CN106988689B - A kind of land science probing drilling tool automatic migration device of drilling machine - Google Patents
A kind of land science probing drilling tool automatic migration device of drilling machine Download PDFInfo
- Publication number
- CN106988689B CN106988689B CN201710094806.5A CN201710094806A CN106988689B CN 106988689 B CN106988689 B CN 106988689B CN 201710094806 A CN201710094806 A CN 201710094806A CN 106988689 B CN106988689 B CN 106988689B
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- drilling
- extended position
- mechanical arm
- manipulator
- position mechanical
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- 238000005553 drilling Methods 0.000 title claims abstract description 103
- 230000005012 migration Effects 0.000 title claims abstract description 13
- 238000013508 migration Methods 0.000 title claims abstract description 13
- 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 15
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 239000003208 petroleum Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 241000282326 Felis catus Species 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003466 welding Methods 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
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
A kind of land science probing of present invention drilling tool automatic migration device of drilling machine, belong to petroleum drilling technology field, including drilling rod Erecting System and slip exhaust system, drilling rod Erecting System includes pedestal, fixed plate, horizontal hydraulic cylinder, mobile foundation plate, strut, double hydraulic cylinder, extended position mechanical arm II and manipulator II, drilling rod Erecting System is completed drilling rod and is put from ground level to the process erect and promoted to drilling floor surface, slip exhaust system includes guide rail, drilling platform moving trolley, mast, extended position mechanical arm I and manipulator I, guide rail is mounted on drilling floor surface, drilling platform moving trolley is realized positioning by guide rail and is moved forward and backward, mast foot is designed as turntable structure, drilling platform moving trolley is connected by top-portion apertures with mast turntable shaft, mast can be realized 180 degree rotation by turntable, the extended position machine Tool arm I can be realized by well drilling hoist and be moved up and down, to realize vertical shift of the drilling rod from ground to drilling platform.
Description
Technical field
The invention belongs to petroleum drilling technology field, it is related to a kind of drilling tool automation migration and exhaust apparatus.
Background technique
Drilling tool automatic migration device is subordinate to drilling machine land equipment part, is the important composition portion of drilling tool automated programming system
Part conveys drilling tool on rig floor from ground when for drillng operation, and transfers to ground from rig floor by the drilling tool unloaded.State at present
Inland basin drilling machine drill string convey, establish root, drill string discharge etc. in drilling tools processing mode using it is most be still traditional cat road.
It is the strip joist body that its working face is equipped with bed board, using manpower operation as main operating modes；Operation needs more people
Cooperation is completed, and operating personnel's large labor intensity, risk are high, operating efficiency is extremely low, Yi Fasheng human casualty accident.And it is new at present
Type drilling tool automatic migration device overall structure is larger, and lift height is not able to satisfy market, needs to develop efficient, safety, low cost
Drilling tool conveying device.
Therefore, there is an urgent need for a kind of new technologies to change such status for this field.
Summary of the invention
The purpose of the present invention is to problem and shortage described in background technology, provide it is a kind of efficiently, safety, it is low at
This drilling tool conveying device is especially able to satisfy the migration of different height drilling floor surface drilling tool.
To reach above-mentioned technical purpose, the invention proposes the following technical solutions:
A kind of land science probing drilling tool automatic migration device of drilling machine, it is characterized in that: the drilling tool automatic migration device
Including guide rail, drilling platform moving trolley, mast, extended position mechanical arm I, manipulator I, pedestal, fixed plate, horizontal hydraulic cylinder, shifting
Moving base plate, strut, double hydraulic cylinder, extended position mechanical arm II and manipulator II, the guide rail are mounted on drilling floor surface, and are being led
Drilling platform moving trolley is placed on rail；Hole is provided at the top of the drilling platform moving trolley；The mast foot has turntable,
And it is connect at the top of the turntable shaft through hole of turntable and drilling platform moving trolley；The extended position mechanical arm I passes through square hole and mast
Bar connection, and extended position mechanical arm I is connect with well drilling hoist；The manipulator I is welded with extended position mechanical arm I；The base
Seat uses tower structure, and the inner two sides relative position of pedestal is respectively set fluted；The fixed plate is fixed on the base, and
There is groove side positioned at pedestal；The horizontal hydraulic cylinder is mounted in fixed plate by pin shaft, and the liquid of horizontal hydraulic cylinder
Compression bar is connect with mobile foundation plate；Mobile foundation plate two sides are separately mounted in two grooves of pedestal；The strut and
Double hydraulic cylinder passes through pin shaft respectively and is mounted on mobile foundation plate, and strut is connect by pin shaft with double hydraulic cylinder；The stretching, extension
Formula mechanical arm II is welded on strut；The manipulator II is threadedly coupled with extended position mechanical arm II.
Further, the extended position mechanical arm I and I quantity of manipulator are two, and two extended position mechanical arms I are along mast
The length direction of bar is arranged up and down.
Further, the manipulator II and II quantity of extended position mechanical arm are two, and two extended position mechanical arms II
Length direction along strut is arranged up and down.
Through the above design, the present invention can be brought the following benefits:
1, compared with the mode of operation for drawing, dragging drilling tool cooperation using the pneumatic winch on rig floor and cat road with tradition, the present invention
The plant automation of offer, intelligence degree are high, and operating efficiency is high.
2, compared with domestic novel all-hydraulic dynamic catwalk, apparatus of the present invention are compact-sized, easy to operate, operating cost
It is low.
3, the present invention integrates strut, manipulator, pedestal, and strut can voluntarily be set with base length by drilling floor surface height
Meter, lift height, transportation lengths are adjustable, can satisfy efficient, safe, the inexpensive drilling tool conveying dress that different drilling machines need
It sets.
4, slip exhaust system of the invention can not only complete drilling floor surface movement, the rotary mast of design on drilling rod
The accurate discharge that can be carried out drilling rod with extended position mechanical arm cooperation drilling platform moving trolley completes drilling rod by ground to drilling floor surface
Complete overall process.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated:
Fig. 1 is a kind of complete machine side view of the drilling tool automatic migration device of land science probing drilling machine of the present invention.
Fig. 2 is a kind of complete machine working condition side view of the drilling tool automatic migration device of land science probing drilling machine of the present invention
Figure.
Fig. 3 is drilling rod Erecting System partial sectional view of the invention.
Fig. 4 is slip exhaust system partial sectional view of the invention.
Fig. 5 is manipulator main view of the invention.
Fig. 6 is manipulator partial sectional view of the invention.
Fig. 7 is the schematic diagram of present invention clamping minor diameter drilling tool.
Fig. 8 is the schematic diagram of present invention clamping major diameter drilling tool.
Fig. 9 is clamp position schematic diagram of the present invention in drilling tool position bias.
In figure: 1- guide rail, 2- drilling platform moving trolley, 3- mast, 4- extended position mechanical arm I, 5- manipulator I, 6- pedestal,
7- fixed plate, 8- horizontal hydraulic cylinder, 9- mobile foundation plate, 10- strut, 11- double hydraulic cylinder, 12- extended position mechanical arm II, 13-
Manipulator II, 14- clamp system, 15- connecting rod rest, 16- clamp cylinder seat, 17- connecting rod rest gusset, 18- pinching roller, 19- crossbeam
Slide plate, 20- clamp bracket, 21- adjustment screw, 22- and limit bar assembly, 23- clamp clip.
Specific embodiment
It please refers to shown in Fig. 1 to Fig. 4, a kind of drilling tool of land science probing drilling machine proposed by the present invention is migrated dress automatically
It sets and is made of two big systems, including drilling rod Erecting System and slip exhaust system, wherein drilling rod Erecting System includes pedestal
6, fixed plate 7, horizontal hydraulic cylinder 8, mobile foundation plate 9, strut 10, double hydraulic cylinder 11, extended position mechanical arm II 12 and manipulator
II 13, drilling rod Erecting System is completed drilling rod and is put from ground level to the process erect and promoted to drilling floor surface, wherein strut
10 and double hydraulic cylinder 11 be mounted on mobile foundation plate 9 by pin shaft respectively, mobile foundation plate 9 can be in the work of horizontal hydraulic cylinder 8
It being moved horizontally under, the perpendicular and tiling that rises that strut 10 is completed under the compound action of horizontal hydraulic cylinder 8 and double hydraulic cylinder 11 acts,
There are two extended position mechanical arms II 12 for the installation of 10 side of strut, and two extended position mechanical arms II 12 are above and below 10 length direction of strut
Arrangement, manipulator II 13 are threadedly coupled with extended position mechanical arm II 12, and manipulator II 13 can be realized the clamping and release of drilling rod
Movement；Manipulator II 13 can grab ground level drilling rod when strut 10 is in tiled state, and double hydraulic cylinder 11 is that strut 10 mentions
For playing perpendicular power, horizontal hydraulic cylinder 8 drives 9 horizontal balance of mobile foundation plate, avoids mechanism kinematic dead point.Drilling rod plays perpendicular operation
When, the manipulator II 13 on strut 13 clamps drilling rod 1,8 contraction of hydraulic pressure bar of horizontal hydraulic cylinder, and mobile foundation plate 9 is to 7 side of fixed plate
Move horizontally, 8 contraction of hydraulic pressure bar of double hydraulic cylinder, strut 10 by it is horizontal vertical rise it is perpendicular.Slip exhaust system include guide rail 1,
Drilling platform moving trolley 2, mast 3, extended position mechanical arm I 4 and manipulator I 5, guide rail 1 are mounted on drilling floor surface, and drilling platform is mobile
Trolley 2 realizes positioning by guide rail 1 and is moved forward and backward that 3 bottom of mast is designed as turntable structure, and drilling platform moving trolley 2 passes through
Top-portion apertures are connected with 3 turntable shaft of mast, and mast 3 can be realized 180 degree rotation by turntable, extended position mechanical arm I 4 and mast 3 it
Between by square hole connect, the extended position mechanical arm I 4 can by well drilling hoist realize move up and down, thus realize drilling rod from
To the vertical shift of drilling platform, the extended position mechanical arm I 4 realizes rigid connection by welding with manipulator I 5, mechanical on ground
Hand I 5 can be realized the clamping of drilling rod and release acts.When slip discharge acts, the manipulator I 5 of lower part is on mast 3
Unclamp drilling rod, manipulator I 5 in top clamps drilling rod, and top well drilling hoist recycles hawser, drive the manipulator I 5 on top to
Upper movement, the manipulator I 5 on top grab drilling rod and move straight up, and well drilling hoist stops when two manipulators I 5 are apart from about 9m
Movement, the manipulator I 5 of lower part clamps drilling rod at this time, and the turntable of 3 bottom of mast, which returns, to be turn 90 degrees, and two stretching, extensions are realized in the rotation of mast 3
The same angular turn of formula mechanical arm I 4, drilling platform moving trolley 2 drive mast 3 to put to drilling floor surface medial movement to drilling rod along guide rail 1
Frame right opposite is put, thribble face discharges frame opening, and extended position mechanical arm I 4 stretches, and drilling rod is sent into designated position, manipulator I 5
It unclamps.Extended position mechanical arm I 4 is shunk, and mast 3, which returns, to be turn 90 degrees, and extended position mechanical arm I 4 goes to face well head.
Please referring to Fig. 5 to Fig. 9, described Fig. 7 and Fig. 8 is the schematic diagram that the present invention clamps different drilling tool diameters respectively, and Fig. 9 is
Clamp position schematic diagram of the present invention in drilling tool position bias.The manipulator I 5 and manipulator II 13 by cross cylinder,
Clamp system 14, connecting rod rest 15, clamp cylinder seat 16, connecting rod rest gusset 17, pinching roller 18, crossbeam slide plate 19, clamp bracket 20,
Adjustment screw 21, limit bar assembly 22 and clamp clip 23 form, and the cross cylinder is fixed on by clamping cylinder seat 16 and pin shaft
On connecting rod rest 15；The clamping cylinder seat 16 welds together with connecting rod rest 15；One end of the connecting rod rest 15 passes through pin shaft and cross
Beam slide plate 19 connects, and the other end and clamp system 14 are hinged, by the stretching motion of cross cylinder piston rod, realizes clamp system
14 clamping and release acts；The limit bar assembly 22 is connected through a screw thread with crossbeam slide plate 19, adjustment screw 21 respectively；Institute
It states 17 one end of connecting rod rest gusset to connect with adjustment screw 21 by pin shaft, 17 other end of connecting rod rest gusset is by pin shaft and clamps branch
Frame 20 connects；The pinching roller 18 is mounted on clamp system 14 by clamp clip 23, and pinching roller 18 and clamp clip 23
It is connected through a screw thread；Hydraulic motor is installed, and the output shaft of hydraulic motor and pinching roller 18 connect on the clamping bracket 20
It connects, the adjustment of clamping force may be implemented.18 quantity of pinching roller is identical as 23 quantity of clamp clip, and quantity is four, folder
Tight piece 23 is equipped with symmetrical four threaded holes, is connected through a screw thread between clamp clip 23 and pinching roller 18, four clamp clips
It is equipped with drum beam between 23 and realizes longitudinal register.Compared with prior art, manipulator clamp system 14 of the invention, using four
Pinching roller 18 clamps drilling rod from two sides, and uniform force is damaged drilling rod small.
Claims (1)
1. a kind of land science probing drilling tool automatic migration device of drilling machine, it is characterized in that: the drilling tool automatic migration device packet
It includes guide rail (1), drilling platform moving trolley (2), mast (3), extended position mechanical arm I (4), manipulator I (5), pedestal (6), fix
Plate (7), horizontal hydraulic cylinder (8), mobile foundation plate (9), strut (10), double hydraulic cylinder (11), extended position mechanical arm II (12) and
Manipulator II (13), the guide rail (1) is mounted on drilling floor surface, and drilling platform moving trolley (2) are placed on guide rail (1)；
Hole is provided at the top of the drilling platform moving trolley (2)；Mast (3) bottom has turntable, and the turntable shaft of turntable passes through
It is connect at the top of hole and drilling platform moving trolley (2)；The extended position mechanical arm I (4) is connect by square hole with mast (3), and
And extended position mechanical arm I (4) is connect with well drilling hoist；The manipulator I (5) and extended position mechanical arm I (4) weld；The base
Seat (6) uses tower structure, and the inner two sides relative position of pedestal (6) is respectively set fluted；The fixed plate (7) is fixed on
On pedestal (6), and it is located at pedestal (6) with groove side；The horizontal hydraulic cylinder (8) is mounted on fixed plate (7) by pin shaft
On, and the hydraulic stem of horizontal hydraulic cylinder (8) is connect with mobile foundation plate (9)；It installs respectively mobile foundation plate (9) two sides
In two grooves of pedestal (6)；The strut (10) and double hydraulic cylinder (11) are mounted on mobile foundation plate by pin shaft respectively
(9) on, and strut (10) is connect by pin shaft with double hydraulic cylinder (11)；The extended position mechanical arm II (12) is welded on strut
(10) on；The manipulator II (13) is threadedly coupled with extended position mechanical arm II (12)；
The extended position mechanical arm I (4) and manipulator I (5) quantity are two, and two extended position mechanical arms I (4) are along mast
(3) length direction is arranged up and down；
The manipulator II (13) and extended position mechanical arm II (12) quantity are two, and two extended position mechanical arms II (12)
Length direction along strut (10) is arranged up and down.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710094806.5A CN106988689B (en) | 2017-02-22 | 2017-02-22 | A kind of land science probing drilling tool automatic migration device of drilling machine |
| PCT/CN2017/083017 WO2018152968A1 (en) | 2017-02-22 | 2017-05-04 | Drilling tool automatic transfer apparatus of drill used for continental scientific drilling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710094806.5A CN106988689B (en) | 2017-02-22 | 2017-02-22 | A kind of land science probing drilling tool automatic migration device of drilling machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106988689A CN106988689A (en) | 2017-07-28 |
| CN106988689B true CN106988689B (en) | 2019-03-05 |
Family
ID=59414191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710094806.5A Expired - Fee Related CN106988689B (en) | 2017-02-22 | 2017-02-22 | A kind of land science probing drilling tool automatic migration device of drilling machine |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106988689B (en) |
| WO (1) | WO2018152968A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209263A (en) * | 2018-11-08 | 2019-01-15 | 四川宏华石油设备有限公司 | A kind of pipe handler apparatus |
| CN110005350A (en) * | 2019-04-19 | 2019-07-12 | 中曼石油天然气集团股份有限公司 | A kind of oil-well rig dynamic drilling rod box and its drilling tool stowage |
| CN114183083B (en) * | 2021-12-14 | 2023-11-28 | 安徽理工大学 | Automatic migration device of modular drill rod |
| CN114533604A (en) * | 2022-02-28 | 2022-05-27 | 哈尔滨鹿勒科技有限公司 | Cosmetic extraction process |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3949818A (en) * | 1974-09-30 | 1976-04-13 | Western Gear Corporation | Hydraulic drilling rig and power swivel |
| US4371302A (en) * | 1980-09-30 | 1983-02-01 | Ingram Corporation | Pipe handling apparatus |
| CN201363104Y (en) * | 2009-03-13 | 2009-12-16 | 山东胜利石油石化装备研究中心 | Mechanical arm assembly for holding drill pipe |
| CN102071889A (en) * | 2011-01-27 | 2011-05-25 | 中国海洋石油总公司 | Operating device of well drilling and repairing machine |
| CN102606092B (en) * | 2012-03-29 | 2013-11-06 | 吉林大学 | Hanging type adaptive automatic drill pipe string discharge device |
| CN102926685B (en) * | 2012-11-23 | 2014-07-16 | 吉林大学 | All-hydraulic automatic drilling tool conveying device for deep-well drilling rig |
| CN203403840U (en) * | 2013-05-03 | 2014-01-22 | 中国石油大学(华东) | Novel permanent-magnet type and separable transporting cart for power catwalk machine |
| CN203769682U (en) * | 2014-04-03 | 2014-08-13 | 中国石油大学(华东) | Novel oil pipe transferring and arranging device for automatic hydraulic well repairing machine |
| CN104139387B (en) * | 2014-08-14 | 2016-08-31 | 吉林大学 | It is applicable to the drilling rod automatic-discharging mechanical hand of rock-core borer |
| CN205477442U (en) * | 2016-01-28 | 2016-08-17 | 涿州市海德机械设备有限公司 | Rig is from moving pole system |
| CN205689147U (en) * | 2016-05-16 | 2016-11-16 | 北京建研机械科技有限公司 | A kind of drilling rod automatically is unloaded mechanism |
-
2017
- 2017-02-22 CN CN201710094806.5A patent/CN106988689B/en not_active Expired - Fee Related
- 2017-05-04 WO PCT/CN2017/083017 patent/WO2018152968A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018152968A1 (en) | 2018-08-30 |
| CN106988689A (en) | 2017-07-28 |
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Granted publication date: 20190305 Termination date: 20200222 |