CN111005691A - Drilling machine - Google Patents

Drilling machine Download PDF

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Publication number
CN111005691A
CN111005691A CN201911215151.8A CN201911215151A CN111005691A CN 111005691 A CN111005691 A CN 111005691A CN 201911215151 A CN201911215151 A CN 201911215151A CN 111005691 A CN111005691 A CN 111005691A
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CN
China
Prior art keywords
clamping
pipe
storage
frame
hinged
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Granted
Application number
CN201911215151.8A
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Chinese (zh)
Other versions
CN111005691B (en
Inventor
何波
高杭
秦皓
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Sichuan Honghua Petroleum Equipment Co Ltd
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Sichuan Honghua Petroleum Equipment Co Ltd
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Publication date
Application filed by Sichuan Honghua Petroleum Equipment Co Ltd filed Critical Sichuan Honghua Petroleum Equipment Co Ltd
Priority to CN201911215151.8A priority Critical patent/CN111005691B/en
Publication of CN111005691A publication Critical patent/CN111005691A/en
Application granted granted Critical
Publication of CN111005691B publication Critical patent/CN111005691B/en
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Classifications

    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155Handling between horizontal and vertical position

Abstract

The invention relates to the field of petroleum drilling and production equipment, in particular to a drilling machine, which comprises a derrick, a derrick base, a lifting system and a drill floor iron roughneck, wherein the lifting system is connected with the derrick; the pipe tool processing system comprises a double-arm robot, wherein the double-arm robot comprises an upright post and two mechanical arms, one of the mechanical arms is connected with one side of the upright post, and the other mechanical arm is connected with the other side of the upright post; the manipulators comprise gripping means for gripping the pipe, the gripping means on both of the manipulators being allowed to have different speeds of movement. The drilling machine provided by the invention can be used for directly taking the pipe from the pipe stacking site and adjusting the posture of the pipe, or placing the pipe to the pipe stacking site, the taking and placing process is high in efficiency, and a stand box is not required to be arranged on a derrick, so that the load of the derrick is favorably reduced.

Description

Drilling machine
Technical Field
The invention relates to oil drilling and production equipment, in particular to a drilling machine.
Background
In oil and gas drilling systems, including land drilling rigs and marine drilling rigs, in order to improve the efficiency of their operations, and in particular to improve the efficiency of tripping operations, it is common to provide temporary storage areas for drill pipe columns, i.e. the setback area, in or out of the derrick. The drill rods are joined together by two, three or four stands, discharging vertically into the stand box area.
In order to achieve the purpose, the drilling system needs to be provided with a plurality of devices such as a pipe erecting box, a pipe arranging machine, a pipe erecting mechanical arm, a rat hole, a catwalk and the like. The equipment is operated in a cooperative mode, a single drill rod is horizontally transferred to the rotary table through anchoring, the single drill rod is adjusted to be in a vertical posture from the horizontal posture by the vertical root receiving manipulator, the single drill rod is connected into a vertical root under the cooperation of the rat hole, the vertical root is delivered to the vertical root box by the pipe arranging machine, and when the vertical root needs to be placed at a well mouth, the target vertical root is taken out of the vertical root box by the pipe arranging machine, transferred to the well mouth and delivered to the top drive.
The stand box is used as a stand zero storage device and is one of key devices for improving the working efficiency. The setback needs to have a large enough capacity to store drill rods at all drilling depths, so the setback needs to have a large enough structural size, structural strength, and rigidity to meet its operational needs. Meanwhile, the stand box is arranged at the middle upper part of the derrick, so that the gravity center height of the whole derrick is increased, and the connection reliability is met by local reinforcement. When the stand box is filled with stands, the stand load of the derrick is greatly increased; the full stand condition also greatly increases the windward area of wind load, increases the acting force of wind on the derrick, and simultaneously the area of the stand box of the drill floor also needs enough structural strength to support the weight of all stands. When emergency happens, all the stands need to be taken out of the stand box in time and disassembled into single stands to be placed in a pipe yard. This results in a huge amount of work and a large amount of waste of work efficiency.
Meanwhile, in order to achieve the purpose, equipment such as a pipe arranging machine, a mechanical arm for connecting a vertical root, a rat hole, a catwalk and the like needs to be arranged for cooperative work, and the equipment is also one of important cost components of a drilling system.
Disclosure of Invention
The invention aims to: the drilling machine is provided for solving the problems that in the prior art, a derrick load is large when a temporary stand box needs to be placed on the derrick, the stand box is taken out in emergency, a large amount of work efficiency is wasted, and a large amount of equipment needed for connecting the stand is needed.
In order to achieve the purpose, the invention adopts the technical scheme that:
a drilling machine comprises a derrick, a derrick base, a lifting system and a drill floor iron roughneck, wherein the lifting system is connected with the derrick; the pipe tool processing system comprises a double-arm robot, wherein the double-arm robot comprises an upright post and two mechanical arms, one of the mechanical arms is connected with one side of the upright post, and the other mechanical arm is connected with the other side of the upright post; the manipulators comprise gripping means for gripping the pipe, the gripping means on both of the manipulators being allowed to have different speeds of movement. Namely: after the two manipulators clamp the pipe, the two clamping devices can adjust the posture of the pipe through different movement speeds. When the drilling machine provided by the invention is used for lowering the pipe, the two manipulators of the double-arm robot take the pipe from the pipe stacking site, and then the posture of the pipe is adjusted through different movement speeds of the clamping devices on the two manipulators, so that the pipe can be conveniently lowered. By adopting the drilling machine, the double-arm robot can directly take the pipe from the pipe stacking site and adjust the posture of the pipe, so that a temporary stacking point of the pipe does not need to be arranged on the derrick, the load of the derrick is favorably reduced, and meanwhile, the pipe connecting equipment can be greatly and simply connected, and the load of the derrick is further reduced.
As a preferable scheme of the present invention, the robot further includes a robot arm, one end of the robot arm is configured to be slidably connected to the column, the other end of the robot arm is connected to the clamping device, the robot arms on the two robot arms are allowed to have different sliding speeds, and the robot arm includes a six-degree-of-freedom serial robot arm. The six-degree-of-freedom series mechanical arm is mature in technology, high in reliability and sufficient in degree of freedom, and can meet the requirement of change of the posture of the pipe.
As a preferable scheme of the present invention, the clamping device comprises a joint, a clamping frame, a first clamping part and a second clamping part; one end of the clamping frame is connected with the joint, and the other end of the clamping frame is rotationally connected with the first clamping part and the second clamping part; the first clamping part and the second clamping part are oppositely arranged, and a clamping space capable of being opened and closed is formed between the first clamping part and the second clamping part.
As a preferable scheme of the invention, the first clamping part comprises a first transmission rod, a second transmission rod, a clamping block and a clamping power piece; one end of the first transmission rod is hinged with the clamping frame, and the other end of the first transmission rod is hinged with the clamping block; one end of the second transmission rod is hinged with the clamping frame, and the other end of the second transmission rod is hinged with the clamping block; the clamping frame, the first transmission rod, the second transmission rod and the clamping block form a parallelogram mechanism, and the clamping power piece is connected with the first transmission rod and used for driving the first transmission rod to rotate; the second clamping part has the same structure as the first clamping part. Through the scheme, the clamping block can always keep translational motion in the motion process.
As the preferred scheme of the invention, one end of the clamping power piece is hinged with the clamping frame, and the other end of the clamping power piece is hinged with the first transmission rod; the clamping power piece, the first transmission rod and the clamping frame form a triangular structure, wherein one side formed by the clamping power piece can be extended or shortened.
As a preferred scheme of the invention, the clamping device further comprises a clamping driving piece and a clamping driving wheel, the clamping driving piece and the clamping driving wheel are arranged on the clamping block, the first clamping part is provided with at least one clamping driving piece, the second clamping part is also provided with at least one clamping driving piece, and the clamping driving piece and the clamping driving wheel are correspondingly connected one by one; the gripping drive wheel is for contacting the pipe in the gripping space. Through setting up centre gripping driving piece and centre gripping drive wheel, when clamping device presss from both sides the pipe utensil, the centre gripping driving piece can drive the centre gripping drive wheel and rotate to drive the pipe utensil removal in the centre gripping space, the position of adjustment pipe utensil.
As a preferable aspect of the present invention, in the axial direction of the clamp driving wheel, the cross-sectional area of the middle portion of the clamp driving wheel is smaller than the cross-sectional areas of both ends of the clamp driving wheel. Through foretell structure, the pipe utensil can with the sunken cooperation of centre gripping drive wheel, increase the area of contact of centre gripping drive wheel and pipe utensil, make the centre gripping more stable.
In a preferred embodiment of the present invention, the side surface of the driving wheel is provided with friction lines. Through the structure, the friction lines can increase the friction force between the clamping driving wheel and the pipe, so that the clamping is more stable; meanwhile, when the clamping driving wheel rotates to adjust the position of the pipe tool, the slipping can be avoided, and the position of the pipe tool in the clamping space can be adjusted more accurately.
As a preferable scheme of the invention, the mechanical arm is connected with the upright post through a pulley.
As the preferred scheme of the invention, the double-arm robot also comprises an upper supporting frame and a lower supporting frame, and the upright post is connected with the derrick through the upper supporting frame and the lower supporting frame; the upper support frame is rotatably connected with one end of the upright post and is fixedly connected with the derrick; the lower support frame is rotatably connected with the other end of the upright post, and the lower support frame is fixedly connected with the derrick. When the double-arm robot is used, the upper support frame and the lower support frame can be connected with the derrick and used for bearing bending moment of the double-arm robot in the working process.
As a preferable aspect of the present invention, the pipe tool treatment system further includes a pipe tool storage unit for storing the pipe tool, and the two-arm robot is used for taking the pipe tool from the pipe tool storage unit or for placing the pipe tool on the pipe tool storage unit. In use, the pipe storage assembly can be placed directly on the ground, and the pipe storage assembly and the pipe fitting thereon do not cause additional load to the derrick.
As a preferable aspect of the present invention, a pipe storage assembly includes a pipe storage rack including a rack body and at least two abutting pieces; the pipe storage assembly is provided with a storage surface, the abutting stop blocks are convexly arranged on the storage surface and connected with the frame body, and a storage space is formed between at least two abutting stop blocks.
As a preferred aspect of the present invention, the tube storage assembly further comprises at least two whip drives and at least two whip rods; the tube storage rack is provided with a storage surface opposite to the storage surface; the deflecting driving pieces are correspondingly connected with the deflecting rods one by one; the angle-producing rod has a first working position and a second working position, when the angle-producing rod is located at the first working position, the distance from the first end of the storage surface to the support surface is greater than the distance from the second end of the storage surface to the support surface, and when the angle-producing rod is located at the second working position, the distance from the first end of the storage surface to the support surface is less than the distance from the second end of the storage surface to the support surface. Through above-mentioned structure, the position that the whipstock was made in whipstock drive switches between first operating position and second operating position for the pipe utensil can roll to the direction of needs. For example, when a pipe needs to be taken, the pipe is rolled to the direction close to the derrick; when the pipe is required to be stored, the pipe is rolled away from the derrick.
As a preferred scheme of the invention, one end of the deflecting bar is hinged with the frame body, and the connecting point of the deflecting bar and the frame body is close to the first end of the storage surface; the other end of the deflecting rod is close to the second end of the storage surface and is hinged with one end of a deflecting driving piece, and the other end of the deflecting driving piece is hinged with the frame body through an installation lug plate; the whipstock drive member may be extendable or retractable.
As a preferred aspect of the present invention, the tube storage assembly further comprises at least two roll-over stands and at least two roll-over drives; the overturning frame is connected with the pipe storage frame, the overturning frame is provided with a clamping surface, the clamping surface comprises a first bending part and a second bending part, the clamping surface is made to be an inwards concave bending surface, and the overturning frame is hinged with the position, close to the first end of the storage surface, on the frame body; one end of the overturning driving piece is hinged with the frame body, and the other end of the overturning driving piece is hinged with one end, far away from the clamping surface, of the overturning frame. Through above-mentioned structure, the roll-over stand can cooperate with the whipstock, and when getting the pole, the roll-over stand can keep apart a pipe utensil wherein with other pipe utensils, is convenient for get the pipe operation, avoids once getting the condition of a plurality of pipes.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the pipe can be directly taken out from the lower part of the derrick, so that a temporary pipe storage device does not need to be arranged on the derrick, the load borne by the derrick is reduced, and the safety is improved;
2. the drilling machine does not need to be provided with a pipe arranging machine, a mechanical arm for connecting the vertical root, a rat hole, a catwalk and other equipment, the derrick load is further reduced, and the field arrangement space is saved;
3. by using such a rig, the direction of stacking of the tubulars at the well site can be adjusted, thereby facilitating a reduction in the distance of transport of the tubulars from the stacking site to the centre of the wellhead, and facilitating improved efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a drilling machine provided by an embodiment of the invention when the drilling machine starts to take out pipes.
Fig. 2 is a partially enlarged view of a portion a in fig. 1.
Fig. 3 is a schematic structural diagram of a robot provided in an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a clamping device according to an embodiment of the present invention.
Fig. 5 is a schematic view of a whipstock provided in accordance with an embodiment of the invention in a first operative position.
FIG. 6 is a schematic view of a tubing storage rack provided in accordance with an embodiment of the present invention.
Fig. 7 is a schematic view of a whipstock provided in accordance with an embodiment of the invention in a second operative position.
FIG. 8 is a schematic view of the roll-over stand of the tubing storage rack of the present invention separating one of the tubes.
Fig. 9 is a schematic diagram of a two-armed robot according to an embodiment of the present invention lifting a pipe tool from a pipe tool storage rack.
Fig. 10 is a schematic diagram of a two-arm robot provided in an embodiment of the present invention during a process of adjusting a posture of a pipe tool.
Fig. 11 is a schematic view after completion of the tube posture adjustment.
Figure 12 is a schematic view of the pipe being placed over the center of the wellhead after the vertical column has been rotated.
Fig. 13 is a schematic structural diagram of a first clamping portion according to an embodiment of the present invention.
Icon: 1-a derrick; 11-a derrick substructure; 2-a two-arm robot; 21-upper support frame; 22-upright post; 23-a robot arm; 23 a-a first manipulator; 23 b-a second manipulator; 231-the sled; 232-big arm; 233-forearm; 234-wrist; 235-a clamping device; 2351-a first grip; 2351 a-first transfer lever; 2351 b-a second drive link; 2351 c-gripper block; 2351 d-grip the power piece; 2352-a second grip; 2353-a linker; 2354-a gripping rack; 2355-grip drive; 2356-grip drive wheel; 236-a base; 24-a lower support frame; 3-a tubing storage assembly; 301-tube storage rack; 31-a frame body; 32-a resisting block; 33-a storage space; 34-a storage surface; 35-a support surface; 36-making a diagonal rod; 37-a whipstock drive; 38-a roll-over stand; 381-a first bend; 382-a second bending part; 39-tumble drive; 4-pipe tool; 5-drilling a bench iron roughneck; 6-lifting the system.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
Referring to fig. 1 and 2, an embodiment of the present invention provides a drilling rig, which includes a derrick 1, a derrick substructure 11, a hoisting system 6, a drill floor iron roughneck 5, and a pipe handling system. A hoisting system 6 is connected to the top of the derrick 1 and is used to lift and lower the pipe 4 during drilling. The drill floor iron roughneck 5 is connected with a derrick base 11 and used for righting and clamping the pipe and carrying out makeup and breakout. A pipe handling system is connected to the derrick 1 for storage and retrieval of pipes.
Compared with the prior art, the drilling machine provided by the invention does not need to use equipment such as a derrick butt box, a pipe arranging machine, a butt mechanical arm, a rat hole, a catwalk and the like to pick and place pipes, so that the derrick load is greatly reduced, field equipment is simplified, and the storage space is saved.
The pipe tool processing system in this embodiment includes a two-arm robot 2 and a pipe tool storage unit 3. The pipe handling system can be used for handling tubulars such as stands at a drilling site, moving the pipe 4 directly from a pipe storage site to a wellhead, and adjusting the attitude of the pipe 4 to facilitate pipe lowering operations. Specifically, the method comprises the following steps:
the two-arm robot 2 includes an upper support frame 21, a column 22, a lower support frame 24, and two robot arms 23.
The upper support frame 21 is rotatably connected with the upper end of the upright post 22, and the upper support frame 21 is used for being fixedly connected with the derrick 1. Specifically, the upper support frame 21 is provided with a fitting hole, and one end of the upright post 22 is rotatably disposed in the fitting hole.
The lower support frame 24 is rotatably connected with the lower end of the upright column 22, and the lower support frame 24 is used for being fixedly connected with the derrick 1 or the ground. Specifically, the lower support frame 24 is provided with a fitting hole, and the other end of the upright post 22 is rotatably disposed in the fitting hole.
When the upright column 22 is connected with the upper support frame 21 and the lower support frame 24, the upright column 22 is arranged along the height direction of the derrick 1, and the upright column 22 only retains the freedom of self-rotation around the axis thereof, so that the upright column 22 can rotate under the action of external force.
The two manipulators 23 are a first manipulator 23a and a second manipulator 23b, respectively.
The first robot 23a is slidably connected to the column 22 side. Specifically, the first robot 23a is slidably connected to the column 22 side via a block 231.
The first robot 23a includes a robot arm and a gripping device 235. One end of the robot arm is connected to the trolley 231 and the other end of the robot arm is connected to the clamping device 235.
Referring to fig. 3, in the present embodiment, the robot is configured as a six-degree-of-freedom serial robot, which includes a base 236, a large arm 232, a small arm 233, and a wrist 234. Base 236 is fixedly attached to sled 231. The large arm 232 is hinged to the base 236 with the axis of rotation perpendicular to the large arm 232. The small arm 233 is hinged to the base 236 with the axis of rotation perpendicular to the small arm 233. The wrist 234 is rotatably connected to the arm 233 such that the wrist 234 can rotate about its own longitudinal direction with the axis of rotation coinciding with the longitudinal direction of the arm 233.
Referring to fig. 4, the clamping device 235 includes a connector 2353, a clamping frame 2354, a first clamping portion 2351, a second clamping portion 2352, a clamping driving member 2355 and a clamping driving wheel 2356.
One end of the connector 2353 is hinged to the wrist 234, and the other end of the connector 2353 is connected to the support frame 2354. First clamping portion 2351 and second clamping portion 2352 are both hinged to clamping frame 2354, and first clamping portion 2351 and second clamping portion 2352 are arranged relatively to form an openable clamping space between first clamping portion 2351 and second clamping portion 2352.
Referring to fig. 13, the first clamping portion 2351 includes a first driving rod 2351a, a second driving rod 2351b, a clamping block 2351c and a clamping power member 2351 d. One end of the first transfer rod 2351a is hinged to the gripping frame 2354 and the other end is hinged to the gripping block 2351 c. One end of the second drive rod 2351b is hinged to the frame 2354 and the other end is hinged to the clamp block 2351 c. The gripper frame 2354, the first driving rod 2351a, the second driving rod 2351b and the gripper block 2351c form a parallelogram mechanism, so that the gripper block 2351c can always keep translational motion when in operation.
One end of the clamping power piece 2351d is hinged to the clamping frame 2354, and the other end of the clamping power piece 2351d is hinged to the first driving rod 2351a, so that the clamping power piece 2351d can drive the first driving rod 2351a to rotate by extending or shortening.
Four clamp drives 2355 and four clamp drive wheels 2356 are provided on one clamp device 235. The clamp drive members 2355 are coupled to the clamp drive wheels 2356 in a one-to-one correspondence, with one clamp drive member 2355 driving one clamp drive wheel 2356. Two of the clamp driving members 2355 are disposed on the first clamping portion 2351, and the remaining two clamp driving members 2355 are disposed on the second clamping portion 2352. Specifically, the clamp drive member 2355 and the clamp drive wheel 2356 are both mounted on the clamp block 2351 c.
The clamping driving wheel 2356 is a solid of revolution, and in the axial direction of the clamping driving wheel 2356, the cross sectional area of the middle portion is smaller than the cross sectional areas of both ends. Further, in this embodiment, the sides of the clamp drive wheel 2356 are single-sheet hyperboloid. Friction lines are also provided on the sides of the gripping drive wheel 2356. When the first and second gripping portions 2351 and 2352 are used to grip the pipe 4, the pipe 4 in the gripping space is in contact with the gripping driving wheel 2356, and the contact area between the gripping driving wheel 2356 and the pipe 4 may be increased by the recessed portion in the middle of the gripping driving wheel 2356, thereby achieving more stable gripping. The clamp drive 2355 may also be rotated by the clamp drive 2355 to adjust the position of the pipe string 4 by friction between the clamp drive wheel 2356 and the pipe string 4. In particular, in this embodiment, the clamp drive 2355 is configured as a motor.
The second robot 23b has the same configuration as the first robot 23 a. A second robot 23b is connected to the other side of the column 22. The second manipulator 23b is connected to the column 22 by another trolley 231. The second robot 23b can slide at a different speed with respect to the column 22 than the first robot 23 a.
Referring to fig. 5-8, the pipe storage assembly 3 is adapted to be positioned beneath the dual-arm robot 2 such that the first and second manipulators 23a, 23b are able to grip a pipe 4 from the pipe storage assembly 3 when positioned adjacent the lower end of the column 22.
The pipe string storage assembly 3 includes a pipe string storage rack 301, a whipstock drive 37, a whipstock rod 36, a roll-over rack 38, and a roll-over drive 39.
Wherein the tube storage rack 301 includes a rack body 31 and a stopper 32. In the present embodiment, the frame body 31 has a hexahedral frame structure. The stopper 32 is connected to the frame 31.
The tubing storage assembly 3 includes oppositely disposed storage surfaces 34 and support surfaces 35 thereon. In storing the pipe 4, the support surface 35 is intended to be in contact with the ground, the storage surface 34 is facing upwards, the number of the abutments 32 is four, the tops of the four abutments 32 are higher than the storage surface 34, a storage space 33 is formed between the four abutments 32, and the pipe 4 can be placed in the storage space 33.
A whipstock drive 37 is connected to the whipstock 36 for providing different directional inclinations on the storage surface 34 to enable the pipe 4 on the storage surface 34 to be rotated in a predetermined direction. Specifically, a whipstock drive 37 and a whipstock 36 are attached to one tube storage rack 301. The whipstock driving member 37 and the whipstock 36 are correspondingly connected.
The side of whipstock driving piece 37 one end through installation otic placode and support body 31 is articulated to be connected with, and the whipstock driving piece 37 other end is articulated with 36 one end of whipstock, and the whipstock 36 other end is articulated with support body 31. The whipstock driving member 37, the whipstock 36 and the frame body 31 form a triangular structure, wherein the length of one side formed by the whipstock driving member 37 can be extended or shortened. Specifically, in the present embodiment, the whipstock drive 37 is selected to be a cylinder.
The storage surface 34 has first and second oppositely disposed ends. The whipstock 36 has a first operative position and a second operative position. With the monument rod 36 in the first working position, the first end of the storage surface 34 is spaced further from the support surface 35 than the second end of the storage surface 34 is spaced from the support surface 35; when the monument rod 36 is in the second working position, the first end of the storage surface 34 is spaced from the support surface 35 by a distance that is less than the distance that the second end of the storage surface 34 is spaced from the support surface 35.
One end of the turning driving member 39 is fixedly connected with the frame body 31, and the other end of the turning driving member 39 is hinged with the turning frame 38. The roll-over stand 38 is hingedly connected to the frame 31 adjacent a first end of the storage surface 34. The tumble driving member 39, the tumble frame 38 and the frame body 31 form a triangular structure, and one side constituted by the tumble driving member 39 can be extended or shortened. Specifically, the tumble drive 39 is provided as a cylinder.
The roll-over stand 38 has a holding surface, and specifically, the holding surface includes a first bent portion 381 and a second bent portion 382. When the turnover driving member 39 is shortened, the first bent portion 381 is lower than the storage surface 34, and the second bent portion 382 is higher than the storage surface 34, so that a space for accommodating a single pipe tool 4 is formed between the second bent portion 382 and the abutting block 32 at one end, so as to clamp the pipe tool 4 to be grabbed or just put down, and the remaining pipe tools 4 are accommodated between the second bent portion 382 and the abutting block 32 at the other end. When the roll-over drive 39 is extended and the roll-over stand 38 is rotated, the tube 4 which has just been lowered can roll towards the lower end of the storage surface 34 until the first bend 381 is above the storage surface 34 and the second bend 382 is below the storage surface 34.
Through the cooperation of the turning driving part 39, the turning frame 38, the whipstock driving part 37 and the whipstock 36, the pipe tool 4 can be moved to a preset direction, so that the pipe tool 4 can be conveniently grabbed, put down and stored.
The working principle of the drilling machine provided by the invention is as follows:
when pipes need to be taken out from a pipe yard, the upper support frame 21 of the double-arm robot 2 is connected to the derrick 1, and the lower support frame 24 is connected below the derrick base 11 of the derrick 1. The pipe tool storage rack 301 is placed on the ground and positioned on the side below the two-armed robot 2 such that the length direction of the pipe tools 4 on the pipe tool storage rack 301 coincides with the direction in which the first manipulator 23a points to the second manipulator 23b, and the direction in which the first end of the pipe tool storage rack 301 points to the second end is perpendicular to the length direction of the pipe tools 4, and the first end of the storage surface 34 is relatively closer to the two-armed robot 2;
when one upright column 22 needs to be lifted, the deflecting bar 36 of the pipe storage assembly 3 is located at the second working position, the second bent part 382 of the roll-over stand 38 is lower than the storage surface 34, the first bent part 381 is higher than the storage surface 34, then one pipe 4 slides along the storage surface 34 to the joint of the first bent part 381 and the second bent part 382, then the roll-over stand 38 rotates, the second bent part 382 is higher than the storage surface 34, the first bent part 381 is lower than the storage surface 34, and the pipe 4 is separated from the rest pipe 4 by the second bent part 382 for being clamped by the double-arm robot 2;
referring to fig. 9-11, the first and second manipulators 23a, 23b of the dual-arm robot 2 slide down, the pipe 4 is gripped by the gripping device 235 and the pipe 4 engages a recess in the side of each gripping drive wheel 2356. At this point, the clamp driving member 2355 can drive the clamp driving wheel 2356 to rotate, thereby driving the pipe 4 to move along the axis direction, thereby adjusting the position of the pipe 4. Then the first manipulator 23a and the second manipulator 23b drive the pipe 4 to move upwards, in this process, the movement speed of the first manipulator 23a is faster than that of the second manipulator 23b (or the movement speed of the second manipulator 23b is faster than that of the first manipulator 23a), so that the posture of the pipe 4 is gradually adjusted from the horizontal direction to the vertical direction, and at this time, the pipe 4 and the derrick 1 are respectively positioned at two sides of the upright column 22;
referring to fig. 12, finally, the column 22 is rotated to rotate the pipe 4 into the derrick 1, and the position is adjusted to align the pipe 4 with the center of the wellhead, then the lifting system 6 is engaged with the pipe 4, the first manipulator 23a and the second manipulator 23b are separated from the pipe 4, and the lifting system 6 drives the pipe 4 into the center of the wellhead, so as to implement pipe lowering.
The rig provided by embodiments of the present invention may be used to take pipe from a pipe string yard directly, and may also be used to drop a pipe string 4 lifted from a wellhead directly to a pipe string yard. The actuation process of the pipe lowering device 4 is opposite to the above process, and specifically comprises the following steps:
the hoisting system 6 lifts one pipe 4 from the center of the wellhead and the column 22 is rotated until the first robot 23a and the second robot 23b can be located above the center of the wellhead. The first and second manipulators 23a and 23b grip the tube 4 and hold the tube 4 in a vertical position, the column 22 is rotated until the tube 4 is above the tube storage assembly 3, the first and second manipulators 23a and 23b begin to slide along the column 22 at a non-uniform rate, thereby adjusting the attitude of the tube 4 until the tube 4 is level, and if the first and second manipulators 23a and 23b are still further from the tube storage rack 301, the first and second manipulators 23a and 23b are descending at the same rate to place the tube 4 on the tube storage rack 301, and then the first and second manipulators 23a and 23b release the tube 4 to drop the tube 4 on the tube storage rack 301;
after the pipe 4 has dropped on the pipe storage rack 301, the whipstock drive 37 drives the whipstock 36 to move, rolling the pipe 4 away from the derrick 1.
The drilling machine provided by the embodiment of the invention has the beneficial effects that:
1. the pipe can be directly taken out from the pipe storage component 3 arranged on the ground, so that a temporary storage device for the pipe 4 is not required to be arranged on the derrick 1, the load borne by the derrick 1 is reduced, the gravity center of the derrick 1 is favorably reduced, and the safety is favorably improved;
2. the multiple functions of pipe taking, transportation, posture adjustment of the pipe 4, pipe lowering and the like can be realized only by the pipe processing system, so that the repeated arrangement of equipment such as a pipe arranging machine, a mechanical arm for connecting a stand, a rat hole, a catwalk and the like is not needed, the load of the derrick 1 is further reduced, and the field arrangement space is saved;
3. all tubulars 4 can be stored in the tubular yard and therefore the stand is not taken out of the stand box in an emergency situation, i.e.: the pipe tool 4 is disassembled without emergency, so that unnecessary efficiency waste is reduced;
4. in the prior art, in order to facilitate the carrying and lifting of the pipe 4, the placing direction of the pipe 4 is longitudinal (that is, the derrick 1 is located on the extension line of the pipe 4), and in this placing mode, the carrying distance of the pipe 4 is long, but by the drilling rig provided by the embodiment of the invention, the placing posture of the pipe 4 in a storage yard is changed from longitudinal to transverse, so that the utilization rate of the storage yard is increased, the carrying distance of the pipe 4 is shortened, and the efficiency is improved.
It should be noted that:
in the present application, the reason why the gripping devices 235 on the first and second manipulators 23a and 23b are allowed to have different movement speeds is that: after the tube 4 is grasped, the posture of the tube 4 can be adjusted by different movement speeds of the gripping devices 235 on the two manipulators 23. Those skilled in the art will appreciate that this includes the situation where the gripping devices 235 on both arms 23 are moving at different speeds; also included are situations where the gripping device 235 on one of the robot arms 23 is moving while the gripping device 235 on the other robot arm 23 remains stationary relative to the ground (i.e., a moving speed of 0);
the generation of the different movement speeds of the two gripping devices 235 of the two manipulators 23 may be obtained by the different sliding speeds of the two manipulators 23 and the posture adjustment of the manipulators 23 themselves as described in the present embodiment, or may be obtained by only the posture adjustment of the manipulators 23 themselves in the case where the length of the manipulators 23 is sufficient.
In this embodiment, the tube storage unit 3 includes two tube storage racks 301 arranged at intervals, and each tube storage rack 301 is provided with one whip driving member 37, one whip rod 36, one inversion driving member 39, and one inversion rack 38. In other embodiments of the present invention, if it is necessary to provide the pipe storage rack 301, the whipstock drive 37, the whipstock 36, the inversion drive 39, and the inversion rack 38, the number correspondence of the above five components may be varied, and does not necessarily have to be in the form described in this embodiment. Namely: it is not necessary that a whipstock 36 and a roll-over stand 38 be attached to a tube storage rack 301. In the entire pipe string storage assembly 3: the number of the tube storage racks 301 should be set to at least one; the number of the whipstock drives 37 and the whipstock rods 36 should be at least two so as to facilitate the support of the elongated pipe 4, enabling the pipe 4 to be placed horizontally; the number of the roll-over stands 38 and roll-over drives 39 should be at least two to facilitate accurate separation of the individual tubulars 4. For example, only one tube string storage rack 301 may be provided, and at least two whipstock drives 37, at least two whipstock rods 36, at least two roll-over stands 38, and at least two roll-over drives 39 may be connected to this tube string storage rack 301.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (15)

1. A drilling machine comprises a derrick, a derrick base, a lifting system and a drill floor iron roughneck, wherein the derrick base is connected with the bottom of the derrick;
the pipe tool processing system comprises a double-arm robot, wherein the double-arm robot comprises an upright post and two mechanical arms, one of the mechanical arms is connected with one side of the upright post, and the other mechanical arm is connected with the other side of the upright post;
the manipulators comprise gripping means for gripping the pipe, the gripping means on both of the manipulators being allowed to have different speeds of movement.
2. The drilling rig according to claim 1, wherein said manipulators further comprise a robot arm, one end of said robot arm being adapted to be slidably connected to said mast, the other end of said robot arm being connected to said gripping device, the robot arms on both said manipulators being allowed to slide at different speeds;
the mechanical arm comprises a six-degree-of-freedom series mechanical arm.
3. The drilling rig of claim 1, wherein the clamping device comprises a joint, a clamping bracket, a first clamping portion, and a second clamping portion;
one end of the clamping frame is connected with the joint, and the other end of the clamping frame is rotatably connected with the first clamping part and the second clamping part;
the first clamping part and the second clamping part are oppositely arranged, and an openable clamping space is formed between the first clamping part and the second clamping part.
4. The drilling machine of claim 3, wherein the first clamping portion comprises a first drive rod, a second drive rod, a clamping block, and a clamping power member;
one end of the first transmission rod is hinged with the clamping frame, and the other end of the first transmission rod is hinged with the clamping block;
one end of the second transmission rod is hinged with the clamping frame, and the other end of the second transmission rod is hinged with the clamping block;
the clamping frame, the first transmission rod, the second transmission rod and the clamping block form a parallelogram mechanism, and the clamping power piece is connected with the first transmission rod and used for driving the first transmission rod to rotate;
the second clamping part has the same structure as the first clamping part.
5. The drilling machine as claimed in claim 4, wherein one end of the clamping power member is hinged to the clamping frame, and the other end of the clamping power member is hinged to the first transmission rod;
the clamping power piece, the first transmission rod and the clamping frame form a triangular structure, wherein one side formed by the clamping power piece can be extended or shortened.
6. The drilling machine as claimed in claim 5, wherein the clamping device further comprises a clamping driving member and a clamping driving wheel, the clamping driving member and the clamping driving wheel are mounted on the clamping block, the first clamping portion is provided with at least one clamping driving member, the second clamping portion is also provided with at least one clamping driving member, and the clamping driving members and the clamping driving wheel are connected in a one-to-one correspondence;
the clamping driving wheel is used for contacting with the pipe in the clamping space.
7. The drilling machine of claim 6, wherein a cross-sectional area of a middle portion of the clamp drive wheel is smaller than a cross-sectional area of both ends of the clamp drive wheel in an axial direction of the clamp drive wheel.
8. The drilling machine of claim 6, wherein the sides of the gripping drive wheels are provided with friction lines.
9. The drilling rig of claim 1, wherein the manipulator is connected to the column by a trolley.
10. The drilling rig according to any one of claims 1-9, wherein the dual-arm robot further comprises an upper support frame and a lower support frame, the upright being connected to the mast via the upper support frame and the lower support frame;
the upper support frame is hinged with one end of the upright post and is fixedly connected with the derrick;
the lower support frame is hinged with the other end of the upright post, and the lower support frame is fixedly connected with the derrick.
11. The drilling rig of claim 1, wherein the pipe string handling system further comprises a pipe string storage assembly for storing pipe strings, the dual-arm robot for retrieving pipes from the pipe string storage assembly or for placing pipe strings on the pipe string storage assembly.
12. The drilling rig of claim 11, wherein the pipe storage assembly comprises a pipe storage rack comprising a rack body and at least two resistance blocks;
the pipe storage assembly is provided with a storage surface, the top surface of the abutting block is higher than the storage surface, the abutting block is connected with the frame body, and a storage space is formed between at least two abutting blocks.
13. The drilling rig of claim 12, wherein the pipe storage assembly further comprises at least two whipstock drives and at least two whipstock rods, the whipstock drives being connected to the whipstock rods in a one-to-one correspondence;
the tube manufacturing diagonal rod is connected with the tube storage rack;
a surface of the pipe storage rack opposite the storage surface is a support surface;
the angle-producing rod has a first working position and a second working position, when the angle-producing rod is located at the first working position, the distance from the first end of the storage surface to the supporting surface is greater than the distance from the second end of the storage surface to the supporting surface, and when the angle-producing rod is located at the second working position, the distance from the first end of the storage surface to the supporting surface is less than the distance from the second end of the storage surface to the supporting surface.
14. The drilling rig of claim 13, wherein the angle-building rod is hingedly connected at one end to the rack and the point of connection of the angle-building rod to the rack is proximate the first end of the storage surface;
the other end of the deflecting rod is close to the second end of the storage surface and is hinged with one end of the deflecting driving piece, and the other end of the deflecting driving piece is hinged with the frame body through an installation lug plate;
the whipstock drive member is extendable or retractable.
15. The drilling rig of claim 14, wherein the pipe string storage assembly further comprises at least two roll-over stands and at least two roll-over drives, the roll-over stands being connected to the pipe string storage stands;
the turnover frame is provided with a clamping surface, the clamping surface comprises a first bending part and a second bending part, the clamping surface is an inwards concave bending surface, and the turnover frame is hinged with the frame body at a position close to the first end of the storage surface;
the turnover driving piece is hinged to the frame body, and the other end of the turnover driving piece is hinged to one end, far away from the clamping face, of the turnover frame.
CN201911215151.8A 2019-12-02 2019-12-02 Drilling machine Active CN111005691B (en)

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