CN105672874B - A kind of automated drilling rig - Google Patents
A kind of automated drilling rig Download PDFInfo
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- CN105672874B CN105672874B CN201610079704.1A CN201610079704A CN105672874B CN 105672874 B CN105672874 B CN 105672874B CN 201610079704 A CN201610079704 A CN 201610079704A CN 105672874 B CN105672874 B CN 105672874B
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- 238000005553 drilling Methods 0.000 title claims abstract description 109
- 241000282326 Felis catus Species 0.000 claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000013519 translation Methods 0.000 claims abstract description 7
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 42
- 229910052742 iron Inorganic materials 0.000 claims description 21
- 239000012530 fluid Substances 0.000 claims description 18
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 6
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 4
- 238000000034 method Methods 0.000 description 20
- 230000008569 process Effects 0.000 description 20
- 238000010586 diagram Methods 0.000 description 14
- 238000003466 welding Methods 0.000 description 5
- 238000003032 molecular docking Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000009184 walking Effects 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
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method 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
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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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- 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
A kind of automated drilling rig, the both sides of derrick are equipped with biparting shape fingerboard, set that there are two corresponding sunk type pipe setbacks on pedestal；Cat road automatic turning into, rout up and anterior-posterior translation merging pipe tool；The pipe that turning manipulator clamping cat road conveying comes have and overturns to vertical state, and following pipe tool application reaction torque is clamped in upper, shackle；Thribble manipulator is connect, moves up and down pipe tool, make-up pipe tool, vertical movement or discharge thribble.The drilling machine uses electric-hydraulic combined driving, omni-directional video monitoring system, integrated control, driller operates that the drilling of drilling machine can be realized in corresponding program and thribble work of unloading is, it can be achieved that veritably full-automation, off-line operation, operating efficiency can be increased to 3 times of active service drilling machine and securely and reliably in control room；And when moving in well site, thribble Integral transporting can be expired, greatly improve operating efficiency and reduce personnel labor intensity.
Description
Technical field
The present invention relates to a kind of oil gas drilling drilling machine, it can be achieved that automation mechanized operation, off-line operation.
Background technology
Active service drilling machine belongs to semi-automatic, and only drilling process realizes automation, other less important works need worker to coordinate machine
Tool operates, and rig automation degree is low, dangerous big, low production efficiency.
For example, land rig carries out drilling tool movement and upper drilling floor surface operation process：First, special-purpose vehicle by drilling tool transport to
Drilling tool is hung to drilling tool frame by well site using live crane；Then, drilling tool is pushed into cat road by worker, by the compressed air hoist of drilling floor surface
Decentralization steel wire rope is tangled at the top of drilling tool, and drilling tool is directly promoted to drilling floor surface along cat road using rigging；Finally, it is used by 2 workers
Iron hook hooks drilling tool lower part, is slowly transplanted in mouse hole, and drilling tool is blocked with elevator.Aforesaid operations need 3-4 worker's cooperations,
Operating efficiency is low, safety is poor, big to the damaged condition of drilling tool.
In another example land rig is connect in thribble operation process, using liquid gas tong and the pincers cooperation of hydraulic catwork and Type B
It carries out, shackle；Pipe setback is mounted on drilling floor surface, and thribble storage needs the upper quadruple board platform of rigger to pull pipe tool, and drilling floor surface needs
Special messenger's righting pipe is wanted to have.It entirely connects thribble, deposit thribble process, the degree of automation is low, and labor intensity is big, dangerous higher.
Compared with prior art, beneficial effects of the present invention are：The present invention uses electric-hydraulic combined driving, omni-directional video prison
Control system, integrated control, the drilling of drilling machine can be realized in the corresponding program of control room operation by driller and thribble of unloading works, can
Realize that veritably full-automation, off-line operation, operating efficiency can be increased to 3 times of active service drilling machine and securely and reliably；And in well
During the removal of home of field, thribble Integral transporting can be expired, greatly improve operating efficiency and reduce personnel labor intensity.
Invention content
The invention reside in improve drilling machine automatization level so that drilling machine can convey automatically drilling tool, quadruple board platform it is unattended,
Automatic unload thribble, automatic-discharging thribble, so as to fulfill off-line operation.
In order to achieve the above object, the present invention provides a kind of automated drilling rig, mainly by derrick, pedestal, Mao Dao, top
It drives, drilling floor surface composition, it is characterised in that：The both sides of above-mentioned derrick be equipped with biparting shape fingerboard, set on above-mentioned pedestal there are two
In the corresponding sunk type pipe setback of aforementioned fan-shaped fingerboard；Above-mentioned cat road automatic turning into, rout up and anterior-posterior translation merging pipe tool；
It further includes and is installed on well site ground, the turning manipulator between aforementioned two pipe setback, the conveying of clamping cat road comes
Pipe have and overturn to vertical state, following pipe tool is clamped in upper, shackle and applies reaction torque；
It further includes and connects thribble manipulator mounted on the rear gate side of derrick, move up and down pipe tool, make-up pipe has, vertically
Movement or discharge thribble.
In the present invention, cat road is mounted on the ground of well site, can realize automatically pipe tool turn over into, rout up and front and rear translation is moved
Make, it is automatic to realize that pipe has the movement function from pipe stockyard to turning manipulator.The function of turning manipulator is that automatic realize is managed
Tool clamps following pipe tool in upper, shackle and applies reaction torque from horizontality to vertical state.Connecing thribble manipulator can be with
It moves up and down, rotate, luffing and clamping, can realize the moving up and down of pipe tool, the discharge of make-up, thribble, thribble vertical direction automatically
Movement.
Cat road, turning manipulator connect the mutual cooperation of thribble manipulator, it can be achieved that the high automatic business processing of pipe tool：Cat road water
To commitment positions, turning manipulator clamps pipe to be had translation fortune pipe tool；Mechanical hand-motion pipe tool is afterwards turned over to overturn from horizontality
To vertical state；It connects thribble manipulator to move down, catches pipe tool and upper lifting pipe has to intended height, the pipe of turning manipulator righting at this time
Tool；Cat road, turning manipulator reset, and repeat a upper motion flow, and next pipe tool is transported to vertical state, connects thribble machinery
Subordinate moves, upper and lower two pipes tool docking；Upper button is carried out to two pipe tools by tools such as iron drillers, the pipe of turning manipulator clamping at this time
Tool applies reaction torque；Connecing thribble manipulator catches pipe tool above to carry, until following pipe tool stops higher than table top certain altitude；Cat
Road, turning manipulator reset again, and conveying third root pipe has to vertical state；It connects thribble manipulator to move down, upper and lower two pipes tool
Docking；Two pipe tools are carried out with upper button by tools such as iron drillers, 3 pipe tools are connected into 1 thribble；Connect thribble manipulator catch it is vertical
It is carried on root, after pipe tool is higher than drilling floor surface, connects thribble welding manipulator and drive thribble recycling, rotation runs to biparting shape fingerboard mesh
Cursor position transfers thribble.Unload thribble operation process with it is above-mentioned connect thribble, thribble discharge operation process it is opposite.
In addition, in the present invention, by being sunk down on pedestal on traditional drilling floor surface, position of centre of gravity has the installation site of pipe setback
Effect 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's labor
Fatigue resistance.Biparting shape fingerboard is distributed in Jackup mast both sides, and full load load is symmetrical, stress is good.When side, sector refers to
The thribble that the pipe tool that beam is used to store on well site is connected into, opposite side sector fingerboard then can be used for vertical in storage trip-out process
Root.Therefore, thribble of unloading and the work that makes a trip can be carried out at the same time.
The drilling machine uses electric-hydraulic combined driving, integrated control, and driller operates corresponding program in control room and brill can be realized
The drilling of machine and thribble of unloading work are, it can be achieved that veritably full-automation, off-line operation, operating efficiency can be increased to active service drilling machine
3 times and it is safe and reliable.
As a preferred embodiment, a kind of automated drilling rig of the application, it is further characterized in that：Above-mentioned cat road includes symmetrical
Two pairs of supporting legs, fluid cylinder driving pairs of interior flip-arm, fluid cylinder driving pairs of outer flip-arm and main vehicle, trolley, installation
Seat, speed reducer；Supporting leg is located at the main body both sides in cat road, and outside supports to ground by support oil cylinder, and inside is articulated with through axis pin
Mounting base；Main vehicle is equipped with V roads；Speed reducer is set on Mao Dao both ends, and pipe tool front and rear fortune on main vehicle is driven through chain drive trolley
It is dynamic.The pipe tool for being stored in pipe stockyard is placed on the supporting leg in cat road；The support oil cylinder of cat road homonymy drives supporting leg upward simultaneously
Rotation, branch leg outer side is too high, and pipe tool inwardly slides to interior flip-arm along supporting leg direction；The interior drive for overturning fluid cylinder inside of interior flip-arm
Dynamic lower inwardly overturning, will be in pipe tool overturning to the V roads of main vehicle；Trolley through speed reducer, chain drive move forward push pipe have to
Preceding translation, at this time interior flip-arm resetted；Pipe tool is by fortune when falling back on commitment positions, gives turning manipulator, trolley stop and
It retreats to initial position, waits for lower pipe tool of movement.On the contrary, when pipe has lower rig floor, pipe tool is put into cat by turning manipulator
After on the V roads of the main vehicle in road, trolley drives pipe tool to move backward, until after commitment positions, trolley retracts initial position；Outer flip-arm
Pipe tool is flipped outward under the driving of overturning fluid cylinder outside and is put on supporting leg.
As a preferred embodiment, a kind of automated drilling rig of the application, it is further characterized in that：Above-mentioned turning manipulator mainly by
Caliper, flip-arm and mounting bracket composition；Mounting bracket is fixed on the ground of well site, is cut with scissors on one side with flip-arm through axis pin close to rig floor
It connects, the overturning fluid cylinder that driving flip-arm is rotated by 90 ° is hinged on mounting bracket；Caliper, which is mounted on flip-arm, to be clamped or unclamps
The pipe tool of merging.During original state, flip-arm is overlayed on mounting bracket；During work, caliper is first opened, and cat road transports to pipe tool both
When positioning is put, two calipers, which are closed, clamps pipe tool；Arm is afterwards turned under the driving of overturning fluid cylinder, pipe tool is driven to be enclosed from horizontality
Vertical state is flipped up around axis pin.First pipe tool give awaited orders connect thribble manipulator, connect thribble manipulator and above carry
Pipe has to intended height.Turning manipulator repeats a upper motion flow, and next pipe tool is transported to vertical state, waits for anvil
It is detained on the tools such as work.
As advanced optimizing, a kind of automated drilling rig of the application, it is further characterized in that：There are two above-mentioned calipers, point
Not Wei Yu flip-arm upper and lower end, the binding clip of caliper along at least a pair of of idler wheel that vertical pivot rotates mainly by forming, this is to idler wheel
Folding is driven by the clamping cylinder being fixed on flip-arm.When turning manipulator 2 clamps pipe tool and above carries, pairs of idler wheel 2-8 can
To have the function of righting-oriented；Idler wheel 2-8 cannot pipe have radial direction rotation, coordinate iron driller 7 on, shackle when clamp
Following pipe tool applies reaction torque, has the function of conventional drilling machine slips.
As a preferred embodiment, a kind of automated drilling rig of the application, it is further characterized in that：It is above-mentioned that connect thribble manipulator main
By mounting bracket, walker, pivoting support, telescopic arm, clamping clip, hoister winch, corresponding pulley assembly；The horizontal stroke up and down of mounting bracket
Beam is equipped with track, and walker is moved horizontally along the track；Mounting bracket moves up and down under the action of hoister winch；Telescopic arm is
Parallelogram sturcutre between pivoting support and clamping clip, is steadily stretched out or is retracted under the driving of oil cylinder；Step up to clamp
It is clamped under the driving of oil cylinder or unclamps pipe tool.It is as follows to connect thribble manipulator discharge thribble process：Mounting bracket moves to commitment positions；
Telescopic arm drives clamping clip to protrude outwardly to pipe tool position, and clamping clip opening clamps pipe tool；Then, mounting bracket drive entirely connects vertical
Root manipulator moves up, and after thribble lower end is higher by drilling floor surface certain altitude, telescopic arm drives pipe tool to be retracted to extreme position；Revolution
Bearing is rotated to specified angle；Walker is moved horizontally to the target column of biparting shape fingerboard, telescopic arm band along mounting bracket upper rail
Dynamic pipe tool extend out to target location；Mounting bracket is moved down to have pipe and be placed in pipe setback, is stepped up pincers and is opened placement pipe tool；Connect thribble machine
Tool hand resets, pending to move down thribble.
Connect for convenience thribble manipulator it is more smooth, it is safe move up and down, as advanced optimizing, one kind of the application
Automated drilling rig, it is further characterized in that：Track is installed, the position of above-mentioned mounting bracket both sides quadrangle is equipped with rolling on above-mentioned derrick
Wheel, mounting bracket is moved up and down along the track on aforementioned derrick under the action of above-mentioned hoister winch.
As a preferred embodiment, a kind of automated drilling rig of the application, it is further characterized in that：Above-mentioned biparting shape fingerboard mainly by
Storage rack and clamp assembly form, and a clamp assembly is designed with before each drilling tool deposit position of storage rack；Clamp assembly
Mainly it is made of the sensor of tumble cylinder, connecting rod, finger and detection finger folding condition.Sensor can detect each
The folding condition of clamp.When driller connects specified row of the thribble manipulator transporting tube tool to biparting shape fingerboard from control room,
Press manipulation button, all clamp assemblies before respective column target location are opened；After pipe tool is issued to target location, clamp is total
It is automatically closed under the driving of tumble cylinder, to be isolated and protect each pipe to have well, pipe tool is avoided to topple over.
For convenience of driller can from control room clearly from connect thribble manipulator transporting tube tool to biparting shape fingerboard situation with
And the situation of each drilling tool deposit position, so as to fulfill remote automatic control, as advanced optimizing, one kind of the application
Automated drilling rig, it is further characterized in that：The camera for monitoring each clamp assembly storage drilling tool situation is installed on above-mentioned derrick.
Has the full-automation of processing for convenience of the carrying and dismounting of the drilling machine and realization pipe, as advanced optimizing, originally
A kind of automated drilling rig of application, it is further characterized in that：Above-mentioned derrick is Jackup mast；The drilling machine further include hydraulic elevator,
Iron driller, power slip；Iron driller mainly by turnbuckle clamp, the pincers that link closely, step up pincers form, it is upper button, shackle pass through control system one
Key operation.
For convenience of cat road, turning manipulator, connect thribble manipulator and cooperate, as advanced optimizing, the one of the application
Kind automated drilling rig, it is further characterized in that：The semicircle rat hole of the open setting in edge of above-mentioned drilling floor surface.In this way, it connects, unload thribble
Pipe tool is not only conducive to operation, decreases the collision with drilling machine other parts outside drilling floor surface during operation.
Description of the drawings
It is further illustrated the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is the structure diagram of drilling machine of the present invention；
Fig. 2 is the structure diagram in the road of drilling machine Zhong Mao shown in Fig. 11；
Fig. 3 is status diagram of cat road shown in Fig. 21 when supporting leg 1-2 movements pipe has；
Fig. 4 is status diagram of cat road shown in Fig. 21 in interior flip-arm 1-3 overturning pipe tools；
Fig. 5 is status diagram of cat road shown in Fig. 21 in the horizontal movement pipe tools of trolley 1-8；
Fig. 6 is the structure diagram of turning manipulator 2 in drilling machine shown in Fig. 1；
Fig. 7 is the structure diagram that thribble manipulator 10 is connect in drilling machine shown in Fig. 1；
Fig. 8 is the structure diagram of biparting shape fingerboard 9 in drilling machine shown in Fig. 1；
Fig. 9 is the structure diagram of the middle fingerboard clamp assembly of biparting shape fingerboard 9 shown in Fig. 8；
Figure 10 is status diagram of the turning manipulator 2 when clamping pipe tool in drilling machine shown in Fig. 1；
Figure 11 is status diagram of the turning manipulator 2 when clamping pipe tool and being in vertical in drilling machine shown in Fig. 1；
Figure 12 be in drilling machine shown in Fig. 1 turning manipulator 2 and connect thribble manipulator 10 coordinate butt tube tool when state
Schematic diagram；
Figure 13 is status diagram of the iron driller 7 in upper button in drilling machine shown in Fig. 1；
Figure 14 is that thribble discharges schematic diagram in drilling machine shown in Fig. 1；
Figure 15 is to connect thribble manipulator 10 in drilling machine shown in Fig. 1 with state of the hydraulic elevator 14 when joining thribble to illustrate
Figure.
It is marked in figure：Cat road 1, turning manipulator 2, pipe setback 3, pedestal 4, rat hole 5, power slip 6, iron driller 7, from liter
Formula derrick 8, biparting shape fingerboard 9 connect thribble manipulator 10, and top drives 11, and pipe tool 12, pipe has 12-1, pipe tool 12-2, hydraulic elevator
14, support oil cylinder 1-1, supporting leg 1-2, interior flip-arm 1-3, main vehicle 1-4, interior overturning fluid cylinder 1-5, outer flip-arm 1-6, outer overturning liquid
Cylinder 1-7, trolley 1-8, mounting base 1-9, speed reducer 1-11, chain 1-12, caliper 2-1, flip-arm 2-2, mounting bracket 2-3, axis pin
2-5 overturns fluid cylinder 2-6, clamping cylinder 2-7, idler wheel 2-8, clamping clip 10-1, telescopic arm 10-2, pivoting support 10-3, walker
10-4, amplitude oil cylinder 10-5, mounting bracket 10-6, track 10-7, pulley assembly 10-8, hoister winch 10-9, storage rack 9-1, card
Sub- assembly 9-2, finger 9-2-1, tumble cylinder 9-2-2, connecting rod 9-2-3, sensor 9-2-4, turnbuckle clamp 7-1, link closely pincers 7-2,
Step up to clamp 7-3, swing arm 11-1 is driven on top.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1, the capital equipment of the present embodiment drilling machine from low to high, from left to right includes successively：Cat road 1, overturning
Manipulator 2, pipe setback 3, power slip 6, iron driller 7, Jackup mast 8, biparting shape fingerboard 9, connects thribble manipulator at pedestal 4
10th, 11, hydraulic elevator 14 is driven on top.Wherein, turning manipulator 2 is mounted on the ground of well site, and pipe setback 3 is mounted on pedestal 4, double
Fan-shaped fingerboard 9 is located at 8 both sides of Jackup mast, connects thribble manipulator 10 mounted on gate side after Jackup mast 8
Cat road 1 is mounted on the ground of well site, can realize automatically pipe tool turn over into, rout up and front and rear translation motion, automatically
Realize that pipe has the movement function from pipe stockyard to turning manipulator 2.As Figure 2-Figure 5, cat road 1 mainly has 4 symmetrical point
The supporting leg 1-2 of cloth, 4 symmetrical interior flip-arm 1-3, main vehicle 1-4, trolley 1-8,4 symmetrical outer flip-arm 1-6
And corresponding perform forms with control mechanism.Wherein, supporting leg 1-2 is located at the main body both sides in cat road 1, close to intermediate main vehicle 1-4；Branch
There are one support oil cylinder 1-1 for the outside design of leg 1-2, and inside is hinged with mounting base 1-9 by axis pin.Wherein, it is set on main vehicle 1-4
In respect of the V roads of V-type, pipe tool swings when ploughing under V roads under the action of inertia.Wherein, it is equipped with speed reducer 1- at 1 both ends of cat road
11, chain 1-12 connection trolley 1-8 are simultaneously engaged with the gear on speed reducer 1-11, and speed reducer 1-11 is small under being driven through chain 1-12
Vehicle 1-8 is moved forward and backward on main vehicle 1-4.4 symmetrical outer flip-arm 1-6 are equipped at intervals on main vehicle 1-4；Outer overturning fluid cylinder
1-7 one end is fixed on inside main vehicle 1-4, and the other end connects outer flip-arm 1-6.As shown in figure 3, in the driving of support oil cylinder 1-1
Under, supporting leg 1-2 outer ends are rotated up around inner end hinge, and pipe has the interior flip-arm 1-3 that 12-1 slides to inside along supporting leg 1-2；
As shown in figure 4, interior flip-arm 1-3 is overturn under the driving of fluid cylinder 1-5 inside, pipe tool 12-1 is driven to be overturn into main vehicle 1-4, will be managed
Tool is put on the V roads of main vehicle 1-4；Pipe tool 12-1 is pushed to translate forward as shown in figure 5, trolley 1-8 moves forward.Pipe tool 12-1 is moved
Trolley 1-8 stops when moving commitment positions, and manipulator 2 to be flipped clamps.On the contrary, when pipe has rig floor under 12-1, turning mechanical
After on the V roads of main vehicle 1-4 that pipe tool is put into cat road 1 by hand 2, trolley 1-8 drives pipe tool to move backward, until after commitment positions, it is small
Vehicle 1-8 retracts initial position；Outer flip-arm 1-6, which overturns to flip outward pipe tool under the driving of fluid cylinder 1-7 outside, is put into supporting leg 1-2
On.
The function of turning manipulator 2 is automatic to realize pipe tool from horizontality to vertical state, and clamp in upper, shackle
Following pipe tool applies reaction torque.As shown in Fig. 6, Figure 10, Figure 11, Figure 12, turning manipulator 2 is mainly by caliper 2-1, flip-arm
2-2 and mounting bracket 2-3 compositions.Wherein, mounting bracket 2-3 is fixed on the ground, passes through axis pin with flip-arm 2-2 on one side close to rig floor
2-5 is hinged；Mounting bracket 2-3 is each provided with an overturning fluid cylinder 2-6 with flip-arm 2-2 both sides；Caliper 2-1 is mounted on flip-arm 2-
On 2, it is each up and down there are one, the idler wheel 2-8 that binding clip is mainly rotated by a pair along vertical pivot is formed.It is clamped in turning manipulator 2
When pipe tool above carries, pairs of idler wheel 2-8 can have the function of righting-oriented；The radial direction that idler wheel 2-8 cannot have in pipe rotates,
On cooperation iron driller 7, shackle when clamp following pipe tool and apply reaction torque, there is conventional drilling machine slips.Clamping cylinder
2-7 one end connects idler wheel 2-8, and the other end is fixed on flip-arm 2-2, clamping cylinder 2-7 driving lower clamp 2-1 foldings simultaneously
The pipe tool of different tube diameters can be clamped.As shown in fig. 6, during original state, flip-arm 2-2 is overlayed on mounting bracket 2-3；During work,
Caliper 2-1 is first opened, and when pipe tool is transported to commitment positions by cat road 1, two calipers 2-1 as shown in Figure 10, which is closed, clamps pipe tool；Then
Flip-arm 2-2 drives pipe tool to be flipped up from horizontality around axis pin 2-5 to such as Figure 11 under the driving of overturning fluid cylinder 2-6
Shown vertical state.First pipe tool give awaited orders connect thribble manipulator 10, connect 10 upper lifting pipe of thribble manipulator have to
Intended height.Turning manipulator 2 repeats a upper motion flow, and next pipe tool is transported to vertical state as shown in figure 12, etc.
It treats to detain on iron driller 7.
As shown in figure 13,7 major function of iron driller is to carry out upper button to pipe tool instead of the liquid gas tong of conventional drilling machine and unload
Button, by turnbuckle clamp 7-1, link closely pincers 7-2, steps up to clamp 7-3 compositions.During upper button, after the completion of upper down tube tool make-up, step up to clamp 7-3 folders
Tight following pipe tool first applies at a high speed torque, under the pin thread precession for making top pipe tool with turnbuckle clamp 7-1 to the pipe tool of top one
The female thread of side pipe tool, then with the pincers 7-2 that links closely link closely reaches the corresponding torque of pipe tool.Identical, spinner side is acted during shackle
To opposite.This series of actions can control one-key operation by control system.
As shown in Fig. 7, Figure 15, connect thribble manipulator 10 can move up and down, rotate, luffing and clamping, can realize automatically
Pipe tool move up and down, make-up, thribble discharge, thribble vertical direction movement.Connect thribble manipulator 10 mainly by mounting bracket 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-
The 8 and track 10-7 on derrick is formed.Wherein, the lower and upper cross-member of mounting bracket 10-6 is equipped with track, walker 10-4
It can be moved horizontally along the track；The position of mounting bracket 10-6 both sides quadrangle is equipped with idler wheel, is connect under the action of hoister winch 10-9
Thribble manipulator 2 can be moved up and down along the track 10-7 on derrick.Telescopic arm 10-2 is parallelogram sturcutre, mounted on revolution
Between bearing 10-3 and clamping clip 10-1, steady stretch out that mechanical arm can be achieved under the driving of amplitude oil cylinder 10-5 is transported with retracting
It is dynamic.Step up to clamp 10-1 in clamping cylinder（It is not shown in figure）Under the action of realize clamp pipe tool function.Connect thribble manipulator 10
It is as follows to discharge thribble process：Mounting bracket 10-6 moves to commitment positions；Telescopic arm 10-2 drives clamping clip 10-1 to protrude outwardly to pipe
Has position, clamping clip 10-1 openings clamp pipe tool；Then, mounting bracket 10-6 drives entirely connect thribble manipulator 10 and move up, when vertical
After root lower end is higher by 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, telescopic arm along mounting bracket 10-6 upper rails
10-2 drives pipe tool to extend out to target location；Mounting bracket 10-6 is moved down to have pipe and be placed in pipe setback 3, is stepped up pincers 10-1 openings and is put
Put pipe tool；The reset of thribble manipulator is connect, it is pending to move down thribble.
As shown in Fig. 8, Fig. 9, Figure 14, biparting shape fingerboard 9 is located at the top of pipe setback 3, and coordinates the storage of pipe setback 3 vertical
Root is mainly made of storage rack 9-1 and clamp assembly 9-2.One is designed with before each drilling tool deposit position of storage rack 9-1
Clamp assembly 9-2.Clamp assembly 9-2 is mainly by tumble cylinder 9-2-2, connecting rod 9-2-3, finger 9-2-1, sensor 9-2-4 groups
Into.Sensor 9-2-4 can detect the folding condition of each clamp；Camera is installed on Jackup mast 8, can be understood
The situation for seeing each drilling tool deposit position.When driller connects 10 transporting tube of thribble manipulator tool 12 to biparting from control room
During the specified row of shape fingerboard 9, manipulation button is pressed, all clamp assembly 9-2 before respective column target location are opened；When pipe has 12
After being issued to target location, clamp assembly 9-2 is automatically closed under the driving of tumble cylinder 9-2-2, to be isolated well and protect
Each pipe tool is protected, pipe tool is avoided to topple over.Biparting shape fingerboard 9 is distributed in 8 both sides of Jackup mast, and full load load is symmetrically divided
Cloth, stress are good.When the thribble that the pipe tool that side sector fingerboard is used to store on well site is connected into, opposite side sector fingerboard then can be used
In storing the thribble in trip-out process.Therefore, thribble of unloading and the work that makes a trip can be carried out at the same time.
In the embodiment, it is as follows to connect thribble, thribble discharge operation process：Cat road 1 horizontal movement pipe tool 12 gives tipper
Tool hand 2；Turning manipulator 2, which has pipe from horizontality, is turned to vertical state；It connects thribble manipulator 10 to move down, pipe is caught to have 12
And above carry, 2 righting pipe of turning manipulator has at this time, and pipe tool stops after being elevated above drilling floor surface certain distance；Cat road 1, is turned over
Turn manipulator 2 to reset, next pipe tool is conveyed, until vertical state；It connects thribble manipulator 10 to move down, upper and lower two pipes tool docking；Iron
It is detained on driller 7, turning manipulator 2 clamps pipe tool application reaction torque at this time；Connecing thribble manipulator 10 catches pipe tool above to carry, until following
A piece pipe tool stops higher than table top certain altitude；Cat road 1, turning manipulator 2 reset, and next pipe tool are conveyed, until vertical state；It connects
Thribble manipulator 10 moves down, upper and lower two pipes tool docking；It is detained on iron driller 7,3 pipe tools are connected into 1 thribble；Connect thribble manipulator
10 catch thribble above to carry, and after pipe tool is higher than drilling floor surface, connects thribble welding manipulator 10 and drive thribble recycling, rotation is run to double
Fan-shaped 9 target column of fingerboard；The clamp assembly 9-2 of biparting shape fingerboard 9 is opened；It connects thribble welding manipulator 10 and transfers thribble；Biparting shape
The clamp assembly 9-2 of fingerboard 9 is closed.It is opposite with connecing thribble, thribble discharge operation process to unload thribble operation process.
In the embodiment, tripping operation process is as follows：
It connects thribble welding manipulator 10 and runs to target thribble position, the clamp assembly 9-2 of biparting shape fingerboard 9 is opened；
It connects thribble welding manipulator 10 and grabs steady thribble, bounce back, walking rotation gives thribble to hydraulic elevator 14；Hydraulic elevator 14 is retracted, and is made
Thribble enters the slips body clamping that top drives 11；Top is driven 11 drive thribbles and is moved down, and thribble is aligned the original drilling tool of well head；Iron driller 7
Upper button, at this time the original drilling tool power slip 6 of well head block application reaction torque；Iron driller 7 resets after first-class button, and top drives 11 downwards
Drilling well.While lower brill, thribble is connect, thribble discharge work can be carried out at the same time.Trip-out operation is opposite with tripping operation process.
In the embodiment, drilling machine whole work process is shown in following steps 1-7.
Step 1,1 delivery pipe of cat road has to turning manipulator 2.The pipe tool 12-1 for being stored in pipe stockyard is placed into cat road 1
Supporting leg 1-2 on；Two support oil cylinder 1-1 of 1 homonymy of cat road drive supporting leg 1-2 to rotate up simultaneously, on the outside of supporting leg 1-2 too
Height, pipe tool 12-1 inwardly slide to interior flip-arm 1-3, such as Fig. 3 along supporting leg direction；Interior flip-arm 1-3 is interior inside to overturn fluid cylinder 1-5
Driving under inwardly overturn, by pipe tool 12-1 overturn to the V roads of main vehicle 1-4, such as Fig. 5；Trolley 1-8, which moves forward, pushes pipe tool
It translates forward, interior flip-arm 1-3 has resetted at this time；Pipe tool 12-1 is transported when falling back on commitment positions, gives turning manipulator 2, small
Vehicle 1-8 stops and retreats to initial position, waits for lower pipe tool of movement, such as Fig. 5.
Step 2, turning manipulator 2, which has pipe from horizontality, is adjusted to vertical state.Turning manipulator two pincers about 2
Body 2-1 simultaneously clamps on pipe tool 12-1, such as Fig. 9；Flip-arm 2-2 drives pipe tool 12-1 to surround pin under the driving of overturning fluid cylinder 2-6
Axis 2-5 rotates up 90 degree, and pipe is had from horizontality and is adjusted to vertical, and pipe tool is in 5 center of rat hole, such as Figure 10 at this time.
Step 3, connect thribble manipulator 10 catch it is single.Gate side connects thribble manipulator 10 after derrick, along
Track 10-7 is moved downward, and telescopic arm 10-2 stretches under the driving of amplitude oil cylinder 10-5 to pipe tool 12-1 after reaching designated position
Go out, while step up to clamp 10-1 openings；Clamping clip clamp 10-1 clamps pipe and has 12-1, and the caliper 2-1 of turning manipulator 2 continues to clamp
Pipe has, and connects thribble manipulator 10 and moves up, and the idler wheel 2-8 of the caliper 2-1 of turning manipulator 2 has axis under the action of frictional force towards pipe
To rolling.When single 12-1 is promoted rig floor certain altitude, connect thribble manipulator 10 and stop waiting for next pipe tool.
Step 4, turning manipulator 2, connect thribble manipulator 10 and connect double joint jointly.Turning manipulator 2 and cat road 1 return to just
Beginning position repeats above-mentioned action, conveys next pipe tool 12-2.After next pipe tool 12-2 is in place, connect under thribble manipulator 10
It moves and makes upper and lower two pipes tool make-up, such as Figure 11 by adjusting the posture of telescopic arm 10-2.Then iron driller 7 to pipe tool spinner,
It links closely, such as Figure 10.
Step 5, turning manipulator 2, connect thribble manipulator 10 connect jointly it is vertical with.After completion connects double joint action, thribble machine is connect
Tool hand 10 moves up, and twin-root canal is had and promotes rig floor certain altitude, waits for next pipe tool.Turning manipulator 2 and cat road 1 move back simultaneously
Initial position is returned to, conveys next pipe tool.After next pipe tool is in place, connects thribble manipulator 10 and move down and by adjusting stretching
The posture of contracting arm 10-2 makes upper and lower two pipes tool make-up, and then iron driller has pipe spinner, links closely.Such a series of actions follows
Ring is completed to connect the work of thribble.
Step 6, the discharge of thribble.After completion connects the work of thribble, the discharge of thribble is carried out.If Figure 13 shows, thribble is connect
Manipulator 10 grasps thribble and moves up, and turning manipulator 2 still clamps righting thribble at this time, and it is centainly high that thribble pipe is had promotion rig floor
Degree, telescopic arm 10-2 retract, pivoting support 10-3 rotations, and walker 10-4 walkings are engaged to the biparting shape of clamping clip 10-1 alignments and refer to
After 9 target column of beam, the pervious clamp assembly 9-2 in target location of biparting 9 row of shape fingerboard is opened automatically under cylinder 9-2-2 drivings
Open, connect thribble manipulator 10 telescopic arm 10-2 extend to target location after, connect thribble manipulator 10 and move down and place thribble to thribble
3 corresponding position of box, fingerboard clamp assembly 9-2 are automatically closed, and the clamp 10-1 for connecing thribble manipulator 10 is opened, state such as Figure 13.
It connects thribble manipulator 10 and resets waiting next instruction.Drilling machine unload thribble operation process and the above process is opposite.Drilling machine connects, unloads
The work that makes a trip that thribble works with drilling machine can carry out parallel.There is no interference for operating area and equipment.
Step 7, lower brill.The work that makes a trip of drilling machine mainly has hydraulic elevator 14, top to drive 11, iron driller 7 and power slip 6
It is completed with splice grafting thribble manipulator 10.When being bored under drilling machine, as shown in figure 14, connect thribble manipulator 10 and grabbed out of biparting shape fingerboard 9
It taking with thribble, connects thribble manipulator 10 and above put forward thribble higher than after drilling floor surface certain altitude, telescopic arm 10-2 retracts, main body rotation,
It is moved to target location and gives thribble to hydraulic elevator 14；Hydraulic elevator 14 drives on top drives thribble contracting under the control of swing arm 11-1
It goes back to straight well mouth center and moves down, pipe existing with well head center has make-up, and the following pipe of the clamping at this time of power slip 6 has, then anvil
Work 7 has pipe spinner, links closely, this part of cooperating is identical with active service drilling machine；Drive 11 driving thribble drillings in top.Drilling machine rises
It bores operation process and the above process is opposite.
The examples of implementation, by being sunk down on pedestal 4 on traditional drilling floor surface, position of centre of gravity has the installation site of pipe setback 3
Effect 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's labor
Fatigue resistance.In addition, the drilling machine uses electric-hydraulic combined driving, omni-directional video monitoring system, integrated control, driller is in control room behaviour
Make that the drilling of drilling machine can be realized in corresponding program and thribble work of unloading is, it can be achieved that veritably full-automation, off-line operation, work
Industry efficiency can be increased to 3 times of active service drilling machine and safe and reliable.
Claims (10)
1. a kind of automated drilling rig is mainly made of derrick, pedestal, Mao Dao, top drive, drilling floor surface, it is characterised in that：In above-mentioned well
The both sides of frame are equipped with biparting shape fingerboard, set on above-mentioned pedestal there are two with the aforementioned fan-shaped corresponding sunk type thribble of fingerboard
Box；Above-mentioned cat road automatic turning into, rout up and anterior-posterior translation merging pipe tool；
It further includes and is installed on well site ground, the turning manipulator between aforementioned two pipe setback, the pipe that the conveying of clamping cat road comes
Have and overturn to vertical state, following pipe tool is clamped in upper, shackle and applies reaction torque；
It further includes and connects thribble manipulator mounted on the rear gate side of derrick, move up and down pipe tool, make-up pipe tool, 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 symmetrical two couple
Supporting leg, the pairs of interior flip-arm of fluid cylinder driving, the pairs of outer flip-arm of fluid cylinder driving and main vehicle, trolley, mounting base, deceleration
Machine；Supporting leg is located at the main body both sides in cat road, and outside supports to ground by support oil cylinder, and inside is articulated with mounting base through axis pin；
Main vehicle is equipped with V roads；Speed reducer is set on Mao Dao both ends, pipe tool is driven to be moved forward and backward on main vehicle through chain drive trolley.
3. a kind of automated drilling rig according to claim 1 or 2, it is characterised in that：Above-mentioned turning manipulator is mainly by clamping
Body, flip-arm and mounting bracket composition；Mounting bracket is fixed on the ground of well site, is hinged on one side with flip-arm through axis pin close to rig floor,
The overturning fluid cylinder that driving flip-arm is rotated by 90 ° is hinged on mounting bracket；Caliper, which is mounted on flip-arm, clamps or unclamps merging
Pipe tool.
4. a kind of automated drilling rig according to claim 3, it is characterised in that：There are two above-mentioned calipers, is located at turns over respectively
The upper and lower end of pivoted arm, the binding clip of caliper along at least a pair of of idler wheel that vertical pivot rotates mainly by forming, this is to idler wheel by being fixed on
Clamping cylinder driving folding on flip-arm.
5. a kind of automated drilling rig according to claim 3, it is characterised in that：The above-mentioned thribble manipulator that connects is mainly by installing
Frame, walker, pivoting support, telescopic arm, clamping clip, hoister winch, corresponding pulley assembly；It is set on the lower and upper cross-member of mounting bracket
There is track, walker is moved horizontally along the track；Mounting bracket moves up and down under the action of hoister winch；Telescopic arm is parallel four
Side shape structure between pivoting support and clamping clip, is steadily stretched out or is retracted under the driving of oil cylinder；Step up pincers in oil cylinder
Driving under clamp or unclamp pipe tool.
6. a kind of automated drilling rig according to claim 5, it is characterised in that：Track is installed on above-mentioned derrick, it is above-mentioned
The position of mounting bracket both sides quadrangle is equipped with idler wheel, and mounting bracket is along the track on aforementioned derrick under the action of above-mentioned hoister winch
Lower movement.
7. a kind of automated drilling rig according to claim 5, it is characterised in that：Above-mentioned biparting shape fingerboard is mainly by storage rack
It is formed with clamp assembly, a clamp assembly is designed with before each drilling tool deposit position of storage rack；Clamp assembly mainly by
Tumble cylinder, connecting rod, finger and the sensor composition for detecting finger folding condition.
8. a kind of automated drilling rig according to claim 7, it is characterised in that：The each card of monitoring is installed on above-mentioned derrick
The camera of sub- assembly storage 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；The brill
Machine further includes hydraulic elevator, iron driller, power slip；Iron driller mainly by turnbuckle clamp, the pincers that link closely, step up pincers form, it is upper button, unload
Button passes through one key operation of control system.
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 to be set
Put semicircle rat hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079704.1A CN105672874B (en) | 2016-02-05 | 2016-02-05 | A kind of automated drilling rig |
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| CN105672874A CN105672874A (en) | 2016-06-15 |
| CN105672874B true CN105672874B (en) | 2018-06-19 |
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| WO (1) | WO2017133561A1 (en) |
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| WO2017133561A1 (en) | 2017-08-10 |
| CN105672874A (en) | 2016-06-15 |
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