixedly connected with the sliding frame 35 and the clamping mechanism 37 respectively, and the sliding driving device 38 starts when the center of gravity of the grasped object needs to be adjusted, and drives the sliding frame 35 along the beam 36 for sliding.

In this embodiment, the clamping mechanism 37 includes two clamping jaws 371 that can be opened and closed symmetrically, two clamping drivers 372 that can drive the clamping jaws 371 to open and close, and one that keeps the two clamping jaws 371 synchronized. The connecting rod 373, a fixed frame 376 for fixing the clamping clamp 371, the clamping clamp 371 is made up of a support plate 3711 and an arc plate 3712, and the support plate 3711 and the arc plate 3712 are welded and connected, and the clamping driver 372 is One liquid cylinder, the fixed frame 376 is fixedly connected with the beam 36, the arc plate 3712 is composed of two curved surfaces with opposite bending directions, the clamping mechanism 37 uses two clamping pliers 371 to cooperate with each other to grasp, and at the same time The circular arc plate 3712 of the clamping pliers 371 has a special curved surface transition design. The upper half of the circular arc plate 3712 is mainly used to clamp large-diameter pipes, and the lower half of the circular arc plate 3712 is mainly for realizing When the pipes are closely arranged, it is convenient to grab a single pipe from the middle of the pipe. The clamping mechanism 37 can also include a fixed support 374 fixedly connected with the clamping pliers 371, and a movable support 375 slidingly connected with the fixed support 374. The pipe is stabilized to prevent the pipe from overturning, and the fixed support 374 is the fixed basis of the mobile support 375 .

Referring to Fig. 2, Fig. 3 and Fig. 6, a primary damping liquid cylinder 325 is respectively arranged on both sides of the telescopic casing 32, and the piston rod and the cylinder body of the primary damping liquid cylinder 325 pass through the pin shaft and the conversion joint 31 and the telescopic casing respectively. 32 is movably connected, and the one-stage damping cylinder 325 is to prevent the violent swing of the part below the telescopic overcoat 32 during the movement process when the clamped object is picked up.

Referring to Fig. 2, Fig. 3 and Fig. 8, the telescopic sleeve 32 is slidably connected with the installation frame 33 through the first pin shaft 321, and the front and rear side walls of the installation frame 33 are provided with waist-shaped holes 331, through which the first pin shaft 321 passes. After the waist-shaped hole 331 is fixed on the mounting frame 33 by chucks and screws, the first pin shaft 321 slides up and down in the waist-shaped hole 331, thereby driving the telescopic jacket 32 to slide up and down on the mounting frame 33, which can buffer the clamping device 3 Rigid impact when lifting or lowering the clamped object. In addition, in order to make the sliding of the telescopic jacket 32 on the mounting frame 33 smooth and stable, a vertically downward chute 332 is also provided on the four side walls of the mounting frame 33, and the chute 332 on each side wall of the mounting frame 33 332 quantity is not less than 1, and in order to achieve the best effect, the quantity of chute 332 on each side wall of mounting frame 33 is 2, that is to say, the quantity of chute 332 on the four side walls of mounting frame 33 is 8, in order to cooperate with the use of the chute 332, a circular slider 322 that can slide freely in the chute 332 is installed in the corresponding chute 332, the circular slider 322 passes through the telescopic sleeve 32, and passes through the circular slider baffle 323 and The cover plate 324 of the circular slider is pressed in the slide groove 322 .

Referring to Fig. 5, a connecting rod 373 is connected between the two clamping pliers 371. The function of the connecting rod 373 is to keep the synchronization of the two clamping pliers 371. To connect, the connecting rod 373 can only be arranged obliquely, and cannot be arranged horizontally or vertically. If it is arranged horizontally or vertically, the clamping pliers 371 will not work normally.

Referring to Fig. 7, the contact surface between the sliding frame 35 and the beam 36 is a semi-enveloping surface, and the three surfaces of the semi-enveloping surface are fixed with sliders 351 as inner linings, and the sliders 351 are fixed on the sliding frame 35 by welding. Above, in order to reduce the friction generated when the crossbeam 36 and the slider 351 slide, the slider 351 is evenly coated with a lubricating substance, so that the sliding frame 35 can slide conveniently and without obstacles.

Referring to Fig. 1, the first slewing support 12 includes an inner ring gear and an outer ring, the inner ring gear and the outer ring can rotate relatively, the inner ring gear is fixedly connected to the base fixing seat 11, and the outer ring is fixedly connected to the base rotating seat 13, The inner ring gear of the first slewing support 12 is driven to rotate through the hydraulic motor and the speed reduction mechanism installed in the slewing seat 13 of the base. The inner ring gear and the outer ring are connected by rollers. When the inner ring gear is driven, the outer ring and the inner ring The ring gear rotates relative to each other, so that the base swivel seat 13 drives the connecting mechanism 2 and the clamping device 3 to rotate.

Referring to Fig. 8, the second slewing support 34 includes an inner ring 342 and an outer ring gear 341, the sliding frame 35 and the outer ring gear 341 are fixedly connected by screws, the mounting frame 33 and the inner ring 342 are fixedly connected by screws, and the inner ring 342 It can rotate relative to the outer ring gear 341. The second slewing support 34 is provided with a clamping mechanism reducer 39. The clamping mechanism reducer 39 drives the outer ring gear 341 to rotate, so that the outer ring gear 341 and the inner ring 342 generate relative rotation. . When the outer ring gear 341 and the inner ring 342 rotate relatively, the rotation of the sliding frame 35 and the following parts relative to the mounting frame 33 can be realized. The outer ring gear 341 and the inner ring 342 are connected by rollers. When the outer ring gear 341 is on When the clamping mechanism is driven by the reducer 39 to rotate, the outer ring gear 341 and the inner ring 342 rotate relatively through the rollers. In order to reduce the friction between the rollers and the outer ring gear 341 and the inner ring 342, a special The oil inlet device lubricates the rollers.

With the above-mentioned structure, the clamping device 3 of the articulated crane is no longer limited to grabbing a single pipe and can only be operated from the two sides of the pipe discharge, and also avoids manual operation, reduces the risk of operation, and improves work efficiency.

The operating process of the present utility model is as follows:

Taking the clamping drilling tool as an example, the drilling tools are placed in multiple layers and rows; A series of operations can lift the clamping device 3 to the axial center position of the drilling tool, adjust the opening size of the clamping tongs 371 according to the number and diameter of drill pipes to be grasped, and then adjust the main arm 21, auxiliary arm 23 and telescopic The operation of the arm 25 causes the clamping device 3 to press down, and when the specified position is reached and the drilling tool to be grasped enters the opening of the clamping tongs 371, the clamping driver 372 (here, a hydraulic cylinder) is activated to make the clamping tongs 371 is closed, and the clamping device 3 is lifted slightly, and after the drilling tool is compressed with the mobile support 375, the drilling tool can be moved.

If the axial centerline of the drilling tool is not parallel to the longitudinal centerline of the clamping device 3 in the horizontal plane, start the clamping mechanism reducer 39 installed on the second slewing support 34 to drive the sliding frame 35 and the following parts to rotate until Until the longitudinal centerline of the crossbeam 6 is parallel to the axial centerline of the drilling tool; vertically lower the clamping device 3 to an appropriate position and when the drilling tool to be grasped enters the opening of the clamping jaw 371, start the clamping driver 372 (Here is a hydraulic cylinder) so that the clamping pliers 371 are closed, and the clamping device 3 is lifted slightly. After the drilling tool is compressed with the mobile support 375, the drilling tool can be moved. After the drilling tool leaves the plane of the drilling tool yard, if the beam 36 and the drilling tool are tilted, start the sliding driver 38 (here is a hydraulic cylinder) to fine-tune the position of the center of gravity of the drilling tool relative to the conversion joint 31, so that the drilling tool tends to be horizontal Then start the transfer.

In this embodiment, the movable support 375 sets different positions according to the diameter of the drilling tool, and is locked by the pin shaft. When grabbing the drilling tool, the clamping device 3 is placed first, and then the clamping driver 372 is driven to clamp.

By controlling the lifting of the main arm 21 and the auxiliary arm 23 and the rotation of the base swivel seat 13, the clamping device 3 and the drilling tool are hoisted above the power catwalk, and the clamping device 3 is rotated again to make the captured pipe and the catwalk Then, slowly lower the drilling tool to the bearing surface of the drilling tool, start the clamping driver 372 to drive the clamping pliers 371 to loosen slowly, place the drilling tool on the catwalk, and rotate the base rotary seat 13 to clamp the clamping device 3. Move away to complete the transfer of the drilling tool.

Claims (10)

1. A novel articulated crane, which includes a support mechanism fixedly connected to the foundation; a connection mechanism that is movably connected with the support mechanism and a clamping device that is movably connected with the connection mechanism, characterized in that: The support mechanism includes a base fixing seat fixedly connected to the foundation, a first slewing support fixedly connected to the base fixing seat, and a base slewing seat fixedly connected to the first slewing support; The connection mechanism includes a main arm connected with the base revolving seat through a pin shaft, a main arm hydraulic cylinder connected with the main arm and the base revolving seat through a pin shaft respectively, and a main arm hydraulic cylinder connected with the main arm through a pin shaft. The auxiliary arm connected with the shaft, the auxiliary arm hydraulic cylinder connected with the auxiliary arm and the main arm respectively through pin shafts, the telescopic arm slidingly connected with the auxiliary arm, and the auxiliary arm respectively connected with the auxiliary arm in the auxiliary arm A telescopic arm hydraulic cylinder fixedly connected to the end of the telescopic arm, damping hydraulic cylinders provided on both sides of the connection between the telescopic arm and the clamping device, and a cylinder connecting the telescopic arm and the clamping device pin sensor; The clamping device includes a conversion joint, a telescopic outer casing connected to the conversion joint through a pin shaft, a mounting frame slidably connected to the telescopic casing, a second slewing support fixedly connected to the mounting frame, and The second slewing support is fixedly connected to the sliding frame, the beam is slidably connected to the sliding frame, and two clamping mechanisms are fixedly connected to the two ends of the beam, and two drive the sliding frame A sliding drive device that slides relative to the beam. 2. A new type of articulated crane according to claim 1, characterized in that: the clamping mechanism includes two symmetrically arranged clamping jaws that can be opened and closed, and two clamps that can drive the clamping jaws to open and close. Clamping driver, a connecting rod to keep the two clamps synchronous, a fixed frame for fixing the clamping clamps, the clamping clamps are composed of a support plate and an arc plate, the support plate and The arc plate is fixedly connected, and the fixing frame is fixedly connected to the beam. 3. A new type of articulated crane according to claim 2, characterized in that: the clamping mechanism also includes a fixed support fixedly connected with the clamping pliers, a movable support slidingly connected with the fixed support , the arc plate is composed of two sections of curved plates with opposite bending directions. 4. A new type of articulated crane according to claim 2, characterized in that: the two sides of the telescopic jacket are respectively provided with a first-stage damping liquid cylinder, and the piston rod and the cylinder body of the first-stage damping liquid cylinder respectively pass through The pin shaft is connected with the conversion joint and the telescopic outer casing. 5. A new type of articulated crane according to claim 2, characterized in that: the telescopic jacket is connected to the mounting frame through a first pin shaft, and waist-shaped joints are provided on the front and rear side walls of the mounting frame. The first pin shaft passes through the waist-shaped hole and is fixed with the telescopic jacket by a chuck, and the first pin shaft slides up and down in the waist-shaped hole. 6. A new type of articulated crane according to claim 2, characterized in that: the four side walls of the mounting frame are provided with vertically downward sliding grooves, the number of the sliding grooves is ≥ 4, and each The number of chutes on one side wall is ≥ 1, and the telescopic jacket is equipped with a circular slider at the position corresponding to the chute, and the circular slider slides up and down in the chute, and the circular slider slides up and down in the chute. The slider is pressed in the chute through the baffle plate of the slider, the cover plate of the slider and the screws. 7. A new type of articulated crane according to claim 2, characterized in that: the two ends of the connecting rod are respectively connected to the two clamping pliers through pin shafts, and the connecting rod is arranged obliquely. 8. A new type of articulated crane according to claim 2, characterized in that: the contact surface between the sliding frame and the beam is a half-enveloping surface, and three surfaces of the half-enveloping surface are fixed with The sliders are lined. 9. A new type of articulated crane according to claim 1, characterized in that: the second slewing support includes an inner ring gear and an outer ring, the inner ring gear and the outer ring can rotate relatively, and the inner ring The ring gear is fixedly connected with the base fixing seat, and the outer ring is fixedly connected with the base rotary seat. 10. A new type of articulated crane according to claim 1, characterized in that: the first slewing support includes an inner ring and an outer ring gear, the sliding frame is fixedly connected with the outer ring gear, and the installation The frame is fixedly connected with the inner ring, and the inner ring and the outer ring gear can rotate relative to each other. A clamping mechanism reducer is provided on the first slewing support, and the clamping mechanism reducer drives the outer ring gear. The ring gear rotates, so that the outer ring gear and the inner ring rotate relative to each other.