CN110977930A - Sedimentation type drill floor surface manipulator for drilling and repairing well - Google Patents
Sedimentation type drill floor surface manipulator for drilling and repairing well Download PDFInfo
- Publication number
- CN110977930A CN110977930A CN201911311731.7A CN201911311731A CN110977930A CN 110977930 A CN110977930 A CN 110977930A CN 201911311731 A CN201911311731 A CN 201911311731A CN 110977930 A CN110977930 A CN 110977930A
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- CN
- China
- Prior art keywords
- manipulator
- telescopic arm
- base
- rotary
- drilling
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
Abstract
The invention provides a sinking type drill floor surface manipulator for drilling and repairing a well. The technical scheme is as follows: the lifting base is arranged on the sliding table, the telescopic arm is arranged on the lifting base through the rotating table, the gripper is arranged on the telescopic arm, the lifting base is lifted through a hydraulic cylinder arranged on a lifting cage and slides on an integral track connected with a sliding table track through a base track; the telescopic arm realizes the forward extension and retraction through a telescopic hydraulic cylinder; the rotary table realizes 360-degree rotation through the action of the pressing motor. The hand grab arranged on the telescopic arm can realize the forward extension and retraction and the rotation action through the actions of the telescopic arm and the rotary table. The beneficial effects are that: when the manipulator works, three working positions are provided, so that the space for delivering pipes of a catwalk can be avoided, and the working state is flexible and variable; the manipulator can be settled below the drilling platform surface during transportation or when the drilling platform surface does not need the manipulator to work, and the manipulator is safe and reliable.
Description
Technical Field
The invention relates to an oil drilling machine and a workover rig auxiliary mechanical device, in particular to a sinking type drill floor manipulator for drilling and workover.
Background
At present, the discharge of a pipe column during the tripping operation of an oil drilling and workover site is mainly manually operated. When the driller starts drilling, the driller starts the pipe column from the well by using the crown block, the traveling block and the hook on the derrick, and pushes the pipe column after the pipe column is started to the pipe column discharge frame from the well mouth. When the drilling is carried out, a driller pulls the pipe column to the position of the well mouth from the pipe column discharge frame, aligns the connecting thread, and finishes the drilling after the threaded connection.
Along with the development of the automatic equipment for drilling and repairing wells, the pipe arranging robot capable of completing pipe column delivery work is also provided at present, but the pipe arranging robot can only be installed at a channel of a catwalk drill rod in an installation mode or in a stand area on one side, so that the channel is blocked or the available area of the stand area is sharply reduced when the catwalk works, the efficiency is extremely low, and the application, popularization and the popularization of the automatic equipment are greatly influenced.
The prior art has the following defects and shortcomings: because the space of the drilling platform surface is limited, the space for placing the manipulator of the drilling platform surface is very small, the existing manipulator solution influences the layout of the drilling platform surface, the arrangement is difficult, and great influence is caused on the working efficiency of a drilling machine and a workover rig.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a sedimentation type drill floor surface manipulator for drilling and repairing wells, which realizes the effects that the drill floor surface manipulator avoids a channel of a catwalk drill rod, does not occupy a stand box, does not influence the discharge capacity, reduces the operation fatigue of workers, improves the working efficiency, further improves the popularization rate of automatic equipment for drilling and repairing well operation, and solves the problem that the arrangement of the drill floor of the existing drill floor surface manipulator is difficult.
The invention provides a sinking type drill floor surface manipulator for drilling and repairing wells, which adopts the technical scheme that: the pipe column gripping device comprises a rotary table (300), a telescopic arm (400) and a gripper (500), wherein the telescopic arm (400) is installed at the upper part of the rotary table (300), the rotary table (300) is used for realizing 360-degree rotation of a manipulator, the gripper (500) is arranged at the upper end of the telescopic arm (400), the telescopic arm (400) is used for extending and retracting the manipulator, and the gripper (500) is used for gripping or releasing a pipe column; the manipulator body composed of the rotary table (300), the telescopic arm (400) and the hand grip (500) is lifted by the lifting base (100), and the lateral sliding of the manipulator body composed of the rotary table (300), the telescopic arm (400) and the hand grip (500) is realized by the sliding table (200);
the lifting base (100) comprises a hydraulic power station (110), an electric cabinet (120), a lifting cage (130) and a base rail (140), the hydraulic power station (110) and the electric cabinet (120) are installed in the middle of the lifting cage (130), and the base rail (140) is arranged on the lifting cage (130);
the sliding table (200) is provided with a sliding table rail (210), when the lifting base (100) is in a rising state, the base rail (140) and the sliding table rail (210) are jointed into a whole, so that the lifting base (100) can slide left and right on the jointed rail.
Preferably, the telescopic arm is provided with a telescopic hydraulic cylinder (410), and the telescopic arm (400) is extended and retracted by the action of the telescopic hydraulic cylinder (410).
Preferably, the rotary table (300) comprises a hydraulic motor (310), a rotary drive (320) and a rotary base (330), the hydraulic motor (310) is connected with the rotary drive (320), the telescopic arm (400) is installed on the rotary base (330), and the rotary drive (320) is driven to rotate by the action of the hydraulic motor (310), so that the telescopic arm (400) can rotate for 360 degrees, and the gripper (500) can perform rotary motion for 360 degrees.
Preferably, one side of the upper surface platform of the sliding table (200) is provided with a notch and a cover plate.
The invention has the beneficial effects that: in the process of drilling and repairing, three working positions are provided when the manipulator works, the space for conveying pipes of a catwalk can be avoided, and the working state is flexible and variable; the manipulator can be settled below the drilling platform surface during transportation or when the drilling platform surface does not need the manipulator to work, so that the manipulator is safe and reliable; in addition, the operation fatigue of workers is reduced, the working efficiency is improved, the popularization rate of automatic equipment for drilling and repairing well operation is further improved, the problem that the drill floor of the conventional drill floor-side manipulator is difficult to arrange is solved, and in addition, the effects that the drill floor-side manipulator avoids a channel of a catwalk drill rod, does not occupy a stand box and does not influence the discharge capacity are realized.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic illustration of the settling state of the present invention;
FIG. 3 is a schematic side-shifting view of the present invention;
FIG. 4 is a schematic structural view of the elevating platform;
FIG. 5 is a schematic structural view of a turntable;
in the upper diagram: the hydraulic lifting device comprises a lifting base (100), a sliding table (200), a rotary table (300), a telescopic arm (400), a gripper (500), a hydraulic power station (110), an electric cabinet (120), a lifting cage (130), a base rail (140), a sliding table rail (210), a hydraulic motor (310), a rotary drive (320), a rotary base (330) and a telescopic hydraulic cylinder (410).
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Embodiment 1, referring to fig. 1 to 5, a sinking drill floor manipulator for drilling and repairing wells according to the present invention has the following technical solution: the pipe column gripping device comprises a rotary table (300), a telescopic arm (400) and a gripper (500), wherein the telescopic arm (400) is installed at the upper part of the rotary table (300), the rotary table (300) is used for realizing 360-degree rotation of a manipulator, the gripper (500) is arranged at the upper end of the telescopic arm (400), the telescopic arm (400) is used for extending and retracting the manipulator, and the gripper (500) is used for gripping or releasing a pipe column; the manipulator body composed of the rotary table (300), the telescopic arm (400) and the hand grip (500) is lifted by the lifting base (100), and the lateral sliding of the manipulator body composed of the rotary table (300), the telescopic arm (400) and the hand grip (500) is realized by the sliding table (200);
referring to fig. 4, the lifting base (100) comprises a hydraulic power station (110), an electric cabinet (120), a lifting cage (130) and a base rail (140), the hydraulic power station (110) and the electric cabinet (120) are installed in the middle of the lifting cage (130), and the base rail (140) is arranged on the lifting cage (130);
the sliding table (200) is provided with a sliding table rail (210), when the lifting base (100) is in a rising state, the base rail (140) and the sliding table rail (210) are jointed into a whole, so that the lifting base (100) can slide left and right on the jointed rail.
In addition, the telescopic arm is provided with a telescopic hydraulic cylinder (410), when the hydraulic cylinder is in an extension state, the telescopic arm is also in an extension state, when the hydraulic cylinder is in a retraction state, the telescopic arm is also in a retraction state, and the telescopic arm (400) is extended and retracted through the action of the telescopic hydraulic cylinder (410).
Referring to fig. 5, the turntable (300) of the present invention comprises a hydraulic motor (310), a rotation drive (320), and a rotation base (330), wherein the hydraulic motor (310) is connected to the rotation drive (320), a telescopic arm (400) is mounted on the rotation base (330), and the rotation drive (320) is driven to rotate by the operation of the hydraulic motor (310), such that the telescopic arm (400) can rotate 360 °, and the gripper (500) can perform a 360 ° rotation movement.
Wherein, one side of the upper surface platform of the sliding platform (200) is provided with a notch and a cover plate.
The drill floor manipulator disclosed by the invention can effectively avoid the operation space of the upper and lower pipes of the catwalk in the drilling and repairing operation and ensure the discharge space of the stand box through the functions of sedimentation and side sliding, and can greatly weaken the barrier of popularization of the drill floor manipulator.
In the process of drilling and repairing well and tripping, the invention can realize that: when the manipulator works, three working positions are provided, so that the space for delivering pipes of a catwalk can be avoided, and the working state is flexible and variable; the manipulator can be settled below the drilling platform surface during transportation or when the drilling platform surface does not need the manipulator to work, and the manipulator is safe and reliable.
The above description is only a few of the preferred embodiments of the present invention, and any person skilled in the art may modify the above-described embodiments or modify them into equivalent ones. Therefore, any simple modifications or equivalent substitutions made in accordance with the technical solution of the present invention are within the scope of the claims of the present invention.
Claims (4)
1. A sinking type drill floor manipulator for drilling and repairing wells comprises a rotary table (300), a telescopic arm (400) and a gripper (500), wherein the telescopic arm (400) is installed at the upper part of the rotary table (300), the rotary table (300) is used for realizing 360-degree rotation of the manipulator, the gripper (500) is arranged at the upper end of the telescopic arm (400), the telescopic arm (400) is used for extending and retracting the manipulator, and the gripper (500) is used for gripping or releasing a pipe column; the method is characterized in that: the manipulator body composed of the rotary table (300), the telescopic arm (400) and the hand grip (500) is lifted by the lifting base (100), and the lateral sliding of the manipulator body composed of the rotary table (300), the telescopic arm (400) and the hand grip (500) is realized by the sliding table (200);
the lifting base (100) comprises a hydraulic power station (110), an electric cabinet (120), a lifting cage (130) and a base rail (140), the hydraulic power station (110) and the electric cabinet (120) are installed in the middle of the lifting cage (130), and the base rail (140) is arranged on the lifting cage (130);
the sliding table (200) is provided with a sliding table rail (210), when the lifting base (100) is in a rising state, the base rail (140) and the sliding table rail (210) are jointed into a whole, so that the lifting base (100) can slide left and right on the jointed rail.
2. The sinker face manipulator for well drilling and repair of claim 1, wherein: the telescopic boom is provided with a telescopic hydraulic cylinder (410), and the telescopic boom (400) can extend forwards and retract by the action of the telescopic hydraulic cylinder (410).
3. The sinker face manipulator for well drilling and repair of claim 1, wherein: the rotary table (300) is composed of a hydraulic motor (310), a rotary drive (320) and a rotary base (330), the hydraulic motor (310) is connected with the rotary drive (320), the telescopic arm (400) is installed on the rotary base (330), and the rotary drive (320) is driven to rotate through the action of the hydraulic motor (310), so that the telescopic arm (400) can rotate 360 degrees, and the gripper (500) can perform 360-degree rotary motion.
4. The sinker face manipulator for well drilling and repair of claim 1, wherein: one side of the upper surface platform of the sliding table (200) is provided with a notch and a cover plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911311731.7A CN110977930A (en) | 2019-12-18 | 2019-12-18 | Sedimentation type drill floor surface manipulator for drilling and repairing well |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911311731.7A CN110977930A (en) | 2019-12-18 | 2019-12-18 | Sedimentation type drill floor surface manipulator for drilling and repairing well |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110977930A true CN110977930A (en) | 2020-04-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911311731.7A Pending CN110977930A (en) | 2019-12-18 | 2019-12-18 | Sedimentation type drill floor surface manipulator for drilling and repairing well |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110977930A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112627746A (en) * | 2020-11-27 | 2021-04-09 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112647869A (en) * | 2020-12-22 | 2021-04-13 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112983313A (en) * | 2021-05-10 | 2021-06-18 | 胜利油田胜机石油装备有限公司 | Oil field well repairing operation equipment |
-
2019
- 2019-12-18 CN CN201911311731.7A patent/CN110977930A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112627746A (en) * | 2020-11-27 | 2021-04-09 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112647869A (en) * | 2020-12-22 | 2021-04-13 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112647869B (en) * | 2020-12-22 | 2022-06-21 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112983313A (en) * | 2021-05-10 | 2021-06-18 | 胜利油田胜机石油装备有限公司 | Oil field well repairing operation equipment |
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