CN110836097A - Petroleum drill pipe pushing and supporting robot system and application method thereof - Google Patents

Abstract

The invention discloses an oil drill pipe pushing and supporting robot system and an application method thereof. The system comprises a robot and a well-shaped track, a platform car, a turntable, a mechanical arm and a fixture connected by the robot in sequence. One end of the vertical root area on one side of the drilling platform and the aisle between the two vertical root areas are laid. The platform car can walk on the well-shaped track. The turntable is fixed at the center of the top surface of the platform car, and the mechanical arm is fixed on the top surface of the turntable. , the clamp is hinged to the end of the mechanical arm, and the mechanical arm is a folding arm, which can be rotated, retracted and translated. When the system is not in use, the temporary storage area of the equipment parked on the vertical track. When working, the vertical walking wheel of the platform car travels along the longitudinal track to the well-shaped intersection, and then travels along the horizontal track to the working position through the horizontal walking wheel, and locks the platform car on the horizontal track, waiting to work with the crane. The robotic arm can be rotated, telescopic and translated to adjust the front, rear, left and right positions of the robotic arm.

Description

An oil drill pipe pushing and supporting robot system and its application method

technical field

The invention belongs to the field of intelligent robots, in particular to an oil drill pipe pushing and supporting robot system and an application method thereof.

Background technique

At present, when the drill pipe is installed on the onshore oil drilling platform, since the drill pipe is generally more than 20 meters long, a crane is generally installed on the second floor platform, and the upper end of the drill pipe is hoisted by the crane, so that the lower end of the drill pipe is hoisted. Get out of the fixed position in the stand area, and then hold the lower end of the drill pipe by two workers, and the rotating position of the crane will move the drill pipe to the designated position for docking. On the one hand, it is inefficient to cooperate with cranes manually. On the other hand, most drilling platforms have harsh environments and are not suitable for manual outdoor operations.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a pushing and supporting robot system and an application method thereof, which can automatically cooperate with a crane to quickly move the drill pipe in the stand area to a designated position for docking.

The oil drill pipe pushing and supporting robot system provided by the present invention includes a robot and a well-shaped track, a platform vehicle, a turntable, a mechanical arm and a fixture connected by the robot in sequence, and two sides of the well-shaped track are respectively standing along one side of the oil drilling platform. One end of the area and the aisle between the two vertical areas are laid, the platform car can walk on the well-shaped track, the turntable is fixed at the center of the top surface of the platform car, the mechanical arm is fixed on the top surface of the turntable, and the fixture is hinged to the machine At the end of the arm, the mechanical arm is a folding arm, which can be rotated, retracted and translated.

In an embodiment of the above technical solution, the well-shaped track includes two sleeper rails arranged in parallel in the longitudinal direction and the lateral direction, and the ends of the longitudinal and lateral rails intersect to form a well-shaped track.

In an embodiment of the above-mentioned technical solution, the platform vehicle includes a frame and a longitudinal travel wheel, a transverse travel wheel, a lifting device and a hydraulic clamp connected to it, and the longitudinal travel wheel and the transverse travel wheel are respectively set about the length of the frame. The two groups are symmetrically arranged on the center plane of the direction. The setting positions of the longitudinal travel wheels and the transverse travel wheels correspond to the longitudinal track and the transverse track respectively. The two travel wheels of each group of longitudinal travel wheels are installed on a connecting shaft, and the two connecting shafts It is connected to the rectangular connecting frame, and the lifting device is connected between the rectangular connecting frame and the frame, and the vertical traveling wheel can be lifted and lowered through the lifting device. When the wheel travels to the working position, the hydraulic clamp locks the lateral track.

In an embodiment of the above technical solution, the mechanical arm is a folding arm with two hinged upper and lower sections. Arranged parallel to the front and rear of the rear arm, the upper ends of the two forearms are hinged as a whole, the upper ends of the two rear arms are hinged with the forearm as a whole, the lower end of the lower arm is hinged on the hinge seat on the top surface of the turntable, and the upper arm includes a front and rear parallel arm. The auxiliary arm and the main arm are arranged, the upper ends of the main arm and the auxiliary arm are respectively hinged between the upper ends of the two forearms, and the lower ends of the main arm and the auxiliary arm are hinged with a clamp mounting seat.

In an embodiment of the above technical solution, the upper end of the forearm is hinged into one through the connecting shaft and the bearing seat, the upper end of the main arm is hinged on the connecting shaft through the bearing seat, and the connecting shaft is connected with two corners. Hinge plates, the corners of the hinge plates are hinged on the connecting shaft through bearings, the rear ends of the two hinge plates are respectively hinged with the rear arm, and the front end of one of the hinge plates is connected with the upper end of the main arm, and the front end of the other hinge plate is connected to the rear arm. The auxiliary arm is hinged.

In an embodiment of the above technical solution, an oil cylinder is installed on the mechanical arm, the cylinder end of the oil cylinder has a mounting seat, the mounting seat is fixed between the tops of the two forearms, and the two forearms are fixed near the mounting seat. A connecting plate is arranged at the position, and the end of the piston rod of the oil cylinder is fixed by a hinge seat, and the hinge seat is fixed on the bottom of the main arm.

In an embodiment of the above technical solution, the clamp includes an oil cylinder and a pair of clamping jaws symmetrically hinged to the head of the piston rod of the oil cylinder, and the cylinder body of the oil cylinder is fixed on the clamp mounting seat through the mounting seat.

In an embodiment of the above technical solution, the lifting device is an oil cylinder on a platform vehicle, and the turntable is a hydraulic turntable.

In an embodiment of the above technical solution, the system further includes a hydraulic station, the hydraulic station is fixed on the top side of the turntable through a support plate, and the oil cylinder and the turntable are connected to the hydraulic station through oil pipes.

This method of utilizing the above-mentioned system to cooperate with a crane to transfer a drill pipe provided by the present invention includes the following steps:

(1) The longitudinal walking wheels of the platform car work, so that the platform car travels along the longitudinal track to the lateral track of the well-shaped track;

(2) The piston rod of the oil cylinder between the connecting shaft between the longitudinal traveling wheels and the frame is retracted, so that the longitudinal traveling wheels leave the longitudinal track, and at the same time, the lateral traveling wheels and the hydraulic clamp fall on the lateral track;

(3) The horizontal traveling wheel works to make the platform truck move forward to the working position, and the hydraulic clamp locks the horizontal track;

(4) The rotary table works to rotate the mechanical arm to the vicinity of the designated lifting position of the oil drill pipe;

(5) The crane on the second floor platform of the drilling platform lifts the designated oil drill pipe from the fixed position of the root zone, and the rotary table works to adjust the position of the mechanical arm, so that the clamp at the end of the mechanical arm clamps the lifted oil drill pipe ;

(6) The oil cylinder and turntable on the manipulator work with the movement trajectory of the crane boom to move the oil drill pipe to the designated position for docking.

(7) After the movement of the oil drill pipe is completed, the hydraulic clamp of the platform truck releases the lateral track, and the platform truck returns to the original road.

The invention lays longitudinal rails and transverse rails respectively in the passage area at the end of the stand area of the drilling platform and the passage area between the two stand areas, and the longitudinal rail and the transverse rail intersect at the end to form a well-shaped rail. When the system is not in use, the temporary storage area of equipment parked on the vertical track. When it is necessary to lift the drill pipe, the system walks along the longitudinal track to the well-shaped intersection through the vertical traveling wheel of the platform vehicle, and then walks along the horizontal track to the working position through the lateral traveling wheel, and locks the platform vehicle on the lateral track, waiting for Work with the crane on the second floor of the drilling platform. The turntable on the top surface of the platform of the system is connected with the lower end of the robotic arm, so that the robotic arm can rotate in the circumferential direction to adjust the working orientation. Therefore, the mechanical arm can adapt to the push and support of the oil drill pipe in the vertical root zone on both sides. Of course, the telescopic range of the manipulator should be determined according to the plane size of the stand area and the size of the aisle between the two sides of the stand area, so as to ensure that the manipulator arm can move to various positions in the stand area.

Description of drawings

FIG. 1 is a schematic diagram of laying a well-shaped track on a drilling platform in an embodiment of the present invention.

FIG. 2 is a schematic diagram of an axis-side structure of the robot in this embodiment.

FIG. 3 is a schematic diagram of an axle side structure of the platform vehicle in FIG. 2 .

Detailed ways

It can be seen with reference to FIGS. 1 to 3 that the oil drill pipe pushing and supporting robot system disclosed in this embodiment includes a robot and a well-shaped track.

The robot includes a platform vehicle 1 , a hydraulic turntable 2 , a robotic arm 3 , a hydraulic gripper 4 and a hydraulic station 5 . Both the longitudinal and transverse directions of the well-shaped track 6 include two sleeper rails arranged in parallel, and the ends of the longitudinal and transverse tracks intersect to form a well-shaped track. The longitudinal rails 61 are laid along the aisle area at the end of the stand area of the drilling platform, the transverse rails are laid along the widthwise center plane of the passage between the two side stand areas, and the ends of the transverse rails 62 intersect with the longitudinal rails.

The platform vehicle 1 includes a frame 11 and a longitudinal traveling wheel 12 , a lateral traveling wheel 13 , a lifting oil cylinder 14 and a hydraulic clamp 15 connected thereto. The longitudinal travel wheels 12 and the transverse travel wheels 13 are respectively provided with two groups symmetrically arranged about the center plane in the longitudinal direction of the frame 11. The installation positions of the longitudinal travel wheels 12 and the transverse travel wheels 13 correspond to the longitudinal rails and the transverse rails respectively. The two traveling wheels of the traveling wheel are installed on a connecting shaft, the two connecting shafts are connected to a rectangular connecting frame 16, and the lifting cylinder 14 is connected between the rectangular connecting frame and the frame to realize the vertical lifting and falling of the traveling wheels. A strut 17 is connected between the connecting frame and the frame. The hydraulic clamps 15 are connected on the frame 11 between each group of transverse traveling wheels 13 . When the transverse traveling wheels 13 travel to the working position, the hydraulic clamps 15 lock the transverse track. Hydraulic clamps are available for purchase.

The hydraulic turntable 2 is fixed at the central position of the top surface of the platform vehicle frame, and the lower end of the mechanical arm 3 is connected to the upper end of the hydraulic turntable 2 .

The mechanical arm 3 is a folding arm with two hinged upper and lower sections.

The lower arm includes a pair of front arms 31 and a pair of rear arms 32, the two front arms and the two rear arms are respectively arranged in parallel left and right, the front arms and the rear arms are arranged in parallel front and rear, the upper ends of the two front arms are hinged into one, and the upper ends of the two rear arms are hinged with the forearm As a whole, the lower end of the lower section arm is hinged on the hinge seat on the top surface of the hydraulic turntable 2 .

The upper section arm includes an auxiliary arm 33 and a main arm 34 arranged in parallel in the front and rear. The upper ends of the main arm and the auxiliary arm are respectively hinged between the upper ends of the two forearms.

The upper end of the forearm 31 is hinged into one through the connecting shaft and the bearing seat, the upper end of the main arm 34 is hinged on the connecting shaft through the bearing seat, and the connecting shaft is connected with two hinged plates 35 with corners, and the corners of the hinged plates are hinged through bearings On the connecting shaft, the rear ends of the two hinge plates are hinged with the rear arms respectively, the front end of one hinge plate is connected with the upper end of the main arm 34 , and the front end of the other hinge plate is hinged with the auxiliary arm 33 .

The push-pull cylinder TLYG is installed on the robotic arm 3, and the cylinder end of the push-pull cylinder has a mounting seat, the mounting seat is fixed between the tops of the two forearms 31, and a connecting plate is set between the two forearms near the fixed position of the mounting seat. The end of the piston rod is fixed to the bottom of the main arm 34 by a hinge seat.

The hydraulic clamping jaw 4 includes a push-pull oil cylinder TLYG and a pair of clamping jaws 41 symmetrically hinged to the head of its piston rod.

The hydraulic rotary table 2 , the lift cylinder 14 on the platform vehicle 1 , the mechanical arm 3 and the push-pull cylinder TLYG on the fixture mounting base 36 are respectively connected to the hydraulic station 5 through oil pipes. The hydraulic station is fixed on the hydraulic rotary table 2 through a mounting plate.

When the system is not working, the platform vehicle 1 is parked in the equipment temporary storage area on the longitudinal track 61. At this time, the piston rod of the lifting cylinder 14 on the platform vehicle 1 is in the extended state, and the longitudinal traveling wheel 12 is located on the longitudinal track 61. The robotic arm 3 is in a folded state.

When work is required, the platform vehicle 1 walks along the longitudinal track 61 to the intersection of the transverse track 62 through the longitudinal travel wheel 12, and then the piston rod of the lifting cylinder 14 retracts, the longitudinal travel wheel 12 leaves the longitudinal track 61, and the transverse travel wheel 13 and Hydraulic clamps 15 drop onto transverse rails 62 . Then the lateral traveling wheel 13 travels along the lateral rail 62 to a designated working position, and the hydraulic clamp 15 locks the lateral rail 62 to position the platform vehicle 1 .

According to the designated position for lifting the drill pipe, the hydraulic rotary table 2 works to make the mechanical arm 3 rotate to the drill pipe attachment, the crane on the second floor platform of the drilling platform lifts the designated drill pipe, and the push-pull cylinder on the mechanical arm 3 works, Adjust the position of the mechanical arm 3 so that the hydraulic gripper 4 at the end of the mechanical arm 3 moves to the position of the drill rod and clamps the drill rod.

The crane continues to work, and the push-pull cylinders on the hydraulic rotary table 2 and the manipulator 3 work, so that the manipulator 3 can adjust the position according to the movement trajectory of the crane arm, and move the drill pipe to the designated position for docking.

When all the specified drill rods have been moved, the mechanical arm 3 retracts to the folded state, the hydraulic clamp 15 releases the transverse rail 62, and the platform truck 1 returns to the original way.

A prototype has been developed in this embodiment, and the effect is very good through the test.

Claims (10)

1. The utility model provides an oil drill pipe pushing robot system which characterized in that: including robot and groined type track, the robot is including the platform truck that connects gradually, the revolving platform, arm and anchor clamps, the orbital both sides of groined type are laid along the one end of oil drilling platform one side root zone and the passageway between the coexistence root zone respectively, the platform truck can walk on groined type track, the revolving platform is fixed in the top surface central point department of putting of platform truck, the arm is fixed in the top surface of revolving platform, anchor clamps articulate in the end of arm, the arm is folding arm, can revolve, flexible and translation.

2. The oil drill pipe pushing robot system according to claim 1, wherein: the longitudinal direction and the transverse direction of the well-shaped track respectively comprise two sleepers which are arranged in parallel, and the ends of the longitudinal track and the transverse track are intersected to form a well shape.

3. The oil drill pipe pushing robot system according to claim 2, wherein: the platform truck includes the frame and connects vertical walking wheel on it, horizontal walking wheel, elevating gear and hydraulic fixture, vertical walking wheel sets up two sets of about frame length direction central plane symmetry setting respectively with horizontal walking wheel, the position that sets up of vertical walking wheel and horizontal walking wheel corresponds with vertical track and horizontal track respectively, two walking wheels of vertical walking wheel of every group are installed on a connecting axle, two connecting axles are connected on the rectangular link, elevating gear connects between rectangular link and frame, realize playing of vertical walking wheel through elevating gear, fall, hydraulic fixture connects on the frame and corresponds between the horizontal walking wheel of every group, when horizontal walking wheel is walked to operating position, hydraulic fixture locks horizontal track.

4. The oil drill pipe pushing robot system according to claim 1, wherein: the mechanical arm is upper and lower two-section hinged folding arm, the lower section arm comprises a pair of front arms and a pair of rear arms, the two front arms and the two rear arms are respectively arranged in a left-right parallel mode, the front arms and the rear arms are arranged in a front-back parallel mode, the upper ends of the two front arms are hinged into a whole, the upper ends of the two rear arms are hinged into a whole with the front arms, the lower end of the lower section arm is hinged onto a hinged seat on the top surface of the rotary table, the upper section arm comprises a front-back parallel arranged auxiliary arm and a main arm, the upper ends of the main arm and the auxiliary arm are hinged between the upper ends of the two front arms, and the lower ends.

5. The oil drill pipe pushing robot system according to claim 4, wherein: the upper end of the front arm is hinged with the bearing seat into a whole through the connecting shaft, the upper end of the main arm is hinged to the connecting shaft through the bearing seat, the connecting shaft is connected with two hinged plates with corners, the corners of the hinged plates are hinged to the connecting shaft through bearings, the rear ends of the two hinged plates are hinged with the rear arm respectively, the front end of one hinged plate is connected with the upper end of the main arm, and the front end of the other hinged plate is hinged with the auxiliary arm.

6. The oil drill pipe pushing robot system according to claim 5, wherein: install the hydro-cylinder on the arm, there is the mount pad cylinder body end of hydro-cylinder, and the mount pad is fixed in between the top of two forearms, and sets up the connecting plate near the fixed position department of exquisiteness of mount pad between two forearms, and the tailpiece of the piston rod of hydro-cylinder is fixed in by articulated seat, articulated seat the bottom of main arm.

7. The oil drill pipe pushing robot system according to claim 6, wherein: the clamp comprises an oil cylinder and a pair of clamping jaws symmetrically hinged to the head of a piston rod of the oil cylinder, and a cylinder body of the oil cylinder is fixed on a clamp mounting seat through a mounting seat.

8. The oil drill pipe pushing robot system according to claim 1, wherein: the lifting device is an oil cylinder on the platform truck, and the rotary table is a hydraulic rotary table.

9. The oil drill pipe pushing robot system according to claim 8, wherein: the system further comprises a hydraulic station, the hydraulic station is fixed on one side of the top of the rotary table through a supporting plate, and the oil cylinder and the rotary table are connected with the hydraulic station through oil pipes.

10. A method of transferring drill pipe using the system of claim 1 in conjunction with a crane, comprising the steps of:

(1) the longitudinal travelling wheels of the platform truck work to enable the platform truck to travel to the transverse rails of the well-shaped rails along the longitudinal rails;

(2) a piston rod of an oil cylinder between the connecting shaft between the longitudinal travelling wheels and the frame is retracted, so that the longitudinal travelling wheels leave the longitudinal track, and meanwhile, the transverse travelling wheels and the hydraulic clamp fall onto the transverse track;

(3) the transverse travelling wheels work to enable the platform to advance to a working position, and the hydraulic clamp locks the transverse track;

(4) the rotary table works to enable the mechanical arm to rotate to a position near the position of the petroleum drill rod to be hoisted in an appointed mode;

(5) a crane on a second-layer platform of the drilling platform lifts a specified oil drill pipe away from a fixed position of a vertical root zone, and a rotary table works to adjust the position of a mechanical arm so that a clamp at the tail end of the mechanical arm clamps the lifted oil drill pipe;

(6) an oil cylinder and a rotary table on the mechanical arm work in cooperation with the motion track of a crane boom to move the petroleum drill rod to a specified position for butt joint;

(7) after the oil drill pipe is moved, the hydraulic clamp of the platform truck loosens the transverse rail, and the platform truck returns along the original path.

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