CN108131106B - Automatic change rig tubular column machinery tongs - Google Patents
Automatic change rig tubular column machinery tongs Download PDFInfo
- Publication number
- CN108131106B CN108131106B CN201711111914.5A CN201711111914A CN108131106B CN 108131106 B CN108131106 B CN 108131106B CN 201711111914 A CN201711111914 A CN 201711111914A CN 108131106 B CN108131106 B CN 108131106B
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- clamping jaw
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- fixed shaft
- straight rod
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- 230000008859 change Effects 0.000 title description 2
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000005553 drilling Methods 0.000 claims abstract description 31
- 239000000758 substrate Substances 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000004615 ingredient Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- 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
-
- 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
- E21B19/24—Guiding or centralising devices for drilling rods or pipes
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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 invention discloses an automatic drilling machine pipe column mechanical gripper, which comprises: a mounting base; the first fixed shaft and the second fixed shaft are parallel; the first clamping mechanism is arranged on the first fixed shaft and the second fixed shaft; the second clamping mechanism is arranged on the first fixed shaft and the second fixed shaft; the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw are provided with the same inscribed circle; a driving mechanism; the driving mechanism can drive the first driving clamping jaw and the second driving clamping jaw, so that the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw are tangential to the circumference of the well drilling and completion string, and the central axis of the well drilling and completion string coincides with the center of the inscribed circle. The mechanical gripper of the drilling machine pipe column can realize accurate and rapid positioning according to the position of the inscribed circle center during pipe column positioning control.
Description
Technical Field
The invention relates to the field of petroleum drilling machinery, in particular to an automatic drilling machine pipe column mechanical gripper.
Background
The mechanical gripper of the drilling machine pipe column is an important component of mechanical automation of the drilling machine (drilling machine), and is mainly used for clamping various drilling and completion pipe columns to replace manual operation.
The existing pipe column mechanical gripper has the following problems: (1) When clamping pipe columns with different pipe diameters, the centers of the pipe columns are not on the same central line, so that the control parameters are required to be regulated at all times by a control system for ensuring accurate positioning of the pipe columns during operation of different pipe columns, the operation of a drilling site is very complex, and the operation period is prolonged; (2) The clamping range of each mechanical gripper pipe column is limited, a drill rod, a drill collar, a sleeve and the like are used for clamping the mechanical grippers specially, and the mechanical gripper grippers are required to be replaced when the pipe diameter span is large; (3) The existing mechanical gripper is difficult to meet the requirements of a control system for quick, accurate and stable control.
Disclosure of Invention
In view of the shortcomings of the prior art, it is an object of the present invention to provide an automated drill string mechanical gripper that is capable of solving at least one of the above technical problems.
The technical scheme of the invention is as follows:
an automated drill string mechanical gripper, comprising:
a mounting base;
the first fixed shaft and the second fixed shaft are parallel; the first fixing shaft and the second fixing shaft are fixed in position and are positioned on one side of the mounting base;
the first clamping mechanism is arranged on the first fixed shaft and the second fixed shaft; the first clamping mechanism comprises a first driving clamping jaw and a first driven clamping jaw; the first driving clamping jaw can rotate around a first fixed shaft; the first driving clamping jaw drives the first driven clamping jaw to rotate around the second fixed shaft when rotating around the first fixed shaft;
the second clamping mechanism is arranged on the first fixed shaft and the second fixed shaft; the second clamping mechanism comprises a second driving clamping jaw and a second driven clamping jaw; the second driving clamping jaw can rotate around the second fixed shaft; the second driving clamping jaw drives the second driven clamping jaw to rotate around the first fixed shaft when rotating around the second fixed shaft; the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw are provided with an inscribed circle; the centers of the inscribed circles of the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw are unchanged when the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw move;
a driving mechanism; the driving mechanism can drive the first driving clamping jaw and the second driving clamping jaw, so that the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw are tangential to the circumference of the well drilling and completion string, and the central axis of the well drilling and completion string coincides with the center of the inscribed circle.
As a preferred embodiment, the second driven jaw and the first driven jaw are close to the mounting base relative to the first driving jaw and the second driving jaw.
As a preferred embodiment, the first clamping mechanism further comprises a first connecting rod; one end of the first connecting rod is rotatably connected with the first driving clamping jaw, and the other end of the first connecting rod is rotatably connected with the first driven clamping jaw;
the second clamping mechanism further comprises a second connecting rod; one end of the second connecting rod is rotatably connected with the second driving clamping jaw, and the other end of the second connecting rod is rotatably connected with the second driven clamping jaw;
the first connecting rod and the second connecting rod are perpendicular to the first fixed shaft and the second fixed shaft and parallel to a plane where the first fixed shaft and the second fixed shaft are located together.
As a preferred embodiment, the first driving clamping jaw comprises a first driving clamping part, a first stress part, a first driving connecting part and a first driving connecting sleeve; the first driving connecting sleeve is rotatably sleeved on the first fixed shaft;
one end of the first active clamping part is fixedly connected with the first active connecting sleeve, and the other end of the first active clamping part is a free end;
one end of the first stress part is fixedly connected with the first driving connecting sleeve, and the other end of the first stress part is connected with the first connecting rod;
one end of the first driving connecting part is fixedly connected with the first driving connecting sleeve, and the other end of the first driving connecting part is used for driving the first driven clamping jaw.
As a preferred embodiment, the first force receiving portion and the first active connecting portion are both a straight rod; the first active clamping part comprises a first straight rod part and a second straight rod part; one end of the first straight rod part is connected with the first driving connecting sleeve, and one end of the second straight rod part, which is far away from the first straight rod part, is a free end; the included angle between the first straight rod part and the second straight rod part is an obtuse angle.
As a preferred embodiment, the second driving clamping jaw comprises a second driving clamping part, a second stressed part, a second driving connecting part and a second driving connecting sleeve; the second driving connecting sleeve is rotatably sleeved on the second fixed shaft;
one end of the second active clamping part is fixedly connected with the second active connecting sleeve, and the other end of the second active clamping part is a free end;
one end of the second stress part is fixedly connected with the second driving connecting sleeve, and the other end of the second stress part is connected with the second connecting rod;
one end of the second driving connecting part is fixedly connected with the second driving connecting sleeve, and the other end of the second driving connecting part is used for driving the second driven clamping jaw.
As a preferred embodiment, the second force receiving portion and the second active connecting portion are both a straight rod; the second active clamping part comprises a third straight rod part and a fourth straight rod part; one end of the third straight rod part is fixedly connected with the second driving connecting sleeve, and one end of the fourth straight rod part far away from the third straight rod part is a free end; and an included angle between the third straight rod part and the fourth straight rod part is an obtuse angle.
As a preferred embodiment, the first driven clamping jaw comprises a first driven clamping part, a first driven connecting part and a first driven connecting sleeve; the first driven connecting sleeve is rotatably sleeved on the second fixed shaft;
one end of the first driven connecting part is rotatably connected with the other end of the first connecting rod, and the other end of the first driven connecting part is fixedly connected with the first driven connecting sleeve;
one end of the first driven clamping part is fixedly connected with the first driven connecting sleeve, and the other end of the first driven clamping part is a free end and is close to the first fixed shaft.
As a preferred embodiment, the first driven connecting part is a straight rod; the first driven clamping part comprises a fifth straight rod part and a sixth straight rod part; one end of the fifth straight rod part is fixedly connected with the first driven connecting sleeve, and one end of the sixth straight rod part far away from the fifth straight rod part is a free end; an included angle between the fifth straight rod part and the sixth straight rod part is an obtuse angle.
As a preferred embodiment, the second driven clamping jaw comprises a second driven clamping part, a second driven connecting part and a second driven connecting sleeve; the second driven connecting sleeve is rotatably sleeved on the first fixed shaft;
one end of the second driven connecting part is rotatably connected with the other end of the second connecting rod, and the other end of the second driven connecting part is fixedly connected with the second driven connecting sleeve;
one end of the second driven clamping part is fixedly connected with the second driven connecting sleeve, and the other end of the second driven clamping part is a free end and is close to the second fixed shaft.
As a preferred embodiment, the second driven connecting part is a straight rod; the second driven clamping part comprises a seventh straight rod part and an eighth straight rod part; one end of the seventh straight rod part is fixedly connected with the second driven connecting sleeve, and one end of the eighth straight rod part far away from the seventh straight rod part is a free end; an included angle between the seventh straight-bar portion and the eighth straight-bar portion is an obtuse angle.
As a preferred embodiment, the driving mechanism comprises a first driving hydraulic cylinder and a second driving hydraulic cylinder; the first driving hydraulic cylinder and the second driving hydraulic cylinder are respectively fixed on two sides of the mounting base, and the telescopic end of the first driving hydraulic cylinder is connected with one end of the first stressed part; the telescopic end of the second driving hydraulic cylinder is connected with one end of the second stressed part.
As a preferred embodiment, the first clamping mechanism and the second clamping mechanism are mirror images of each other.
As a preferred embodiment, a sliding guide rail is arranged at one side of the mounting base, which faces away from the first fixed shaft and the second fixed shaft; the sliding guide rail is arranged on one side of the installation base, and the length direction of the sliding guide rail is parallel to the length direction of the installation base; the sliding guide rail is used for enabling the mechanical gripper of the drilling machine pipe column to move along the length direction of the sliding guide rail.
The beneficial effects of the invention are as follows:
(1) When clamping drilling and completion pipe strings with different pipe diameters, the centers of the pipe strings are on the same central line, and the pipe strings can be accurately and quickly positioned according to the positions of the centers during positioning control;
(2) The pipe diameter range of the mechanical gripper is large, and the clamping operation of all existing drilling and completion pipe strings can be completed;
(3) The mechanical gripper can also realize the moving operation of the clamping pipe column along the central line direction, thereby being more convenient for the automatic operation of the pipe column moving and transporting.
Specific embodiments of the invention are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not limited in scope thereby. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic illustration of an automated drill string manipulator according to one embodiment of the present invention;
FIG. 2 is a schematic view of the first clamping mechanism of FIG. 1;
FIG. 3 is a schematic view of the second clamping mechanism of FIG. 1;
fig. 4 is a schematic view of the tubular string structure of the gripping drill of fig. 1.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, shall fall within the scope of the invention.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 4, a schematic structural diagram of a mechanical gripper for an automatic drilling machine pipe column according to an embodiment of the present invention is provided. In this embodiment, the automated drill string manipulator includes: the base 1, the first fixed shaft 3a, the second fixed shaft 3b, the first clamping mechanism, the second clamping mechanism, and the driving mechanism 4 are mounted.
The first fixed shaft 3a and the second fixed shaft 3b are parallel to each other. The first fixing shaft 3a and the second fixing shaft 3b are fixed in position and located at one side of the mounting base 1. Specifically, the first fixing shaft 3a and the second fixing shaft 3b are straight rods, and the length direction of the mounting base 1 is parallel to the length direction of the first fixing shaft 3a and the second fixing shaft 3b. The two ends of the installation base 1 along the length direction thereof can be provided with fixing plates, and the two ends of the first fixing shaft 3a and the second fixing shaft 3b are respectively and fixedly installed on the fixing plates.
The first clamping mechanism (line thickness in fig. 1 is only a schematic effect and does not represent an actual thickness) is mounted on the first fixed shaft 3a and the second fixed shaft 3b. The first clamping mechanism comprises a first driving clamping jaw 5 and a first driven clamping jaw 6; the first driving clamping jaw 5 can rotate around a first fixed shaft 3 a; the first driving clamping jaw 5 drives the first driven clamping jaw 6 to rotate around the second fixed shaft 3b when rotating around the first fixed shaft 3a.
The second clamping mechanism (line non-thickened portion in fig. 1) is mounted on the first fixed shaft 3a and the second fixed shaft 3b. The second clamping mechanism comprises a second driving clamping jaw 8 and a second driven clamping jaw; the second driving clamping jaw 8 can rotate around the second fixed shaft 3 b; the second driving clamping jaw 8 drives the second driven clamping jaw to rotate around the first fixed shaft 3a when rotating around the second fixed shaft 3 b; the first driving clamping jaw 5, the first driven clamping jaw 6, the second driving clamping jaw 8 and the second driven clamping jaw are provided with the same inscribed circle; the first driving jaw 5, the first driven jaw 6, the second driving jaw 8 and the second driven jaw are moved with the center of the inscribed circle unchanged.
The drive mechanism 4 is capable of driving the first driving jaw 5 and the second driving jaw 8 such that the first driving jaw 5, the first driven jaw 6, the second driving jaw 8 and the second driven jaw are tangential to the circumference of the completion string 20, the central axis of the completion string 20 coinciding with the centre of the inscribed circle. Wherein the driving mechanism 4 can be fixed on the mounting base 1.
In this embodiment, a plurality of first clamping mechanisms and second clamping mechanisms may be arranged along the length direction (axial direction) of the first fixed shaft 3a and the second fixed shaft 3b, and a single first clamping mechanism and a single second clamping mechanism that are axially adjacent form a group of clamping jaw assemblies, so that a plurality of groups of clamping jaw assemblies are formed along the length direction of the first fixed shaft 3a and the second fixed shaft 3b. The second driven jaw and the first driven jaw 6 are close to the mounting base 1 relative to the first driving jaw 5, the second driving jaw 8.
The automatic drilling machine pipe column mechanical gripper of the embodiment is provided with a first clamping mechanism and a second clamping mechanism on the mounting base 1, the first clamping mechanism and the second clamping mechanism drive the first driven clamping jaw 6 and the second driven clamping jaw to move around the center of the inward tangent circle of the first fixed shaft 3a and the second fixed shaft 3b together under the action of the driving mechanism 4 through the first driving clamping jaw 5 and the second driving clamping jaw 8, and the first driving clamping jaw 6 and the second driven clamping jaw gradually move centripetally to realize concentric clamping of the drilling and completion pipe column 20, so that the accuracy of pipe column positioning is ensured, and therefore, accurate and rapid positioning can be realized according to the position of the center during pipe column positioning control.
In order to keep the centers of the inscribed circles of the first driving jaw 5, the first driven jaw 6, the second driving jaw 8 and the second driven jaw always on the same axis (which axis subsequently coincides with the axis of the completion string 20), the first clamping means and the second clamping means are mirror images of each other.
Specifically, as shown in fig. 2 and 3, the first clamping mechanism further includes a first connecting rod 7a; one end of the first connecting rod 7a is rotatably connected with the first driving clamping jaw 5, and the other end of the first connecting rod is rotatably connected with the first driven clamping jaw 6; the second clamping mechanism further comprises a second connecting rod 7b; one end of the second connecting rod 7b is rotatably connected with the second driving clamping jaw 8, and the other end is rotatably connected with the second driven clamping jaw; the first connecting rod 7a and the second connecting rod 7b are perpendicular to the first fixed shaft 3a and the second fixed shaft 3b and parallel to a plane where the first fixed shaft 3a and the second fixed shaft 3b are located together.
As shown in fig. 2, the first driving clamping jaw 5 includes a first driving clamping portion, a first stress portion 53, a first driving connection portion 54, and a first driving connection sleeve 55; the first driving connecting sleeve 55 is rotatably sleeved on the first fixed shaft 3 a; one end of the first active clamping part is fixedly connected with the first active connecting sleeve 55, and the other end is a free end; one end of the first stress part 53 is fixedly connected with the first driving connecting sleeve 55, and the other end is connected with the first connecting rod 7a; one end of the first driving connection portion 54 is fixedly connected to the first driving connection sleeve 55, and the other end is used for driving the first driven clamping jaw 6.
The first stress part 53 and the first active connecting part 54 are both straight rods; the first active clamping portion comprises a first straight bar portion 52 and a second straight bar portion 51; one end of the first straight rod portion 52 is connected with the first driving connecting sleeve 55, and one end of the second straight rod portion 51, which is far away from the first straight rod portion 52, is a free end; the angle between the first straight rod portion 52 and the second straight rod portion 51 is an obtuse angle.
As shown in fig. 3, the second driving clamping jaw 8 includes a second driving clamping portion, a second stress portion 83, a second driving connection portion 84, and a second driving connection sleeve 88; the second driving connecting sleeve 88 is rotatably sleeved on the second fixed shaft 3 b; one end of the second active clamping part is fixedly connected with the second active connecting sleeve 88, and the other end is a free end; one end of the second stress part 83 is fixedly connected with the second driving connecting sleeve 88, and the other end is connected with the second connecting rod 7b; one end of the second driving connection part 84 is fixedly connected to the second driving connection sleeve 88, and the other end is used for driving the second driven clamping jaw.
The second force receiving portion 83 and the second active connecting portion 84 are both straight rods; the second active clamping portion comprises a third straight bar portion 82 and a fourth straight bar portion 81; one end of the third straight rod portion 82 is fixedly connected with the second driving connecting sleeve 88, and one end of the fourth straight rod portion 81, which is far away from the third straight rod portion 82, is a free end; the included angle between the third straight-bar portion 82 and the fourth straight-bar portion 81 is an obtuse angle.
The first driven clamping jaw 6 comprises a first driven clamping part, a first driven connecting part 63 and a first driven connecting sleeve 64; the first driven connecting sleeve 64 is rotatably sleeved on the second fixed shaft 3 b; one end of the first driven connecting part 63 is rotatably connected with the other end of the first connecting rod 7a, and the other end of the first driven connecting part 63 is fixedly connected with the first driven connecting sleeve 64; one end of the first driven clamping part is fixedly connected with the first driven connecting sleeve 64, and the other end is a free end and is close to the first fixed shaft 3a.
The first driven connecting part 63 is a straight rod; the first driven clamping part comprises a fifth straight rod part 62 and a sixth straight rod part 61; one end of the fifth straight rod portion 62 is fixedly connected with the first driven connecting sleeve 64, and one end of the sixth straight rod portion 61 far away from the fifth straight rod portion 62 is a free end; the included angle between the fifth straight bar portion 62 and the sixth straight bar portion 61 is an obtuse angle.
The second driven clamping jaw comprises a second driven clamping part, a second driven connecting part 93 and a second driven connecting sleeve 94; the second driven connecting sleeve 94 is rotatably sleeved on the first fixed shaft 3 a; one end of the second driven connecting part 93 is rotatably connected with the other end of the second connecting rod 7b, and the other end of the second driven connecting part 93 is fixedly connected with the second driven connecting sleeve 94; one end of the second driven clamping part is fixedly connected with the second driven connecting sleeve 94, and the other end is a free end and is close to the second fixed shaft 3b.
The second driven connecting part 93 is a straight rod; the second driven clamping portion includes a seventh straight portion 92 and an eighth straight portion 91; one end of the seventh straight rod portion 92 is fixedly connected with the second driven connecting sleeve 94, and one end of the eighth straight rod portion 91, which is far away from the seventh straight rod portion 92, is a free end; the included angle between the seventh straight portion 92 and the eighth straight portion 91 is an obtuse angle.
The driving mechanism 4 comprises a first driving hydraulic cylinder and a second driving hydraulic cylinder; the first driving hydraulic cylinder and the second driving hydraulic cylinder are respectively fixed at two sides of the mounting base 1, and the telescopic end of the first driving hydraulic cylinder is (rotatably) connected with one end of the first stress part 53; the telescopic end of the second driving cylinder is (rotatably) connected to one end of the second force receiving portion 83.
When the first driving hydraulic cylinder and the second driving hydraulic cylinder are extended, the first driving clamping part and the second driving clamping part are respectively pushed to rotate inwards through the first stress part 53 and the second stress part 83 (the first driving clamping part is approximately right-upper when the reader faces fig. 1, the second driving clamping part moves leftwards, the first driven clamping part is driven to move rightwards through the first driving connecting part 54, the first connecting rod 7a, the first driven connecting part 63 and the first driven connecting sleeve 64, and the second driven clamping part is driven to move rightwards through the second driving connecting part 84, the second connecting rod 7b, the second driven connecting part 93 and the second driven connecting sleeve 94).
In the present embodiment, the entire mounting base 1 may be a substrate, and one side of the substrate may be provided with a plurality of fixing plates (the fixing plates may be perpendicular to the side surface of the substrate) fixedly connecting the first fixing shaft 3a and the second fixing shaft 3b in the longitudinal direction. The first fixing shaft 3a and the second fixing shaft 3b are parallel to the length direction of the substrate and are arranged along the width direction of the substrate, that is, the plane of the first fixing shaft 3a and the second fixing shaft 3b is parallel to the substrate.
A sliding guide rail is arranged at one side of the mounting base 1, which faces away from the first fixed shaft 3a and the second fixed shaft 3 b; the sliding guide rail is arranged on one side of the installation base 1, and the length direction of the sliding guide rail is parallel to the length direction of the installation base 1; the sliding guide rail is used for enabling the mechanical gripper of the drilling machine pipe column to move along the length direction of the sliding guide rail.
When the mechanical gripper for the automatic drilling machine pipe column provided by the embodiment is used, as shown in fig. 1 and 4, after the drilling and completion pipe column 20 is positioned at a position basically concentric with the center of the inscribed circle, the first driving hydraulic cylinder gradually stretches to drive the first driving clamping jaw 5 to do circular motion around the first fixed shaft 3a, and meanwhile, the first driving clamping jaw 5 drives the first driven clamping jaw 6 to do synchronous circular motion around the second fixed shaft 3b through the first connecting rod 7 a.
Similarly, the movement principle of the symmetrical second driving clamping jaw 8 and the second driven clamping jaw is the same, and the clamping operation of the drilling and completion pipe string 20 is finally completed through the gradual action of the multiple groups of clamping jaw assemblies.
In the clamping process, the center of the inscribed circle and the center of the drilling and completion pipe string 20 can have a certain eccentricity initially, when the clamping jaws completely clamp the drilling and completion pipe string 20, each clamping jaw (the first driving clamping part, the second driving clamping part, the first driven clamping part and the second driven clamping part) is externally tangent to the outer wall of the drilling and completion pipe string 20, at this time, the center of the inscribed circle and the center of the drilling and completion pipe string 20 are concentric, and the acting forces on each clamping jaw are equal.
In the present embodiment, the sliding bracket guide rail is used to adjust the movement of the clamped completion string 20 along the central line direction thereof, thereby realizing the lateral or longitudinal position adjustment operation of the string. When the completion string 20 is drilled on the drill floor to carry out the tripping operation, the clamping pressure of the first driving hydraulic cylinder and the second driving hydraulic cylinder of the mechanical gripper can be reduced, and the operation of supporting the completion string 20 can be changed.
The release of the completion string 20 by the mechanical gripper of this embodiment is the reverse of the gripping operation described above, and the specific operation thereof will not be repeated here.
The beneficial effects of this embodiment are:
(1) When clamping the well drilling and completion pipe strings 20 with different pipe diameters, the centers of the pipe strings are on the same central line, and the pipe string can be accurately and quickly positioned according to the position of the center during positioning control;
(2) The pipe diameter range of the mechanical gripper is large, and the clamping operation of all existing drilling and completion pipe strings can be completed;
(3) The mechanical gripper can also realize the moving operation of the clamping pipe column along the central line direction, thereby being more convenient for the automatic operation of the pipe column moving and transporting.
Any numerical value recited herein includes all values of the lower and upper values that increment by one unit from the lower value to the upper value, as long as there is a spacing of at least two units between any lower value and any higher value. For example, if it is stated that the number of components or the value of a process variable (e.g., temperature, pressure, time, etc.) is from 1 to 90, preferably from 20 to 80, more preferably from 30 to 70, then the purpose is to explicitly list such values as 15 to 85, 22 to 68, 43 to 51, 30 to 32, etc. in this specification as well. For values less than 1, one unit is suitably considered to be 0.0001, 0.001, 0.01, 0.1. These are merely examples that are intended to be explicitly recited in this description, and all possible combinations of values recited between the lowest value and the highest value are believed to be explicitly stated in the description in a similar manner.
Unless otherwise indicated, all ranges include endpoints and all numbers between endpoints. "about" or "approximately" as used with a range is applicable to both endpoints of the range. Thus, "about 20 to 30" is intended to cover "about 20 to about 30," including at least the indicated endpoints.
All articles and references, including patent applications and publications, disclosed herein are incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not substantially affect the essential novel features of the combination. The use of the terms "comprises" or "comprising" to describe combinations of elements, components, or steps herein also contemplates embodiments consisting essentially of such elements, components, or steps. By using the term "may" herein, it is intended that any attribute described as "may" be included is optional.
Multiple elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, component, section or step is not intended to exclude other elements, components, sections or steps.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but instead should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are incorporated herein by reference for the purpose of completeness. The omission of any aspect of the subject matter disclosed herein in the preceding claims is not intended to forego such subject matter, nor should the inventors regard such subject matter as not be considered to be part of the disclosed subject matter.
Claims (9)
1. An automated drill string mechanical gripper, comprising:
a mounting base;
the first fixed shaft and the second fixed shaft are parallel; the first fixing shaft and the second fixing shaft are fixed in position and are positioned on one side of the mounting base;
the first clamping mechanism is arranged on the first fixed shaft and the second fixed shaft; the first clamping mechanism comprises a first driving clamping jaw and a first driven clamping jaw; the first driving clamping jaw can rotate around a first fixed shaft; the first driving clamping jaw drives the first driven clamping jaw to rotate around the second fixed shaft when rotating around the first fixed shaft;
the second clamping mechanism is arranged on the first fixed shaft and the second fixed shaft; the second clamping mechanism comprises a second driving clamping jaw and a second driven clamping jaw; the second driving clamping jaw can rotate around the second fixed shaft; the second driving clamping jaw drives the second driven clamping jaw to rotate around the first fixed shaft when rotating around the second fixed shaft; the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw are provided with the same inscribed circle; the centers of the inscribed circles of the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw are unchanged when the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw move;
a driving mechanism; the driving mechanism can drive the first driving clamping jaw and the second driving clamping jaw, so that the first driving clamping jaw, the first driven clamping jaw, the second driving clamping jaw and the second driven clamping jaw are tangential to the circumference of the well drilling and completion string, and the central axis of the well drilling and completion string coincides with the center of the inscribed circle.
2. The automated drill string mechanical gripper of claim 1, wherein the second driven jaw and the first driven jaw are proximate the mounting base relative to the first and second driving jaws.
3. The automated drill string mechanical gripper of claim 2, wherein the first gripping mechanism further comprises a first connecting rod; one end of the first connecting rod is rotatably connected with the first driving clamping jaw, and the other end of the first connecting rod is rotatably connected with the first driven clamping jaw;
the second clamping mechanism further comprises a second connecting rod; one end of the second connecting rod is rotatably connected with the second driving clamping jaw, and the other end of the second connecting rod is rotatably connected with the second driven clamping jaw;
the first connecting rod and the second connecting rod are perpendicular to the first fixed shaft and the second fixed shaft and parallel to a plane where the first fixed shaft and the second fixed shaft are located together.
4. The automated drill string mechanical gripper of claim 3, wherein the first active gripping jaw comprises a first active gripping portion, a first force bearing portion, a first active connecting sleeve; the first driving connecting sleeve is rotatably sleeved on the first fixed shaft;
one end of the first active clamping part is fixedly connected with the first active connecting sleeve, and the other end of the first active clamping part is a free end;
one end of the first stress part is fixedly connected with the first driving connecting sleeve, and the other end of the first stress part is connected with the first connecting rod;
one end of the first driving connecting part is fixedly connected with the first driving connecting sleeve, and the other end of the first driving connecting part is used for driving the first driven clamping jaw.
5. The automated drill string mechanical gripper of claim 4, wherein the first force-receiving portion and the first active connecting portion are each a straight rod; the first active clamping part comprises a first straight rod part and a second straight rod part; one end of the first straight rod part is connected with the first driving connecting sleeve, and one end of the second straight rod part, which is far away from the first straight rod part, is a free end; the included angle between the first straight rod part and the second straight rod part is an obtuse angle.
6. The automated drill string mechanical gripper of claim 5, wherein the second active gripping jaw comprises a second active gripping portion, a second force bearing portion, a second active connecting sleeve; the second driving connecting sleeve is rotatably sleeved on the second fixed shaft;
one end of the second active clamping part is fixedly connected with the second active connecting sleeve, and the other end of the second active clamping part is a free end;
one end of the second stress part is fixedly connected with the second driving connecting sleeve, and the other end of the second stress part is connected with the second connecting rod;
one end of the second driving connecting part is fixedly connected with the second driving connecting sleeve, and the other end of the second driving connecting part is used for driving the second driven clamping jaw.
7. The automated drill string mechanical gripper of claim 6, wherein the second force-receiving portion and the second active connecting portion are each a straight rod; the second active clamping part comprises a third straight rod part and a fourth straight rod part; one end of the second straight rod part is fixedly connected with the second driving connecting sleeve, and one end of the second straight rod part, which is far away from the second straight rod part, is a free end; and an included angle between the third straight rod part and the fourth straight rod part is an obtuse angle.
8. The automated drill string mechanical gripper of claim 7, wherein the first driven jaw comprises a first driven gripping portion, a first driven connecting sleeve; the first driven connecting sleeve is rotatably sleeved on the second fixed shaft;
one end of the first driven connecting part is rotatably connected with the other end of the first connecting rod, and the other end of the first driven connecting part is fixedly connected with the first driven connecting sleeve;
one end of the first driven clamping part is fixedly connected with the first driven connecting sleeve, and the other end of the first driven clamping part is a free end and is close to the first fixed shaft.
9. The automated drill string mechanical gripper of claim 8, wherein the first driven connection portion is a straight rod; the first driven clamping part comprises a fifth straight rod part and a sixth straight rod part; one end of the fifth straight rod part is fixedly connected with the first driven connecting sleeve, and one end of the sixth straight rod part far away from the fifth straight rod part is a free end; an included angle between the fifth straight rod part and the sixth straight rod part is an obtuse angle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111914.5A CN108131106B (en) | 2017-11-13 | 2017-11-13 | Automatic change rig tubular column machinery tongs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111914.5A CN108131106B (en) | 2017-11-13 | 2017-11-13 | Automatic change rig tubular column machinery tongs |
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| CN108131106A CN108131106A (en) | 2018-06-08 |
| CN108131106B true CN108131106B (en) | 2023-09-26 |
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|---|---|
| CN108131106A (en) | 2018-06-08 |
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