CN112096317A - Drilling platform surface pipe column processing equipment - Google Patents
Drilling platform surface pipe column processing equipment Download PDFInfo
- Publication number
- CN112096317A CN112096317A CN202010803809.3A CN202010803809A CN112096317A CN 112096317 A CN112096317 A CN 112096317A CN 202010803809 A CN202010803809 A CN 202010803809A CN 112096317 A CN112096317 A CN 112096317A
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- tubular column
- clamping
- tubular
- drill floor
- column
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a drilling platform surface tubular column processing device which comprises a clamping mechanism for clamping a tubular column and is characterized by also comprising a travelling mechanism, a first clamping mechanism and a second clamping mechanism, wherein the travelling mechanism is arranged on the drilling platform surface and translates on the drilling platform surface; the lifting mechanism is arranged on the travelling mechanism, is connected with the clamping mechanism and is configured to adjust the height of the clamping mechanism; after the clamping mechanism clamps the tubular column, the lifting mechanism can drive the clamping mechanism to move upwards or downwards and bear the weight of the tubular column. According to the drilling floor tubular column processing equipment, the whole height can be adjusted when the drilling floor mechanical hand clamps the tubular column, so that the drilling floor tubular column processing equipment is suitable for clamping positions with different heights. The tubular column can be clamped by the clamping mechanism, the problem that the grabbing and lifting mechanical arm arranged on the derrick greatly affects the structure of the derrick is solved, and the acting force generated on the whole structure by pushing and supporting the tubular column is reduced.
Description
Technical Field
The invention relates to the field of petroleum and natural gas drilling equipment, in particular to a drilling floor pipe column processing device, and particularly relates to a drilling floor manipulator.
Background
With the continuous rise of labor cost, the requirements on operation safety and environmental protection are more and more strict, and wellhead automation and unmanned change become the development trend of petroleum equipment. Meanwhile, due to the fact that the drilling depth is increased, the working strength of workers is correspondingly increased, the automatic machine tool is used for replacing a drilling platform face operation worker to finish the carrying of the pipe column between the well mouth and the pipe rack, and the centering operation of the iron driller in the buckling process of the pipe column can be assisted in the drilling process. The drilling efficiency is improved, and the working strength is reduced.
The drill floor mechanical arm is a main wellhead automation device, is arranged on a drill floor, simulates a bench-top bench worker to transfer and discharge a tubular column in a pushing and supporting mode, realizes the automation of the transfer and discharge treatment of the tubular column on the drill floor, can reduce the number of operators on the drill floor, reduce the labor intensity, reduce the operation risk and easily treat large-diameter drill collars.
A drill floor manipulator generally includes a traveling mechanism, a telescoping mechanism, and a tubular string support mechanism. The running gear is installed on the drilling platform surface, the telescopic mechanism is fixed on the running gear, and the pipe column supporting mechanism is hinged at the front end of the mechanical arm. When the tubular column needs to be carried, the travelling mechanism moves on the drill floor to drive the telescopic mechanism and the tubular column supporting mechanism to move to the position of the tubular column, the telescopic mechanism extends the arm to drive the tubular column supporting mechanism to be close to the tubular column to be finally clamped, and then the tubular column is pushed and supported to move.
Because the structure sets up complicacy on the present rig floor face, the whole height of rig floor face manipulator is confirmed then the position of tubular column support mechanism centre gripping tubular column can't be adjusted (the whole height of rig floor face manipulator is confirmed, can not snatch the bottom of tubular column, then promotes the tubular column, and the whole tubular column of removals is removed again). And the current drill floor manipulator basically adopts tubular column pushing, certain damage can be generated to the device when the tubular column contacts the ground in the conveying process, and therefore the requirement on the stability of the whole structure is high.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the drilling platform surface tubular column processing equipment which is simple in structure, adjustable in height and good in reliability.
The technical scheme of the invention is as follows:
a drill floor tubular string processing apparatus comprising a gripping mechanism for gripping a tubular string, characterized in that the apparatus further comprises,
the traveling mechanism comprises a rail arranged on the surface of the drilling platform and a trolley arranged on the rail, a driving mechanism for driving the trolley to move is arranged in the traveling trolley, and the trolley can translate on the rail;
the lifting mechanism is arranged on the trolley, is connected with the clamping mechanism and is configured to be capable of adjusting the height of the clamping mechanism;
after the clamping mechanism clamps the tubular column, the lifting mechanism can drive the clamping mechanism and the tubular column to move upwards or downwards and bear the weight of the tubular column.
Some preferred technical solutions of the present invention are as follows:
preferably, a swing mechanism is installed between the trolley and the lifting mechanism, and the swing mechanism is configured to enable the lifting mechanism to translate along with the travelling mechanism and rotate around a vertical shaft of the swing mechanism.
Preferably, a telescopic mechanism is installed between the lifting mechanism and the clamping mechanism, and the telescopic mechanism can enable the clamping mechanism to be far away from or close to the lifting mechanism.
Preferably, the clamping mechanism is fixedly installed at the end of the telescopic mechanism, and a supporting mechanism is hinged to the end of the telescopic mechanism.
Preferably, the support mechanism is further provided with a buffer and ground contact detection mechanism, and the buffer and ground contact detection mechanism is configured to detect the position and/or the load state of the clamped riser string and judge whether the riser string contacts the table top according to the state.
Preferably, the apparatus further comprises a thread oil application device configured to apply in contact with the threads of the tubular string when the gripping mechanism grips the tubular string.
Preferably, the thread oil painting device is mounted on the lifting device.
Preferably, when the buffering and ground contact detection mechanism judges that the clamped tubular column is in contact with the table top, the trolley is controlled to slow down the moving speed.
The invention also provides a drilling platform surface tubular column processing method adopting the drilling platform surface tubular column processing equipment, which comprises the following steps: when the tubular column needs to be conveyed, the travelling mechanism moves to a position near the tubular column, the rotary mechanism on the travelling mechanism drives the lifting mechanism and the telescopic mechanism to deflect to the direction of the tubular column, the lifting mechanism appropriately moves up and down according to the clamping position of the tubular column to enable the clamping device to be located at the clamping position of the tubular column, the telescopic mechanism stretches out an arm to drive the arm to move to the position of the tubular column, the tubular column is clamped and fixed by the clamping mechanism, the tubular column is supported by the supporting mechanism, the travelling mechanism moves, and the rotary mechanism is matched with and moves to convey the tubular column to a specified position. (when the manipulator of the drilling platform surface is not needed to operate, the manipulator of the drilling platform surface withdraws the telescopic mechanism and moves on the walking track to increase the operation space of the drilling platform surface.)
Compared with the prior art, the invention has the beneficial effects that: the invention provides a clamping mechanism, which can adjust the overall height when a drilling platform surface manipulator clamps a pipe column so as to adapt to clamping positions with different heights. The clamping mechanism can be used for clamping the pipe column, so that the acting force generated by pushing and supporting the pipe column on the whole structure is reduced. In some preferred embodiments, a buffer and touchdown detection mechanism is provided, which can trigger the detection mechanism when the pipe column is about to touch down, so as to slow down the moving speed, thereby reducing the mechanism damage caused by the touch down of the pipe column. The embodiment of the invention can solve the problem that the grabbing and lifting manipulator arranged on the derrick greatly affects the structure of the derrick, and reduce the acting force of pushing and supporting the pipe column on the whole structure.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention.
Fig. 2 is a top view of the embodiment shown in fig. 1.
Reference numerals: 1-a walking trolley, 2-a slewing mechanism, 3-a lifting mechanism, 4-a telescoping mechanism, 5-a supporting mechanism, 6-a clamping mechanism, 7-a buffering and ground contact detection mechanism, 8-a screw thread oil smearing device and 9-a track.
Detailed Description
The present invention will be described in further detail with reference to examples and embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
In a first embodiment of the present invention, as shown in fig. 1 and 2, a travelling mechanism 1 is installed on a drilling platform surface, the travelling mechanism may be composed of a track 9 and a travelling trolley 1, and the travelling trolley 1 is driven by a driving mechanism to move along the track 9, so as to ensure the translation of the equipment. Some specific drive mechanisms are: gear and rack, synchronous belt, screw pair, etc. The swing mechanism 2 is arranged above the walking mechanism 1, the lifting mechanism 3 is arranged on the swing mechanism 2, the telescopic mechanism 4 is arranged on the lifting mechanism 3, the supporting mechanism 5 (forming a part for supporting the pipe column, and can be an arc-shaped sheet structure or a matching shape well known in the art) is hinged at the front end of the telescopic mechanism 4, the clamping mechanism 6 is fixedly arranged at the front end of the telescopic mechanism 4, and the buffering and grounding detection mechanism 7 is arranged on the supporting mechanism 5. The lifting mechanism 3 can drive the telescopic mechanism 4 and the supporting mechanism 5 and the clamping mechanism 6 at the front end of the telescopic mechanism to move up and down, the specific lifting mechanism 3 can be an oil cylinder, an electric cylinder, a steel wire rope, a chain and the like which are arranged on a support so as to drive the telescopic mechanism 4 to move up and down, the lifting mechanism can also be a telescopic oil cylinder, and the telescopic mechanism 4 is arranged at one end of a piston rod of the oil cylinder.
The buffering and ground contacting detection mechanism 7 detects information such as the weight of the clamped pipe column by adopting a sensor, and the change of the feedback position and the load after the ground contacting enables the equipment to judge the actual state of the pipe column. The thread oil smearing device 8 is installed on the lifting mechanism 3 and is used for smearing the threads.
When the drilling platform needs to convey a pipe column, the walking trolley 1 drives the rotary mechanism 2, the lifting mechanism 3 and the telescopic mechanism 4 to walk on the track 9 and deflect to the direction of the pipe column, the telescopic mechanism 4 stretches out the arm to drive the front end supporting mechanism 5 of the arm to move to the position of the pipe column, the clamping mechanism 6 clamps the pipe column, the lifting mechanism 3 lifts properly, the telescopic mechanism 4 stretches out the arm to drive the front end of the arm to retract to a target rotary position, then the rotary mechanism 2 moves to the target position, the thread oil smearing device 8 acts to smear male threads in the moving process, and the rotary mechanism 2 and the telescopic mechanism 3 move to convey the pipe column to a specified position. When operation of the drill floor manipulator is not required, the drill floor manipulator retracts the telescoping mechanism 4 and moves on the track 9 to increase the drill floor operating space.
By adopting the technical scheme, the pipe column can be lifted off the ground by adopting one clamping and lifting mechanism, the weight of the whole pipe column is completely borne on the surface of the drilling platform, the reconstruction work of the drilling machine is reduced to the greatest extent, the adaptability is strong, the operation efficiency is improved, and the labor intensity is reduced. Each degree of freedom of the device can be provided with a corresponding sensor, so that the real-time position of the conveying pipe can be accurately positioned, and the accurate buckling of the drill rod in the center of the well hole can be ensured. The clamping mechanism is added on the basis of the supporting mechanism, so that the supporting and clamping of the tubular column can be simultaneously met, the clamping firmness of the tubular column is increased, and the shaking in the tubular column conveying process is reduced. Meanwhile, the front end of the telescopic mechanism is provided with a buffering and grounding detection mechanism, so that the detection mechanism can be triggered when the pipe column is about to touch the ground in the conveying process, the moving speed is reduced, and the mechanism damage caused by the fact that the pipe column touches the ground is reduced.
The second embodiment of the invention is basically similar to the first embodiment in structure, and is different in the walking mechanism and the supporting mechanism. Wherein, only set up fixture 6 at the top of telescopic machanism 4, and do not set up the holding structure, longer with the length setting of the vertical direction of manipulator of fixture 6 to can form stably the centre gripping to the tubular column can. The function of the swing mechanism 2 can also be replaced by the walking and steering function of the trolley, for example, the designed trolley track, or the steering arrangement at the bottom of the trolley can realize the function of transporting the pipe column to the designated position on the platform surface.
Claims (9)
1. A drill floor tubular string processing apparatus comprising a gripping mechanism for gripping a tubular string, characterized in that the apparatus further comprises,
the traveling mechanism comprises a rail arranged on the surface of the drilling platform and a trolley arranged on the rail, a driving mechanism for driving the trolley to move is arranged in the traveling trolley, and the trolley can translate on the rail;
the lifting mechanism is arranged on the trolley, is connected with the clamping mechanism and is configured to be capable of adjusting the height of the clamping mechanism;
after the clamping mechanism clamps the tubular column, the lifting mechanism can drive the clamping mechanism and the tubular column to move upwards or downwards and bear the weight of the tubular column.
2. The drill floor tubular string handling apparatus of claim 1 or 2, wherein: the rotary mechanism is installed between the trolley and the lifting mechanism, and the lifting mechanism winds the vertical shaft of the rotary mechanism to rotate.
3. The drill floor tubular string processing apparatus of claim 1, wherein: and a telescopic mechanism is arranged between the lifting mechanism and the clamping mechanism and can enable the clamping mechanism to be far away from or close to the lifting mechanism.
4. The drill floor tubular string handling apparatus of claim 3, wherein: the clamping mechanism is fixedly installed at the end part of the telescopic mechanism, and the end part of the telescopic mechanism is hinged with a supporting mechanism.
5. The drill floor tubular string handling apparatus of claim 4, wherein: and the supporting mechanism is also provided with a buffering and grounding detection mechanism which is configured to detect the position and/or the load state of the clamped vertical pipe column and judge whether the pipe column contacts the table top according to the state.
6. The drill floor tubular string handling apparatus of claim 5, wherein: the apparatus also includes a thread oil application device configured to apply in contact with threads of the tubular string when the gripping mechanism grips the tubular string.
7. The drill floor tubular string handling apparatus of claim 6, wherein: the screw thread oil smearing device is installed on the lifting device.
8. The drill floor tubular string handling apparatus of claim 5, wherein: and when the buffering and grounding detection mechanism judges that the clamped tubular column is in contact with the table top, the trolley is controlled to slow down the moving speed.
9. A drill floor tubular string processing method using the drill floor tubular string processing apparatus according to claim 6 or 7, characterized in that: when the tubular column needs to be conveyed, the travelling mechanism moves to a position near the tubular column, the rotary mechanism on the travelling mechanism drives the lifting mechanism and the telescopic mechanism to deflect to the direction of the tubular column, the lifting mechanism appropriately moves up and down according to the clamping position of the tubular column to enable the clamping device to be located at the clamping position of the tubular column, the telescopic mechanism stretches out an arm to drive the arm to move to the position of the tubular column, the tubular column is clamped and fixed by the clamping mechanism, the tubular column is supported by the supporting mechanism, the travelling mechanism moves, and the rotary mechanism is matched with and moves to convey the tubular column to a specified position.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010803809.3A CN112096317A (en) | 2020-08-11 | 2020-08-11 | Drilling platform surface pipe column processing equipment |
| PCT/CN2021/111132 WO2022033399A1 (en) | 2020-08-11 | 2021-08-06 | Drill floor pipe string processing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010803809.3A CN112096317A (en) | 2020-08-11 | 2020-08-11 | Drilling platform surface pipe column processing equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112096317A true CN112096317A (en) | 2020-12-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010803809.3A Pending CN112096317A (en) | 2020-08-11 | 2020-08-11 | Drilling platform surface pipe column processing equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112096317A (en) |
| WO (1) | WO2022033399A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112647869A (en) * | 2020-12-22 | 2021-04-13 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112744649A (en) * | 2020-12-22 | 2021-05-04 | 四川宏华石油设备有限公司 | Walking wiring structure of rig floor manipulator |
| CN113123738A (en) * | 2021-05-19 | 2021-07-16 | 淮南矿业(集团)有限责任公司 | Quick shifting device for loading and unloading drill rod |
| CN113445941A (en) * | 2021-08-02 | 2021-09-28 | 兰州兰石石油装备工程股份有限公司 | Electric drive drill floor pipe supporting mechanical arm |
| WO2022033399A1 (en) * | 2020-08-11 | 2022-02-17 | 四川宏华石油设备有限公司 | Drill floor pipe string processing device |
| CN114961597A (en) * | 2022-07-27 | 2022-08-30 | 四川宏华石油设备有限公司 | Drill floor surface tubular column processing device and structure |
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| NO162528B (en) * | 1983-05-02 | 1989-10-02 | Branham Ind Inc | ROUTE HANDLING DEVICE. |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| CN105604505A (en) * | 2016-01-05 | 2016-05-25 | 西南石油大学 | Bridge thribble pipe racking device and pipe racking method |
| US20160160586A1 (en) * | 2014-12-08 | 2016-06-09 | National Oilwell Varco, L.P. | Floor mounted racking arm for handling drill pipe |
| CN105798903A (en) * | 2016-05-31 | 2016-07-27 | 青岛杰瑞工控技术有限公司 | Drilling table surface swing pipe manipulator |
| CN108547584A (en) * | 2018-05-18 | 2018-09-18 | 杜江 | A kind of rig floor manipulator |
| CN110424906A (en) * | 2019-07-30 | 2019-11-08 | 宝鸡石油机械有限责任公司 | A kind of drilling floor surface tubing string processing unit |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112096317A (en) * | 2020-08-11 | 2020-12-18 | 四川宏华石油设备有限公司 | Drilling platform surface pipe column processing equipment |
-
2020
- 2020-08-11 CN CN202010803809.3A patent/CN112096317A/en active Pending
-
2021
- 2021-08-06 WO PCT/CN2021/111132 patent/WO2022033399A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| NO162528B (en) * | 1983-05-02 | 1989-10-02 | Branham Ind Inc | ROUTE HANDLING DEVICE. |
| CN203357446U (en) * | 2013-07-12 | 2013-12-25 | 中国石油大学(华东) | Drill rod handling mechanical arm |
| US20160160586A1 (en) * | 2014-12-08 | 2016-06-09 | National Oilwell Varco, L.P. | Floor mounted racking arm for handling drill pipe |
| CN105604505A (en) * | 2016-01-05 | 2016-05-25 | 西南石油大学 | Bridge thribble pipe racking device and pipe racking method |
| CN105798903A (en) * | 2016-05-31 | 2016-07-27 | 青岛杰瑞工控技术有限公司 | Drilling table surface swing pipe manipulator |
| CN108547584A (en) * | 2018-05-18 | 2018-09-18 | 杜江 | A kind of rig floor manipulator |
| CN110424906A (en) * | 2019-07-30 | 2019-11-08 | 宝鸡石油机械有限责任公司 | A kind of drilling floor surface tubing string processing unit |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022033399A1 (en) * | 2020-08-11 | 2022-02-17 | 四川宏华石油设备有限公司 | Drill floor pipe string processing device |
| CN112647869A (en) * | 2020-12-22 | 2021-04-13 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112744649A (en) * | 2020-12-22 | 2021-05-04 | 四川宏华石油设备有限公司 | Walking wiring structure of rig floor manipulator |
| CN112647869B (en) * | 2020-12-22 | 2022-06-21 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112744649B (en) * | 2020-12-22 | 2022-08-19 | 四川宏华石油设备有限公司 | Walking wiring structure of rig floor manipulator |
| CN113123738A (en) * | 2021-05-19 | 2021-07-16 | 淮南矿业(集团)有限责任公司 | Quick shifting device for loading and unloading drill rod |
| CN113445941A (en) * | 2021-08-02 | 2021-09-28 | 兰州兰石石油装备工程股份有限公司 | Electric drive drill floor pipe supporting mechanical arm |
| CN114961597A (en) * | 2022-07-27 | 2022-08-30 | 四川宏华石油设备有限公司 | Drill floor surface tubular column processing device and structure |
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| Publication number | Publication date |
|---|---|
| WO2022033399A1 (en) | 2022-02-17 |
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