CN105604505B - A kind of bridge thribble pipe racking device and comb method - Google Patents
A kind of bridge thribble pipe racking device and comb method Download PDFInfo
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- CN105604505B CN105604505B CN201610001649.4A CN201610001649A CN105604505B CN 105604505 B CN105604505 B CN 105604505B CN 201610001649 A CN201610001649 A CN 201610001649A CN 105604505 B CN105604505 B CN 105604505B
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- thribble
- connecting rod
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- oil cylinder
- servo motor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
Abstract
The invention discloses a kind of bridge thribble pipe racking device, and it includes walking mechanism, column（1）, linear transmission mechanism, thribble clamping device, thribble lifting mechanism, linear transmission mechanism is by servomotor（2）, screw mandrel（3）And installed in screw mandrel（3）On sliding sleeve（4）Composition, screw mandrel（3）Along column（1）Length direction be rotatably mounted on column（1）On, servomotor（2）It is fixedly installed in column（1）On, servomotor（2）Output end and screw mandrel（3）Connection；The method that it also discloses bridge thribble comb.The beneficial effects of the invention are as follows：Automaticity is high, realizes the automatic-discharging of tubing string, can monitor thribble in real time stressing conditions, comb can be carried out to the thribble of different tube diameters, effectively avoids thribble by folder damage, improve drilling efficiency, safe and reliable.
Description
Technical field
The present invention relates to a kind of bridge thribble pipe racking device and comb method.
Background technology
The energy provides power for a national development, with China's rapid development of economy, demand of the China to the energy
It is gradually increased, turns into the consumption big country of petroleum gas.2014, China's oil external dependence degree accessed 59.5%, natural gas pair
Outer interdependency reaches 32.2%.Higher external dependence degree causes the energy security in China to be on the hazard, and increases China's energy and opens
Degree of having an effect can alleviate Pressure on Energy to a certain extent, but need high-tech, efficient petroleum drilling and mining equipment.
China's oil natural gas resource reserves are big, but lack efficient winning apparatus.Drilling well industry in China land is to new
Drilling equipment use is more careful, due to the domestic advanced rig in land and its relevant equipment slower development, and external new drilling well
Equipment price is expensive, therefore the drilling well service company of most domestic is unwilling to take the lead in attempting new technology, but allows other companies
First use, decide whether to use again according to using the quality of result.This careful behavior not only causes China's oil equipment
Slower development, also reduce the production efficiency of petroleum gas.In recent years, because each company progressively recognizes automated drilling
Potential benefit is huge, includes ensuring that drilling safety, improves drilling efficiency, reduces drilling period, improves drilling well economy etc.,
The demand trend of automated drilling equipment increasingly increases.
China land automated drilling slower development, part drilling company is also with traditional rotary drilling.Due to that can compile
Range controller（PLC）The sophisticated equipment such as popularization and iron driller on rig, automatic elevator, top drive is used so that modern drilling machine
Automaticity is higher.Drilling monitor system that electronic driller possesses, integrated drilling instrument, anticollision system etc. are that automation is bored
The important composition factor of well, its on-site wireless then developed communication, toxic gas detection, liquid is electric integrated and man-machine interface
The electronic driller of control is the trend of automatic drilling machine.Top drive technology is one of oil-well rig major transformation, and it is not only saved
Make up a joint the time, improve drilling safety, improve production efficiency, the function of bit freezing is also prevented with back reaming, in directed drilling mistake
Cheng Zhong, it can significantly reduce the total time that pulls out of hole.
Although there are the higher automation pipe system of integration module in foreign countries, expensive, maintenance cost is high, and system
Complicated, size is larger, takes larger derrick space, it is contemplated that China's land rig derrick geometry feature, uses foreign countries
Automation pipe system will largely change derrick geometry, or even can change drilling mode, therefore external pipe system
Do not promote the use of.
A kind of drilling platforms pipe system is disclosed in Chinese patent CN 200910009451.0, it includes multistation mouse
Hole, derrick, pipe-grabbing mechanical arm and iron driller, Multi-station rat hole provide at least two rat hole body drilling rods and insert station, in rat hole body
One-to-one corresponding is configured with drilling rod centralizer, lifting hydraulic cylinder, drilling rod buffer unit and lifting pulley group, by pipe-grabbing mechanical arm according to
Secondary pick up drilling rod is put into rat hole body and proposes that drilling rod is docked from rat hole body, and present invention also offers use said system
The method for carrying out comb.Present invention employs Multi-station rat hole structure, there is provided at least two comb stations, can be simultaneously by two
Root single tube is arranged in rat hole, and after the 3rd single tube connects, directly can be connected with remaining single tube.The system can not
Thribble is effectively protected, and is difficult the comb for being carried out continuously thribble.
201420856151.2 disclose a kind of coiled tubing automatic tube-arranging system in Chinese patent CN, including are actively driven
Chain wheel set and slave drive chain wheel set, active drive sprocket group include driving shaft, drive sprocket, primary transmission chain, one-level from
Moving axis and primary transmission sprocket wheel, drive sprocket and primary transmission sprocket wheel are connected by primary transmission chain, and active drive sprocket leads to
Driving shaft connection coaxial with roller of continuous oil pipe is crossed, drive sprocket group includes secondary transmission sprocket wheel, secondary transmission chain, three-level and passed
Movable sprocket, two level driven shaft, the Bidirectional-screw of torque limiter and 2 cun of pitch, three-level drive sprocket and torque limiter and 2 cun
For the Bidirectional-screw of pitch by the coaxial connection of two level driven shaft, the gear ratio of drive sprocket and primary transmission sprocket wheel is 52：39, three
The number of teeth of level drive sprocket is 64.This pipe system installation is complicated, implements relatively difficult, can not promote use.
A kind of Automatic pipe arranging system for marine drilling platform, including well are disclosed in 201310189710.9 in Chinese patent CN
Frame, at least one set of PLC controls for being used to capturing and discharging the tube-grasping device of drilling rod, hydraulic catwalk, rat hole and control total system
Device, the derrick are fixed on drilling platforms, and the rat hole is fixed on the lower section of drilling platforms, it is characterised in that：It is described to lead
Two mechanical arms up and down are provided with rail column, rotary connecting seat is provided with the front end of the upper and lower mechanical arm, it is described
Pipe hand and a upper, shackle device are grabbed at least provided with one on the rotary connecting seat of upper mechanical arm, the lower mechanical arm
On rotary connecting seat pipe hand is grabbed at least provided with one.The system can not effectively be protected to thribble, and be difficult continuous
The comb of thribble is carried out, complex operation, thribble can not be kept flat onto ground.
The content of the invention
The shortcomings that it is an object of the invention to overcome prior art, there is provided a kind of automaticity height, oneself for realizing tubing string
Dynamic discharge, the stressing conditions that thribble can be monitored in real time, comb can be carried out to the thribble of different tube diameters, effectively avoid thribble from being pressed from both sides
Damage, improve drilling efficiency, safe and reliable bridge thribble pipe racking device and comb method.
The purpose of the present invention is achieved through the following technical solutions：A kind of bridge thribble pipe racking device, it includes walking
Mechanism, column, linear transmission mechanism, thribble clamping device, thribble lifting mechanism, linear transmission mechanism is by servomotor, screw mandrel
And the sliding sleeve composition on screw mandrel, screw mandrel are rotatably mounted on column along the length direction of column, servomotor is fixed
It is installed on column, the output end of servomotor is connected with screw mandrel；
Described walking mechanism is by channel-section steel I, channel-section steel II, rotary shaft, upper backup pad, lower supporting plate, top chock, lower bearing
Seat, oscillating motor, servo motor A and gear composition, are provided with rack in channel-section steel I and channel-section steel II, upper backup pad parallel to
Lower supporting plate is set, and upper backup pad and lower supporting plate may be contained between channel-section steel I and channel-section steel II, and top chock is installed on support
Plate top surface, step are installed on the top surface of lower supporting plate, and the upper and lower side of rotary shaft is respectively arranged in top chock with
In bearing block, the top flange of the bottom of rotary shaft and column connects, oscillating motor be arranged at the top of top chock and its
Output end is provided with two servo motor A, two A pairs of servo motors with rotating axis connection between upper backup pad and lower supporting plate
Claim the both sides for being arranged at rotary shaft, two servo motor A output end is respectively connected with gear, wheel and rack engagement；
Described thribble clamping device is by clamping oil cylinder, servo motor B, cylinder, left caliper, right caliper body, limit baffle ring, drawing
Stretch spring, pressure sensor, bearing pin and cushion composition, cylinder to be horizontally disposed with, the left part of cylinder is provided with ring flange, servo
Motor B is arranged on the end face of ring flange and its output end is connected with ring flange, and bearing pin is perpendicular to cylinder and is fixed on cylinder
Right part, is hinged with left caliper and right caliper body arranged in a crossed manner on bearing pin, and the caudal peduncle of left caliper and right caliper body may be contained within cylinder
Interior, the working end of left caliper and right caliper body may be contained within the outside of cylinder, and the working end of left caliper and right caliper body is provided with circle
Shape groove, the surface of two circular troughs are provided with cushion, are provided with pressure sensor between left and right caliper and cushion, institute
The clamping oil cylinder stated is arranged in cylinder and is fixedly installed on ring flange, clamp be hinged with the piston rod of oil cylinder it is arranged in a crossed manner
Connecting rod I and connecting rod II, the caudal peduncle of connecting rod II and left caliper is hinged, and the caudal peduncle of connecting rod I and right caliper body is hinged, described stretching bullet
Spring is arranged between left caliper and the working end of right caliper body, and limit baffle ring is provided with extension spring, is provided with limit baffle ring
Arc groove；
Described thribble lifting mechanism is made up of elevating ram, adjustment oil cylinder, connecting rod A, connecting rod B and comb arm, lifting oil
Cylinder is perpendicular to column and is fixedly installed in sliding sleeve top, and one end of comb arm is articulated with the bottom of sliding sleeve, and connecting rod A one end is hinged
In on the piston rod of elevating ram, one end of connecting rod the A other end and connecting rod B is hinged, and the connecting rod B other end is hinged on comb arm
Middle part, the cylinder barrel for adjusting oil cylinder is articulated with the top surface of comb arm, and the piston rod for adjusting oil cylinder is articulated with the upper of servo motor B
End, described comb arm are articulated with servo motor B bottom.
It also includes computer and the data converter being connected with computer, and described data converter and two pressure pass
Sensor connects, described computer and servomotor, servo motor A, servo motor B, elevating ram, adjustment oil cylinder and clamping oil
Cylinder connects.
Described connecting rod I and connecting rod II is symmetrical arranged on clamping oil cylinder.
The inner side of upper rail, channel-section steel I and channel-section steel II bottom side plates is provided with the inside of described channel-section steel I and channel-section steel II top-side panels
It is provided with lower guideway.
Described upper backup pad and four corners of lower supporting plate are mounted on guide wheel, the guide wheel on upper backup pad
It is respectively arranged on two upper rails, the guide wheel on lower supporting plate is respectively arranged on lower guideway.
Two slide rails are provided with the inwall of described cylinder.
The hinged place between hinged place, connecting rod II and left caliper between described connecting rod I and right caliper body is mounted on living
Driving wheel, described two castors are respectively arranged in slide rail.
Multiple supports are provided between described upper backup pad and lower supporting plate.
A kind of comb method of bridge thribble pipe racking device, it comprises the following steps：
S1, walking mechanism rear shifting, control two servo motor A to export torque counterclockwise, and torque band moving gear does the inverse time
Pin is rotated, and gear is moved back on rack so that thribble clamping device is close to well head, after walking mechanism moves to suitable distance,
Close two servo motor A；
S2, thribble crawl, the piston rod of elevating ram is controlled to stretch out, elevating ram through connecting rod A, connecting rod B drive comb
Arm moves away from column direction, when the region that the working end of left caliper and right caliper body is formed faces well head top and limit baffle ring
When leaning against in thribble, close elevating ram and control clamping oil cylinder to retract, clamp oil cylinder through connecting rod I and connecting rod II driving left calipers
Closed with the working end of right caliper body, so as to which thribble to be held tightly to the crawl that thribble is realized between two cushions, in thribble
During crawl, the stretching of cylinder piston rod is adjusted by controlling or is retracted to ensure that cylinder is in horizontality all the time；
S3, thribble lifting, control servomotor rotate forward, servomotor drive screw mandrel rotate, screw mandrel drive sliding sleeve to
Upper motion, so as to which whole thribble clamping device be lifted up, further thribble is pulled up；
S4, the piston rod of elevating ram is controlled to retract, elevating ram through connecting rod A, connecting rod B drive comb arm towards column side
To motion, the stretching of cylinder piston rod is adjusted by controlling during the retraction of elevating ram or is retracted to ensure cylinder all the time
In horizontality；
S5, thribble rotation, hydraulic oil is passed through into oscillating motor, and oscillating motor drives rotary shaft to turn clockwise
90 °, so as to which thribble clamping device be rotated by 90 °, further thribble is rotated by 90 °, is then turned off oscillating motor；
S6, walking mechanism reach, two servo motor A are controlled to export clockwise torque, torque band moving gear up time
Pin rotates, and gear, to reach, when the opening of the two neighboring fingerboard of thribble face, closes two servo motor A on rack；
S7, thribble comb, the piston rod of elevating ram is first controlled to stretch out, elevating ram through connecting rod A, connecting rod B drive row
Pipe arm is done exercises away from column direction, so as to which thribble is sent on drilling floor surface along fingerboard, then controls servomotor to invert,
Servomotor moves downward sliding sleeve, and then control clamping oil cylinder stretches out, and now clamps through connecting rod I and connecting rod the II driving of oil cylinder
The working end of left caliper and right caliper body is opened, and so as to which thribble be put down, realizes the comb of thribble.
The present invention has advantages below：（1）The left caliper of the present invention and the working end of right caliper body are provided with circular trough, and two
The surface of individual circular trough is provided with cushion, and when thribble is clamped between two cushions, cushion can be avoided effectively
When clamping thribble because the phenomenon of thribble crimp occurs in thribble discontinuity.（2）The left and right caliper of the present invention is with delaying
Rush between layer and be provided with pressure sensor, data converter is connected with two pressure sensors, data converter and computer
Connection, when thribble stress, pressure signal is converted to electric signal through data converter and passes to computer, and operating personnel can count
The stress size in thribble is monitored on calculation machine in real time, the size of clamping oil cylinder power output is adjusted according to stress size, therefore very well
Protect thribble, further avoid crushing for thribble.（3）The piston rod of the adjustment oil cylinder of the present invention is articulated with servo horse
Up to B upper end, described comb arm is articulated with servo motor B bottom, and servo motor B can drive ring flange to do 360 °
Rotation so that clamped thribble is in horizontality, thribble is positioned on ground.（4）Present invention automation journey
Degree is high, efficiently, safely, quickly thribble is positioned on drilling floor surface can greatly alleviate the labor intensity of worker.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is Fig. 1 front view；
Fig. 3 is the structural representation of the walking mechanism of the present invention；
Fig. 4 is the front view for removing channel-section steel I and channel-section steel II in Fig. 3；
Fig. 5 is Fig. 3 top view；
Fig. 6 is Fig. 3 left view；
Fig. 7 is Fig. 4 A-A sectional views；
The structural representation of the thribble clamping device of Fig. 8 present invention；
Fig. 9 is Fig. 8 B direction views；
Figure 10 is the structural representation before present invention crawl thribble；
Figure 11 is the structural representation of present invention crawl thribble；
Figure 12 is the structural representation that thribble is put into drilling floor surface by the present invention；
In figure, 1- columns, 2- servomotors, 3- screw mandrels, 4- sliding sleeves, 5- channel-section steels I, 6- channel-section steel II, 7- rotary shaft, prop up on 8-
Fagging, 9- lower supporting plates, 10- top chocks, 11- steps, 12- oscillating motors, 13- servo motors A, 14- gear,
15- racks, 16- clamping oil cylinders, 17- servo motors B, 18- cylinder, 19- left calipers, 20- right caliper bodies, 21- limit baffle rings, 22-
Extension spring, 23- pressure sensors, 24- bearing pins, 25- cushions, 26- ring flanges, 27- connecting rods I, 28- connecting rod II, 29- lifting
Oil cylinder, 30- adjustment oil cylinders, 31- connecting rods A, 32- connecting rod B, 33- comb arm, 34- computers, 35- data converters, leads on 36-
Rail, 37- lower guideways, 38- guide wheels, 39- slide rails, 40- castors, 41- supports, 42- well heads, 43- fingerboards, 44- thribbles.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings, and protection scope of the present invention is not limited to as described below：
As shown in figs 1-9, a kind of bridge thribble pipe racking device, it include walking mechanism, column 1, linear transmission mechanism,
Thribble clamping device, thribble lifting mechanism, linear transmission mechanism is by servomotor 2, screw mandrel 3 and the cunning on screw mandrel 3
The composition of set 4, length direction of the screw mandrel 3 along column 1 are rotatably mounted on column 1, and servomotor 2 is fixedly installed on column 1, is watched
The output end for taking motor 2 is connected with screw mandrel 3, and when servomotor 2 rotates forward, servomotor 2 drives sliding sleeve 4 to move upwards, so as to
Thribble clamping device is driven to move upwards；When servomotor 2 inverts, servomotor 2 drives sliding sleeve 4 to move downward, so as to band
Dynamic thribble clamping device moves downward.
As shown in fig. 3 to 7, walking mechanism is by channel-section steel I5, channel-section steel II6, rotary shaft 7, upper backup pad 8, lower supporting plate 9, upper axle
Bearing 10, step 11, oscillating motor 12, servo motor A13 and gear 14 form, and are all provided with channel-section steel I5 and channel-section steel II6
Be equipped with rack 15, upper backup pad 8 is set parallel to lower supporting plate 9, upper backup pad 8 and lower supporting plate 9 may be contained within channel-section steel I5 and
Between channel-section steel II6, multiple supports 41 are provided between upper backup pad 8 and lower supporting plate 9, top chock 10 is installed on upper backup pad
8 top surfaces, step 11 are installed on the top surface of lower supporting plate 9, and the upper and lower side of rotary shaft 7 is respectively arranged in top chock 10
In step 11, the bottom of rotary shaft 7 is connected with the top flange of column 1, and oscillating motor 12 is arranged at top chock
10 top and its output end is connected with rotary shaft 7, when the oil inlet to oscillating motor 12 is passed through hydraulic oil, swing hydraulic pressure
Hydraulic coupling is converted to moment of torsion by cylinder 12, and torque drive column 1 turns clockwise 90 °；When the oil return opening to oscillating motor 12 leads to
When entering hydraulic oil, hydraulic coupling is converted to moment of torsion, 90 ° of 1 rotate counterclockwise of torque drive column by oscillating motor 12.Such as Fig. 3-7
It is shown, two servo motor A13 are provided between upper backup pad 8 and lower supporting plate 9, two servo motor A13 are symmetricly set in
The both sides of rotary shaft 7, two servo motor A13 output end are respectively connected with gear 14, and gear 14 engages with rack 15.Work as servo
When motor A13 exports torque counterclockwise, torque band moving gear 14 is rotated counterclockwise, and gear 14 is moved back on rack 15；When
When servo motor A13 exports clockwise torque, torque band moving gear 14 rotates clockwise, and gear 14 is on rack 15 to reach
It is dynamic.
As shown in Figure 8 and Figure 9, thribble clamping device by clamping oil cylinder 16, servo motor B17, cylinder 18, left caliper 19,
Right caliper body 20, limit baffle ring 21, extension spring 22, pressure sensor 23, bearing pin 24 and cushion 25 are formed, and the level of cylinder 18 is set
Put, the left part of cylinder 18 is provided with ring flange 26, servo motor B17 be arranged on the end face of ring flange 26 and its output end with
Ring flange 26 connects, and bearing pin 24 is perpendicular to cylinder 18 and is fixed on the right part of cylinder 18, is hinged with bearing pin 24 arranged in a crossed manner
Left caliper 19 and right caliper body 20, the caudal peduncle of left caliper 19 and right caliper body 20 may be contained within cylinder 18, left caliper 19 and right pincers
The working end of body 20 may be contained within the outside of cylinder 18, and the working end of left caliper 19 and right caliper body 20 is provided with circular trough, and two
The surface of individual circular trough is provided with cushion 25, and cushion 25 is rubber blanket, is provided between left and right caliper and cushion 25
Pressure sensor 23, described clamping oil cylinder 16 are arranged in cylinder 18 and are fixedly installed on ring flange 26, clamp oil cylinder 16
Piston rod on be hinged with connecting rod I27 and connecting rod II28 arranged in a crossed manner, connecting rod I27 and connecting rod II28 is right on clamping oil cylinder 16
Claim to set, connecting rod II28 and left caliper 19 caudal peduncle are hinged, and connecting rod I27 and right caliper body 20 caudal peduncle are hinged, described stretching bullet
Spring 22 is arranged between the working end of left caliper 19 and right caliper body 20, and limit baffle ring 21, limiting block are provided with extension spring 22
Arc groove is provided with ring 21, when thribble touches arc groove, you can the piston rod of control clamping oil cylinder 16 is retracted, folder
The working end closure of the through connecting rod I27 of oil cylinder 16 and connecting rod II28 driving left calipers 19 and right caliper body 20 is held, thribble is clamped in two
When between cushion 25, cushion 25 can be avoided effectively when clamping thribble because thribble extruding occurs in thribble discontinuity
The phenomenon of deformation.
As depicted in figs. 1 and 2, thribble lifting mechanism by elevating ram 29, adjustment oil cylinder 30, connecting rod A31, connecting rod B32 and
Comb arm 33 forms, and elevating ram 29 is perpendicular to column 1 and is fixedly installed in the top of sliding sleeve 4, and one end of comb arm 33 is articulated with
The bottom of sliding sleeve 4, connecting rod A31 one end are articulated with the piston rod of elevating ram 29, connecting rod the A31 other end and connecting rod B32
One end be hinged, the connecting rod B32 other end is hinged on the middle part of comb arm 33, and the cylinder barrel of adjustment oil cylinder 30 is articulated with comb arm 33
Top surface, the piston rod of adjustment oil cylinder 30 is articulated with servo motor B17 upper end, and described comb arm 33 is articulated with servo
Motor B17 bottom.
It also includes computer 34 and the data converter 35 being connected with computer 34, described data converter 35 and two
Individual pressure sensor 23 connects, described computer 34 and servomotor 2, servo motor A13, servo motor B17, elevating ram
29th, adjust oil cylinder 30 and clamping oil cylinder 16 connects, servomotor 2, servo motor A13 and servo can be controlled by computer 34
Motor B17 startup or closing；Clamping oil cylinder 16, adjustment oil cylinder 30 and elevating ram 29 can also be controlled by computer 34
The stretching or retraction of piston rod；In addition described pressure sensor 23 receives stressing conditions of the thribble when being clamped, and will pressure
Force signal is converted to electric signal by data converter 35 and passes to computer 34, and operating personnel can supervise in real time on computer 34
The stress size surveyed in thribble, the size of the clamping power output of oil cylinder 16 is adjusted according to stress size, therefore is protected well vertical
Root, further avoid crushing for thribble.
Upper rail 36, channel-section steel I5 and channel-section steel II6 bottom side plates are provided with the inside of described channel-section steel I5 and channel-section steel II6 top-side panels
Inner side be provided with lower guideway 37；Described upper backup pad 8 and four corners of lower supporting plate 9 are mounted on guide wheel 38,
Guide wheel 38 on upper backup pad 8 is respectively arranged on two upper rails 36, and the guide wheel 38 on lower supporting plate 9 is pacified respectively
Loaded on lower guideway 37.
Two slide rails 39 are provided with the inwall of described cylinder 18, hinged place, company between connecting rod I27 and right caliper body 20
Hinged place between bar II28 and left caliper 19 is mounted on castor 40, and described two castors 40 are respectively arranged in slide rail
In 39.
As shown in figs. 10-12, a kind of comb method of bridge thribble pipe racking device, it comprises the following steps：
S1, walking mechanism rear shifting, control two servo motor A13 to export torque counterclockwise, and torque band moving gear 14 is done
Rotate counterclockwise, gear 14 is moved back on rack 15 so that thribble clamping device is close to well head 42, when walking mechanism moves to
After suitable distance, two servo motor A13 are closed；
S2, thribble crawl, the piston rod of control elevating ram 29 stretch out, the through connecting rod A31 of elevating ram 29, connecting rod B32
Comb arm 33 is driven to be moved away from the direction of column 1, when the region that the working end of left caliper 19 and right caliper body 20 is formed faces well
Above mouthful and when limit baffle ring 21 is leaned against in thribble, close elevating ram and simultaneously control clamping oil cylinder 16 to retract, clamping oil cylinder 16 passes through
The working end closure of connecting rod I27 and connecting rod II28 driving left calipers 19 and right caliper body 20, so as to which thribble is held tightly in two bufferings
The crawl of thribble is realized between layer 25, during the crawl of thribble, adjusted by controlling the piston rod of oil cylinder 30 stretching or
Retract to ensure that cylinder 18 is in horizontality all the time；
S3, thribble lifting, control servomotor 2 rotate forward, and servomotor 2 drives screw mandrel to rotate, and screw mandrel 3 drives sliding sleeve
4 motions upwards, so as to which whole thribble clamping device be lifted up, further pull up thribble；
S4, the piston rod of elevating ram is controlled to retract, the through connecting rod A of elevating ram 29, connecting rod B drive comb arm 33 towards vertical
The direction of post 1 is moved, and is adjusted the stretching of the piston rod of oil cylinder 30 by controlling during the retraction of elevating ram 29 or is retracted to protect
Card cylinder 18 is in horizontality all the time；
S5, thribble rotation, hydraulic oil is passed through into oscillating motor 12, and oscillating motor 12 drives the up time of rotary shaft 7
Pin is rotated by 90 °, and so as to which thribble clamping device be rotated by 90 °, is further rotated by 90 ° thribble, is then turned off oscillating motor
12；
S6, walking mechanism reach, two servo motor A13 are controlled to export clockwise torque, torque band moving gear 14
Rotate clockwise, gear 14, to reach, when the opening of the two neighboring fingerboard 43 of thribble face, is closed two and watched on rack 15
Take motor A13；
S7, thribble comb, the piston rod of elevating ram 29 is first controlled to stretch out, the through connecting rod A31 of elevating ram 29, connecting rod
B32 drives comb arm 33 to be done exercises away from the direction of column 1, so as to which thribble is sent on drilling floor surface along fingerboard 43, then controls
Servomotor 2 inverts, and servomotor 2 moves downward sliding sleeve 4, and then control clamping oil cylinder 16 stretches out, and now clamps oil cylinder
16 through connecting rod I27 and connecting rod II28 driving left caliper 19 and the working end of right caliper body 20 are opened, and so as to which thribble be put down, are realized
The comb of thribble.
Described above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form, the exclusion to other embodiment is not to be taken as, and can be used for various other combinations, modification and environment, and can be at this
In the text contemplated scope, it is modified by the technology or knowledge of above-mentioned teaching or association area.And those skilled in the art are entered
Capable change and change does not depart from the spirit and scope of the present invention, then all should be in the protection domain of appended claims of the present invention
It is interior.
Claims (9)
- A kind of 1. bridge thribble pipe racking device, it is characterised in that：It includes walking mechanism, column（1）, linear transmission mechanism, Thribble clamping device, thribble lifting mechanism, linear transmission mechanism is by servomotor（2）, screw mandrel（3）And installed in screw mandrel（3） On sliding sleeve（4）Composition, screw mandrel（3）Along column（1）Length direction be rotatably mounted on column（1）On, servomotor（2）It is fixed It is installed on column（1）On, servomotor（2）Output end and screw mandrel（3）Connection；Described walking mechanism is by channel-section steel I（5）, channel-section steel II（6）, rotary shaft（7）, upper backup pad（8）, lower supporting plate（9）, upper axle Bearing（10）, step（11）, oscillating motor（12）, servo motor A（13）And gear（14）Composition, channel-section steel I（5）And groove Steel II（6）Inside it is provided with rack（15）, upper backup pad（8）Parallel to lower supporting plate（9）Set, upper backup pad（8）With lower branch Fagging（9）It may be contained within channel-section steel I（5）With channel-section steel II（6）Between, top chock（10）It is installed on upper backup pad（8）Top surface, under Bearing block（11）It is installed on lower supporting plate（9）Top surface, rotary shaft（7）Upper and lower side be respectively arranged in top chock（10）With Step（11）It is interior, rotary shaft（7）Bottom and column（1）The connection of top flange, oscillating motor（12）It is arranged at Bearing block（10）Top and its output end and rotary shaft（7）Connection, upper backup pad（8）And lower supporting plate（9）Between be provided with Two servo motor A（13）, two servo motor A（13）It is symmetricly set in rotary shaft（7）Both sides, two servo motor A （13）Output end be respectively connected with gear（14）, gear（14）With rack（15）Engagement；Described thribble clamping device is by clamping oil cylinder（16）, servo motor B（17）, cylinder（18）, left caliper（19）, right caliper body （20）, limit baffle ring（21）, extension spring（22）, pressure sensor（23）, bearing pin（24）And cushion（25）Composition, cylinder （18）It is horizontally disposed, cylinder（18）Left part be provided with ring flange（26）, servo motor B（17）It is arranged at ring flange（26）'s On end face and its output end and ring flange（26）Connection, bearing pin（24）Perpendicular to cylinder（18）And it is fixed on cylinder（18）Right-hand member Portion, bearing pin（24）On be hinged with left caliper arranged in a crossed manner（19）And right caliper body（20）, left caliper（19）And right caliper body（20）'s Caudal peduncle may be contained within cylinder（18）It is interior, left caliper（19）And right caliper body（20）Working end may be contained within cylinder（18）Outside, Left caliper（19）And right caliper body（20）Working end be provided with circular trough, the surface of two circular troughs is provided with cushion （25）, left and right caliper and cushion（25）Between be provided with pressure sensor（23）, described clamping oil cylinder（16）It is arranged at Cylinder（18）It is interior and be fixedly installed in ring flange（26）On, clamp oil cylinder（16）Piston rod on be hinged with connecting rod arranged in a crossed manner I（27）With connecting rod II（28）, connecting rod II（28）With left caliper（19）Caudal peduncle be hinged, connecting rod I（27）With right caliper body（20）Tail Handle is hinged, described extension spring（22）It is arranged at left caliper（19）And right caliper body（20）Working end between, extension spring （22）On be provided with limit baffle ring（21）, limit baffle ring（21）On be provided with arc groove；Described thribble lifting mechanism is by elevating ram（29）, adjustment oil cylinder（30）, connecting rod A（31）, connecting rod B（32）With comb arm （33）Composition, elevating ram（29）Perpendicular to column（1）And it is fixedly installed in sliding sleeve（4）Top, comb arm（33）One end hinge It is connected to sliding sleeve（4）Bottom, connecting rod A（31）One end be articulated with elevating ram（29）Piston rod on, connecting rod A（31）It is another End and connecting rod B（32）One end be hinged, connecting rod B（32）The other end be hinged on comb arm（33）Middle part, adjust oil cylinder（30） Cylinder barrel be articulated with comb arm（33）Top surface, adjust oil cylinder（30）Piston rod be articulated with servo motor B（17）Upper end Portion, described comb arm（33）It is articulated with servo motor B（17）Bottom.
- A kind of 2. bridge thribble pipe racking device according to claim 1, it is characterised in that：It also includes computer（34） With with computer（34）The data converter of connection（35）, described data converter（35）With two pressure sensors（23）Even Connect, described computer（34）With servomotor（2）, servo motor A（13）, servo motor B（17）, elevating ram（29）, adjust Whole oil cylinder（30）With clamping oil cylinder（16）Connection.
- A kind of 3. bridge thribble pipe racking device according to claim 1, it is characterised in that：Described connecting rod I（27）With Connecting rod II（28）On clamping oil cylinder（16）It is symmetrical arranged.
- A kind of 4. bridge thribble pipe racking device according to claim 1, it is characterised in that：Described channel-section steel I（5）And groove Steel II（6）Upper rail is provided with the inside of top-side panel（36）, channel-section steel I（5）With channel-section steel II（6）It is provided with down on the inside of bottom side plate Guide rail（37）.
- A kind of 5. bridge thribble pipe racking device according to claim 1, it is characterised in that：Described upper backup pad（8） And lower supporting plate（9）Four corners be mounted on guide wheel（38）, positioned at upper backup pad（8）On guide wheel（38）Install respectively In two upper rails（36）On, positioned at lower supporting plate（9）On guide wheel（38）It is respectively arranged in lower guideway（37）On.
- A kind of 6. bridge thribble pipe racking device according to claim 1, it is characterised in that：Described cylinder（18）It is interior Two slide rails are provided with wall（39）.
- A kind of 7. bridge thribble pipe racking device according to claim 1, it is characterised in that：Described connecting rod I（27）With Right caliper body（20）Between hinged place, connecting rod II（28）With left caliper（19）Between hinged place be mounted on castor（40）, Two castors（40）It is respectively arranged in slide rail（39）It is interior.
- A kind of 8. bridge thribble pipe racking device according to claim 1, it is characterised in that：Described upper backup pad（8） With lower supporting plate（9）Between be provided with multiple supports（41）.
- A kind of 9. comb method of bridge thribble pipe racking device, it is characterised in that：It comprises the following steps：S1, walking mechanism rear shifting, control two servo motor A（13）Export torque counterclockwise, torque band moving gear（14）Do Rotate counterclockwise, gear（14）In rack（15）On be moved back so that thribble clamping device is close to well head（42）, work as walking mechanism After moving to suitable distance, two servo motor A are closed（13）；S2, thribble crawl, control elevating ram（29）Piston rod stretch out, elevating ram（29）Through connecting rod A（31）, connecting rod B （32）Drive comb arm（33）Away from column（1）Direction is moved, and works as left caliper（19）And right caliper body（20）Working end formed Region faces above well head and limit baffle ring（21）When leaning against in thribble, close elevating ram and control clamping oil cylinder（16）Contracting Return, clamp oil cylinder（16）Through connecting rod I（27）With connecting rod II（28）Drive left caliper（19）And right caliper body（20）Working end closure, So as to which thribble is held tightly in two cushions（25）Between realize the crawl of thribble, during the crawl of thribble, pass through control System adjustment oil cylinder（30）The stretching of piston rod is retracted to ensure cylinder（18）All the time it is in horizontality；S3, thribble lifting, control servomotor（2）Rotate forward, servomotor（2）Screw mandrel is driven to rotate, screw mandrel（3）Drive and slide Set（4）Motion upwards, so as to which whole thribble clamping device be lifted up, further thribble is pulled up；S4, the piston rod of elevating ram is controlled to retract, elevating ram（29）Through connecting rod A, connecting rod B drive comb arm（33）Direction is vertical Post（1）Direction is moved, in elevating ram（29）Retraction during pass through control adjustment oil cylinder（30）The stretching or contracting of piston rod Return to ensure cylinder（18）All the time it is in horizontality；S5, thribble rotation, to oscillating motor（12）Inside it is passed through hydraulic oil, oscillating motor（12）Drive rotary shaft（7）It is suitable Hour hands are rotated by 90 °, and so as to which thribble clamping device be rotated by 90 °, are further rotated by 90 ° thribble, are then turned off swinging hydraulic pressure Cylinder（12）；S6, walking mechanism reach, control two servo motor A（13）Export clockwise torque, torque band moving gear（14） Rotate clockwise, gear（14）In rack（15）On to reach, when the two neighboring fingerboard of thribble face（43）Opening when, close Two servo motor A（13）；S7, thribble comb, first control elevating ram（29）Piston rod stretch out, elevating ram（29）Through connecting rod A（31）, connecting rod B（32）Drive comb arm（33）Away from column（1）Direction is done exercises, so as to by thribble along fingerboard（43）It is sent into drilling floor surface On, then control servomotor（2）Invert, servomotor（2）Make sliding sleeve（4）Move downward, then control clamping oil cylinder（16） Stretch out, now clamp oil cylinder（16）Through connecting rod I（27）With connecting rod II（28）Drive left caliper（19）And right caliper body（20）Work Make end opening, so as to which thribble be put down, realize the comb of thribble.
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| CN201610001649.4A CN105604505B (en) | 2016-01-05 | 2016-01-05 | A kind of bridge thribble pipe racking device and comb method |
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| CN201610001649.4A CN105604505B (en) | 2016-01-05 | 2016-01-05 | A kind of bridge thribble pipe racking device and comb method |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107476771A (en) * | 2017-09-30 | 2017-12-15 | 青岛天时海洋石油装备有限公司 | Derrick union machine and its operating method |
| CN112096317A (en) * | 2020-08-11 | 2020-12-18 | 四川宏华石油设备有限公司 | Drilling platform surface pipe column processing equipment |
| CN112627746A (en) * | 2020-11-27 | 2021-04-09 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN113108965B (en) * | 2021-05-07 | 2023-03-28 | 孙洪茂 | Pantograph pressure detection equipment and method |
| CN115992657B (en) * | 2023-01-09 | 2023-07-25 | 山东爱特机电技术有限责任公司 | Automatic racking platform pipe arranging device for drilling machine operation |
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