A kind of drill string automatic discharge device
The invention belongs to oil drilling and extracting equipment technical field, relate to a kind of well pipe handling equipment for capturing, moving, discharge thribble.
Pipe racking is in drilling process, realize the conveying of thribble between thribble platform and well head and the process of discharge.Need in drilling operation course to carry out a large amount of discharge operations to drill string, comprise the discharge of drill string on well site and the discharge on rig floor.Particularly in the process of making a trip, need repeatedly to repeat drill string discharge operation.Drill string discharge operation not only spends a large amount of time, and labour intensity is large, and security risk is high.Therefore, realizing the automation discharge of drill string, the gentle operating efficiency of Automated water of the drill string discharge that allows driller away from deathtrap, alleviate labor strength, improves, is the effective way realizing safety, healthy drilling well and improve drilling efficiency.
At present, conventional oil rig adopts manual work to coordinate pneumatic puffer to realize mostly, and this discharge, conveying thribble operation, need rigger to climb to quadruple board platform and be engaged in work high above the ground, abnormally dangerous and labour intensity large, and operating efficiency is low.In recent years, there is the typical structure pattern such as column pipe pick up and lay down system and quadruple board platform well pipe handling equipment.
Column pipe pick up and lay down system, main employing installation manipulator arm and trolley body on the column being parallel to derrick realize system and realize along the rectilinear motion of horizontal guide rail with around the rotation of column own axes within the scope of 180 °, thus realize capturing drilling rod (thribble), synchronously realize up and down and the transmission of front and back.Its advantage is that structure is relatively simple, and take up space little, working range is wide, be easy to Automated condtrol, shortcoming needs the column of mounting strap guide rail on rig floor and powerful little motor vehicle drive system, and overall stability against overturning is also influenced, and range of application is very limited.
Quadruple board platform well pipe handling equipment, main employing is integrated into the cantilevered multifunction manipulator on quadruple board platform, column upper end guides and puts into quadruple board platform discharge frame by TRAJECTORY CONTROL pattern automatically that adopt translation to add rotation, or column upper end is moved to well head top position from quadruple board platform discharge frame.System is easy to realize emissions operation, takes up space little, and quality is light, but the radius of clean-up is little, controls complicated, usually need with other exhaust system of rig floor with the use of.But due to outstanding hold drill string time derrick in epimere and quadruple board platform stressing conditions comparatively complicated, be unfavorable for transforming with rig; Meanwhile, gang drill post and drill string are vertically put, less stable, at present not yet industrial applications.
Summary of the invention
The present invention is directed to above-mentioned Problems existing, provide a kind of supporting capacity strong, meet drilling environment, long service life and Fully-mechanized a kind of well pipe handling equipment of working continuously, to realize safety, healthy drilling well and to improve drilling efficiency.
The technical solution adopted for the present invention to solve the technical problems is: comprise derrick, rig floor, quadruple board platform, top manipulator, lower robot, lower robot support, thribble platform, there is quadruple board platform the centre of derrick, rig floor is arranged at the bottom of derrick, thribble platform is connected on rig floor, top manipulator is arranged on and connects on quadruple board platform, realize ring set and the horizontal feed of drill string, and coordinate lower robot to realize the discharge of thribble on quadruple board platform; Lower robot is connected on lower robot support, realize the clamping of drill string, lifting, horizontal feed and transfer, and coordinate top manipulator to realize the discharge of thribble at thribble platform, lower robot support is on thribble platform, and the working region met when lower robot moves covers whole thribble platform.
Described top manipulator, comprise top sliding rail, top sliding trolley, pipe-grabbing mechanical arm, mechanical arm and telescopic oil cylinder, top sliding rail guide rail is connected to quadruple board platform front portion, top sliding trolley is stuck in sliding rail by roller, driven by motor and realize the movement in orbit of top sliding trolley, mechanical arm is connected on the sliding trolley of top, comprise pipe-grabbing mechanical arm, mechanical arm and telescopic oil cylinder composition, pipe-grabbing mechanical arm is fixed on mechanical arm front end, mechanical arm is inside and outside bar telescoping mechanism, telescopic oil cylinder is inside and outside mechanical arm in bar telescoping mechanism, realize the automatic telescopic of mechanical arm.
Described lower robot is by the sliding trolley of pinned connection on lower robot support, comprise bottom pipe-grabbing mechanical arm, lower robot mount pad, lower robot oil cylinder I, lower robot oil cylinder II, bottom sliding trolley, little cloth manipulator linkage, bottom pipe-grabbing mechanical arm is connected to the front end of lower robot linkage, rear end is connected with lower robot mounting seat, bottom pipe-grabbing mechanical arm is fixed on mechanical arm assembly front end, can be realized the clamping of the thribble of different size by hydraulic oil cylinder driving.Mechanical arm bearing, on sliding trolley, can move with bottom sliding trolley.
Described lower robot support by pinned connection on the otic placode of thribble platform front portion, comprise rack body, bottom sliding trolley track, bottom sliding trolley, bottom slippage motor, rack body is that lead frame structure is for bottom sliding trolley track and bottom sliding trolley, and bear the weight of lower robot and clamping thribble, bottom sliding trolley is stuck in two tracks by roller, driven by bottom slippage motor and realize the movement in orbit of bottom sliding trolley, lower robot is fixed on the sliding trolley of bottom, thus realize lower robot with the movement in orbit of bottom sliding trolley, the working region met when lower robot moves covers whole thribble platform.
Described thribble platform, comprises thribble platform main body, thribble fixed block and connects otic placode.Thribble fixed block and otic placode are arranged in main body, and thribble fixed block is connected with cylindrical boss, for the accurate location of thribble, thribble platform by pinned connection on base.
Useful benefit of the present invention is: reasonable integral structure, and achieve the automated job of the crawl of thribble, movement, discharge, mechanization degree is high, reduces the labour intensity of workman, improves operating efficiency; Avoid work high above the ground, allow driller away from deathtrap, enhance security reliability, applied widely, can be directly installed on supporting on drill floor being suitable for, be the effective way realizing safety, healthy drilling well and improve drilling efficiency.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is Fig. 1 top manipulator front view;
Fig. 4 is the top manipulator top view of Fig. 1;
Fig. 5 is the lower robot top view of Fig. 1;
Fig. 6 is the lower robot front view of Fig. 1;
Fig. 7 is the lower robot structural representation of Fig. 1;
Fig. 8 is the bottom pipe-grabbing mechanical arm structural representation of Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the invention will be further described.
In Fig. 1-2: there is quadruple board platform 5 at the middle part of derrick 2, rig floor 1 is arranged at bottom, top is sagging has top to drive 4, top manipulator 6 is welded on quadruple board platform 5, top manipulator 6 can move on quadruple board platform, vertical platform 7 of following is connected on rig floor 1, lower robot support 9 is followed on platform 7 by pinned connection vertical, lower robot 8 by pinned connection on lower robot support 9, top manipulator 6 ring set stands the top with 3, the bottom of lower robot 8 ring set thribble 3, thribble 3 is promoted and movement on lower robot support 9 and mobile time working region cover whole vertical with platform 7, top manipulator 6 and lower robot 8 realize the clamping of thribble 3 on quadruple board platform 5, discharge and horizontal feed.
In Fig. 3-4: manipulator 6 comprises slippage roller 11, top sliding trolley 12, top sliding rail 13, supervisor's manipulator 14, mechanical arm 15, telescopic oil cylinder 16, pipeline drag chain 17, top manipulator move motor 18.Slippage roller 11 is arranged on the bottom of top sliding trolley 12, realizes top sliding trolley 12 and moves left and right on quadruple board platform 5 along top sliding rail 13, and top sliding rail 13 is channel-section steel form, is welded on quadruple board platform 5.Mechanical arm 15 is fixed on top sliding trolley 12, and be inside and outside bar telescoping mechanism, telescopic oil cylinder 16 is arranged on inside and outside mechanical arm 15 in bar telescoping mechanism, is realized the automatic telescopic of mechanical arm 15 by telescopic oil cylinder 16.Pipeline drag chain 17 one end is fixed in mechanical arm 15 on bar, and one end is fixed on the outer bar of mechanical arm 15, for laying the pipeline of telescopic oil cylinder 16.Top manipulator moves motor 18 and is arranged on quadruple board platform 5 both sides, is hydraulic drive motor, moves left and right along top sliding rail 13 for driving sliding trolley 12 on quadruple board platform 5.
In Fig. 5: thribble platform 7 comprises: thribble platform main body 19, thribble locating piece 20, connection otic placode 21, installation bearing pin 22.Thribble platform main body 19 is that frame construction is for bearing thribble weight and realizing the installation of thribble platform 7 on rig floor 1.Thribble locating piece 20 is cylindrical boss, is welded on thribble platform 7, for realizing the accurate location of every root thribble 3, connecting otic placode 21 and being welded in thribble platform main body 19, realize lower robot support 9 be arranged on thribble platform 7 by installation bearing pin 22.
In Fig. 6-8: lower robot 8 comprises: bearing pin 23, lower robot mount pad 24, lower robot oil cylinder I25, lower robot oil cylinder II26, lower robot connection set square 27, lower robot linkage 28, bottom pipe-grabbing mechanical arm 29 are installed.The bearing that lower robot mount pad 24 is Plate Welding, its underpart realizes the connection with sliding trolley 31 by installing bearing pin 23.Lower robot linkage 28 connects set square 27 by 4 groups of connecting rods by 2 groups of lower robot and forms two parallelogram sturcutres, the rear end of lower robot linkage 28 is connected with the top of lower robot mount pad 24, one end of lower robot oil cylinder I25 is connected to lower robot and connects on set square 27, the other end is connected on bottom pipe-grabbing mechanical arm 29, one end of lower robot oil cylinder II26 is connected with lower robot linkage 28, the other end is connected with lower robot Connection Block 24, and realize the flexible of bottom pipe-grabbing mechanical arm 29 by lower robot oil cylinder I25 and lower robot oil cylinder II26, promote, horizontal feed and transfer thribble 3.
Bottom pipe-grabbing mechanical arm 29 is by bottom pipe-grabbing mechanical arm binding clip 30, bottom pipe-grabbing mechanical arm oil cylinder 31, support and connection plate 32 and bearing pin 40.Two, bottom pipe-grabbing mechanical arm binding clip 37 is mounted on the top of support and connection plate 39, one end of two bottom pipe-grabbing mechanical arm oil cylinders 38 is connected to the bottom of support and connection plate 39, the other end connects bottom pipe-grabbing mechanical arm binding clip 37 respectively and connects, realized the easy motion of bottom pipe-grabbing mechanical arm binding clip 37 by two, left and right bottom pipe-grabbing mechanical arm oil cylinder 31, realize the clamping of different-diameter thribble 3.Bottom pipe-grabbing mechanical arm 29 is connected and fixed by the front end of bearing pin 40 with lower robot linkage 28.
Lower robot support 9 comprises: rack body 36, bottom sliding rail 30, bottom sliding trolley 31, lower robot move limit base 32, lower robot moves motor 33.Rack body 36 is welded by H profile steel, and for installing bottom sliding trolley track 30, lower robot moves limit base 32 and lower robot moves motor 33.Bottom sliding trolley track 30 is channel-section steel, is welded on rack body 36.Bottom sliding trolley 31 is the sliding trolley of band roller 34, is arranged in the bottom sliding trolley track 30 of both sides by roller 34 clamping.Roller 34 and roller installing plate 35 form a whole, and are installed on bottom sliding trolley 31 by bolt.Bottom sliding trolley 31 top is plane, plane has pin-and-hole for installing lower robot 8.Lower robot moves the column that limit base 32 is band rubber buffer seat, for limiting the shift position of lower robot sliding trolley 31.Lower robot moves motor 33 for hydraulic drive motor, moves left and right along bottom sliding trolley track 30 for driving bottom sliding trolley 31.
Specific works flow process is: during trip-out, top is driven 4 and is put forward thribble 3 from well head, lower robot oil cylinder I25 and lower robot oil cylinder II26 synchronously stretches out, drive the linkage 28 launching lower robot, make the pipe-grabbing mechanical arm 29 of lower robot 8 reach well head thribble position, realize from the bottom of thribble 3 clamping of thribble 3, lifting.Simultaneously, top manipulator telescopic oil cylinder 16 stretches out, top manipulator telescopic arm 15 is driven to make the ring set manipulator 14 of top manipulator 6 reach well head thribble 3 position, ring set manipulator 14 action, realize holding up from the ring of top to thribble 3 of thribble 3, thus realize holding action under the pressed on ring of whole thribble 3.After holding under the pressed on ring completing thribble 3, lower robot oil cylinder I25 and lower robot oil cylinder II26 synchronously retracts, top manipulator telescopic oil cylinder 16 is retracted simultaneously, the top of the thribble 3 that ring is held arrives fingerboard 10 opening part of predetermined discharge areas, after this, thribble 3 is transported to precalculated position by top manipulator sliding trolley 12 and lower robot sliding trolley 31 synchronizing moving.Then, the linkage 28 of lower robot moves and transfers on predetermined thribble fixed block 20 stably by thribble 3, the pipe-grabbing mechanical arm oil cylinder 31 of the pipe-grabbing mechanical arm 29 of lower robot 8 moves, pipe-grabbing mechanical arm 29 is unclamped, release thribble 3, ring set manipulator with upper back manipulator unclamps, and release thribble 3, completes the clamping of a thribble, conveying, discharge and release movement.Circulation like this, realizes the discharge of all thribbles 3.During lower brill, workflow is contrary to the above.