CN105672874A - Automatic drilling machine - Google Patents
Automatic drilling machine Download PDFInfo
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- CN105672874A CN105672874A CN201610079704.1A CN201610079704A CN105672874A CN 105672874 A CN105672874 A CN 105672874A CN 201610079704 A CN201610079704 A CN 201610079704A CN 105672874 A CN105672874 A CN 105672874A
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- 238000005553 drilling Methods 0.000 title claims abstract description 71
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 44
- 241000282326 Felis catus Species 0.000 claims description 33
- 229910052742 iron Inorganic materials 0.000 claims description 22
- 239000012530 fluid Substances 0.000 claims description 19
- 230000000694 effects Effects 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 7
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 21
- 238000005457 optimization Methods 0.000 description 5
- 238000003466 welding Methods 0.000 description 5
- 238000003032 molecular docking Methods 0.000 description 4
- 230000007306 turnover Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK 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
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an automatic drilling machine. Double sector-shaped fingerboards are arranged on two sides of a derrick; two corresponding sunk pipe setbacks are arranged on a base; a fed tube tool can be automatically turned in, turned out and translated forwards and backwards in a catwalk; a turning manipulator is adopted to clamp the tube tool conveyed from the catwalk, turn the tube tool to a vertical state, and clamp the tube tool below and apply reaction torque when the tube tool is buckled or unbuckled; a three-joint unit connecting manipulator is adopted to move the tube tool upwards and downwards; an interlocking tube tool is adopted to vertically move or arrange three-joint units in parallel. The drilling machine is subjected to electrical and hydraulic multi-drive, and is under integral control of an all-direction video monitoring system; operation of drilling and assembling and disassembling of the three-joint unit of the drilling machine can be achieved when corresponding programs are operated by a driller in a control room, real full-automatic and offline operation can be achieved, the working efficiency can be improved to 3 times of that of a conventional drilling machine, and the operation is safe and reliable; moreover, when a well site is moved, three-joint units can be moved and transported as a whole, so that the working efficiency is greatly improved, and the working intensity of operators can be relieved.
Description
Technical field
The present invention relates to a kind of oil gas drilling rig, it may be achieved automation mechanized operation, off-line operation.
Background technology
Active service rig belongs to semi-automatic, and only drilling process realizes automatization, and other less important works need workman's cooperative mechanical to operate, and rig automation degree is low, dangerous greatly, production efficiency is low.
Such as, land rig carries out drilling tool movement and upper drilling floor surface operation process: first, and drilling tool is transported to well site by special-purpose vehicle, adopts on-the-spot crane that drilling tool winches to drilling tool frame; Then, drilling tool is pushed cat road by workman, the compressed air hoist of drilling floor surface transfer steel wire rope and tangle drilling tool top, utilizes rigging directly drilling tool to be promoted to drilling floor surface along cat road; Finally, 2 workmans hook drilling tool bottom with cleek, be slowly transplanted in mouse hole, block drilling tool with elevator. Aforesaid operations needs 3-4 name workman to coordinate, and operating efficiency is low, poor stability, the damaged condition of drilling tool is big.
Again such as, land rig connect in thribble operation process, adopt liquid gas tong and hydraulic catwork and Type B pincers cooperation to carry out upper, shackle; Pipe setback is arranged on drilling floor surface, and thribble is deposited needs the upper quadruple board platform of rigger to pull pipe tool, and drilling floor surface needs special messenger's righting pipe to have. Whole connecing thribble, deposit thribble process, automaticity is low, and labor strength is big, and danger is higher.
Summary of the invention
The invention reside in the automatization level improving rig so that rig energy automatic transport drilling tool, quadruple board platform unmanned, automatically unload thribble, automatic-discharging thribble, thus realizing off-line operation.
In order to achieve the above object, the invention provides a kind of automated drilling rig, mainly by derrick, base, Mao Dao, top is driven, drilling floor surface forms, it is characterized in that: be provided with biparting shape fingerboard in the both sides of above-mentioned derrick, above-mentioned base is provided with two in the corresponding sunk type pipe setback of aforementioned fan-shaped fingerboard; Above-mentioned cat road automatic turning enters, rout up and pipe tool that anterior-posterior translation is inserted;
Also including being installed on ground, well site, turning manipulator between aforementioned two pipe setbacks, the pipe that the conveying of clamping cat road comes have and overturn to vertical state, clamps following pipe when upper, shackle and has applying reaction torque;
Also include being arranged on derrick side, rear gate connect thribble mechanical hand, move up and down pipe tool, make-up pipe has, vertical movement or discharge thribble.
In the present invention, cat road is arranged on ground, well site, can be automatically obtained pipe tool turn over into, rout up and the translation motion of front and back, be automatically obtained the pipe tool movement function from pipe stockyard to turning manipulator.The function of turning manipulator is to be automatically obtained pipe to have from level to vertical state, and clamps following pipe tool when upper, shackle and apply reaction torque. Connect thribble mechanical hand can move up and down, rotate, luffing and clamping, the moving up and down of pipe tool, the discharge of make-up, thribble, thribble vertical direction movement can be automatically obtained.
Cat road, turning manipulator, connect thribble mechanical hand and cooperate, it may be achieved the high automatic business processing of pipe tool: the horizontal movement pipe in cat road has to commitment positions, turning manipulator clamping pipe tool; Afterwards turning over mechanical hand drives pipe tool to be turned to vertical state from level; Connecing thribble mechanical hand to move down, catch pipe tool upper lifting pipe to have to intended height, now turning manipulator righting pipe has; Cat road, turning manipulator reset, and repeat a upper motion flow, next root pipe tool is transported to vertical state, connects thribble mechanical hand and move down, upper and lower two pipes tool docking; By instruments such as iron drillers, two pipe tools being carried out upper button, now turning manipulator clamping pipe tool applies reaction torque; Connecing thribble mechanical hand catches pipe tool to lift up, and stops to following pipe tool higher than table top certain altitude; Cat road, turning manipulator reset again, carry the 3rd pipe tool extremely vertical state; Connect thribble mechanical hand to move down, upper and lower two pipes tool docking; By instruments such as iron drillers, two pipe tools being carried out upper button, 3 pipe tools are connected into 1 thribble; Connect thribble gripper of manipulator posture in standing (qigong) root to lift up, when pipe tool is higher than, after drilling floor surface, connecing thribble welding manipulator and drive thribble to reclaim, rotate, run to biparting shape fingerboard target location and transfer thribble. Unload thribble operation process with above-mentioned connect thribble, thribble discharge operation process contrary.
It addition, in the present invention, the installation site of pipe setback is sunk down on base by traditional drilling floor surface, position of centre of gravity effectively moves down 9 meters to 14 meters, when moving in well site, can expire thribble Integral transporting, substantially increases removal of home efficiency and reduces personnel labor intensity. Biparting shape fingerboard is distributed in Jackup mast both sides, and full load load is symmetrical, stress good. When side sector fingerboard has, for storing the pipe on well site, the thribble being connected into, opposite side sector fingerboard then can be used for the thribble storing in trip-out process. Therefore, thribble of unloading and the work that makes a trip can carry out simultaneously.
This rig adopts electric-hydraulic combined driving, integrating control, driller operates corresponding program at control room can realize the thribble work of creeping into and unload of rig, it may be achieved full-automation veritably, off-line operation, working performance can bring up to 3 times of active service rig and safe and reliable.
Preferred as one, a kind of automated drilling rig of this patent, it is further characterized in that: above-mentioned cat road includes the paired outer flip-arm of symmetrical two couple supporting leg, the interior in pairs flip-arm of fluid cylinder driving, fluid cylinder driving and main car, dolly, mounting seat, reductor; Supporting leg is positioned at the main body both sides in cat road, is supported to ground by support oil cylinder outside it, and inner side is articulated with mounting seat through bearing pin; Main car is provided with V road; Mao Dao two ends are located at by reductor, drive pipe tool to seesaw on main car through chain drive dolly. The pipe tool being stored in pipe stockyard is placed on the supporting leg in cat road; The support oil cylinder of cat road homonymy simultaneously drives supporting leg and rotates up, and a leg outer side is too high, and pipe tool slides to interior flip-arm along supporting leg is inwardly directed; Interior flip-arm inwardly overturns under the driving of interior upset fluid cylinder, by pipe tool upset to the V road of main car; Dolly moves forward promote pipe tool to translate forward through reductor, chain drive, and in now, flip-arm resets;When pipe tool is fallen back on commitment positions by fortune, giving turning manipulator, dolly stops and retreating to initial position, waits next root pipe of movement tool. On the contrary, when the lower rig floor of pipe tool, after pipe tool is put on the V road of the main car in cat road by turning manipulator, dolly drives pipe tool rearward movement, and to commitment positions, initial position return by dolly; Outer flip-arm overturns outside has turned-out relaying on supporting leg by pipe under the driving of fluid cylinder.
Preferred as one, a kind of automated drilling rig of this patent, it is further characterized in that: above-mentioned turning manipulator is mainly made up of caliper, flip-arm and installing rack; Installing rack is fixed on ground, well site, near rig floor with flip-arm through hinge, is hinged with the upset fluid cylinder driving flip-arm 90-degree rotation on installing rack; Caliper is arranged on flip-arm and clamps or unclamp the pipe tool inserted. During original state, flip-arm overlays on installing rack; During work, caliper is first opened, when pipe tool is transported to commitment positions by cat road, and two caliper Guan Bi clamping pipe tools; Afterwards turn over arm under the driving of upset fluid cylinder, drive pipe tool to be flipped up vertical state from level around bearing pin. First pipe tool give awaited orders connect thribble mechanical hand, connect thribble mechanical hand upper lifting pipe tool to intended height. Turning manipulator repeats a upper motion flow, and next root pipe tool is transported to vertical state, waits button on the instruments such as iron driller.
As further optimization, a kind of automated drilling rig of this patent, it is further characterized in that: above-mentioned caliper has two, lay respectively at the upper and lower end of flip-arm, the binding clip of caliper is mainly made up of at least one pair of roller rotated along vertical pivot, and this pair roller is driven folding by the clamping cylinder being fixed on flip-arm. Turning manipulator 2 clamp pipe tool lift up time, become pair roller 2-8 can have righting-oriented function; Roller 2-8 can not rotate in the radial direction of pipe tool, coordinating on iron driller 7, shackle time clamp following pipe tool and apply reaction torque, there is the function of conventional drilling machine slips.
Preferred as one, a kind of automated drilling rig of this patent, it is further characterized in that: above-mentioned connect thribble mechanical hand mainly by installing rack, walker, pivoting support, telescopic arm, clamping clip, hoister winch, corresponding pulley assembly; The lower and upper cross-member of installing rack is provided with track, and walker moves horizontally along this track; Installing rack moves up and down under the effect of hoister winch; Telescopic arm is parallelogram sturcutre, is arranged between pivoting support and clamping clip, steadily stretches out or retract under the driving of oil cylinder; Add clencher clamp under the driving of oil cylinder or unclamp pipe tool. Connect thribble mechanical hand discharge thribble process as follows: installing rack moves to commitment positions; Telescopic arm drives clamping clip to protrude outwardly to pipe tool position, and clamping clip is opened and clamped pipe tool; Then, installing rack drives whole connecing to move on thribble mechanical hand, and after thribble lower end exceeds drilling floor surface certain altitude, telescopic arm drives pipe tool to be retracted to extreme position; Pivoting support rotates to specified angle; Walker is moved horizontally to the target column of biparting shape fingerboard along installing rack upper rail, and telescopic arm drives pipe tool to extend out to target location; Installing rack moves down to be placed pipe tool in pipe setback, adds clencher and opens placement pipe tool; Connect thribble mechanical hand to reset, pending move down thribble.
Connect more smooth and easy, safe the moving up and down of thribble mechanical hand for convenience, as further optimization, a kind of automated drilling rig of this patent, it is further characterized in that: above-mentioned derrick is provided with track, the position of corner, above-mentioned installing rack both sides is provided with roller, and under the effect of above-mentioned hoister winch, installing rack track along aforementioned derrick moves up and down.
Preferred as one, a kind of automated drilling rig of this patent, it is further characterized in that: above-mentioned biparting shape fingerboard is mainly made up of storage rack and clamp assembly, before each drilling tool deposit position of storage rack, is designed with a clamp assembly;Clamp assembly is mainly made up of the sensor of upset cylinder, connecting rod, finger and detection finger folding condition. Sensor can detect the folding condition of each clamp. When driller connects, from control room observation, the appointment row that thribble mechanical hand transporting tube has to biparting shape fingerboard, pressing manipulation button, all clamp assemblies before respective column target location are opened; After pipe tool is issued to target location, clamp assembly is automatically switched off under the driving of upset cylinder, well to isolate and to protect each pipe to have, it is to avoid pipe tool is toppled over.
Can clearly observe from control room for convenience of driller and connect thribble mechanical hand transporting tube and have the situation to biparting shape fingerboard situation and each drilling tool deposit position, thus realizing remote automation control, as further optimization, a kind of automated drilling rig of this patent, is further characterized in that: is provided with each clamp assembly of monitoring on above-mentioned derrick and deposits the photographic head of drilling tool situation.
For convenience of carrying and the dismounting of this rig, and realize the full-automation that pipe tool processes, as further optimization, a kind of automated drilling rig of this patent, be further characterized in that: above-mentioned derrick is Jackup mast; This rig also includes hydraulic elevator, iron driller, power slip; Iron driller mainly by turnbuckle clamp, the pincers that link closely, add clencher and form, upper button, shackle are by control system one key operation.
For convenience of cat road, turning manipulator, connect thribble mechanical hand and cooperate, as further optimization, a kind of automated drilling rig of this patent, be further characterized in that: the edge of above-mentioned drilling floor surface is open arranges semicircle rat hole. So, connect, unload during thribble operation pipe and have all outside drilling floor surface, be not only beneficial to operation, decrease and the collision of other parts of rig.
Accompanying drawing explanation
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1: the structural representation of rig of the present invention;
The structural representation in the road of rig Zhong Mao shown in Fig. 2: Fig. 11;
The view when supporting leg 1-2 movement pipe has of cat road shown in Fig. 3: Fig. 2;
The view when interior flip-arm 1-3 overturns pipe tool of cat road shown in Fig. 4: Fig. 2;
The view when the horizontal movement pipe tool of dolly 1-8 of cat road shown in Fig. 5: Fig. 2;
The structural representation of turning manipulator 2 in rig shown in Fig. 6: Fig. 1;
Rig shown in Fig. 7: Fig. 1 connects the structural representation of thribble mechanical hand 10;
The structural representation of biparting shape fingerboard 9 in rig shown in Fig. 8: Fig. 1;
The structural representation of fingerboard clamp assembly in biparting shape fingerboard shown in Fig. 9: Fig. 8;
The turning manipulator 2 view when clamping pipe tool in rig shown in Figure 10: Fig. 1;
The turning manipulator 2 view when clamping pipe tool and being in vertical in rig shown in Figure 11: Fig. 1;
In rig shown in Figure 12: Fig. 1 turning manipulator 2 with connect the thribble mechanical hand 10 view when coordinating butt tube to have;
The iron driller 7 view when upper button in rig shown in Figure 13: Fig. 1;
Thribble discharge schematic diagram in rig shown in Figure 14: Fig. 1;
Rig shown in Figure 15: Fig. 1 connects thribble mechanical hand 10 and hydraulic elevator 14 view when joining thribble.
Labelling in figure: cat road 1, turning manipulator 2, pipe setback 3, base 4, rat hole 5, power slip 6, iron driller 7, Jackup mast 8, biparting shape fingerboard 9, connect thribble mechanical hand 10, top drives 11, pipe tool 12, pipe tool 12-1, pipe tool 12-2, hydraulic elevator 14, support oil cylinder 1-1, supporting leg 1-2, interior flip-arm 1-3, main car 1-4, interior upset fluid cylinder 1-5, outer flip-arm 1-6, outer upset fluid cylinder 1-7, dolly 1-8, mounting seat 1-9, reductor 1-11, chain 1-12, caliper 2-1, flip-arm 2-2, installing rack 2-3, bearing pin 2-5, upset fluid cylinder 2-6, clamping cylinder 2-7, roller 2-8, clamping clip 10-1, telescopic arm 10-2, pivoting support 10-3, walker 10-4, amplitude oil cylinder 10-5, installing rack 10-6, track 10-7, pulley assembly 10-8, hoister winch 10-9, storage rack 9-1, clamp assembly 9-2, finger 9-2-1, upset cylinder 9-2-2, connecting rod 9-2-3, sensor 9-2-4, turnbuckle clamp 7-1, link closely pincers 7-2, add clencher 7-3, swing arm 11-1 is driven on top.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and effect and be easy to understand, below in conjunction with being specifically illustrating, the present invention is expanded on further.
As it is shown in figure 1, the capital equipment of the present embodiment rig is from low to high, from left to right include successively: cat road 1, turning manipulator 2, base 4, pipe setback 3, power slip 6, iron driller 7, Jackup mast 8, biparting shape fingerboard 9, connect thribble mechanical hand 10, top drives 11, hydraulic elevator 14. Wherein, turning manipulator 2 is arranged on ground, well site, and pipe setback 3 is arranged on base 4, and biparting shape fingerboard 9 is positioned at Jackup mast 8 both sides, connects thribble mechanical hand 10 and is arranged on side, gate after Jackup mast 8
Cat road 1 is arranged on ground, well site, can be automatically obtained pipe tool turn over into, rout up and the translation motion of front and back, be automatically obtained pipe and have from pipe stockyard to the movement function of turning manipulator 2. As Figure 2-Figure 5, cat road 1 is main by 4 symmetrical supporting leg 1-2,4 symmetrical interior flip-arm 1-3, main car 1-4, dolly 1-8,4 symmetrical outer flip-arm 1-6 and corresponding perform and controlling organization forms. Wherein, supporting leg 1-2 is positioned at the main body both sides in cat road 1, near middle main car 1-4; The outside design of supporting leg 1-2 has a support oil cylinder 1-1, and inner side and mounting seat 1-9 pass through hinge. Wherein, on main car 1-4, design has the V road of V-type, and pipe tool swings when ploughing under V road under the effect of inertia. Wherein, being provided with reductor 1-11, chain 1-12 at two ends, cat road 1 and connect dolly 1-8 and engage with the gear on reductor 1-11, reductor 1-11 drives lower dolly 1-8 to seesaw on main car 1-4 through chain 1-12. Main car 1-4 is interval with 4 symmetrical outer flip-arm 1-6; Outer upset fluid cylinder 1-7 one end is fixed on inside main car 1-4, and the other end connects outer flip-arm 1-6. As it is shown on figure 3, under the driving of support oil cylinder 1-1, supporting leg 1-2 outer end rotates up around inner hinge, pipe tool 12-1 slides to the interior flip-arm 1-3 of inner side along supporting leg 1-2; As shown in Figure 4, interior flip-arm 1-3, under the driving of interior upset fluid cylinder 1-5, drives pipe tool 12-1 to overturn in main car 1-4, puts on the V road of main car 1-4 by pipe tool; As it is shown in figure 5, dolly 1-8 moves forward, promotion pipe tool 12-1 translates forward. Pipe tool 12-1 moves to dolly 1-8 during commitment positions to be stopped, and mechanical hand 2 to be flipped clamps. On the contrary, when pipe has rig floor under 12-1, after pipe tool is put on the V road of the main car 1-4 in cat road 1 by turning manipulator 2, dolly 1-8 drives pipe tool rearward movement, and to commitment positions, dolly 1-8 returns initial position; Outer flip-arm 1-6 overturns outside has turned-out relaying on supporting leg 1-2 by pipe under the driving of fluid cylinder 1-7.
The function of turning manipulator 2 is to be automatically obtained pipe to have from level to vertical state, and clamps following pipe tool when upper, shackle and apply reaction torque. As shown in Fig. 6, Figure 10, Figure 11, Figure 12, turning manipulator 2 is mainly made up of caliper 2-1, flip-arm 2-2 and installing rack 2-3. Wherein, installing rack 2-3 fixes on the ground, hinged by bearing pin 2-5 with flip-arm 2-2 near rig floor; Installing rack 2-3 and flip-arm 2-2 both sides are each provided with a upset fluid cylinder 2-6; Caliper 2-1 is arranged on flip-arm 2-2, is respectively arranged with one up and down, and the roller 2-8 that its binding clip is mainly rotated along vertical pivot by a pair forms. Turning manipulator 2 clamp pipe tool lift up time, become pair roller 2-8 can have righting-oriented function;Roller 2-8 can not rotate in the radial direction of pipe tool, coordinating on iron driller 7, shackle time clamp following pipe tool and apply reaction torque, there is the function of conventional drilling machine slips. Clamping cylinder 2-7 one end connects roller 2-8, and the other end is fixed on flip-arm 2-2, driving lower clamp 2-1 folding and can clamp the pipe tool of different tube diameters at clamping cylinder 2-7. As shown in Figure 6, during original state, flip-arm 2-2 overlays on installing rack 2-3; During work, caliper 2-1 first opens, when pipe tool is transported to commitment positions by cat road 1, and two caliper 2-1 Guan Bi clamping pipe tool as shown in Figure 10; Afterwards turn over arm 2-2 under the driving of upset fluid cylinder 2-6, drive pipe tool to be flipped up vertical state as shown in figure 11 from level around bearing pin 2-5. First pipe tool give awaited orders connect thribble mechanical hand 10, connect thribble mechanical hand 10 upper lifting pipe tool to intended height. Turning manipulator 2 repeats a upper motion flow, and next root pipe tool is transported to as shown in figure 12 vertically state, waits button on iron driller 7.
As shown in figure 13, iron driller 7 major function is that instead of the liquid gas tong of conventional drilling machine and pipe tool is carried out upper button and shackle, and by turnbuckle clamp 7-1, link closely pincers 7-2, adds clencher 7-3 composition. During upper button, after pipe tool make-up completes up and down, add the following pipe tool of clencher 7-3 clamping, first with turnbuckle clamp 7-1, one, top pipe tool is applied moment of torsion at a high speed, making the box of the following pipe tool of pin thread precession of top pipe tool, then carrying out linking closely with the pincers 7-2 that links closely reaches the moment of torsion that pipe tool is corresponding. During shackle, action is identical, and spinner is in opposite direction. This series of actions can be passed through control system and control one-key operation.
As shown in Fig. 7, Figure 15, connect thribble mechanical hand 10 can move up and down, rotate, luffing and clamping, the moving up and down of pipe tool, the discharge of make-up, thribble, thribble vertical direction movement can be automatically obtained. Connect that thribble mechanical hand 10 is main to be made up of installing rack 10-6, walker 10-4, pivoting support 10-3, telescopic arm 10-2, clamping clip 10-1, hoister winch 10-9 and corresponding pulley assembly 10-8 and the track 10-7 that is arranged on derrick. Wherein, the lower and upper cross-member of installing rack 10-6 is provided with track, and walker 10-4 can move horizontally along this track; The position of corner, installing rack 10-6 both sides is provided with roller, and connecing thribble mechanical hand 2 under the effect of hoister winch 10-9 can move up and down by the track 10-7 along derrick. Telescopic arm 10-2 is parallelogram sturcutre, is arranged between pivoting support 10-3 and clamping clip 10-1, can realize steadily stretching out and retraction movement of mechanical arm under the driving of amplitude oil cylinder 10-5. Add clencher 10-1 under the effect of clamping cylinder (not shown), realize the function of clamping pipe tool. Connecing thribble mechanical hand 10, to discharge thribble process as follows: installing rack 10-6 moves to commitment positions; Telescopic arm 10-2 drives clamping clip 10-1 to protrude outwardly to pipe tool position, and clamping clip 10-1 opens and clamps pipe tool; Then, installing rack 10-6 drives whole connecing to move on thribble mechanical hand 10, and after thribble lower end exceeds drilling floor surface certain altitude, telescopic arm 10-2 drives pipe tool to be retracted to extreme position; Pivoting support 10-3 rotates to specified angle; Walker 10-4 is moved horizontally to the target column of biparting shape fingerboard 9 along installing rack 10-6 upper rail, and telescopic arm 10-2 drives pipe tool to extend out to target location; Installing rack 10-6 moves down and is placed in pipe setback 3 by pipe tool, adds clencher 10-1 and opens placement pipe tool; Connect thribble mechanical hand to reset, pending move down thribble.
As shown in Fig. 8, Fig. 9, Figure 14, biparting shape fingerboard 9 is positioned at the top of pipe setback 3, and coordinates pipe setback 3 to store thribble, is mainly made up of storage rack 9-1 and clamp assembly 9-2.A clamp assembly 9-2 it is designed with before each drilling tool deposit position of storage rack 9-1. Clamp assembly 9-2 is mainly made up of upset cylinder 9-2-2, connecting rod 9-2-3, finger 9-2-1, sensor 9-2-4. Sensor 9-2-4 can detect the folding condition of each clamp; Jackup mast 8 is provided with photographic head, it is clear that the situation seeing each drilling tool deposit position. When driller observes from control room and to connect thribble mechanical hand 10 transporting tube tool 12 to the appointment row of biparting shape fingerboard 9, pressing manipulation button, all clamp assembly 9-2 before respective column target location open; After pipe tool 12 is issued to target location, clamp assembly 9-2 is automatically switched off under the driving of upset cylinder 9-2-2, well to isolate and to protect each pipe to have, it is to avoid pipe tool is toppled over. Biparting shape fingerboard 9 is distributed in Jackup mast 8 both sides, and full load load is symmetrical, stress good. When side sector fingerboard has, for storing the pipe on well site, the thribble being connected into, opposite side sector fingerboard then can be used for the thribble storing in trip-out process. Therefore, thribble of unloading and the work that makes a trip can carry out simultaneously.
In this embodiment, connect thribble, thribble discharge operation process as follows: the horizontal movement pipe in cat road 1 tool 12 gives turning manipulator 2; Pipe tool is turned to vertical state from level by turning manipulator 2; Connecing thribble mechanical hand 10 to move down, catch pipe tool 12 and lift up, now turning manipulator 2 righting pipe tool, pipe tool stops after being elevated above drilling floor surface certain distance; Cat road 1, turning manipulator 2 resets, and carries next pipe to have, to vertical state; Connect thribble mechanical hand 10 to move down, upper and lower two pipes tool docking; Detaining on iron driller 7, now turning manipulator 2 clamps pipe tool applying reaction torque; Connecing thribble mechanical hand 10 catches pipe tool to lift up, and stops to following pipe tool higher than table top certain altitude; Cat road 1, turning manipulator 2 resets, and carries next pipe to have, to vertical state; Connect thribble mechanical hand 10 to move down, upper and lower two pipes tool docking; Detaining on iron driller 7,3 pipe tools are connected into 1 thribble; Connecing thribble mechanical hand 10 catches thribble to lift up, and when pipe tool is higher than after drilling floor surface, connects thribble welding manipulator 10 and drives thribble to reclaim, rotate, run to biparting shape fingerboard 9 target column; The clamp assembly 9-2 of biparting shape fingerboard 9 opens; Connect thribble welding manipulator 10 and transfer thribble; The clamp assembly 9-2 Guan Bi of biparting shape fingerboard 9. Unload thribble operation process with connect thribble, thribble discharge operation process contrary.
In this embodiment, tripping operation process is as follows:
Connecing thribble welding manipulator 10 and run to target thribble position, the clamp assembly 9-2 of biparting shape fingerboard 9 opens; Connect thribble welding manipulator 10 and grab steady thribble, retraction, walking rotates gives hydraulic elevator 14 by thribble; Hydraulic elevator 14 is retracted, and makes thribble enter top and drives the slips body clamping of 11; Top is driven 11 drive thribbles and is moved down, and thribble is directed at the original drilling tool of well head; Detaining on iron driller 7, now the original drilling tool power slip 6 of well head blocks applying reaction torque; After first-class button, iron driller 7 resets, and 11 downward drilling wells are driven on top. While lower brill, connect thribble, thribble discharge work can carry out simultaneously. Trip-out operation is contrary with tripping operation process.
In this embodiment, the whole work process of rig is shown in following steps 1-7.
Step 1, cat road 1 carries pipe to have to turning manipulator 2. The pipe tool 12-1 being stored in pipe stockyard is placed on the supporting leg 1-2 in cat road 1; Two support oil cylinder 1-1 of cat road 1 homonymy simultaneously drive supporting leg 1-2 and rotate up, too high outside supporting leg 1-2, and pipe tool 12-1 slides to interior flip-arm 1-3 along supporting leg is inwardly directed, such as Fig. 3;Interior flip-arm 1-3 inwardly overturns under the driving of interior upset fluid cylinder 1-5, pipe has 12-1 upset to the V road of main car 1-4, such as Fig. 5; Dolly 1-8 moves forward and promotes pipe tool to translate forward, and in now, flip-arm 1-3 resets; When pipe tool 12-1 is fallen back on commitment positions by fortune, giving turning manipulator 2, dolly 1-8 stops and retreating to initial position, waits next root pipe of movement tool, such as Fig. 5.
Step 2, pipe tool is adjusted vertical state from level by turning manipulator 2. About 2 two caliper 2-1 of turning manipulator simultaneously clamp on pipe tool 12-1, such as Fig. 9; Under the driving of upset fluid cylinder 2-6, flip-arm 2-2 drives pipe tool 12-1 to rotate up 90 degree around bearing pin 2-5, adjusts vertically by pipe tool from level, and now pipe tool is in rat hole 5 center, such as Figure 10.
Step 3, connects thribble mechanical hand 10 and catches single. After being arranged on derrick side, gate connect thribble mechanical hand 10, move downward along track 10-7, arrive specific bit postpone telescopic arm 10-2 under the driving of amplitude oil cylinder 10-5 to pipe have 12-1 stretch out, add clencher 10-1 simultaneously and open; Clamping clip clamp 10-1 clamps pipe tool 12-1, the caliper 2-1 of turning manipulator 2 and continues clamping pipe tool, connects and moves on thribble mechanical hand 10, and the roller 2-8 of the caliper 2-1 of turning manipulator 2 has axial rolling towards pipe under the effect of frictional force. When single 12-1 is promoted rig floor certain altitude, connect thribble mechanical hand 10 and stop waiting next root pipe tool.
Step 4, turning manipulator 2, connects thribble mechanical hand 10 and jointly connects double joint. Turning manipulator 2 and cat road 1 return to initial position, repeat above-mentioned action, carry next root pipe tool 12-2. After next root pipe tool 12-2 is in place, connects thribble mechanical hand 10 and move down and make upper and lower two pipes tool make-up by adjusting the attitude of telescopic arm 10-2, such as Figure 11. Then pipe is had spinner, links closely, such as Figure 10 by iron driller 7.
Step 5, turning manipulator 2, connect thribble mechanical hand 10 jointly connect vertical with. After completing to connect double joint action, connect and thribble mechanical hand 10 moves, twin-root canal tool is promoted rig floor certain altitude, waits that next root pipe has. Turning manipulator 2 and cat road 1 return to initial position simultaneously, carry next root pipe to have. After next root pipe tool is in place, connecing thribble mechanical hand 10 and move down and make upper and lower two pipes tool make-up by adjusting the attitude of telescopic arm 10-2, then pipe is had spinner, links closely by iron driller. Such a series of actions circulates, and namely completes to connect the work of thribble.
Step 6, the discharge of thribble. after completing to connect the work of thribble, the discharge of thribble to be carried out. as Figure 13 shows, connect thribble mechanical hand 10 and grasp shifting in thribble, now turning manipulator 2 still clamps righting thribble, thribble pipe tool is promoted rig floor certain altitude, telescopic arm 10-2 retracts, pivoting support 10-3 rotates, after walker 10-4 walking is engaged to clamping clip 10-1 biparting shape fingerboard 9 target column of alignment, clamp assembly 9-2 before the target location of biparting these row of shape fingerboard 9 automatically turns under cylinder 9-2-2 drives, connect after the telescopic arm 10-2 of thribble mechanical hand 10 extends target location, connect thribble mechanical hand 10 and move down placement thribble to pipe setback 3 correspondence position, fingerboard clamp assembly 9-2 is automatically switched off, the clamp 10-1 connecing thribble mechanical hand 10 opens, state is Figure 13 such as. connect thribble mechanical hand 10 reset and wait next instruction. rig unload thribble operation process and said process is contrary. the work that makes a trip connecing, unloading thribble work and rig of rig can carry out parallel. operating area and equipment are absent from interference.
Step 7, lower brill.The work that makes a trip of rig mainly has hydraulic elevator 14, top to drive 11, iron driller 7 and power slip 6 coordinate and connect thribble mechanical hand 10 and complete. When boring under rig, as shown in figure 14, connect thribble mechanical hand 10 to capture with thribble in biparting shape fingerboard 9, connect thribble mechanical hand 10 and lift up thribble higher than after drilling floor surface certain altitude, telescopic arm 10-2 retracts, and main body rotates, and moves to target location and thribble is given hydraulic elevator 14; Hydraulic elevator 14 drives thribble retraction straight well mouth center under the control that swing arm 11-1 is driven on top and moves down, make-up is had with well head center existing pipes, the following pipe tool of power slip 6 now clamping, then pipe is had spinner, links closely by iron driller 7, and this part of cooperating is identical with active service rig; Top is driven 11 driving thribbles and is crept into. The trip-out operation process of rig and said process are contrary.
These examples of implementation, the installation site of pipe setback 3 is by sinking down on base 4 on traditional drilling floor surface, position of centre of gravity effectively moves down 9 meters to 14 meters, when moving in well site, can expire thribble Integral transporting, substantially increases removal of home efficiency and reduces personnel labor intensity. Additionally, this rig adopts electric-hydraulic combined driving, omni-directional video monitoring system, integrating control, driller operates corresponding program at control room can realize the thribble work of creeping into and unload of rig, it may be achieved full-automation veritably, off-line operation, working performance can bring up to 3 times of active service rig and safe and reliable.
Claims (10)
1. an automated drilling rig, mainly by derrick, base, Mao Dao, top is driven, drilling floor surface forms, it is characterised in that: be provided with biparting shape fingerboard in the both sides of above-mentioned derrick, above-mentioned base be provided with two in the corresponding sunk type pipe setback of aforementioned fan-shaped fingerboard; Above-mentioned cat road automatic turning enters, rout up and pipe tool that anterior-posterior translation is inserted;
Also including being installed on ground, well site, turning manipulator between aforementioned two pipe setbacks, the pipe that the conveying of clamping cat road comes have and overturn to vertical state, clamps following pipe when upper, shackle and has applying reaction torque;
Also include being arranged on derrick side, rear gate connect thribble mechanical hand, move up and down pipe tool, make-up pipe has, vertical movement or discharge thribble.
2. a kind of automated drilling rig according to claim 1, it is characterised in that: above-mentioned cat road includes the paired outer flip-arm of symmetrical two couple supporting leg, the interior in pairs flip-arm of fluid cylinder driving, fluid cylinder driving and main car, dolly, mounting seat, reductor; Supporting leg is positioned at the main body both sides in cat road, is supported to ground by support oil cylinder outside it, and inner side is articulated with mounting seat through bearing pin; Main car is provided with V road; Mao Dao two ends are located at by reductor, drive pipe tool to seesaw on main car through chain drive dolly.
3. a kind of automated drilling rig according to claim 1 and 2, it is characterised in that: above-mentioned turning manipulator is mainly made up of caliper, flip-arm and installing rack; Installing rack is fixed on ground, well site, near rig floor with flip-arm through hinge, is hinged with the upset fluid cylinder driving flip-arm 90-degree rotation on installing rack; Caliper is arranged on flip-arm and clamps or unclamp the pipe tool inserted.
4. a kind of automated drilling rig according to claim 3, it is characterized in that: above-mentioned caliper has two, laying respectively at the upper and lower end of flip-arm, the binding clip of caliper is mainly made up of at least one pair of roller rotated along vertical pivot, and this pair roller is driven folding by the clamping cylinder being fixed on flip-arm.
5. a kind of automated drilling rig according to claim 3, it is characterised in that: above-mentioned connect thribble mechanical hand mainly by installing rack, walker, pivoting support, telescopic arm, clamping clip, hoister winch, corresponding pulley assembly;The lower and upper cross-member of installing rack is provided with track, and walker moves horizontally along this track; Installing rack moves up and down under the effect of hoister winch; Telescopic arm is parallelogram sturcutre, is arranged between pivoting support and clamping clip, steadily stretches out or retract under the driving of oil cylinder; Add clencher clamp under the driving of oil cylinder or unclamp pipe tool.
6. a kind of automated drilling rig according to claim 5, it is characterised in that: being provided with track on above-mentioned derrick, the position of corner, above-mentioned installing rack both sides is provided with roller, and under the effect of above-mentioned hoister winch, installing rack track along aforementioned derrick moves up and down.
7. a kind of automated drilling rig according to claim 5, it is characterised in that: above-mentioned biparting shape fingerboard is mainly made up of storage rack and clamp assembly, is designed with a clamp assembly before each drilling tool deposit position of storage rack; Clamp assembly is mainly made up of the sensor of upset cylinder, connecting rod, finger and detection finger folding condition.
8. a kind of automated drilling rig according to claim 7, it is characterised in that: above-mentioned derrick is provided with each clamp assembly of monitoring and deposits the photographic head of drilling tool situation.
9. a kind of automated drilling rig according to claim 8, it is characterised in that: above-mentioned derrick is Jackup mast; This rig also includes hydraulic elevator, iron driller, power slip; Iron driller mainly by turnbuckle clamp, the pincers that link closely, add clencher and form, upper button, shackle are by control system one key operation.
10. a kind of automated drilling rig according to claim 9, it is characterised in that: the edge of above-mentioned drilling floor surface is open arranges semicircle rat hole.
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| CN201610079704.1A CN105672874B (en) | 2016-02-05 | 2016-02-05 | A kind of automated drilling rig |
| PCT/CN2017/072299 WO2017133561A1 (en) | 2016-02-05 | 2017-01-24 | Automated drilling rig |
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