CN112012679A

CN112012679A - Low-position righting linear mechanical arm for transmitting offshore platform pipe column vertical root

Info

Publication number: CN112012679A
Application number: CN202011032373.9A
Authority: CN
Inventors: 王安义; 张斌; 赵鹏; 陈佳; 刘江; 周小峰
Original assignee: China National Petroleum Corp; Baoji Oilfield Machinery Co Ltd; CNPC National Oil and Gas Drilling Equipment Engineering Technology Research Center Co Ltd
Current assignee: China National Petroleum Corp; Baoji Oilfield Machinery Co Ltd; CNPC National Oil and Gas Drilling Equipment Engineering Technology Research Center Co Ltd
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2020-12-01
Anticipated expiration: 2040-09-27
Also published as: CN112012679B

Abstract

The invention discloses a low-position straight-line righting mechanical arm for transferring a stand column of a tubular column of an ocean platform, which comprises a derrick, wherein a supporting leg I and a supporting leg II are fixedly connected onto the derrick, the supporting leg I and the supporting leg II are fixedly connected onto a guide rail beam, a cantilever beam is movably connected onto the guide rail beam, the cantilever beam is movably connected with a pulley, a righting mechanical arm is arranged at the upper part of the pulley, the righting mechanical arm is connected with a controller, and the controller is connected with a hydraulic power source.

Description

Low-position righting linear mechanical arm for transmitting offshore platform pipe column vertical root

Technical Field

The invention belongs to the technical field of offshore oil mechanical equipment, and relates to a low-position righting linear mechanical arm for transferring a stand of a tubular column of an offshore platform.

Background

The offshore oil drilling platform is key equipment for deep-sea oil and gas exploration and development, and the drilling system is a core component of the offshore oil drilling platform. A key operation flow in the drilling process is the transmission of the pipe column, and the key operation flow comprises the process that a single pipe column is built from a storage yard to a wellhead, then the single pipe column is transmitted to a stand platform, then the stand platform is transmitted to the center of the wellhead, and then the single pipe column returns to the stand platform from the center of the wellhead or is disassembled into a single pipe column and returns to the storage yard of the pipe column. In order to improve the efficiency and the automation degree of the back-and-forth reciprocating transmission of the stand pipe between the stand platform and the center of a wellhead of a drill floor, the conventional pipe column processing mechanized equipment comprises a column pipe arrangement device (a column pipe arrangement machine) and a bridge pipe arrangement device (a bridge crane and a drill floor manipulator), and the two kinds of pipe column processing equipment are both arranged inside the derrick or at the front end of the derrick on the basis of the stand platform, namely, the stand platform is relatively close to the center of the wellhead, namely, the stand platform is positioned on the drill floor. The problem that arises is that when all the strings are fully deployed at the stand, the centre of gravity of the entire string is high and the platform stability is poor. Therefore, if the stand platform is removed from the drilling platform surface, the stand platform is made to sink and arranged on a deck of the platform, the gravity center of the whole system when the stand platform is fully arranged with the stands can be obviously reduced, the stability of the system is improved, the stand platform is arranged at a low position at the moment, the drilling platform surface is at a high position, the distance between the stand platform and the center of a wellhead is obviously increased, the existing pipe arranging equipment and the bridge type pipe arranging equipment cannot meet the requirement of transferring pipe column stands on different platforms, the pipe column stands cannot be transferred to the center of the wellhead of the drilling platform surface from the stand platform, and therefore brand new mechanical equipment needs to be designed, such as a high-position clamping linear manipulator, a pipe column sliding groove, a low-position straightening linear manipulator and the like. The high-position clamping linear manipulator is mainly used for clamping the upper part of the stand of the tubular column at a high position so as to transfer the stand of the tubular column back and forth between the center of the stand platform tubular column stand and the center of a wellhead; the pipe column chute is mainly used for lifting a pipe column stand from a low position to enable the pipe column stand to be lifted to a drilling platform surface, or supporting the pipe column stand at a high position to enable the pipe column stand to be lowered to a stand platform; the low-position righting linear mechanical arm is mainly used for righting the lower part of the stand of the tubular column at a low position so that the stand of the tubular column is transferred back and forth between the center of the stand platform tubular column stand and the center of a well head.

Disclosure of Invention

The invention aims to provide a low-position righting linear mechanical arm for transmitting a stand of a tubular column of an ocean platform, and solves the problem of low-position righting in the process of reciprocating transmission of a long-distance stand of the tubular column between a stand platform and the center of a wellhead of a drilling platform surface in the prior art.

The invention adopts the technical scheme that the low-position straight line righting mechanical arm for ocean platform pipe column stand transmission comprises a derrick, wherein a supporting leg I and a supporting leg II are fixedly connected to the derrick, the supporting leg I and the supporting leg II are fixedly connected to a guide rail beam, a cantilever beam is movably connected to the guide rail beam, the cantilever beam is movably connected to a pulley, a righting mechanical arm is arranged at the upper part of the pulley, the righting mechanical arm is connected with a controller, and the controller is connected with a hydraulic power source.

The invention is also characterized in that:

the cantilever beam is fixedly connected with a rack along the long edge direction, the pulley is provided with a walking motor, the walking motor is connected with a controller, and a main shaft of the walking motor is provided with a gear matched with the rack.

The trolley is fixedly connected with a drag chain, one end of the drag chain is fixedly connected with the trolley, the other end of the drag chain is fixedly connected with a drag chain support, the drag chain support is arranged at the tops of the supporting leg I and the supporting leg II, and the drag chain support and the guide rail beam are arranged in parallel.

The top of the guide rail beam is fixedly connected with a telescopic hydraulic cylinder, and a piston rod of the telescopic hydraulic cylinder is fixedly connected below the cantilever beam.

The guide rail beam comprises a guide rail beam I-beam, stop rods are fixedly connected to two ends of the guide rail beam I-beam, a wheel rolling support is fixedly connected to the bottom of the cantilever beam, a plurality of cantilever beam idler wheels are arranged on the wheel rolling support in a matched mode, and the cantilever beam idler wheels are matched with the guide rail beam I-beam.

The cantilever beam comprises a cantilever beam I-beam, and two ends of the cantilever beam I-beam are fixedly connected with stop levers.

The tackle comprises a frame body, a plurality of tackle rollers are arranged at the bottom of the frame body in a matched mode, the tackle rollers are matched with the cantilever beam I-shaped beam, and the top of the frame body is fixedly connected with the centering manipulator.

The righting manipulator comprises a roll-over stand, the roll-over stand is located on a frame body, the tail of the roll-over stand is connected with the frame body through a hydraulic cylinder I, and the rear end of the roll-over stand is connected with the frame body through a pin shaft.

The front end of the roll-over stand is provided with a swing arm I and a swing arm II, the swing arm I is connected with the front end of the roll-over stand through a pin shaft b, and a hydraulic cylinder II is arranged between the swing arm I and the front end of the roll-over stand; the swing arm II is connected with the front end of the roll-over stand 18 through a pin shaft a, and a hydraulic cylinder III is arranged between the swing arm II and the front end of the roll-over stand;

i top in swing arm is provided with and rights arm I, rights arm I and is connected with swing arm I through the round pin axle, rights and has set hydraulic cylinder IV between arm I and the swing arm I, II tops in swing arm are provided with and rights arm II, rights arm II and is connected with swing arm II through the round pin axle, rights and has set hydraulic cylinder V between arm II and the swing arm II.

The front ends of the centralizing arm I and the centralizing arm II are respectively provided with a V-shaped roller.

The invention has the beneficial effects that: the invention relates to a low-position righting linear mechanical arm for transmitting a stand column of an ocean platform, which solves the problem that in the prior art, tubular column processing mechanical equipment is difficult to meet low-position righting in the reciprocating transmission process of long-distance tubular column stands on different table tops between a stand column table and the center of a wellhead of a drilling table top; the pipe column can be stretched out twice on a limited structure, is suitable for long-distance pipe column stand transmission, and has the characteristics of simple structure and convenience in operation; the device can be turned to a vertical state, meets the requirement of reciprocating motion in a narrow space, saves the operation space and is convenient for the operation of other equipment; the reciprocating low-position righting transmission of the tubular column vertical roots of different specifications is met, the integrated level is high, the automation degree is high, and the transmission efficiency and the safety of the tubular column vertical roots are improved.

Drawings

FIG. 1 is a schematic structural diagram of a low-position righting linear manipulator for offshore platform pipe string stand transfer according to the present invention;

FIG. 2 is a schematic diagram of a suspended arm beam of a low-position straight-line righting mechanical arm for offshore platform pipe column stand transfer according to the present invention in an extended state;

FIG. 3 is a schematic view of the low position straight righting robot of the present invention in an initial state for offshore platform pipe string stand transfer;

FIG. 4 is an A-directional view of a low position centralizing linear robotic arm for offshore platform string stand transfer in accordance with the present invention;

FIG. 5 is a view in the direction B of a low position centralizing linear robotic arm for offshore platform string stand transfer in accordance with the present invention;

FIG. 6 is a cross-sectional view A-A of a low-position centralizing linear robotic arm for offshore platform string stand transfer in accordance with the present invention;

FIG. 7 is a top view of a low position centralizing linear robotic arm for offshore platform string stand transfer in accordance with the present invention;

FIG. 8 is a schematic view of a vertical state of a centering arm I and a centering arm II in the low-position centering linear mechanical arm for offshore platform pipe column stand transfer.

In the figure, 1, a guide rail beam; 2. a support leg I; 3. a support leg II; 4. a cantilever beam; 5. a pulley; 6. a drag chain; 7. a telescopic hydraulic cylinder; 8. a tow chain support; 9. a travel motor; 10. a rack; 11. a guide rail beam I-beam; 12. cantilever beam roller; 13. a stop lever; 14. a cantilever beam I-beam; 15. a pulley roller; 16. a roller bracket; 17. a frame body; 18. a roll-over stand; 19. a hydraulic cylinder I; 20. a pin shaft; 21. a swing arm I; 22. a swing arm II; 23. a pin shaft b; 24. a hydraulic cylinder II; 25. a pin shaft a; 26. a hydraulic cylinder III; 27. a righting arm I; 28. a pin shaft; 29. a hydraulic cylinder IV; 30. a righting arm II; 31. a pin shaft; 32. a hydraulic cylinder V; a V-shaped roller; 34. erecting a pipe column; 35. a derrick.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The invention relates to a low-position straight-line righting mechanical arm for transmitting a stand of a tubular column of an ocean platform, which comprises a derrick 35, wherein a supporting leg I2 and a supporting leg II 3 are fixedly connected to the derrick 35, the supporting leg I2 and the supporting leg II 3 are fixedly connected to a guide rail beam 1, a cantilever beam 4 is movably connected to the guide rail beam 1, the cantilever beam 4 is movably connected with a pulley 5, a righting mechanical arm is arranged at the upper part of the pulley 5, the righting mechanical arm is connected with a controller, and the controller is connected with a hydraulic power source.

As shown in fig. 2 and 3, a rack 10 is fixedly connected to the cantilever beam 4 along the long side direction, a traveling motor 9 is arranged on the trolley 5, the traveling motor 9 is connected with a controller, and a main shaft of the traveling motor 9 is provided with a gear which is matched with the rack 10. The trolley 5 can be engaged by a travel motor 9 mounted at the tail and a rack 10 mounted at the top of the cantilever 4 to effect forward extension and retraction on the cantilever 4 to thereby centralise the transfer of the lower portion of the tubular string stand 34 between the stand and the centre of the wellhead. One end of the drag chain 6 is movable therewith.

A drag chain 6 is fixedly connected to the pulley 5, one end of the drag chain 6 is fixedly connected to the pulley 5, the other end of the drag chain 6 is fixedly connected to a drag chain support 8, the drag chain support 8 is arranged at the tops of the landing leg I2 and the landing leg II 3, and the drag chain support 8 and the guide rail beam 1 are arranged in parallel. The cantilever beam 4 can be extended and retracted forward on the guide rail beam 1 by means of a telescopic hydraulic cylinder 7 to thereby centralise the transfer of the lower part of the pipe string stand 34 between the stand and the centre of the wellhead. The drag chain 6 is provided with cables, signal lines, hydraulic pipelines and the like, and provides power and signal transmission channels for the whole device.

The top of the guide rail beam 1 is fixedly connected with a telescopic hydraulic cylinder 7, and a piston rod of the telescopic hydraulic cylinder 7 is fixedly connected below the cantilever beam 4.

The guide rail beam 1 comprises a guide rail beam I-beam 11, stop rods 13 are fixedly connected to two ends of the guide rail beam I-beam 11, a wheel-rolling support 16 is fixedly connected to the bottom of the cantilever beam 4, a plurality of cantilever beam idler wheels 12 are arranged on the wheel-rolling support 16 in a matched mode, and the cantilever beam idler wheels 12 are matched with the guide rail beam I-beam 11. The I-beam of the guide rail beam I-beam 11 needs to be matched with the cantilever beam roller 12, so that the reciprocating and stable sliding of the cantilever beam roller 12 in the I-beam is facilitated, and the phenomenon that the cantilever beam roller 12 jumps and turns over when rolling in the I-beam is avoided; carry on spacingly when cantilever beam 4 moves to guide rail roof beam 1 foremost or rearmost end, the bolt fastening is passed through on I2 of landing leg and II 3 of landing leg in the lower part of guide rail roof beam, and the bolt hole adopts rectangular hole form, conveniently carries out the installation regulation of guide rail roof beam 1 according to the position at well head center.

The cantilever beam 4 comprises a cantilever beam I-beam 14, and two ends of the cantilever beam I-beam 14 are fixedly connected with stop levers 13. The I-beam of the cantilever beam I-beam 14 is selected to be matched with the pulley roller 15, so that the pulley roller 15 can slide in the I-beam in a reciprocating and stable manner, and the pulley roller 15 cannot jump and roll over when rolling in the I-beam; the tail part of the cantilever beam I-beam 14 is provided with a roller bracket 16, the bottom of the roller bracket 16 is provided with cantilever beam rollers 12, and the cantilever beam I-beam is symmetrically arranged front and back and left and right. Under the action of the telescopic hydraulic cylinder 7, the cantilever beam 4 can slide back and forth along the guide rail beam I-beam 11, and the roller bracket 16 plays a role in guiding and positioning during sliding to prevent deviation; the front end and the rear end of the cantilever beam I-beam 14 are also provided with stop rods 13, and when the pulley 5 moves to the foremost end or the rearmost end of the cantilever beam 4, the limiting is carried out.

Tackle 5 includes support body 17, and the bottom of support body 17 sets a plurality of coaster gyro wheels 15, coaster gyro wheel 15 and cantilever beam I-beam 14 phase-matchs, and the manipulator is right in the top rigid coupling of support body 17.

The righting manipulator comprises a turning frame 18, the turning frame 18 is located on a frame body 17, the tail of the turning frame 18 is connected with the frame body 17 through a hydraulic cylinder I19, and the rear end of the turning frame 18 is connected with the frame body 17 through a pin shaft 20. The overturning of the overturning frame 18 from the horizontal state to the vertical state can be realized through a hydraulic cylinder I19.

As shown in fig. 4 to 8, the front end of the roll-over stand 18 is provided with a swing arm i 21 and a swing arm ii 22, the swing arm i 21 is connected with the front end of the roll-over stand 18 through a pin b23, a hydraulic cylinder ii 24 is arranged between the swing arm i 21 and the front end of the roll-over stand 18, and the swing arm i 21 can rotate around a pin 23 through the hydraulic cylinder ii 24, so that the stand of the pipe column is centered; the swing arm II 22 is connected with the front end of the roll-over stand 18 through a pin shaft a25, and a hydraulic cylinder III 26 is arranged between the swing arm II 22 and the front end of the roll-over stand 18; the swing arm II 22 can rotate around the pin shaft 25 through the hydraulic cylinder III 26, so that the stand of the pipe column is righted; the swing arm I21 and the swing arm II 22 are arranged in a staggered mode from high to low, and the centering operation of the vertical pipe column is facilitated.

The top of the swing arm I21 is provided with a centering arm I27, the centering arm I27 is connected with the swing arm I21 through a pin shaft 28, a hydraulic cylinder IV 29 is arranged between the centering arm I27 and the swing arm I21, the centering arm I27 can rotate around the pin shaft 28 through the hydraulic cylinder IV 29, and the conversion of the centering arm I27 from a horizontal state to a vertical state is realized; the top of the swing arm II 22 is provided with a righting arm II 30, the righting arm II 30 is connected with the swing arm II 22 through a pin shaft 31, a hydraulic cylinder V32 is arranged between the righting arm II 30 and the swing arm II 22, the righting arm II 30 can rotate around the pin shaft 31 through the hydraulic cylinder V32, and the transition from the horizontal state to the vertical state of the righting arm II 30 is achieved. The centralizing arm I27 and the centralizing arm II 30 are arranged in a staggered mode from high to low, and therefore the centralizing of the stand of the tubular column is facilitated.

V-shaped rollers 33 are arranged at the front ends of the centralizing arm I27 and the centralizing arm II 30. Is beneficial to the guiding of the stand of the pipe column.

The invention relates to a low-position righting linear mechanical arm for transferring a stand of a stand pipe column of an ocean platform, wherein the working process of transferring the righting stand pipe column 34 from the center of the stand pipe column to the center of a wellhead is as follows:

step 1, installing a low-position straightening linear mechanical arm

Referring to fig. 3 and 5, the cantilever beam 4 of the low-position straightening linear mechanical arm is in a retraction state, the roll-over stand 18 of the tackle 5 is in a vertical state, the swing arm I21 and the swing arm II 22 at the front end of the roll-over stand 18 are in a horizontal state, and the straightening arm I27 at the top of the swing arm I21 and the straightening arm II 30 at the top of the swing arm II 22 are in a vertical state. The guide rail beam 11 is firmly fixed with the supporting leg I2 and the supporting leg II 3. And hoisting the low-position straightening linear mechanical arm to fix the support leg I2 and the support leg II 3 on the derrick 35 through bolts. Installing a drag chain 6, wherein one end of the drag chain 6 is connected to the pulley 5, and the other end of the drag chain 6 is fixed on a drag chain bracket 8 close to the center side of a wellhead and is connected with a pipeline, a cable, a signal wire and the like in the drag chain 6;

and step 2, as shown in fig. 6, operating and controlling a rotating hydraulic cylinder II 24 of the swing arm I21 and a rotating hydraulic cylinder III 26 of the swing arm II 22 to enable the swing arms to be in an opening state.

Step 3, operating the hydraulic cylinder I19 to slowly turn the roll-over stand 18 from a vertical state to a horizontal state; simultaneously operating the hydraulic cylinder IV 29 to enable the centralizing arm I27 to be in a vertical state; and simultaneously, the hydraulic cylinder V32 is operated to enable the centralizing arm II 30 to be in a vertical state, as shown in figure 8.

Step 4, as shown in fig. 4, adjusting the position of the pulley 5 to be aligned with the center of a stand pipe column, and operating a hydraulic cylinder IV 29 to enable the centralizing arm I27 to be changed from a vertical state to a horizontal state; and simultaneously, the hydraulic cylinder V32 is operated to enable the righting arm II 30 to be changed from the vertical state to the horizontal state.

And 5, operating the rotating hydraulic cylinders II 24 and III 26 of the control swing arms I21 and II 22 to hold the pipe column stand 34 as shown in FIG. 4.

Step 6, operating and controlling the telescopic hydraulic cylinder 7 to enable the cantilever beam 4 to slowly slide to the foremost end of the guide rail beam 1; simultaneously, operating and controlling the walking motor 18 to make the pulley 5 slowly slide to the foremost end of the cantilever beam 4, as shown in figure 1;

thus, the centralizing transfer operation of the low-position centralizing linear mechanical arm from the stand pipe string stand central position to the wellhead central position at the low-position centralizing pipe string stand 34 is completed. Then, the low-position straightening linear mechanical arm returns to the initial position, and the specific working process is as follows:

and 8, operating and controlling a rotating hydraulic cylinder II 24 of the swing arm I21 and a rotating hydraulic cylinder III 26 of the swing arm II 22 to slowly open the swing arms.

Step 9, operating the hydraulic cylinder IV 29 to enable the centralizing arm I27 to be changed from a horizontal state to a vertical state; at the same time, the hydraulic cylinder V32 is operated to change the righting arm II 30 from the horizontal state to the vertical state, as shown in FIG. 8. Or directly operating the hydraulic cylinder I19 to slowly move the roll-over stand 18 from the horizontal state to the vertical state, as shown in figure 5.

Step 10, operating and controlling the telescopic hydraulic cylinder 7 to slowly retract the cantilever beam 4 to the tail end of the guide rail beam 1; and meanwhile, the traveling motor 9 is operated and controlled, so that the pulley 5 is slowly withdrawn to the tail end of the cantilever beam 4 and returned to the center position of the stand pipe column.

To this end, the transfer of the tubular string stand 34 from the stand pipe stand center to the wellhead center is completed.

The invention relates to a low-position righting linear mechanical arm for transmitting a stand column of an ocean platform, which solves the problem that in the prior art, tubular column processing mechanical equipment is difficult to meet low-position righting in the reciprocating transmission process of long-distance tubular column stands on different table tops between a stand column table and the center of a wellhead of a drilling table top; the pipe column can be stretched out twice on a limited structure, is suitable for long-distance pipe column stand transmission, and has the characteristics of simple structure and convenience in operation; the device can be turned to a vertical state, meets the requirement of reciprocating motion in a narrow space, saves the operation space and is convenient for the operation of other equipment; the reciprocating low-position righting transmission of the tubular column vertical roots of different specifications is met, the integrated level is high, the automation degree is high, and the transmission efficiency and the safety of the tubular column vertical roots are improved.

Claims

1. The utility model provides a low level is right straight line arm for transmission of platform tubular column grudging post, a serial communication port, including derrick (35), the rigid coupling has landing leg I (2) and landing leg II (3) on derrick (35), landing leg I (2) and landing leg II (3) rigid coupling have on guide rail roof beam (1), swing joint has cantilever beam (4) on guide rail roof beam (1), cantilever beam (4) swing joint has coaster (5), coaster (5) upper portion is provided with right the manipulator, right the manipulator and be connected with the controller, the controller is connected with hydraulic power source.

2. The low-position straight-line righting mechanical arm for the offshore platform pipe column stand transmission is characterized in that a rack (10) is fixedly connected to the cantilever beam (4) along the long edge direction, a traveling motor (9) is arranged on the trolley (5), the traveling motor (9) is connected with a controller, a main shaft of the traveling motor (9) is provided with a gear, and the gear is matched with the rack (10).

3. The low-position straight righting mechanical arm for the offshore platform pipe column stand transfer is characterized in that a drag chain (6) is fixedly connected to the trolley (5), one end of the drag chain (6) is fixedly connected to the trolley (5), the other end of the drag chain (6) is fixedly connected to a drag chain support (8), the drag chain support (8) is installed at the tops of the support leg I (2) and the support leg II (3), and the drag chain support (8) and the guide rail beam (1) are arranged in parallel.

4. The low-position straight righting mechanical arm for the offshore platform pipe column stand transfer as claimed in claim 1, wherein a telescopic hydraulic cylinder (7) is fixedly connected to the top of the guide rail beam (1), and a piston rod of the telescopic hydraulic cylinder (7) is fixedly connected to the lower portion of the cantilever beam (4).

5. The low-position straight-line righting mechanical arm for the offshore platform pipe column stand transfer is characterized in that the guide rail beam (1) comprises an I-shaped guide rail beam (11), stop rods (13) are fixedly connected to two ends of the I-shaped guide rail beam (11), a wheel-rolling support (16) is fixedly connected to the bottom of the cantilever beam (4), a plurality of cantilever beam rollers (12) are arranged on the wheel-rolling support (16), and the cantilever beam rollers (12) are matched with the I-shaped guide rail beam (11).

6. The low-position straight righting mechanical arm for transferring the stand string of the offshore platform pipe column according to claim 1, wherein the cantilever beam (4) comprises an I-shaped cantilever beam (14), and stop rods (13) are fixedly connected to two ends of the I-shaped cantilever beam (14).

7. The low-position straight righting mechanical arm for transferring the offshore platform pipe column stand is characterized in that the pulley (5) comprises a frame body (17), a plurality of pulley rollers (15) are arranged at the bottom of the frame body (17), the pulley rollers (15) are matched with the cantilever beam I-beam (14), and a righting mechanical arm is fixedly connected to the top of the frame body (17).

8. The low-position straight-line righting mechanical arm for transferring the offshore platform pipe column stand is characterized in that the righting mechanical arm comprises a turnover frame (18), the turnover frame (18) is located on a frame body (17), the tail portion of the turnover frame (18) is connected with the frame body (17) through a hydraulic cylinder I (19), and the rear end of the turnover frame (18) is connected with the frame body (17) through a pin shaft (20).

9. The low-position righting linear mechanical arm for the offshore platform pipe column stand transfer is characterized in that a swing arm I (21) and a swing arm II (22) are arranged at the front end of the roll-over stand (18), the swing arm I (21) is connected with the front end of the roll-over stand (18) through a pin b (23), and a hydraulic cylinder II (24) is arranged between the swing arm I (21) and the front end of the roll-over stand (18); the swing arm II (22) is connected with the front end of the roll-over stand (18) through a pin shaft a (25), and a hydraulic cylinder III (26) is arranged between the swing arm II (22) and the front end of the roll-over stand (18);

the utility model discloses a hydraulic cylinder V (32) is set between arm I (21) and the swing arm II (22) that the arm I (21) top of swing arm is provided with right arm I (27), right arm I (27) and be connected with swing arm I (21) through round pin axle (28), set hydraulic cylinder IV (29) between arm I (27) and swing arm I (21), swing arm II (22) top is provided with right arm II (30), right arm II (30) and be connected with swing arm II (22) through round pin axle (31), set hydraulic cylinder V (32) between arm II (30) and swing arm II (22).

10. The low-position straight righting mechanical arm for transferring the stand of a pipe string of an offshore platform as claimed in claim 9, wherein the front ends of the righting arm I (27) and the righting arm II (30) are provided with V-shaped rollers (33).