CN107476771A - Derrick union machine and its operating method - Google Patents
Derrick union machine and its operating method Download PDFInfo
- Publication number
- CN107476771A CN107476771A CN201710915770.2A CN201710915770A CN107476771A CN 107476771 A CN107476771 A CN 107476771A CN 201710915770 A CN201710915770 A CN 201710915770A CN 107476771 A CN107476771 A CN 107476771A
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- Prior art keywords
- derrick
- pipe
- controller
- walking
- telescoping mechanism
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- 238000011017 operating method Methods 0.000 title claims abstract description 9
- 230000008602 contraction Effects 0.000 claims description 4
- 238000005553 drilling Methods 0.000 description 3
- 238000007598 dipping method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- E21B19/143—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole specially adapted for underwater drilling
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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
The present invention relates to derrick union machine and its operating method.It includes walking mechanism, rotating mechanism, telescoping mechanism, feedback module and controller, walking mechanism is installed in the horizontal direction of derrick, rotating mechanism is arranged at below walking mechanism, telescoping mechanism is connected with rotating mechanism, feedback module is connected with controller, and it includes walking encoder, rotary encoder and encoding up/down device.By feedback module, kinematic accuracy of the derrick union machine in walking, rotation and flexible aspect is improved, avoiding grabbing pipe pawl by telescoping mechanism teetertotters and need not calculate terrain clearance of the every drill string in fingerboard diverse location capturing caused by pipe to be grabbed；The power section of each mechanism is controlled by controller so that derrick union machine can automatically continuously, precision maneuver；And complete one-off and recover initial position, error accumulative every time is reduced, improves the accuracy of operation；The radius of gyration of whole derrick union machine is small, meets the demand of the smaller marine rig of land rig and part.
Description
Technical field
The present invention relates to derrick union machine and its operating method.
Background technology
Derrick tube drawbench is mainly used in newer marine drilling platform at present, and because its floor space is big, new drilling well is put down
Platform generally uses derrick grab pipe machine, improves production efficiency, production safety and reduces labor intensity；But land rig and portion
Smaller marine rig is divided can not but to use the derrick grab pipe machine of similar newer marine drilling platform, it is therefore desirable to design one
The kind radius of gyration is small, easy to operate, efficiency high, the derrick union machine of precise control.
The content of the invention
Present invention seek to address that above mentioned problem, there is provided derrick union machine and its operating method, by feedback module, improve
Derrick union machine avoids grabbing pipe pawl and is capturing pipe to be grabbed in the kinematic accuracy of walking, rotation and flexible aspect by telescoping mechanism
Caused dipping and heaving rocks and need not calculate terrain clearance of the every drill string in fingerboard diverse location；Pass through controller control
The power section of system driving walking mechanism, rotating mechanism and telescoping mechanism so that derrick union machine automatically continuously, can be moved accurately
Make；And complete one-off and recover initial position, error accumulative every time is reduced, improves the accuracy of operation；Whole derrick connection
The radius of gyration of pipe machine is small, meets the demand of the smaller marine rig of land rig and part；The technical scheme that it is used is such as
Under：
Derrick union machine, including walking mechanism, rotating mechanism, telescoping mechanism, feedback module and controller, the vehicle with walking machine
Structure is installed in the horizontal direction of derrick, and the rotating mechanism is arranged at below walking mechanism, and is connected with walking mechanism；It is described
Telescoping mechanism is connected by extension bar with rotating mechanism, and positioned at the lower section of rotating mechanism；During the telescoping mechanism off working state
Contraction fits in connecting rod side, and the feedback module is connected with controller, and it includes being used to measure walking mechanism travel distance
Walking encoder, the rotary encoder for measuring the rotating mechanism anglec of rotation and for measuring telescoping mechanism adjustable height
Encoding up/down device；The power-actuated operation of the controller control walking mechanism, rotating mechanism and telescoping mechanism.
On the basis of above-mentioned technical proposal, the telescoping mechanism includes telescopic oil cylinder, the first telescopic arm, the second telescopic arm
With grab pipe pawl, the cylinder body of the telescopic oil cylinder is fixed in connecting rod, and the free end of its piston rod is flexible by sliding block and first
One end of arm is hinged；The sliding block is slidably connected in connecting rod, and the other end of first telescopic arm is connected with grabbing pipe pawl,
One end of second telescopic arm is rotationally connected with the cylinder body of telescopic oil cylinder, and the other end is articulated with the first telescopic arm.
On the basis of above-mentioned technical proposal, the telescoping mechanism also includes being used to extend the expansion link for grabbing pipe pawl length,
Its one end is connected with grabbing pipe pawl, and the other end and the first telescopic arm are rotatablely connected.
On the basis of above-mentioned technical proposal, the walking mechanism is driven by pinion and rack.
On the basis of above-mentioned technical proposal, in addition to sensor, it is arranged at walking mechanism, rotating mechanism and telescopic machine
On structure, and it is connected with controller, the sensor, feedback module and controller form closed-loop control, grab each time after pipe terminates,
Walking mechanism, rotating mechanism and telescoping mechanism are returned to home position.
On the basis of above-mentioned technical proposal, include the shooting dress of personal observations' derrick union machine easy to operation operation
Put, it is arranged on derrick.
The operating method of derrick union machine：Using above-mentioned derrick union machine, the controller first controls walking mechanism to transport
Row simultaneously controls walking mechanism to move to specified location by walking encoder feedback signal, then controls rotating mechanism to rotate and pass through
Rotary encoder feedback signal controls the anglec of rotation of rotating mechanism, drives telescoping mechanism to rotate to the front of pipe to be grabbed, finally
By controlling the telescopic oil cylinder of telescoping mechanism to act, the cylinder body and piston rod of the first telescopic arm, the second telescopic arm and telescopic oil cylinder
Four-bar mechanism is formed, the pipe pawl of grabbing is grabbed with the contraction of the piston rod of telescopic oil cylinder by the control of encoding up/down device feedback signal
Pipe pawl stretching motion makes pipe to be grabbed move in same level, controls walking mechanism to drive rotating mechanism and stretch by controller
Mechanism moves, and grabs pipe pawl and is moved at pipe to be grabbed and captures pipe to be grabbed, and passes through sensor passes signal to controller, controller driving
Walking mechanism and rotating mechanism drive pipe to be grabbed to be moved to and put pipe position and fall pipe work；Then controller control telescopic oil cylinder
Piston rod stretch out, telescoping mechanism, which shrinks, fits in the side of connecting rod, last controller control walking mechanism, rotating mechanism and
Telescoping mechanism recovers to initial position；On the basis of aforesaid operations method, by expansion link stretch drive grab pipe pawl crawl treat
Grab pipe.
The invention has the advantages that：By feedback module, derrick union machine is improved at walking, rotation and flexible aspect
Kinematic accuracy, avoid grabbing pipe pawl dipping and heaving caused by capture pipe to be grabbed by telescoping mechanism and rock and need not calculate every
Terrain clearance of the root drill string in fingerboard diverse location；Driving walking mechanism, rotating mechanism and telescoping mechanism are controlled by controller
Power section so that derrick union machine can automatically continuously, precision maneuver；And complete one-off and recover initial position, subtract
Few error added up every time, improve the accuracy of operation；The radius of gyration of whole derrick union machine is small, meets land rig and portion
Divide the demand of smaller marine rig.
Brief description of the drawings
Fig. 1：The telescoping mechanism of the present invention is fitted and connected the structural representation of bar；
Fig. 2：The structural representation when telescoping mechanism of the present invention is opened.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples：
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be to be joined directly together, can also be indirectly connected by intermediary.For the ordinary skill in the art, can be specific
Situation understands the concrete meaning of above-mentioned term in the present invention.
As shown in Figure 1 to Figure 2, the derrick union machine of the present embodiment, including walking mechanism 1, rotating mechanism 2, telescoping mechanism
3rd, feedback module and controller (not shown), the walking mechanism 1 are installed in the horizontal direction of derrick 4, the rotation
Mechanism 2 is arranged at the lower section of walking mechanism 1, and is connected with walking mechanism 1；The telescoping mechanism 3 passes through connecting rod 5 and rotating mechanism
2 are connected, and positioned at the lower section of rotating mechanism 2；Shunk during 3 off working state of telescoping mechanism and fit in the side of connecting rod 5, institute
State feedback module with controller to be connected, its walking encoder for including being used to measure the travel distance of walking mechanism 1 (does not show in figure
Go out), the rotary encoder (not shown) for measuring the anglec of rotation of rotating mechanism 2 and lifted for measuring telescoping mechanism 3
The encoding up/down device (not shown) of height；The controller controls the dynamic of walking mechanism 1, rotating mechanism 2 and telescoping mechanism 3
The operation of power driving.The controller is not related to existing by its control function of PLC programming realizations, controller of the invention
The improvement of control program, its closed-loop control between encoder and sensor, and its control walking, rotation and flexible program
For existing known procedure.
Be set forth below a kind of specific telescoping mechanism, the telescoping mechanism 3 include telescopic oil cylinder 31, the first telescopic arm 32,
Second telescopic arm 33 and pipe pawl 34 is grabbed, the cylinder body of the telescopic oil cylinder 31 is fixed in connecting rod 5, and the free end of its piston rod leads to
The one end for crossing sliding block 6 and the first telescopic arm 32 is hinged；The sliding block 6 is slidably connected in connecting rod 5, first telescopic arm
32 other end is connected with grabbing pipe pawl 34, and one end of second telescopic arm 33 is rotationally connected with the cylinder body of telescopic oil cylinder 31,
The other end is articulated with the first telescopic arm 32.By the telescoping mechanism of foregoing description, it can ensure capturing when pipe is grabbed, avoid
Grab teetertottering for pipe pawl.
Preferably, the telescoping mechanism 3 also includes being used to extend the expansion link 35 for grabbing pipe pawl length, and its one end is with grabbing pipe pawl
34 are connected, and the other end is rotatablely connected with the first telescopic arm 32.
Preferably, the walking mechanism 1 is driven by pinion and rack.
Further, in addition to sensor (not shown), it is arranged at walking mechanism 1, rotating mechanism 2 and telescoping mechanism
On 3, and it is connected with controller, the sensor, feedback module and controller form closed-loop control, grab each time after pipe terminates,
Walking mechanism 1, rotating mechanism 2 and telescoping mechanism 3 are returned to home position.
Further, the camera device (not shown) of personal observations' derrick union machine easy to operation operation is included,
It is arranged on derrick 4.
The operating method of derrick union machine, it is characterised in that：Using above-mentioned derrick union machine, the controller first controls
Walking mechanism 1 is run and controls walking mechanism 1 to move to specified location by walking encoder feedback signal, then controls whirler
Structure 2 rotates and the anglec of rotation of rotating mechanism 2 is controlled by rotary encoder feedback signal, drives telescoping mechanism 3 to rotate to treating
The front of pipe is grabbed, is acted finally by the telescopic oil cylinder 31 of control telescoping mechanism, the first telescopic arm 32, the second telescopic arm 33 are with stretching
The cylinder body and piston rod of contracting oil cylinder 31 form four-bar mechanism, and the pipe pawl 34 of grabbing is as the contraction of the piston rod of telescopic oil cylinder 31 is led to
Crossing the control of encoding up/down device feedback signal and grabbing the stretching motion of pipe pawl 34 makes to grab the motion of pipe pawl in same level, passes through controller control
Walking mechanism 1 processed drives rotating mechanism 2 and telescoping mechanism 3 to move, and grabs pipe pawl 34 and is moved at pipe to be grabbed and captures pipe to be grabbed, and passes through
To controller, controller driving walking mechanism 1 and rotating mechanism 2 drive pipe to be grabbed to be moved to and put pipe position sensor passes signal
Carry out falling pipe work；Then the piston rod of controller control telescopic oil cylinder 31 stretches out, and telescoping mechanism 3, which shrinks, fits in connecting rod 5
Side, last controller control walking mechanism 1, rotating mechanism 2 and telescoping mechanism 3 recover to initial position；Pass through expansion link
35 flexible drives grab pipe pawl 34 and capture pipe to be grabbed.
The present invention is described by way of example above, but the invention is not restricted to above-mentioned specific embodiment, it is all to be based on
Any changes or modifications that the present invention is done belong to the scope of protection of present invention.
Claims (8)
1. derrick union machine, including walking mechanism (1), rotating mechanism (2), telescoping mechanism (3), feedback module and controller, institute
Walking mechanism (1) to be stated to be installed in the horizontal direction of derrick (4), the rotating mechanism (2) is arranged at below walking mechanism (1),
And it is connected with walking mechanism (1)；The telescoping mechanism (3) is connected by connecting rod (5) with rotating mechanism (2), and positioned at rotation
The lower section of mechanism (2)；Shunk during telescoping mechanism (3) off working state and fit in connecting rod (5) side, the feedback module
It is connected with controller, it includes being used to measure the walking encoder of walking mechanism (1) travel distance, for measuring rotating mechanism
(2) rotary encoder of the anglec of rotation and the encoding up/down device for measuring telescoping mechanism (3) adjustable height；The controller control
The power-actuated operation of walking mechanism (1) processed, rotating mechanism (2) and telescoping mechanism (3).
2. derrick union machine according to claim 1, it is characterised in that：The telescoping mechanism (3) includes telescopic oil cylinder
(31), the first telescopic arm (32), the second telescopic arm (33) and pipe pawl (34) is grabbed, the cylinder body of the telescopic oil cylinder (31) is fixed in company
On extension bar (5), the free end of its piston rod is hinged by one end of sliding block (6) and the first telescopic arm (32)；The sliding block (6)
It is slidably connected in connecting rod (5), the other end of first telescopic arm (32) is connected with grabbing pipe pawl (34), and described second is flexible
One end of arm (33) is rotationally connected with the cylinder body of telescopic oil cylinder (31), and the other end is articulated with the first telescopic arm (32).
3. derrick union machine according to claim 2, it is characterised in that：The telescoping mechanism (3) also includes being used to extend
The expansion link (35) of pipe pawl length is grabbed, its one end is connected with grabbing pipe pawl (34), and the other end and the first telescopic arm (32) are rotatablely connected.
4. derrick union machine according to claim 1, it is characterised in that：The walking mechanism (1) passes through rack-and-pinion machine
Structure is driven.
5. derrick union machine according to claim 1, it is characterised in that：Also include sensor, it is arranged at walking mechanism
(1), on rotating mechanism (2) and telescoping mechanism (3), and it is connected with controller, the sensor, feedback module and controller are formed
Closed-loop control, grab each time after pipe terminates, walking mechanism (1), rotating mechanism (2) and telescoping mechanism (3) are returned to home position.
6. derrick union machine according to claim 1, it is characterised in that：Also include personal observations' derrick union easy to operation
The camera device of machine operation, it is arranged on derrick (4).
7. the operating method of derrick union machine, it is characterised in that：Using as described in claim 1 to claim 6 any one
Derrick union machine, the controller first control walking mechanism (1) run and by walking encoder feedback signal control walk
Mechanism (1) moves to specified location, then controls rotating mechanism (2) to rotate and control whirler by rotary encoder feedback signal
The anglec of rotation of structure (2), telescoping mechanism (3) rotation is driven to the front of pipe to be grabbed, finally by the flexible of control telescoping mechanism
Oil cylinder (31) acts, and the first telescopic arm (32), the cylinder body and piston rod of the second telescopic arm (33) and telescopic oil cylinder (31) form four
Linkage, the pipe pawl (34) of grabbing are controlled with the contraction of the piston rod of telescopic oil cylinder (31) by encoding up/down device feedback signal
Grabbing pipe pawl (34) stretching motion makes to grab the motion of pipe pawl in same level, passes through controller and controls walking mechanism (1) to drive rotation
Mechanism (2) and telescoping mechanism (3) are mobile, grab pipe pawl (34) and are moved at pipe to be grabbed and capture pipe to be grabbed, and are believed by sensor passes
Number to controller, controller driving walking mechanism (1) and rotating mechanism (2) drive pipe to be grabbed to be moved to and put pipe position and carry out falling pipe
Work；Then the piston rod of controller control telescopic oil cylinder (31) stretches out, and telescoping mechanism (3), which shrinks, fits in connecting rod (5)
Side, last controller control walking mechanism (1), rotating mechanism (2) and telescoping mechanism (3) recover to initial position.
8. the operating method of derrick union machine according to claim 7, it is characterised in that：Pass through expansion link (35) telescopic band
It is dynamic to grab pipe pawl (34) and capture pipe to be grabbed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710915770.2A CN107476771A (en) | 2017-09-30 | 2017-09-30 | Derrick union machine and its operating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710915770.2A CN107476771A (en) | 2017-09-30 | 2017-09-30 | Derrick union machine and its operating method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107476771A true CN107476771A (en) | 2017-12-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710915770.2A Pending CN107476771A (en) | 2017-09-30 | 2017-09-30 | Derrick union machine and its operating method |
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| CN (1) | CN107476771A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110630191A (en) * | 2019-09-12 | 2019-12-31 | 四川宏华电气有限责任公司 | Electric drive servo control system for pipe arranging device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4077525A (en) * | 1974-11-14 | 1978-03-07 | Lamb Industries, Inc. | Derrick mounted apparatus for the manipulation of pipe |
| CN103388462A (en) * | 2013-08-15 | 2013-11-13 | 青岛泰众能源技术有限公司 | Land rig pipe-arranging equipment |
| CN103410458A (en) * | 2013-08-15 | 2013-11-27 | 青岛泰众能源技术有限公司 | Vertical discharge pipe system |
| CN105422022A (en) * | 2015-12-11 | 2016-03-23 | 四川中曼电气工程技术有限公司 | Automatic tube distributing device of petroleum drilling machine |
| CN105604505A (en) * | 2016-01-05 | 2016-05-25 | 西南石油大学 | Bridge thribble pipe racking device and pipe racking method |
| CN207420496U (en) * | 2017-09-30 | 2018-05-29 | 青岛天时海洋石油装备有限公司 | Derrick union machine |
-
2017
- 2017-09-30 CN CN201710915770.2A patent/CN107476771A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4077525A (en) * | 1974-11-14 | 1978-03-07 | Lamb Industries, Inc. | Derrick mounted apparatus for the manipulation of pipe |
| CN103388462A (en) * | 2013-08-15 | 2013-11-13 | 青岛泰众能源技术有限公司 | Land rig pipe-arranging equipment |
| CN103410458A (en) * | 2013-08-15 | 2013-11-27 | 青岛泰众能源技术有限公司 | Vertical discharge pipe system |
| CN105422022A (en) * | 2015-12-11 | 2016-03-23 | 四川中曼电气工程技术有限公司 | Automatic tube distributing device of petroleum drilling machine |
| CN105604505A (en) * | 2016-01-05 | 2016-05-25 | 西南石油大学 | Bridge thribble pipe racking device and pipe racking method |
| CN207420496U (en) * | 2017-09-30 | 2018-05-29 | 青岛天时海洋石油装备有限公司 | Derrick union machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110630191A (en) * | 2019-09-12 | 2019-12-31 | 四川宏华电气有限责任公司 | Electric drive servo control system for pipe arranging device |
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| PB01 | Publication | ||
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Application publication date: 20171215 |