CN103244062A - Automatic pipe arranging system for marine drilling platform - Google Patents
Automatic pipe arranging system for marine drilling platform Download PDFInfo
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- CN103244062A CN103244062A CN2013101897109A CN201310189710A CN103244062A CN 103244062 A CN103244062 A CN 103244062A CN 2013101897109 A CN2013101897109 A CN 2013101897109A CN 201310189710 A CN201310189710 A CN 201310189710A CN 103244062 A CN103244062 A CN 103244062A
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- 238000005553 drilling Methods 0.000 title claims abstract description 64
- 210000001503 joint Anatomy 0.000 claims description 14
- 238000007599 discharging Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 238000010276 construction Methods 0.000 abstract description 6
- 238000004904 shortening Methods 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000003032 molecular docking Methods 0.000 description 5
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
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Abstract
The invention discloses an automatic pipe arranging system for a marine drilling platform. The automatic pipe arranging system for the marine drilling platform comprises a derrick, at least one set of pipe grabber for grabbing and arranging drill pipes, a hydraulic catwalk, a mouse hole and a PLC (Programmable Logic Controller) control unit for controlling the whole system, wherein the derrick is fixed on the drilling platform, and the mouse hole is fixed below the drilling platform. The automatic pipe arranging system for the marine drilling platform is characterized in that a guide rail stand column is provided with an upper mechanical arm and a lower mechanical arm, the front ends the upper mechanical arm and the lower mechanical arm are both provided with a rotation type connecting base, the rotation type connecting base of the upper mechanical arm is at least provided with a pipe grabbing hand and a make-up and break-out device, and the rotation type connecting base of the lower mechanical arm is at least provided with a pipe grabbing hand. The automatic pipe arranging system for the marine drilling platform has the advantages of achieving the abutting joint of the drill pipes in the air and being capable of automatically adjusting the position of the upper drill pipe and the lower drill pipe during an abutting joint process, shortening abutting joint time, improving working efficiency and reducing construction cost.
Description
Technical field
The present invention relates to a kind of wellbore construction equipment, specifically, relate to a kind of marine drilling platform automatic tube-arranging system.
Background technology
In the wellbore construction operation process, drilling tool (drilling rod, drill collar, sleeve pipe etc.) butt joint thribble is a very important operation, and each thribble need be docked twice.Existing offshore boring island pipe system is to achieve a butt joint by iron driller or Power Tong mostly in docking operation, each butt joint all will be placed into drilling tool in the rat hole to be carried out, take out in rat hole the butt joint back, the position that needs the manual synchronizing drilling rod in the docking operation, make that the whole docking operation time is longer, inefficiency.In addition, the drilling tool thribble delivery ratio after the butt joint is more consuming time, does not also have special equipment at present.Therefore, need a kind of new technical scheme to solve above-mentioned technical problem.
Summary of the invention
The purpose of this invention is to provide a kind of aerial butt joint of drilling tool (drilling rod, drill collar, sleeve pipe etc.), marine drilling platform automatic tube-arranging system that drilling tool thribble or single conveying are convenient, safe and reliable of realizing.
The technical scheme that the present invention solves the problems of the technologies described above employing is:
Marine drilling platform automatic tube-arranging system, comprise derrick, at least one group of PLC control device that is used for grasping and discharging the tube-grasping device of drilling rod, the hydraulic catwalk that matches with tube-grasping device, the rat hole that matches with tube-grasping device and control total system, described derrick is fixed on the offshore boring island, described hydraulic catwalk is used for drilling rod is delivered to assigned address, is convenient to the extracting of tube-grasping device; Described rat hole is fixed on the below of offshore boring island, for the butt joint of drilling rod provides the space; Described tube-grasping device comprises: the guide rail upright columns that is used for fixing mechanical arm, with 360 ° of rotary seats of honour that are connected, guide rail upright columns top, with 360 ° of rotary following of being connected in guide rail upright columns bottom, be fixed on downing track and the uplink path that is fixed on crown on the offshore boring island, on described, following seat is separately fixed at, in the downing track, described guide rail upright columns is provided with two mechanical arms up and down, on described, be provided with rotary Connection Block on the front end of following mechanical arm, at least being provided with one on the described rotary Connection Block of going up mechanical arm grabs on pipe hand and one, unload buckle device, be provided with one at least on the rotary Connection Block of described mechanical arm down and grab the pipe hand.
At least be provided with one on the described rotary Connection Block of going up mechanical arm and grab the pipe hand, be provided with one on the rotary Connection Block of described mechanical arm down at least and grab pipe hand and one and go up, unload buckle device.
Describedly go up, unload buckle device and be provided with the real-time monitor controller of moment of torsion.
Also comprise gantry robot arm device, described gantry robot arm device comprises two portal frames that be arranged in parallel, be arranged at hoisting cross beam between two portal frames, be fixed on the swing arm on the hoisting cross beam and be fixed on the grabbing device of swing arm bottom, the upper and lower end of described portal frame all is separately fixed on derrick and the offshore boring island by orbit, and described hoisting cross beam is fixed on the portal frame by fluctuating orbit.
Described grabbing device by three grab the pipe hand form, wherein at least one is grabbed pipe and is provided with falling proof device on hand.
Described hoisting cross beam is two up and down, but the top swing type of described swing arm be fixed on down on the hoisting cross beam.
The amplitude of fluctuation of described swing arm be about each 90 °.
The present invention implements remote monitoring control by the PLC control device to each parts, realizes the Long-distance Control operation, reaches the standard of the unmanned operation of offshore boring island, reduces the danger of bad weather construction, ensures the offshore boring island personal safety.
Advantage of the present invention is: realize that drilling rod docks in the air, can regulate the position of upper and lower drilling rod in the docking operation automatically, avoid, take place in the shackle process generation of stuck phenomenon, can shorten docking time, increase work efficiency, reduce the use of iron driller or Power Tong, reduce construction cost, can dock or thribble is transported to well head or thribble is transported to assigned address from pipe slacking block drill pipe joint by gantry robot arm device simultaneously.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1.
Fig. 2 is the structural representation of embodiments of the invention 2.
Fig. 3 is the structural representation of gantry robot arm device.
Fig. 4 is the grabbing device structural representation of gantry robot arm device.
Fig. 5 is the structural representation of embodiment 3.
Fig. 6 is the structural representation of embodiment 4.
Wherein: 1, derrick, 2, tube-grasping device, 3, hydraulic catwalk, 4, rat hole, 5, offshore boring island, 6, drilling rod, 7, mechanical arm, 8, guide rail upright columns, 9, the seat of honour, 10, following, 11, downing track, 12, uplink path, 13, grab the pipe hand, 14, go up, unload buckle device, 15, the real-time monitor controller of moment of torsion, 16, gantry robot arm device, 17, portal frame, 18, hoisting cross beam, 19, swing arm, 20, grabbing device, 21, orbit, 22, fluctuating orbit, 23, multistage hydraulic cylinder, 24, falling proof device, 25, rotary Connection Block.
The specific embodiment
As Fig. 1, Fig. 3 and shown in Figure 4, marine drilling platform automatic tube-arranging system, comprise derrick 1, at least one group of PLC control device (figure does not draw) that is used for grasping and discharging the tube-grasping device 2 of drilling rod 6, the hydraulic catwalk 3 that matches with tube-grasping device, the rat hole 4 that matches with tube-grasping device and control total system, derrick 1 is fixed on the offshore boring island 5, hydraulic catwalk 3 is used for drilling rod 6 is delivered to assigned address, is convenient to the extracting of tube-grasping device; Rat hole 4 is fixed on the below of offshore boring island, for the butt joint of drilling rod provides the space; Tube-grasping device comprises: the guide rail upright columns 8 that is used for fixing mechanical arm 7, with 360 ° of rotary seats of honour that are connected 9, guide rail upright columns 8 tops, with 360 ° of rotary following 10 of being connected in guide rail upright columns bottom, be fixed on downing track 11 and the uplink path 12 that is fixed on crown on the offshore boring island, on, following seat is separately fixed at, in the downing track, guide rail upright columns 8 is provided with two mechanical arms 7 up and down, last, be provided with rotary Connection Block 25 on the front end of following mechanical arm, the rotary Connection Block 25 of last mechanical arm is provided with one and grabs on pipe hand 13 and one, unload buckle device 14, on, unload buckle device 14 and be positioned at the below that pipe hand 13 is grabbed on top, the rotary Connection Block 25 of following mechanical arm is provided with two and grabs pipe hand 13, simultaneously last, unload buckle device 14 and be provided with the real-time monitor controller 15 of moment of torsion.
Transport for the ease of drill-pipe stand, pipe system also comprises gantry robot arm device 16, gantry robot arm device comprises two portal frames that be arranged in parallel 17, be arranged at hoisting cross beam 18 between two portal frames, be fixed on the swing arm 19 on the hoisting cross beam and be fixed on the grabbing device 20 of swing arm bottom, the upper and lower end of portal frame 17 all is separately fixed on derrick 1 and the offshore boring island 5 by orbit 21, and hoisting cross beam 18 is fixed on the portal frame by fluctuating orbit 22.In order to strengthen steadiness, hoisting cross beam 18 is two up and down, but be fixed on down on the hoisting cross beam top swing type of swing arm 19, drive swing arms 19 swings by multistage hydraulic cylinder 23 is set at last hoisting cross beam, about the amplitude of fluctuation of swing arm can reach 90 °.Convenient and swift in order to grasp thribble, grabbing device 20 is grabbed the pipe hand by three and is formed, for safety, grab pipe at middle one and be provided with falling proof device 24 on hand, with prevent thribble in transportation because cutting off the power supply or other reasons falls and causes the accident.
Here be noted that gantry robot arm device except having transportation thribble function, can also make up a joint to drilling rod or other drilling tools.Namely grasp drilling rod or other drilling tools (as: drill collar, sleeve pipe) by grabbing the pipe hand, cooperate iron driller or Power Tong to carry out single butt joint, be transported to assigned address after the butt joint again and place.Whole process can be finished separately, also can carry out synchronously with tube-grasping device, does not disturb mutually.
Comb step of the present invention is:
(1) connect power source, tube-grasping device is threaded to its hydraulic catwalk position that matches, and the pipe hand of grabbing on the last mechanical arm grasps first drilling rod;
(2) go up mechanical arm and rise to certain altitude, drilling rod becomes vertical state;
(3) two under on the mechanical arm grabbed the pipe hand and grasped second drilling rod, and above-mentioned to certain altitude, drilling rod becomes vertical state;
(4) going up mechanical arm descends, make the root drilling rod of winning be positioned at the top of second drilling rod, if skew has taken place in the position of upper and lower two drilling rods, can drive drilling rod by rotary Connection Block on the upper and lower mechanical arm and rotate the adjustment position of drilling rod up and down, the effect that reaches fine setting or proofread and correct guarantees that drilling rod passes the drilling rod centralizer up and down;
(5) last, shackle device action, with two drilling rods butt joints, last button process is implemented security control by the real-time monitor controller of moment of torsion;
(6) mechanical arm descends simultaneously up and down, drilling rod is placed in the rat hole, and after mechanical arm dropped to certain altitude down, two on the following mechanical arm grabbed the pipe hand and unclamped automatically and shrink, last mechanical arm unclamps after continuing to drop to certain altitude, the air operated slips chucking drilling rod of rat hole mouth;
(7) the pipe hand of grabbing of going up mechanical arm grasps the 3rd drilling rod and rises to certain altitude;
(8) two of mechanical arm grab the interior drilling rods of pipe hand grip rat hole down;
(9) go up mechanical arm and drop to certain altitude, make the 3rd drilling rod be positioned at the top of first drilling rod, pass the drilling rod centralizer;
(10) last, shackle device action docks drilling rod;
(11) upper and lower mechanical arm rises simultaneously, and it is standby that the drilling rod after the butt joint is drained into pipe slacking block, finishes butt joint comb process.
And in the comb process, gantry robot arm device can synchronously be transported to the drill-pipe stand in the pipe slacking block well head and use, and transportation and comb process are not disturbed mutually, independently carry out.
But whole comb, transportation be the PLC control device fully, realizes the Long-distance Control operation by the remote monitoring control instrument, reaches the standard of the unmanned operation of offshore boring island, reduces the danger of bad weather construction, ensures the offshore boring island personal safety.
As shown in Figure 2, the rotary Connection Block 25 of last mechanical arm is provided with two and grabs pipe hand 13, the rotary Connection Block 25 of following mechanical arm is provided with one and grabs on pipe hand 13 and one, unloads buckle device 14, go up, unload buckle device 14 and be positioned at the top that pipe hand 13 is grabbed in the bottom, on the while, unload buckle device 14 and be provided with the real-time monitor controller 15 of moment of torsion.
Other structures of present embodiment are with embodiment 1.
As shown in Figure 5, the rotary Connection Block 25 of last mechanical arm is provided with three and grabs pipe hand 13, the rotary Connection Block 25 of following mechanical arm is provided with two and grabs on pipe hand 13 and one, unloads buckle device 14, go up, unload buckle device 14 and be positioned at the top that pipe hand 13 is grabbed in the bottom, on the while, unload buckle device 14 and be provided with the real-time monitor controller 15 of moment of torsion.
Other structures of present embodiment are with embodiment 1.
As shown in Figure 6, the rotary Connection Block 25 of last mechanical arm is provided with one and grabs pipe hand 13, the rotary Connection Block 25 of following mechanical arm is provided with one and grabs on pipe hand 13 and one, unloads buckle device 14, go up, unload buckle device 14 and be positioned at the top that pipe hand 13 is grabbed in the bottom, on the while, unload buckle device 14 and be provided with the real-time monitor controller 15 of moment of torsion.
Other structures of present embodiment are with embodiment 1.
Claims (7)
1. marine drilling platform automatic tube-arranging system, comprise derrick, at least one group of PLC control device that is used for grasping and discharging the tube-grasping device of drilling rod, the hydraulic catwalk that matches with tube-grasping device, the rat hole that matches with tube-grasping device and control total system, described derrick is fixed on the offshore boring island, described hydraulic catwalk is used for drilling rod is delivered to assigned address, is convenient to the extracting of tube-grasping device; Described rat hole is fixed on the below of offshore boring island, for the butt joint of drilling rod provides the space; Described tube-grasping device comprises: the guide rail upright columns that is used for fixing mechanical arm, with 360 ° of rotary seats of honour that are connected, guide rail upright columns top, with 360 ° of rotary following of being connected in guide rail upright columns bottom, be fixed on downing track and the uplink path that is fixed on crown on the offshore boring island, on described, following seat is separately fixed at, in the downing track, it is characterized in that: described guide rail upright columns is provided with two mechanical arms up and down, on described, be provided with rotary Connection Block on the front end of following mechanical arm, at least being provided with one on the described rotary Connection Block of going up mechanical arm grabs on pipe hand and one, unload buckle device, be provided with one at least on the rotary Connection Block of described mechanical arm down and grab the pipe hand.
2. marine drilling platform automatic tube-arranging according to claim 1 system, it is characterized in that: be provided with one at least on the described rotary Connection Block of going up mechanical arm and grab the pipe hand, be provided with one on the rotary Connection Block of described mechanical arm down at least and grab pipe hand and one and go up, unload buckle device.
3. marine drilling platform automatic tube-arranging according to claim 1 and 2 system is characterized in that: describedly go up, unload buckle device and be provided with the real-time monitor controller of moment of torsion.
4. marine drilling platform automatic tube-arranging according to claim 1 and 2 system, it is characterized in that: also comprise gantry robot arm device, described gantry robot arm device comprises two portal frames that be arranged in parallel, be arranged at hoisting cross beam between two portal frames, be fixed on the swing arm on the hoisting cross beam and be fixed on the grabbing device of swing arm bottom, the upper and lower end of described portal frame all is separately fixed on derrick and the offshore boring island by orbit, and described hoisting cross beam is fixed on the portal frame by fluctuating orbit.
5. marine drilling platform automatic tube-arranging according to claim 4 system is characterized in that: described grabbing device is grabbed the pipe hand by three and is formed, and wherein at least one is grabbed pipe and is provided with falling proof device on hand.
6. marine drilling platform automatic tube-arranging according to claim 4 system, it is characterized in that: described hoisting cross beam is two up and down, but the top swing type of described swing arm be fixed on down on the hoisting cross beam.
7. marine drilling platform automatic tube-arranging according to claim 6 system is characterized in that: the amplitude of fluctuation of described swing arm be about each 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310189710.9A CN103244062B (en) | 2013-05-20 | 2013-05-20 | Marine drilling platform automatic tube-arranging system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310189710.9A CN103244062B (en) | 2013-05-20 | 2013-05-20 | Marine drilling platform automatic tube-arranging system |
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| CN103244062A true CN103244062A (en) | 2013-08-14 |
| CN103244062B CN103244062B (en) | 2015-11-25 |
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| CN201310189710.9A Active CN103244062B (en) | 2013-05-20 | 2013-05-20 | Marine drilling platform automatic tube-arranging system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104563912A (en) * | 2013-10-27 | 2015-04-29 | 中国石油化工集团公司 | Automatic operation system of drilling string |
| CN105863520A (en) * | 2016-05-13 | 2016-08-17 | 重庆勤牛工程机械有限责任公司 | Drill arm assembly of high speed hydraulic drill machine |
| WO2017166915A1 (en) * | 2016-03-29 | 2017-10-05 | 四川宏华石油设备有限公司 | Pipe processing device |
| CN108945298A (en) * | 2018-05-30 | 2018-12-07 | 武汉理工大学 | Detection support structure and its operating method under marine water |
| CN110092186A (en) * | 2019-05-24 | 2019-08-06 | 济南高维度智能科技有限公司 | Rod piece or pipe fitting clamping manipulator |
| CN110725655A (en) * | 2019-11-05 | 2020-01-24 | 中国海洋石油集团有限公司 | Drilling pipe processing workstation |
| CN113738292A (en) * | 2021-09-07 | 2021-12-03 | 兰州兰石石油装备工程股份有限公司 | Continuous tripping drilling machine of self-elevating platform |
| WO2022033401A1 (en) * | 2020-08-14 | 2022-02-17 | 四川宏华石油设备有限公司 | Pipe tool transferring system and conveying method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104563912B (en) * | 2013-10-27 | 2016-08-31 | 中国石油化工集团公司 | A kind of well drilling pipe column automation operating system |
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| WO2017166915A1 (en) * | 2016-03-29 | 2017-10-05 | 四川宏华石油设备有限公司 | Pipe processing device |
| CN105863520A (en) * | 2016-05-13 | 2016-08-17 | 重庆勤牛工程机械有限责任公司 | Drill arm assembly of high speed hydraulic drill machine |
| CN105863520B (en) * | 2016-05-13 | 2017-12-12 | 重庆勤牛工程机械有限责任公司 | A kind of drill boom assembly of high-speed hydraulic drilling machine |
| CN108945298B (en) * | 2018-05-30 | 2019-12-31 | 武汉理工大学 | Marine underwater detection support structure and operation method thereof |
| CN108945298A (en) * | 2018-05-30 | 2018-12-07 | 武汉理工大学 | Detection support structure and its operating method under marine water |
| CN110092186A (en) * | 2019-05-24 | 2019-08-06 | 济南高维度智能科技有限公司 | Rod piece or pipe fitting clamping manipulator |
| CN110725655A (en) * | 2019-11-05 | 2020-01-24 | 中国海洋石油集团有限公司 | Drilling pipe processing workstation |
| CN110725655B (en) * | 2019-11-05 | 2021-05-11 | 中国海洋石油集团有限公司 | Drilling pipe processing workstation |
| WO2022033401A1 (en) * | 2020-08-14 | 2022-02-17 | 四川宏华石油设备有限公司 | Pipe tool transferring system and conveying method |
| CN113738292A (en) * | 2021-09-07 | 2021-12-03 | 兰州兰石石油装备工程股份有限公司 | Continuous tripping drilling machine of self-elevating platform |
| CN113738292B (en) * | 2021-09-07 | 2023-05-26 | 兰州兰石石油装备工程股份有限公司 | Continuous tripping drilling machine with jack-up platform |
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Effective date of registration: 20180131 Address after: 226400, Jiangsu, Nantong province Rudong County town of Tong Tong Road No. 88 Patentee after: Jiangsu Rudong Jinyou Machinery Co. Ltd. Address before: 226400 Rudong County, Nantong Province town of West Road, No. 22, No. Patentee before: Liu Chengjian |
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