CN107420042B

CN107420042B - Automatic leveling system of submarine drilling rig based on six-degree-of-freedom parallel mechanism

Info

Publication number: CN107420042B
Application number: CN201710877127.5A
Authority: CN
Inventors: 吴川; 丁华锋; 张丹; 韩磊; 张心心; 姚翔宇; 杨文剑
Original assignee: China University of Geosciences
Current assignee: China University of Geosciences
Priority date: 2017-09-25
Filing date: 2017-09-25
Publication date: 2023-03-31
Anticipated expiration: 2037-09-25
Also published as: CN107420042A

Abstract

The invention provides a seabed drilling machine automatic leveling system based on a six-degree-of-freedom parallel mechanism. The leveling seat is used as a primary adjusting mechanism to primarily adjust the balance of the deep sea drilling machine, the drilling machine mechanism is a working part of the seabed drilling machine, the parallel mechanism achieves quick and accurate leveling of the movable table through six leveling branched chains, the supporting branched chains of the parallel mechanism are used as standby branched chains, the parallel mechanism is started to work under the limit condition, extra supporting force is provided for the movable table, the movable table can bear larger load, and the reliability of the whole system is improved. The invention divides the leveling system into two-stage adjustment of initial adjustment and accurate adjustment, improves the adjustment accuracy and speed of the movable table, and simultaneously realizes the instant adjustment of the submarine drilling machine in the working process. The invention has simple structure, fast response speed and large load, and can be widely applied to the fields of oil and gas drilling and geological drilling.

Description

Automatic leveling system of submarine drilling rig based on six-degree-of-freedom parallel mechanism

Technical Field

The invention relates to the technical field of oil and gas drilling and geological drilling equipment, in particular to a seabed drilling machine automatic leveling system based on a six-degree-of-freedom parallel mechanism.

Background

The submarine drilling rig is one of the most important devices for researching submarine geological structures, searching mineral resources, carrying out geological exploration of continental shelf engineering and completing other marine basic construction tasks. In the case of a subsea drilling rig, the inclination of the rig at the working surface is one of the important factors affecting the drilling of a subsea sample, and determines the integrity of the drilling sample, the service life of the drilling tool, and the safety and life of the rig itself.

The submarine drilling rig needs to be leveled in real time during working, and a leveling system used by the traditional submarine drilling rig is realized by adopting a common three-leg or four-leg hydraulic support leg system, so that the submarine drilling rig has the problems of low bearing capacity, low response speed, low leveling precision and the like. This will on the one hand affect the working efficiency of the subsea drilling rig and on the other hand create problems with insufficient load capacity to meet the demand. Since the limitations of leveling systems have become a problem restricting deep sea drilling, there is a need for improved optimization of the leveling systems of subsea drilling rigs.

Disclosure of Invention

In view of the above, embodiments of the present invention provide an automatic leveling system for a subsea drilling rig based on a six-degree-of-freedom parallel mechanism.

The embodiment of the invention provides a seabed drilling machine automatic leveling system based on a six-degree-of-freedom parallel mechanism, which comprises a leveling seat, a drilling machine mechanism and a parallel mechanism positioned between the leveling seat and the drilling machine mechanism, wherein the parallel mechanism comprises a movable table, a base and six leveling branched chains, the upper ends of the six leveling branched chains are hinged to the lower surface of the movable table, the lower ends of the six leveling branched chains are hinged to the base, the hexagons formed by the upper ends of the six leveling branched chains are upper hexagons, the hexagons formed by the lower ends of the six leveling branched chains are lower hexagons, the upper hexagons and the lower hexagons are similar hexagons, the area of the upper hexagons is smaller than that of the lower hexagons, and a supporting branched chain is connected between the midpoint of one side of the upper hexagons and the midpoint of the corresponding side of the lower hexagons.

Furthermore, go up the hexagon with down the hexagon all has three isometric long limits and three isometric minor faces, and is located the long limit and the staggered distribution of minor face on same hexagon, go up the hexagon long limit with hexagon long limit one-to-one down, go up the hexagon minor face with hexagon's minor face one-to-one down, the upper end of supporting the branched chain articulate in go up the midpoint department on a hexagon long limit, the lower extreme that supports the branched chain articulate in six warp the midpoint department that corresponds the long limit down.

Furthermore, the lower ends of the six leveling branched chains and the lower ends of the supporting branched chains are hinged to the base through hook hinges.

Furthermore, the hooke hinge includes U type base and rotation portion, be equipped with relative locating hole on the U type base both sides wall, rotation portion is including the main pivot that is located the outer lane and the auxiliary rotating shaft that is located the inner circle, the relative both ends of main pivot are respectively through the rotatable spacing in two of first locating pin the locating hole, main pivot is in the perpendicular to two be equipped with two relative spacing holes on the direction that the locating hole belongs to, the relative both ends of auxiliary rotating shaft are respectively through the rotatable spacing in two of second locating pin spacing hole, each the leveling branch chain with the lower extreme that supports the branch chain respectively with correspond the auxiliary rotating shaft is connected.

Further, each leveling branch chain is all including cylinder body, leveling motor and the telescopic link that has well cavity, the leveling motor is located the cavity intracavity, the one end of telescopic link with the leveling motor is connected, and the other end stretches out well cavity with the movable table is articulated, the leveling motor starts through making the telescopic link is followed well cavity is concertina movement and makes the movable table goes up and down.

Further, the supporting branches and the leveling branches have the same structural characteristics.

Furtherly, the leveling seat includes fixing base and four adjustment supports, four the adjustment support is square distribution and is located the lower surface of fixing base is in order to support the fixing base, each the adjustment support is including the support body, adjustment motor and the connecting rod that have the inner chamber, the inner chamber is installed adjustment motor, the one end of connecting rod with adjustment motor connects, and the other end stretches out inner chamber fixed connection is in the fixing base lower surface, adjustment motor starts the drive connecting rod concertina movement accomplishes the motion of fixing base.

Furthermore, a groove matched with the base in shape is formed in the fixing seat, and the base is installed in the groove.

Furthermore, a first through hole is formed in the middle of the groove, a second through hole is formed in the middle of the movable table, a third through hole is formed in the middle of the base, and the aperture of the second through hole is smaller than that of the third through hole.

The invention has the beneficial effects that: leveling of a large working surface of the deep sea drilling machine can be realized by taking the leveling seat with the four adjusting supports as a primary leveling system; the parallel mechanism with six leveling branched chains is used as an accurate leveling system, so that the adjusting range is large, the response speed is high, and the accuracy is high; the parallel mechanism is further provided with a supporting branched chain which serves as a standby branched chain, and the supporting branched chain is started to work under the condition that the movable platform is stressed at the limit or the adjacent leveling branched chain of the supporting branched chain is damaged, so that extra supporting force is provided, the reliability is improved, and the bearing capacity of the deep sea drilling machine is improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a six-degree-of-freedom parallel mechanism based automatic leveling system for a subsea drilling rig;

FIG. 2 is a schematic view of the leveling seat shown in FIG. 1;

FIG. 3 is a schematic structural view of the parallel mechanism of FIG. 1;

FIG. 4 is a schematic structural view of the leveling branch shown in FIG. 3;

fig. 5 is a schematic structural view of the hooke joint shown in fig. 4.

In the figure: 1-drilling machine mechanism, 2-parallel mechanism, 21-first leveling branched chain, 22-second leveling branched chain, 23-third leveling branched chain, 24-fourth leveling branched chain, 25-fifth leveling branched chain, 26-sixth leveling branched chain, 27-supporting branched chain, 28-movable table, 29-base, 20-Hooke hinge, 201-U-shaped base, 202-rotating part, 203-first side wall, 204-second side wall, 205-main rotating shaft, 206-auxiliary rotating shaft, 207-first rotating shaft, 208-second rotating shaft, 209-first positioning pin, 210-second positioning pin, 211-cylinder body, 212-leveling motor, 213-telescopic rod, 3-leveling base, 31-adjusting support, 32-fixing base, 33-groove, 34-first through hole, 4-second through hole and 5-third through hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present invention provides an automatic leveling system for a seafloor drilling machine based on a six-degree-of-freedom parallel mechanism, including a leveling seat 3, a drilling machine mechanism 1, and a parallel mechanism 2 located between the leveling seat and the drilling machine mechanism, wherein the parallel mechanism is fixedly connected above the leveling seat 3, and the drilling machine mechanism 1 is fixed on an upper surface of the parallel mechanism.

Referring to fig. 1 and 2, the leveling seat 3 includes a fixing seat 32, a hexagonal groove 33 is disposed above the fixing seat 32, a first through hole 34 is disposed in the middle of the groove 33, the leveling seat 3 further includes four adjusting supports 31, the four adjusting supports 31 are distributed in a square shape, the upper ends of the four adjusting supports 31 are connected to the fixing seat 32, each adjusting support 31 includes a support body having an inner cavity, an adjusting motor and a connecting rod, the adjusting motor is installed in the inner cavity, one end of the connecting rod is connected to the leveling motor, the other end of the connecting rod extends out of the inner cavity and is fixedly connected to the lower surface of the fixing seat 32, and the adjusting motor starts and drives the connecting rod to move in a telescopic manner to complete the movement of the adjusting support 31.

Referring to fig. 1 and 3, the parallel mechanism 2 includes a movable table 28 and a base 29, the middle of the movable table 28 has a second through hole 4, the middle of the base 29 is provided with a third through hole 5, the aperture of the second through hole 4 is smaller than the aperture of the third through hole 5, the axes of the second through hole 4 and the third through hole 5 are located on the same vertical line, the second through hole 4 faces the first through hole 33, the shape of the base 29 matches with the groove 33 and is installed in the groove 33, the movable table 28 and the base 29 are similar hexagons, the area of the movable table 28 is smaller than the area of the base 29, each hexagon has three long sides and three short sides with equal length, and the long sides and the short sides are distributed in a staggered manner, the three long sides of the movable table 28 correspond to the long sides of the base 29, the three short sides of the movable table 28 correspond to the three short sides of the base 29, the parallel mechanism 2 further includes six branched chains with the same structural characteristics, that the first branched chain 21, the second branched chain 22, the third branched chain 23, the fourth branched chain 23 and the lower end of the movable table 29 are hinged to the upper end of the support hinge, and the support chain 27, and the lower end of the support hinge 20 are hinged to the upper end of the support hinge, and the support hinge of the support hinge.

Referring to fig. 3 and 4, each leveling branched chain includes a cylinder body 211 having a hollow cavity, a leveling motor 212 and an expansion link 213, the leveling motor 212 is located in the hollow cavity, one end of the expansion link 213 is connected to the leveling motor 212, and the other end extends out of the hollow cavity to be hinged to the movable platform 28, and the leveling motor 212 is started to make the expansion link 213 move along the hollow cavity in a telescopic manner to lift the movable platform 28.

The supporting branched chain 27 and each leveling branched chain have the same structural characteristics, when the supporting branched chain 27 works normally, an internal motor is in a static state, when the stress of the movable table 28 reaches the limit or any leveling branched chain adjacent to the supporting branched chain 27 is damaged, the internal motor of the supporting branched chain 27 starts to work, and the supporting branched chain 27 provides a larger supporting force for the movable table 28.

Referring to fig. 4 and 5, the hooke joint 20 includes a U-shaped base 201 and a rotating portion 202, a first side wall 203 and a second side wall 204 of the U-shaped base 201 are provided with two opposite positioning holes, the rotating portion 202 includes a main rotating shaft 205 located at an outer ring and an auxiliary rotating shaft 206 located at an inner ring, the outer sides of the main rotating shaft 205 and the auxiliary rotating shaft 206 are both provided with a connecting shaft, the connecting shaft at one side of the main rotating shaft 205 passes through one of the positioning holes, the other side of the main rotating shaft 205 is connected with a first rotating shaft 207, the first rotating shaft 207 passes through the other one of the positioning holes, opposite ends of the main rotating shaft 205 are rotatably limited at the two positioning holes by a first positioning pin 209, the main rotating shaft 205 is provided with two opposite limiting holes in a direction perpendicular to the two positioning holes, the connecting shaft at one side of the auxiliary rotating shaft 206 passes through one of the limiting hole, the other side of the auxiliary rotating shaft 206 is connected with a second rotating shaft 208, the second rotating shaft 208 passes through the other one of the limiting hole, and opposite ends of the auxiliary rotating shaft 206 are respectively limited at the second limiting holes by a second rotatable positioning pin 210.

The drill mechanism 3 is fixedly mounted on the upper surface of the movable table 28.

The invention is provided with the first through hole, the second through hole and the third through hole, thereby reducing the self weight and improving the flexibility of the system. When the leveling device works, the system firstly controls the four adjusting supports 31 of the leveling base 3 to stretch so that the whole leveling system is initially in a balanced state; then the leveling seats 3 stop working, and when the drilling machine tilts due to factors such as load change or seabed ocean current change and the like in the working process of the drilling machine mechanism 1, the parallel mechanism 2 can control the movement of the six leveling branched chains to be accurately adjusted, so that the movable platform 28 is kept horizontal all the time; in addition, the supporting branch 27 serves as a spare branch, and when the load of the system increases to a certain extent during the operation or the supporting branch 27 is damaged adjacent to the leveling branch, the supporting branch 27 starts to operate to provide an additional supporting force for the movable table 28, so as to ensure that the system can bear a larger load.

In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The embodiments and features of the embodiments described herein above may be combined with each other without conflict. The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.

Claims

1. The automatic leveling system of the submarine drilling rig based on the six-degree-of-freedom parallel mechanism comprises a leveling seat, a drilling rig mechanism and a parallel mechanism positioned between the leveling seat and the drilling rig mechanism, and is characterized in that: the parallel mechanism comprises a movable table, a base and six leveling branched chains, wherein the upper ends of the six leveling branched chains are hinged to the lower surface of the movable table, the lower ends of the six leveling branched chains are hinged to the base, the hexagons formed by the upper ends of the six leveling branched chains are upper hexagons, the hexagons formed by the lower ends of the six leveling branched chains are lower hexagons, the upper hexagons and the lower hexagons are similar hexagons, the area of the upper hexagons is smaller than that of the lower hexagons, and a supporting branched chain is connected between the middle point of one side of the upper hexagons and the middle point of the corresponding side of the lower hexagons;

the upper hexagon and the lower hexagon are respectively provided with three long sides with equal length and three short sides with equal length, the long sides and the short sides on the same hexagon are distributed in a staggered mode, the long sides of the upper hexagon correspond to the long sides of the lower hexagon one by one, the short sides of the upper hexagon correspond to the short sides of the lower hexagon one by one, the upper end of the supporting branched chain is hinged to the middle point of one long side of the upper hexagon, and the lower end of the supporting branched chain is hinged to the middle point of the corresponding long side of the lower hexagon;

leveling seat includes fixing base and four adjustment supports, four the adjustment support is square distribution and is located the lower surface of fixing base is in order to support the fixing base, each the adjustment support is including the support body, adjustment motor and the connecting rod that have the inner chamber, the inner chamber is installed adjustment motor, the one end and the adjustment motor of connecting rod are connected, and the other end stretches out inner chamber fixed connection is in the fixing base lower surface, adjustment motor starts the drive connecting rod concertina movement accomplishes the motion of fixing base.

2. The automatic leveling system for the seafloor drilling rig of the six-degree-of-freedom parallel mechanism as claimed in claim 1, wherein: the lower ends of the six leveling branched chains and the lower ends of the supporting branched chains are hinged to the base through hook hinges.

3. The automatic leveling system of the subsea drilling rig with the six-degree-of-freedom parallel mechanism according to claim 2, wherein: the Hooke's hinge includes U type base and rotation portion, be equipped with relative locating hole on U type base both sides wall, rotation portion is including the main pivot that is located the outer lane and the auxiliary rotating shaft that is located the inner circle, the relative both ends of main pivot are respectively through the rotatable spacing in two of first locating pin the locating hole, main pivot is at the perpendicular to two be equipped with two relative spacing holes on the direction at locating hole place, the relative both ends of auxiliary rotating shaft are respectively through the rotatable spacing in two of second locating pin spacing hole, each the leveling branched chain with the lower extreme that supports the branched chain respectively with corresponding the auxiliary rotating shaft is connected.

4. The automatic leveling system of the subsea drilling rig based on the six-degree-of-freedom parallel mechanism as recited in claim 1, wherein: each leveling branch all is including cylinder body, leveling motor and the telescopic link that has well cavity, leveling motor is located the cavity intracavity, the one end of telescopic link with leveling motor connects, and the other end stretches out well cavity with the movable table is articulated, the leveling motor starts through making the telescopic link is followed well cavity is concertina movement and makes the movable table goes up and down.

5. The automatic leveling system of the submarine drilling rig based on the six-degree-of-freedom parallel mechanism as claimed in claim 1, wherein: the supporting branched chain and the leveling branched chain have the same structural characteristics.

6. The automatic leveling system of the submarine drilling rig based on the six-degree-of-freedom parallel mechanism as claimed in claim 5, wherein: the fixing seat is provided with a groove matched with the shape of the base, and the base is installed in the groove.

7. The automatic leveling system for the seafloor drilling machine based on the six-degree-of-freedom parallel mechanism as claimed in claim 6, wherein: the middle part of recess is equipped with first through-hole, the middle part of activity platform has the second through-hole, the middle part of base is equipped with the third through-hole, the aperture of second through-hole is less than the aperture of third through-hole.