CN111764847A - Automatic tubular column processing equipment - Google Patents
Automatic tubular column processing equipment Download PDFInfo
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- CN111764847A CN111764847A CN202010764682.9A CN202010764682A CN111764847A CN 111764847 A CN111764847 A CN 111764847A CN 202010764682 A CN202010764682 A CN 202010764682A CN 111764847 A CN111764847 A CN 111764847A
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- 238000012545 processing Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 130
- 230000007306 turnover Effects 0.000 claims abstract description 44
- 239000000725 suspension Substances 0.000 claims description 47
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 10
- 238000010276 construction Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 229910052742 iron Inorganic materials 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 description 12
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- 238000001514 detection method Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/161—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/165—Control or monitoring arrangements therefor
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Abstract
The application relates to the technical field of iron roughneck, in particular to automatic tubular column processing equipment which comprises a first supporting member, a second supporting member, a tool mounting mechanism, a turnover mechanism, a lifting mechanism and a rotating mechanism, wherein the tool mounting mechanism is connected to the first supporting member through the turnover mechanism, and the turnover mechanism is used for driving the tool mounting mechanism to turn over relative to the first supporting member; the first supporting member is connected to the second supporting member through a lifting mechanism, and the lifting mechanism is used for driving the first supporting member to lift relative to the second supporting member; the second supporting member is connected to the target to be installed through a rotating mechanism, and the rotating mechanism is used for driving the second supporting member to rotate relative to the target to be installed. Therefore, the device can realize the turning, lifting and rotation adjustment of the tool mounting mechanism, realize the movement of the tool mounting mechanism from the standby position to the wellhead, and has the advantages of high automation degree, low labor intensity, no risk, safety and reliability.
Description
Technical Field
The application relates to the technical field of iron roughneck, in particular to automatic tubular column processing equipment.
Background
At present, a drill rod power tong needs manual pushing and supporting operation, the automation degree is low, the labor intensity is high, and safety risks exist.
Disclosure of Invention
An object of this application is to provide an automatic change tubular column treatment facility, the drilling rod power tong who has solved to a certain extent and has existed needs the manual work to push up the operation, degree of automation is low, and intensity of labour is big, has the technical problem of safe risk.
The application provides an automatic change tubular column treatment facility includes: the tool mounting mechanism comprises a first supporting member, a second supporting member, a tool mounting mechanism, a turnover mechanism, a lifting mechanism and a rotating mechanism;
the tool mounting mechanism is connected to the first supporting member through the turnover mechanism, and the turnover mechanism is used for driving the tool mounting mechanism to turn over relative to the first supporting member;
the first support member is connected to the second support member through the lifting mechanism, and the lifting mechanism is used for driving the first support member to lift relative to the second support member;
the second supporting member is connected to the target to be installed through the rotating mechanism, and the rotating mechanism is used for driving the second supporting member to rotate relative to the target to be installed.
In the above technical solution, further, the turnover mechanism includes a turnover arm support and a turnover driving device; one end of the overturning arm support is rotatably connected with the first supporting member, and the other end, opposite to the overturning arm support, is rotatably connected with the tool mounting mechanism;
the fixed end of the overturning driving device is rotatably connected to the first supporting member, the output end of the overturning driving device is rotatably connected to the overturning arm support, and the overturning driving device can drive the overturning arm support to overturn relative to the first supporting member;
the overturning arm support is provided with an accommodating space with an opening facing the tool mounting mechanism.
In any of the above technical solutions, further, the first support member includes a first support arm and a second support arm; an installation space is formed between the first supporting arm and the second supporting arm, and the overturning driving device is arranged in the installation space;
the overturning arm support comprises a first overturning arm, a second overturning arm and a connecting arm, wherein the first overturning arm is connected to one end, far away from the lifting mechanism, of the first supporting arm, and the second overturning arm is connected to one end, far away from the lifting mechanism, of the second supporting arm; one end of the connecting arm is fixedly connected with the first overturning arm, the other opposite end of the connecting arm is fixedly connected with the second overturning arm, and the part between the two end parts of the connecting arm is rotatably connected with the output end of the overturning driving device;
the first overturning arm and the second overturning arm are both bent towards and away from the tool mounting mechanism so as to form a concave structure with an opening facing the tool mounting mechanism.
In any of the above technical solutions, further, the lifting mechanism includes a lifting seat, a lifting rail, a guide roller, and a lifting driving device; the lifting seat is connected to the first supporting member, the guide roller is hinged to the lifting seat, the lifting rail is connected to the second supporting member, and the lifting seat is in rolling connection with the lifting rail through the guide roller;
the lifting driving device is arranged on the second supporting member, the output end of the lifting driving device is connected to the lifting seat, and the lifting driving device is used for driving the lifting seat to lift along the height direction of the second supporting member.
In any one of the above technical solutions, further, the automated column processing equipment further includes a third support member, the rotation mechanism is a rotary speed reducer, a fixed base of the rotary speed reducer is disposed on the third support member, the third support member is used for connecting the target to be installed, and a rotary support portion of the rotary speed reducer is connected to the second support member.
In any of the above technical solutions, further, the automated column processing equipment further includes a shooting device, a displacement sensor, an encoder, and a control device; wherein the shooting device is arranged on the tool mounting mechanism; the encoder is arranged on the rotating mechanism;
the turnover mechanism and the lifting mechanism are both provided with the displacement sensors; the control device is respectively in communication connection with the turnover mechanism, the lifting mechanism, the rotating mechanism and the encoder.
In any of the above technical solutions, further, the tool mounting mechanism includes a suspension beam, a suspension arm, an angle adjusting assembly, and a limiting assembly;
the suspension beam is rotatably connected to the overturning arm support, the suspension arm is used for being connected to a construction tool, the suspension arm is rotatably connected to the suspension beam through the angle adjusting assembly, and the angle adjusting assembly is used for adjusting the inclination angle of the construction tool relative to the suspension beam in the plane where the suspension beam is located;
the limiting assemblies are respectively connected to the suspension arms and the suspension beams and used for limiting the suspension arms to rotate relative to the suspension beams.
In any of the above technical solutions, further, a limiting member is disposed between the limiting assembly and the turning arm support and is used for limiting the swing of the caliper body.
In any of the above technical solutions, further, the limiting member is a damping cylinder.
In any of the above technical solutions, further, the angle adjusting assembly includes that the angle adjusting mechanism includes a sliding seat, a first rotating rod, a second rotating rod, and a driving device;
the first rotating rod piece is rotatably connected to the suspension arm, the sliding seat is sleeved on the first rotating rod piece, and the sliding seat is in threaded rotating connection with the first rotating rod piece; the sliding seat is rotatably connected to the suspension beam through the second rotating rod piece;
the driving device is connected with the first rotating rod piece and used for driving the first rotating rod piece to rotate.
Compared with the prior art, the beneficial effect of this application is:
the application provides an automatic tubular column processing equipment can realize upset, lift and the regulation of gyration of ground instrument installation mechanism, realizes that instrument installation mechanism moves to well head department from the standby displacement, and degree of automation is high, low in labor strength, and the risk-free is safer, more reliable.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an automated pipe string handling apparatus with power tongs installed therein according to an embodiment of the present disclosure in an expanded state;
fig. 2 is a schematic structural diagram of a lifting mechanism and a rotating mechanism provided in an embodiment of the present application;
FIG. 3 is a partial cross-sectional view of FIG. 2;
FIG. 4 is a schematic diagram of an embodiment of the present application illustrating a retracted configuration of an automated pipe string handling apparatus having a power tong installed therein;
FIG. 5 is a schematic view of the structure of the shooting device when the drill pipe coupling is in use;
FIG. 6 is a schematic diagram of a partial structure of a tool mounting mechanism according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a lifting seat according to an embodiment of the present application.
Reference numerals:
1-a first support member, 110-a first support arm, 111-a main arm, 112-a first extension portion, 113-a second extension portion, 120-a second support arm, 2-a second support member, 3-a tool mounting mechanism, 31-a suspension beam, 32-a suspension arm, 33-an angle adjusting mechanism, 331-a sliding seat, 332-a first rotating rod member, 333-a second rotating rod member, 34-a limiting component, 341-a screw seat, 342-a screw, a 4-a turnover mechanism, 41-a turnover arm support, 411-a first turnover arm, 412-a second turnover arm, 413-a connecting arm, 42-a turnover driving device, 5-a lifting mechanism, 51-a lifting seat, 52-a lifting track, 53-a lifting driving device, 54-a guide roller, 6-rotating mechanism, 61-motor, 62-base, 63-rotary support part, 7-third support component, 8-shooting equipment, 9-encoder, 10-damping oil cylinder, 11-power clamp, 12-upper side drill rod, 13-lower side drill rod, h-coupling height and a-coupling range.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Automated tubular string processing apparatus according to some embodiments of the present application is described below with reference to fig. 1-7.
Referring to fig. 1-3, embodiments of the present application provide an automated tubular string processing apparatus comprising: a first support member 1, a second support member 2, a tool mounting mechanism 3, a turnover mechanism 4, a lifting mechanism 5, and a rotation mechanism 6;
the tool mounting mechanism 3 is connected to the first support member 1 through the turnover mechanism 4, the turnover mechanism 4 is used for driving the tool mounting mechanism 3 to turn over relative to the first support member 1, and it is noted that the tool mounting mechanism 3 is provided with the power tong 11, and certainly, the tool mounting mechanism is not limited to be provided with the power tong 11, and can also be provided with tools such as other tong bodies; the first support member 1 is connected to the second support member 2 through a lifting mechanism 5, and the lifting mechanism 5 is used for driving the first support member 1 to lift along the height direction of the second support member 2; the second support member 2 is connected to the object to be mounted by a rotation mechanism 6, and the rotation mechanism 6 is used for driving the second support member 2 to rotate relative to the object to be mounted.
The application provides an automatic tubular column processing equipment can realize the upset of ground instrument installation mechanism 3, go up and down and the regulation of gyration, realizes that instrument installation mechanism 3 moves to well head department from the standby displacement, and degree of automation is high, low in labor strength, and the risk-free is safer, more reliable.
The detailed structure of the above mechanism will be explained below.
In this embodiment, preferably, as shown in fig. 1 to 3, the turnover mechanism 4 includes a turnover arm support 41 and a turnover driving device 42; one end of the overturning arm support 41 is rotatably connected with the first supporting component 1, and the other opposite end of the overturning arm support 41 is rotatably connected with the tool mounting mechanism 3;
the fixed end of the turning driving device 42 is rotatably connected to the first support member 1, the output end of the turning driving device 42 is rotatably connected to the turning arm support 41, and the turning driving device 42 can drive the turning arm support 41 to turn relative to the first support member 1;
the tilt arm 41 itself is formed with a housing space that opens toward the tool mounting mechanism 3.
According to the structure described above, the overturning driving device 42 can drive the overturning arm support 41 to overturn relative to the first support member 1, so that the tool mounting mechanism 3 synchronously rotates along with the overturning arm support 41, and the overturning adjustment of the caliper body is realized. Particularly, when the device is in a standby state, the tool mounting mechanism 3 can be retracted into the interior of the turnover arm support 41, namely the accommodating space, through the turnover mechanism 4, so that the structure is more compact. To further reduce the length of the apparatus, the second support member 2 may be provided with an opening which avoids the tool mounting mechanism 3, for example when the tool mounting mechanism 3 is connected to the power tong 11, and which avoids the rear of the power tong 11.
In this embodiment, preferably, as shown in fig. 1 and 4, the first support member 1 includes a first support arm 110 and a second support arm 120; wherein, an installation space is formed between the first support arm 110 and the second support arm 120, and the turnover driving device 42 is disposed in the installation space;
the turning arm support 41 comprises a first turning arm 411, a second turning arm 412 and a connecting arm 413, wherein the first turning arm 411 is connected to one end of the first support arm 110 far away from the lifting mechanism 5, and the second turning arm 412 is connected to one end of the second support arm 120 far away from the lifting mechanism 5; one end of the connecting arm 413 is fixedly connected to the first flipping arm 411, the other end of the connecting arm 413 is fixedly connected to the second flipping arm 412, and a portion between two ends of the connecting arm 413 is rotatably connected to an output end of the flipping driving device 42.
The first flipping arm 411 and the second flipping arm 412 are symmetrically disposed, and for an example, the first flipping arm 411 includes a main arm 111, and a first extending portion 112 and a second extending portion 113 respectively connected to two ends of the main arm 111, where the first extending portion 112 and the second extending portion 113 respectively form an angle with the main arm 111, the first extending portion 112, and the second extending portion 113 enclose a concave structure with an opening facing the tool mounting mechanism 3, the first extending portion 112 is connected to the tool mounting mechanism 3, and the second extending arm is connected to the lifting mechanism 5. As described above, particularly when the apparatus is in the standby state, specifically, when the main arm 111 is parallel to the second support member 2, that is, the main arm 111 is along the vertical direction, the second extending portion 113 is along the substantially horizontal direction, and the first extending portion 112 is inclined from the horizontal direction, the opening of the first flipping arm 411 faces the front of the apparatus, and the tool mounting mechanism 3 is also accommodated in the concave structure of the first flipping arm 411 and the concave structure of the second flipping arm 412, so that the length of the apparatus is greatly shortened and the occupied space is smaller.
According to the structure described above, the two support arms and the two turnover arms are structurally arranged, so that the support effect is good, the turnover process is more stable, and an enough installation space is formed between the two turnover arms for installing the turnover driving device 42, so that the whole structure is more compact, and the space is saved. Wherein, optionally, the above-mentioned rotary connection may be specifically that two components are hinged together by a pin.
Wherein, optionally, the turnover driving device 42 is a turnover cylinder.
In this embodiment, preferably, as shown in fig. 1 to 3 and 7, the lifting mechanism 5 includes a lifting base 51, a lifting rail 52, a guide roller 54, and a lifting drive device 53; wherein, the lifting seat 51 is connected to the first supporting member 1, the guide roller 54 is hinged to the lifting seat 51, the lifting rail 52 is connected to the second supporting member 2, and the lifting seat 51 is in rolling connection with the lifting rail 52 through the guide roller 54;
the lifting driving device 53 is disposed on the second supporting member 2, an output end of the lifting driving device 53 is connected to the lifting base 51, and the lifting driving device 53 is configured to drive the lifting base 51 to lift along a height direction of the second supporting member 2.
Wherein, the lifting rail 52 and the second supporting member 2 extend in the same direction.
According to the above-described structure, the lifting driving device 53 is used for driving the lifting base 51 to move up and down along the lifting rail 52 to realize lifting.
Wherein, optionally, the lifting driving device 53 is a lifting cylinder.
Optionally, the lifting seat 51 has a hollow placing space for placing the second supporting member 2, the lifting rails 52 are disposed on two opposite sides of the second supporting member 2, and correspondingly, the guide rollers 54 are disposed on two opposite sidewalls of the placing space to cooperate with the corresponding lifting rails 52.
In this embodiment, preferably, as shown in fig. 1 to 3, the automated column processing equipment further includes a third support member 7, the rotating mechanism 6 is a rotary speed reducer, a fixed base 62 of the rotary speed reducer is disposed on the third support member 7, the third support member 7 is used for connecting the object to be installed (note that the object to be installed may be a drill floor), a rotary support 63 of the rotary speed reducer is connected to the second support member 2, and a motor 61 of the rotary speed reducer is used for driving the rotary support 63 to rotate the second support member 2.
According to the above-described structure, the fixed base 62 is fixed on the third support member 7 and remains stationary, and the rotation support 63 of the rotary speed reducer drives the second support member 2 to rotate, and further drives the first support member 1 and the turning arm support 41 in turn, and finally drives the tool mounting mechanism 3 to rotate.
In this embodiment, preferably, as shown in fig. 2, the automated column processing apparatus further includes a photographing apparatus 8, a displacement sensor, an encoder 9, and a control device; wherein the photographing apparatus 8 is provided to the tool mounting mechanism 3; the encoder 9 is arranged on the rotating mechanism 6; the displacement sensor is arranged on the turnover mechanism 4; the control device is respectively connected with the turnover mechanism 4, the lifting mechanism 5, the rotating mechanism 6 and the encoder 9 in a communication way.
Specifically, the photographing device 8 is provided to the suspension beam 31 of the tool mounting mechanism 3, and of course, the camera may be independently mounted to other positions; the encoder 9 is connected to a motor of the rotary speed reducer; the control device is respectively connected with the overturning driving device 42, the lifting driving device 53, the rotary speed reducer and the encoder 9 in a communication mode.
According to the structure described above, the shooting device 8 can recognize the coupling height h and the coupling range of the drill rod in front, namely the coupling height h and the coupling range a of the upper drill rod 12 and the lower drill rod 13, calculate the coupling height h and the horizontal distance between the jaw and the coupling after the initial position shooting, transmit data to the control device, calculate the lifting height of the lifting seat 51, the turning angle and the turning angle of the turning arm support 41 by the control device, finally accurately position the jaw to the coupling position, automatically retract to the initial position after the screwing-on and unscrewing are completed, and the whole process does not need manual close-distance operation. The overturning, lifting and rotating of the arm support can be accurately controlled through the accurate control of the overturning driving device 42, the lifting driving device 53 and the overturning driving device 42, so that the accurate positioning of the jaw of the clamp body is realized. The overturning oil cylinder is provided with a displacement sensor, the telescopic stroke of the oil cylinder can be detected, the tail end position of the overturning arm support 41 and the inclination angle of the overturning arm support 41 can be determined through calculation, and the overturning of the overturning arm support 41 realizes the forward and backward translation of the clamp body.
In this embodiment, preferably, as shown in fig. 1 to 3, the tool mounting mechanism 3 includes a suspension beam 31, a suspension arm 32, an angle adjustment assembly, and a limit assembly 34; the suspension beam 31 is rotatably connected to the overturning arm support 41, the suspension arm 32 is used for being connected to a construction tool such as a power tong 11, the suspension arm 32 is rotatably connected to the suspension beam 31 through an angle adjusting assembly, and the angle adjusting assembly is used for adjusting the inclination angle of a tong body relative to the suspension beam 31 in the plane where the suspension beam 31 is located;
the limiting assemblies 34 are respectively connected to the suspension arms 32 and the suspension beams 31, and are used for limiting the suspension arms 32 to rotate relative to the suspension beams 31.
As can be understood from the above-described structure, the angle adjustment mechanism 33 can be used to adjust the angle of the arm member inclined to the left or right with respect to the vertical direction in the first vertical plane (note that, in general, the equipment on which the power tong 11 and the present tong body angle adjustment device are mounted is placed on a horizontal plane, and thus the above-described angle of inclination refers to the vertical direction), and the arm member is connected to the power tong 11, that is, the angle adjustment mechanism 33 can be used to adjust the angle of the power tong 11 inclined to the left or right with respect to the vertical direction in the first vertical plane to adapt to the inclined pipe column. Therefore, the clamp body angle adjusting device can change the left and right inclination angles of the power clamp 11 to adapt to drill rods with different inclination angles, so that the power clamp 11 has a wider application range and meets the requirements of actual working conditions.
In this embodiment, a limiting member is preferably disposed between the limiting assembly 34 and the turning arm support 41 to limit the swinging of the caliper body, and further, as shown in fig. 1, the limiting member is the damping cylinder 10.
According to the above-described structure, in order to ensure the levelness of the drill tong and reduce the swing impact, the damping cylinder 10 needs to be extended and retracted along with the turning of the turning arm support 41. The telescopic amount of the damping oil cylinder 10 and the telescopic amount of the turnover oil cylinder have a functional relation, the telescopic amount of the damping oil cylinder 10 is controlled through detection and calculation of a displacement sensor arranged on the turnover oil cylinder, the damping oil cylinder 10 pushes and pulls the limiting component 34 to reduce shaking impact of the drill pipe wrench, and therefore stable translation of the drill pipe wrench is achieved, and the damping oil cylinder 10 can also buffer if impact of a drill pipe and a wrench body occurs.
In this embodiment, preferably, as shown in fig. 1 and 6, the angle adjustment assembly includes the angle adjustment mechanism 33 including a sliding seat 331, a first rotating link 332, a second rotating link 333, and a driving device;
the first rotating rod 332 is rotatably connected to the suspension arm 32, the sliding seat 331 is sleeved on the first rotating rod 332, and the sliding seat 331 is rotatably connected with the first rotating rod 332 through threads; the sliding seat 331 is rotatably connected to the suspension beam 31 by a second rotating link 333;
the driving device is connected to the first rotating rod 332 for driving the first rotating rod 332 to rotate.
According to the above-described structure, it can be known that, according to the above-described structure, the center of gravity of the power tong 11 before adjustment is located at the suspension center line, and the suspension center line coincides with the center line of the power tong 11, when the first rotating rod 332 is driven to rotate, the lifting seat 51 is driven to move along the length direction of the first rotating rod 332, because the second rotating rod 333 is a hinge point, if the center of gravity of the power tong 11 deviates from the suspension center line, under the action of the gravity of the power tong 11 itself, the suspension arm 32 together with the power tong 11 will rotate around the second rotating rod 333 until the center of gravity of the power tong 11 coincides with the suspension center line, and in the above process, along with the movement of the lifting seat 51, the center line of the power tong 11 finally forms an angle with the suspension center line, that is. Therefore, the whole adjusting process only needs power to drive the first rotating rod 332 to rotate, the inclination angle is adjusted by matching with the gravity of the power tong 11, no external force needs to be applied to the power tong 11 independently, the adjustment is convenient, and the energy consumption is low. The first rotating rod 332 and the second rotating rod 333 penetrate through the lifting seat 51, and the two axes are perpendicular, so that the structure is more compact.
Further, the angle adjusting mechanism 33 further includes a driving device disposed on the suspension arm 32, and the driving device is connected to the first rotating rod 332 for driving the first rotating rod 332 to rotate. The driving device serves as a power source for driving the first rotating rod 332 to rotate, and alternatively, the driving device may be a motor.
Wherein, preferably, as shown in fig. 4, the position limiting assembly 34 comprises a screw 342 and two screw seats 341, wherein one screw seat 341 is connected to the supporting member, and the other screw seat 341 is connected to the supporting member; opposite ends of the screw 342 are screwed to the two screw seats 341, and opposite threads are formed at opposite ends of the screw 342.
According to the above-described structure, before the angle of the power tong 11 is adjusted by using the device, the screw seat 341 connected to the arm member needs to be disconnected from the screw 342, then the inclination angle of the power tong 11 is adjusted, after the adjustment is completed, the screw 342 is connected to the screw seat 341 connected to the arm member, and the screw 342 is rotated, so that the two ends of the screw 342 automatically retract into the corresponding screw seats 341 respectively along with the rotation of the screw 342, thereby limiting the arm member and further avoiding the arm member from shaking.
In conclusion, the automatic tubular column treatment equipment that this application provided has following advantage:
1) using the shooting equipment 8 to find a drill rod coupling;
2) turning, lifting and rotating, and combining the automatic coupling searching function, the accurate positioning of the pliers body can be realized, and full-automatic screwing and unscrewing can be realized;
3) the clamp body is controlled in movement and buffered in shaking (through a damping oil cylinder 10 and an oil cylinder displacement sensor);
4) the drill rod power tongs 11 can be continuously used for screwing and unscrewing, and the damage to the drill rod is small;
5) the power tongs 11 are hidden in the overturning arm support 41, and the structure is compact.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. An automated tubular string processing apparatus, comprising: the tool mounting mechanism comprises a first supporting member, a second supporting member, a tool mounting mechanism, a turnover mechanism, a lifting mechanism and a rotating mechanism;
the tool mounting mechanism is connected to the first supporting member through the turnover mechanism, and the turnover mechanism is used for driving the tool mounting mechanism to turn over relative to the first supporting member;
the first support member is connected to the second support member through the lifting mechanism, and the lifting mechanism is used for driving the first support member to lift relative to the second support member;
the second supporting member is connected to the target to be installed through the rotating mechanism, and the rotating mechanism is used for driving the second supporting member to rotate relative to the target to be installed.
2. The automated tubular string handling apparatus of claim 1, wherein the flipper comprises a flipper arm and a flipper drive; one end of the overturning arm support is rotatably connected to the first supporting member, and the other opposite end of the overturning arm support is rotatably connected to the tool mounting mechanism;
the fixed end of the overturning driving device is rotatably connected to the first supporting member, the output end of the overturning driving device is rotatably connected to the overturning arm support, and the overturning driving device can drive the overturning arm support to overturn relative to the first supporting member;
the overturning arm support is provided with an accommodating space with an opening facing the tool mounting mechanism.
3. The automated string handling apparatus of claim 2, wherein the first support member comprises a first support arm and a second support arm; an installation space is formed between the first supporting arm and the second supporting arm, and the overturning driving device is arranged in the installation space;
the overturning arm support comprises a first overturning arm, a second overturning arm and a connecting arm, wherein the first overturning arm is connected to one end, far away from the lifting mechanism, of the first supporting arm, and the second overturning arm is connected to one end, far away from the lifting mechanism, of the second supporting arm; one end of the connecting arm is fixedly connected with the first overturning arm, the other opposite end of the connecting arm is fixedly connected with the second overturning arm, and the part between the two end parts of the connecting arm is rotatably connected with the output end of the overturning driving device;
the first overturning arm and the second overturning arm are both bent towards and away from the tool mounting mechanism so as to form a concave structure with an opening facing the tool mounting mechanism.
4. The automated string processing apparatus of claim 1, wherein the lifting mechanism comprises a lifting seat, a lifting rail, guide rollers, and a lifting drive; the lifting seat is connected to the first supporting member, the guide roller is hinged to the lifting seat, the lifting rail is connected to the second supporting member, and the lifting seat is in rolling connection with the lifting rail through the guide roller;
the lifting driving device is arranged on the second supporting member, the output end of the lifting driving device is connected to the lifting seat, and the lifting driving device is used for driving the lifting seat to lift along the height direction of the second supporting member.
5. The automated string handling apparatus according to claim 1, further comprising a third support member, wherein the rotating mechanism is a rotary speed reducer, a fixed base of the rotary speed reducer is disposed on the third support member, the third support member is used for connecting the target to be installed, and a rotary support of the rotary speed reducer is connected to the second support member.
6. The automated string handling apparatus of claim 1, further comprising a camera apparatus, a displacement sensor, an encoder, and a control device; wherein the shooting device is arranged on the tool mounting mechanism; the encoder is arranged on the rotating mechanism;
the turnover mechanism and the lifting mechanism are both provided with the displacement sensors; the control device is respectively in communication connection with the turnover mechanism, the lifting mechanism, the rotating mechanism and the encoder.
7. The automated string handling apparatus of claim 2, wherein the tool mounting mechanism comprises a suspension beam, a suspension arm, an angle adjustment assembly, and a stop assembly;
the suspension beam is rotatably connected to the overturning arm support, the suspension arm is used for being connected to a construction tool, the suspension arm is rotatably connected to the suspension beam through the angle adjusting assembly, and the angle adjusting assembly is used for adjusting the inclination angle of the construction tool relative to the suspension beam in the plane where the suspension beam is located;
the limiting assemblies are respectively connected to the suspension arms and the suspension beams and used for limiting the suspension arms to rotate relative to the suspension beams.
8. The automated pipe column processing device according to claim 7, wherein a limiting member is arranged between the limiting assembly and the overturning arm support and used for limiting the swing of the clamp body.
9. The automated pipe string handling apparatus of claim 8, wherein the stop member is a damping cylinder.
10. The automated string handling apparatus of claim 7, wherein the angle adjustment assembly comprises a sliding seat, a first rotating link, a second rotating link, and a drive device;
the first rotating rod piece is rotatably connected to the suspension arm, the sliding seat is sleeved on the first rotating rod piece, and the sliding seat is in threaded rotating connection with the first rotating rod piece; the sliding seat is rotatably connected to the suspension beam through the second rotating rod piece;
the driving device is connected with the first rotating rod piece and used for driving the first rotating rod piece to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010764682.9A CN111764847A (en) | 2020-07-31 | 2020-07-31 | Automatic tubular column processing equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010764682.9A CN111764847A (en) | 2020-07-31 | 2020-07-31 | Automatic tubular column processing equipment |
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| CN111764847A true CN111764847A (en) | 2020-10-13 |
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| CN202010764682.9A Pending CN111764847A (en) | 2020-07-31 | 2020-07-31 | Automatic tubular column processing equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112610170A (en) * | 2020-12-24 | 2021-04-06 | 四川宏华石油设备有限公司 | Spinner for iron roughneck |
| CN112627750A (en) * | 2020-11-27 | 2021-04-09 | 中油国家油气钻井装备工程技术研究中心有限公司 | Method and system for automatically positioning height of drill pipe coupling by iron roughneck |
| CN112709541A (en) * | 2020-12-24 | 2021-04-27 | 四川宏华石油设备有限公司 | Iron roughneck lifting mechanism |
| CN114109281A (en) * | 2021-10-14 | 2022-03-01 | 天津渤海杰瑞石油装备有限公司 | Tackle device and under-pressure operation equipment |
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2020
- 2020-07-31 CN CN202010764682.9A patent/CN111764847A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112627750A (en) * | 2020-11-27 | 2021-04-09 | 中油国家油气钻井装备工程技术研究中心有限公司 | Method and system for automatically positioning height of drill pipe coupling by iron roughneck |
| CN112627750B (en) * | 2020-11-27 | 2023-01-24 | 中油国家油气钻井装备工程技术研究中心有限公司 | Method and system for automatically positioning height of drill pipe coupling by iron roughneck |
| CN112610170A (en) * | 2020-12-24 | 2021-04-06 | 四川宏华石油设备有限公司 | Spinner for iron roughneck |
| CN112709541A (en) * | 2020-12-24 | 2021-04-27 | 四川宏华石油设备有限公司 | Iron roughneck lifting mechanism |
| CN112610170B (en) * | 2020-12-24 | 2022-06-21 | 四川宏华石油设备有限公司 | Spinner for iron roughneck |
| CN114109281A (en) * | 2021-10-14 | 2022-03-01 | 天津渤海杰瑞石油装备有限公司 | Tackle device and under-pressure operation equipment |
| CN114109281B (en) * | 2021-10-14 | 2024-05-24 | 天津渤海杰瑞石油装备有限公司 | Pulley device and pressurized operation equipment |
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