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 PDF

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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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CN
China
Prior art keywords
drilling
extended
mechanical arm
manipulator
mast
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201710094806.5A
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Chinese (zh)
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CN106988689A (en
Inventor
孙友宏
于萍
康思杰
赵寰宇
王清岩
赵研
沙永柏
高科
靳恩朝
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Jilin University
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Jilin University
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Publication date
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Priority to CN201710094806.5A priority Critical patent/CN106988689B/en
Publication of CN106988689A publication Critical patent/CN106988689A/en
Application granted granted Critical
Publication of CN106988689B publication Critical patent/CN106988689B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables

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

A kind of land science probing drilling tool automatic migration device of drilling machine
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.
CN201710094806.5A 2017-02-22 2017-02-22 A kind of land science probing drilling tool automatic migration device of drilling machine Expired - Fee Related CN106988689B (en)

Priority Applications (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

Applications Claiming Priority (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

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CN106988689A CN106988689A (en) 2017-07-28
CN106988689B true CN106988689B (en) 2019-03-05

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WO (1) WO2018152968A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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US4382591A (en) * 1980-09-30 1983-05-10 Ingram Corporation Clamping means for trough of 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
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WO2018152968A1 (en) 2018-08-30

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