CN112096318A - Pipe conveying system and conveying method - Google Patents

Abstract

The invention relates to the technical field of petroleum drilling and workover rigs, in particular to a pipe tool moving and transporting system and a transporting method, wherein the pipe tool moving and transporting system comprises pipe tool storage equipment, a turnover manipulator, transmission equipment and a power rat hole, the pipe tool storage equipment is used for placing a horizontally arranged pipe tool, and one end of the pipe tool storage equipment is arranged in an open manner; the conveying equipment is used for conveying the pipes in the pipe storage equipment to the overturning mechanical arm; the overturning mechanical arm is used for rotating the pipe tool from a horizontal state to a vertical state and transmitting the pipe tool in the vertical state to the power rat hole; the power rat hole is used for conveying the pipe to the position of the stump. According to the conveying device for moving the pipe tool to the rat hole, the movement track of the pipe tool can be accurately controlled in the whole process, manual intervention is not needed, the labor intensity and the safety risk are reduced, and the conveying device can be matched with an electric control system to realize automation of the whole process.

Description

Pipe conveying system and conveying method

Technical Field

The invention relates to the technical field of petroleum drilling and workover rigs, in particular to a pipe tool moving and conveying system and a pipe tool moving and conveying method.

Background

In the oil and gas development process, pipes (pipe-type pipe for drilling and repairing wells such as drill pipes, drill collars, casing pipes, oil pipes, drill pipe stands, drill collar stands, casing pipe stands, oil pipe stands and the like) horizontally placed on a surface drill pipe rack are transferred to a stand-by position, and two methods are generally adopted:

the first method comprises the following steps: the pipe is conveyed to a ramp under manual operation through a mechanical catwalk and a pneumatic winch, then a drill floor auxiliary winch is used for hoisting a drill rod, the drill rod is conveyed to a rat hole under manual assistance to wait for subsequent operation, the traditional mechanical catwalk, the pneumatic winch, the drill floor auxiliary winch and a manual operation method are used, a large amount of manual operation and heavy labor are often involved, a pipe is impacted, deviated or dropped, and the whole treatment process is completely assisted by an operator, so that the working efficiency is low, the labor intensity is high, and the safety risk is high;

the second method comprises the following steps: the pipe is conveyed to a large doorway of a drilling floor through the power catwalk, then a lifting ring and an elevator on the top driving system are used, the drill rod is lifted, then the pipe is moved to a rat hole, the next step of operation is waited, the pipe is conveyed by the power catwalk, although the labor intensity can be reduced, workers are far away from the drill rod and equipment, the safety risk is greatly reduced, in the process of conveying the pipe by the power catwalk, the pipe rolls uncontrollably and unpredictably, the movement track of the pipe cannot be controlled in operation, the pipe often deviates from a safe operable path, manual adjustment and intervention are needed, the automation level of the whole pipe operation flow is low, and full automation cannot be realized. In addition, when the pipe string deviates from the required state and is not found to continue to perform the subsequent operation procedures, it is highly likely to cause the pipe string to fall from high altitude during the operation process to cause casualties or equipment damage.

Disclosure of Invention

The invention aims to: aiming at the problems of low working efficiency, high labor intensity and high safety risk caused by the fact that the whole treatment process is assisted by operators in the prior art, the pipe conveying system and the pipe conveying method are provided.

In order to achieve the purpose, the invention adopts the technical scheme that:

a pipe conveying system comprises a pipe storage device, a turnover manipulator, a transmission device and a power rat hole, wherein,

the pipe tool storage equipment is used for placing a horizontally arranged pipe tool, and one end of the pipe tool storage equipment is arranged in an open manner;

the conveying device is used for conveying the pipes in the pipe storage device to the overturning mechanical arm;

the overturning manipulator is used for rotating the pipe tool from a horizontal state to a vertical state and transmitting the pipe tool in the vertical state to the power rat hole;

the power rat hole is used for conveying the pipe to a position for jointing the stumps.

According to the conveying device for moving the pipe to the rat hole, the pipe in the pipe storage device is conveyed to the overturning mechanical arm through the conveying device, the pipe is rotated to the vertical state from the horizontal state through the overturning mechanical arm, the pipe in the vertical state is conveyed to the power rat hole, the power rat hole conveys the pipe to the position where the pipe is connected, the movement track of the pipe can be accurately controlled in the whole process, manual intervention is not needed, the labor intensity and the safety risk are reduced, and the conveying device can be matched with an electric control system to realize automation of the whole process.

Preferably, the conveying equipment comprises a crane, and the crane is used for hoisting the pipe tool and placing the pipe tool on the overturning manipulator. The purpose of moving the tube laterally is achieved by means of a projection.

Preferably, the transmission equipment comprises a pipe conveying mechanism, at least one storage grid used for placing the pipe is arranged in the pipe storage equipment, one end of the storage grid is open, the other end of the storage grid is provided with the pipe conveying mechanism, and the pipe conveying mechanism can eject the pipe out of the storage grid from the open end of the storage grid.

Preferably, the conveying device further comprises a conveying mechanism, the conveying mechanism is arranged above the storage grid, and the pipe ejected out of the open end of the storage grid can be conveyed to the turnover manipulator by the conveying mechanism.

Preferably, the storage compartments are arranged vertically.

Preferably, conveying mechanism includes the drive wheel, follows driving wheel and transmission band, the transmission band respectively with the drive wheel with cooperate from the driving wheel, the transmission band outside is provided with and is used for following the transmission band moving direction supports the propelling movement the bulge of pipe utensil.

Preferably, the top of the storage cell is provided with a bridging device which has a closed state and an open state,

when the bridging device is in the closed state, the bridging device is positioned at the top of the storage cell, and the top surface of the bridging device is flush with the top surface of the storage cell;

when the bridging device is in the open state, the bridging device is positioned on one side of the storage grid.

Preferably, the storage cells are arranged laterally.

All the tubes are transversely arranged and comprise storage grids which are horizontally arranged, or a certain included angle (not more than 45 degrees) is formed between the storage grids and the horizontal.

Preferably, the number of the pipe storage devices is at least two, a lifting assembly for lifting the pipe is arranged between at least two adjacent pipe storage devices, and the lifting assembly is positioned on one side corresponding to the opening of the storage grid.

Preferably, the turnover manipulator comprises a base and a turnover main beam for fixing the pipe, one end of the base is hinged to one end of the turnover main beam through a first hinge shaft, and a first telescopic member is hinged between the turnover main beam and the base.

Preferably, at least one pincer body assembly is arranged on the turnover main beam, and the pincer body assembly can limit the radial movement of the pipe; a supporting structure is arranged at the end part, close to the first articulated shaft, of the turnover main beam and is used for positioning one end of the pipe; the upset girder is kept away from the one end of first articulated shaft is provided with positioning mechanism, positioning mechanism is located the upset girder is kept away from the tip of first articulated shaft, and is configured into: when the pipe is located in the turnover main beam, the positioning mechanism can push the pipe from the end part of the pipe far away from the first articulated shaft.

Preferably, the turnover manipulator further comprises a lifting device, the lifting device is arranged on one side of the pipe storage device close to the turnover main beam, the transmission device is used for transmitting the pipe to the lifting device, and the lifting device is used for lifting the pipe to a height corresponding to the turnover main beam and transmitting the pipe to the turnover main beam.

Preferably, the power rat hole comprises a centering device and a lifting mechanism, the centering device and the lifting mechanism are vertically arranged correspondingly, the centering device can limit the pipe tool to move radially, and the centering device is used for limiting the bottom of the pipe tool.

Preferably, the lifting mechanism comprises a scissor lifting mechanism and a supporting plate group arranged on the upper portion of the scissor lifting mechanism, a positioning groove used for positioning the end portion of the pipe tool is arranged at the upper end of the supporting plate group, and in the vertical direction, the centering area of the centering device corresponds to the positioning groove.

Preferably, the support plate group comprises a plurality of support plates arranged at intervals, each support plate is arranged vertically, the upper ends of all the support plates form the positioning groove, and gaps capable of enabling the bearing structure to pass through are formed between the adjacent support plates.

The set of support plates is shaped to match the support structure such that at least a portion of the set of support plates can pass through the support structure to carry the pipe away.

The invention also discloses a conveying method for the pipe tool, which comprises the following steps.

S1: placing the tube on a flipping robot with the transport device;

s2: the overturning mechanical arm clamps the pipe tool to rotate from a horizontal state to a vertical state, and transmits the pipe tool in the vertical state to the power rat hole;

s3: the powered rat hole conveys the pipe to a stump grafting location.

According to the pipe conveying method, the pipe in the pipe storage device is conveyed to the overturning mechanical arm through the conveying device, the pipe is rotated from the horizontal state to the vertical state through the overturning mechanical arm, the pipe in the vertical state is conveyed to the power rat hole, the power rat hole conveys the pipe to the position where the pipe is connected to the stand, the movement track of the pipe can be accurately controlled in the whole process, manual intervention is not needed, labor intensity and safety risks are reduced, and the pipe conveying method can be matched with an electric control system to achieve automation of the whole process.

Preferably, based on the turnover girder according to the present application and the support plate group according to the present application, the supporting structure is capable of moving relative to the turnover girder along the length direction of the turnover girder, and the step S2 specifically includes the following steps:

s21: the overturning mechanical arm clamps the pipe and rotates from a horizontal state to a vertical state; s22: lowering the support structure or raising the shear fork lift mechanism so that the support structure extends through the shear fork lift mechanism and is below the locating groove, and the centralizing and centering device grips the pipe to limit radial movement of the pipe;

s23: the scissor lifting mechanism lifts the pipe, the clamp body assembly loosens the pipe.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:

1. according to the conveying device for moving the pipe to the rat hole, the pipe in the pipe storage device is conveyed to the overturning mechanical arm through the conveying device, the pipe is rotated to the vertical state from the horizontal state through the overturning mechanical arm, the pipe in the vertical state is conveyed to the power rat hole, the power rat hole conveys the pipe to the position where the pipe is connected, the movement track of the pipe can be accurately controlled in the whole process, manual intervention is not needed, and the labor intensity and the safety risk are reduced.

2. The conveying device for moving the pipe to the mousehole is characterized in that the supporting plate groups are matched with the supporting structure in shape, so that at least one part of the supporting plate groups can penetrate through the supporting structure to take away the pipe.

3. According to the pipe conveying method, the pipe in the pipe storage device is conveyed to the overturning mechanical arm through the conveying device, the pipe is rotated from the horizontal state to the vertical state through the overturning mechanical arm, the pipe in the vertical state is conveyed to the power rat hole, the power rat hole conveys the pipe to the position where the pipe is connected to the stand, the movement track of the pipe can be accurately controlled in the whole process, manual intervention is not needed, labor intensity and safety risks are reduced, and the pipe conveying method can be matched with an electric control system to achieve automation of the whole process.

Drawings

Fig. 1 is a schematic structural view (top view) of a pipe transportation system according to the present invention.

Fig. 2 is a schematic structural view of a pipe handling system of the present invention (right side view, with a crane, with the drill floor removed).

Fig. 3 is a schematic diagram of the pipe taking process of the crane of the present invention.

Fig. 4 is a schematic view of the pipe laying process of the crane of the invention.

Fig. 5 is a schematic structural view of a pipe handling system according to the present invention (right view, storage cells are vertically arranged, with the drill floor removed).

Fig. 6 is a schematic structural view of the conveying mechanism of the present invention.

Fig. 7 is a schematic flow chart of the pipe conveying mechanism for lifting the pipe (the storage grid is vertically arranged) of the invention.

Fig. 8 is a schematic flow chart of the pipe pushing process of the conveying mechanism (the storage grids are vertically arranged).

Fig. 9 is a schematic flow diagram of the lifting device of the present invention for lifting a pipe (storage grid vertical arrangement).

Fig. 10 is a schematic structural view of a pipe handling system according to the present invention (right view, storage cells are arranged horizontally, with the drill floor removed).

Fig. 11 is a schematic flow chart of the pipe conveying mechanism pushing the pipe to the lifting device (the storage grid is arranged horizontally).

Fig. 12 is a schematic flow chart of the lifting device of the present invention for driving the pipe to descend (the storage grid is arranged horizontally).

FIG. 13 is a schematic flow diagram of the tube ejection mechanism of the present invention (storage compartment is horizontally disposed) to eject a tube to the lift assembly.

Fig. 14 is a schematic flow diagram of the lifting assembly of the present invention lifting a pipe to a delivery mechanism (storage grid positioned horizontally).

Fig. 15 is a schematic flow diagram of the lifting assembly of the present invention lifting a pipe to a delivery mechanism (storage grid positioned horizontally).

Fig. 16 is a schematic flow diagram of the delivery mechanism of the present invention pushing against the pipe string lifting device (storage grid horizontal arrangement).

Fig. 17 is a schematic structural view of the inverting robot of the present invention.

Fig. 18 is a schematic structural view (a front three-dimensional isometric view) of a first magazine of the present invention.

Fig. 19 is a schematic view (rear three-dimensional isometric view) of the structure of the first magazine of the present invention.

Fig. 20 is a schematic structural view of the flip main beam of the present invention.

Fig. 21 is a front view of the inverted main beam of the present invention (with the caliper body assembly open).

Fig. 22 is a front view of the flip main beam of the present invention (with the caliper body assembly closed).

Fig. 23 is a schematic structural view of a second storage shelf of the present invention.

Fig. 24 is a schematic structural view of the positioning mechanism of the present invention.

Fig. 25 is a schematic flow chart of the first rack tilting of the present invention.

Fig. 26 is a schematic flow diagram of the present invention with the dispensing arm and first invert arm gripping a pipe.

Fig. 27 is a schematic flow chart of the first inversion arm rotating to drive the pipe to the inversion main beam according to the present invention.

Fig. 28 is a schematic flow chart of the tilting of the second stocker of the present invention.

Fig. 29 is a schematic flow chart of the second inversion arm rotating to bring the pipe to the inversion main beam according to the present invention.

Fig. 30 is a schematic view of the inverting robot of the present invention having both the first magazine and the second magazine.

Fig. 31 is a schematic view of the present invention with the tube in place on the inverted main beam (with the cart in front of the tube).

Figure 32 is a schematic view of the present invention with the tube in place on the inverted main beam (as the cart pushes against the tube).

Fig. 33 is a schematic view of the pipe string of the present invention being placed on the inverted main beam in engagement (the pipe string to a horizontal predetermined position).

Figure 34 is a schematic view of the pipe string of the present invention being placed on a roll over girder in mating (the pipe string to a vertical predetermined position).

Figure 35 is a schematic view of the inverted main beam of the present invention mated with a powered mousehole (with the tube in a vertical position).

Fig. 36 is a schematic structural view of the bottom structure of the dynamic rat hole of the present invention rising to the high position.

FIG. 37 is a schematic view of the engagement of the pulling assembly of the present invention with the chain bridge assembly.

Fig. 38 is a schematic structural view of the pulling assembly of the present invention.

FIG. 39 is a schematic structural view of a chain bridge assembly of the present invention.

Fig. 40 is a schematic structural view of the bridging mechanism of the present invention.

Fig. 41 is a schematic structural view of the lifting mechanism of the present invention.

Fig. 42 is a three-dimensional structure diagram of the centralizing and centering device.

Fig. 43 is a schematic structural view of the centering mechanism in a closed state.

Fig. 44 is a top view of fig. 43.

Fig. 45 is a schematic structural view of the centering mechanism in the open state.

Fig. 46 is a top view of fig. 45.

Icon: 1-a first storage rack; 10-a flipping assembly; 100-tube; 101-a drill pipe; 102-a sleeve; 11-a storage rack; 111-a placement surface; 112-a second articulated shaft; 12-a first jacking cylinder; 13-material blocking block; 14-adjusting the telescopic cylinder; 15-a distribution arm; 151-third hinge axis; 152-a placement space; 16-a second drive member; 17-a first flipping arm; 171-a fourth hinge axis; 18-a fourth drive component; 2-dynamic rat hole; 21-centering and centering device; 22-a lifting mechanism; 221-scissor lift mechanism; 222-a set of support plates; 223-positioning grooves; 224-a support plate; 23-a mounting seat; 24-protective pliers; 25-protective pincers; 251-a drive assembly; 252-a drive link; 253-a fixing plate; 254-a drive arm; 255-a backplane; 256-rocker arm snap-gauge; 257-a rocker arm; 3-overturning the manipulator; 30-turning over the main beam; 31-a base; 32-a caliper body assembly; 321-a clamping part; 322-a clamping space; 33-a first articulated shaft; 34-a support structure; 35-a first telescopic member; 36-a positioning mechanism; 361-chassis; 362-car; 363-a first drive member; 37-a lifting device; 4-a pipe storage facility; 41-storage grid; 42-a bridging device; 420-a traction assembly; 421-first chassis; 422-a traction guide member; 423-telescoping part one; 43-chain bridge assembly; 431-a sprocket member; 432-a chain; 433-bridge plate unit; 434-hanging weight; 44-a bridging mechanism; 441-chassis II; 442 a bridge module; 444-a second telescopic member; 45-a lifting assembly; 46-a vertical rod box; 47-horizontal drill pipe box; 5-a second storage rack; 51-a second flipping arm; 52-a driving cylinder; 53-a tilting arm; 54-a second jacking cylinder; 55-a transition arm; 56-chassis; 57-fifth hinge axis; 58-sixth hinge axis; 6-a transmission device; 61-a crane; 611-a spreader; 62-a pipe conveying mechanism; 63-a conveying mechanism; 631-a conveyor belt; 632-a projection; 633-driven wheel; 634-drive wheels.

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.

Example 1

As shown in fig. 1 to 36, a pipe transporting system includes a pipe storage device 4, a turning robot 3, a transfer device 6, and a power mousehole 2, wherein,

the pipe storage device 4 is used for placing the pipe 100 which is horizontally arranged, and the top of the pipe storage device 4 is arranged in an open manner;

the transfer device 6 is used to transfer the tubulars 100 in the tubulars storage device 4 onto the inverting robot 3;

the overturning manipulator 3 is used for rotating the pipe tool 100 from a horizontal state to a vertical state and transmitting the pipe tool 100 in the vertical state to the power rat hole 2;

the power rat hole 2 is used to transport the pipe string 100 to the site of the stump.

In particular, said transmission device 6 has four preferred solutions,

first, as shown in fig. 2-4, the transfer apparatus 6 includes a crane 61, the crane 61 being adapted to hoist the pipe 100 and place the pipe 100 on the upender robot 3, and the spreader 611 being adapted to move the pipe 100 above the upender robot 3.

Secondly, as shown in fig. 5-9, at least one row of storage grids 41 for placing the pipes 100 is arranged in the pipe storage device 4, all the pipes 100 in the same storage grids 41 are vertically arranged and parallel to the length direction of the turnover manipulator 3, a pipe conveying mechanism 62 for pushing the pipes 100 upwards is arranged at the bottom of each storage grid 41, a conveying mechanism 63 is arranged above each storage grid 41, a protruding part 632 for pushing the pipes 100 along the moving direction of the conveying belt 631 is arranged outside the conveying belt 631 of the conveying mechanism 63, in this scheme, the pipe conveying mechanism 62 can be lifted and lowered and can horizontally move, the movement can be realized through the combination of a lifting cylinder, a linear module, a transverse guide rail or an electric cylinder, and the conveying mechanism 63 can be a device with the functions of a chain wheel assembly, a synchronous pulley assembly, a V-shaped belt pulley assembly and the like, hydraulic telescopic cylinders, pneumatic telescopic cylinders, linear modules, transverse guide rails or electric cylinders and combinations thereof can also be used.

Thirdly, as shown in fig. 10 to 12, all the tubes 100 in the same storage compartment 41 are arranged horizontally and have a certain angle with the horizontal, and the tube conveying mechanism 62 pushes the tubes 100 out of the storage compartment 41 from the open end of the storage compartment 41 and then directly falls on the inverting manipulator 3.

Fourthly, as shown in fig. 13 to 16, the storage cells 41 are horizontally arranged and include a horizontal storage cell 41, or a certain included angle between the storage cell 41 and the horizontal is not more than 45 degrees, at least two pipe storage devices 4 are provided, a lifting assembly 45 for lifting the pipe 100 is provided between the adjacent pipe storage devices 4, the lifting assembly 45 is located at one side corresponding to the opening of the storage cell 41, and the pipe conveying mechanism 62 pushes the pipe 100 to eject the storage cell 41 from the opening end of the storage cell 41, then the pipe falls on the corresponding lifting assembly 45, and is relayed and conveyed by the lifting assembly 45 and the conveying mechanism 63 to finally reach the turning manipulator 3.

One side of the pipe storage device 4 close to the inverting manipulator 3 is provided with a lifting device 37, the protruding portion 632 abuts against the pipe 100 to the lifting device 37, and the lifting device 37 is used for conveying the pipe 100 to the inverting manipulator 3.

As shown in fig. 5 and 7, the top of the storage compartment 41 is provided with a bridging device 42, the bridging device 42 has a closed state and an open state,

when the bridging device 42 is in the closed state, the bridging device 42 is located at the top of the storage cell 41, and the top surface of the bridging device 42 is flush with the storage cell 41;

when the bridging device 42 is in the open state, the bridging device 42 is located at one side of the storage cell 41.

By means of the bridging device 42, the tube can be passed laterally from above the storage cell 41 without falling into the storage cell 41.

The bridging device 42 is particularly preferably configured such that,

as shown in fig. 37-39, the first scheme: the bridging device 42 comprises a pulling assembly 420 and a chain bridge assembly 43, wherein,

the traction assembly 420 comprises a traction guide component 422 and a first bottom frame 421 connected to the storage rack 11, wherein a first telescopic component 423 is connected between the traction guide component 422 and the first bottom frame 421, and the first telescopic component 423 is preferably a scissor type telescopic mechanism or an electric cylinder jacking mechanism;

the chain bridge assembly 43 includes a chain wheel member 431 connected to the storage frame 11, the chain wheel member 431 is fitted with a chain 432, one end of the chain 432 is provided with a hanging weight 434, and the other end is connected with the traction guide 422.

A plurality of bridge plate units 433 which are arranged independently are connected to one side of the chain 432, which is far away from the sprocket part 431, and all the bridge plate units 433, which are located between the sprocket part 431 and the storage cells 110, on the same bridging device 42 are located on the same plane. The bridge plate unit forms a plane channel for the pipe tool to pass through, so that the smoothness of the pipe tool to pass through can be improved.

The first telescopic component 423 pushes the traction guide component to move back and forth to drive the chain 432 to move back and forth, so that bridging operation is realized between the vertical fingerboards, and a channel is provided for the movement of the pipe.

The bridging device 42 of this embodiment is preferably used when the storage rack has a certain storage capacity, and its size is not too large. When the telescopic part is completely contracted, the chain can be stored on the side of the storage rack, the whole structure is compact, and therefore occupied space can be saved. As shown in fig. 40, the second scheme: the bridging device 42 comprises a bridging mechanism 44, wherein the bridging mechanism 44 comprises a second underframe 441 and a bridge assembly 442, the second underframe 441 is connected to the storage rack 11, the bridge assembly 442 is located at the top of the corresponding storage rack 11, the bridge assembly 442 and the second underframe 441 are connected through a second telescopic component 444, and the second telescopic component 444 is preferably a scissor type telescopic mechanism or an electric cylinder jacking mechanism.

The second telescopic component 444 pushes the bridge assembly 442 to move back and forth, so that the bridge assembly can be covered between the vertical fingerboards to achieve bridging operation, a channel is provided for pipe moving, the whole structure is simple, and the manufacturing cost is low.

As shown in fig. 17-30, the flipping robot 3 includes a base 31 and a flipping girder 30 for fixing the pipe string 100, wherein,

one end of the base 31 is hinged to one end of the turnover girder 30 through a first hinge shaft 33, a first telescopic member 35 is further hinged between the turnover girder 30 and the base 31, at least one clamp body assembly 32 is arranged on the turnover girder 30, and the clamp body assembly 32 can limit the pipe 100 to move along the radial direction of the pipe.

Two specific preferred embodiments of the caliper body assembly 32 are:

a. the clamping mode is as follows: the jaw assembly 32 is correspondingly provided with clamping portions 321, and a clamping space 322 for clamping the pipe tool 100 is formed between the correspondingly provided clamping portions 321.

b. The supporting mode is as follows: a support structure 34 is provided on the end of the tilt girder 30 near the first hinge axis 33, the support structure 34 being used to position one end of the pipe 100, the one end of the pipe 100 abutting the support structure 34.

A positioning mechanism 36, wherein the positioning mechanism 36 is positioned at the end of the turning main beam 30 far away from the first hinge shaft 33,

and is configured to:

with the tube 100 in the invert girder 30, the positioning mechanism 36 can push the tube 100 from the end of the tube 100 remote from the first articulation axis 33.

Specifically, the positioning mechanism 36 includes a chassis 361 and a trolley 362, which are disposed in a relatively movable manner, and the trolley 362 is used for pushing the pipe 100.

As shown in fig. 24, more specifically, the first driving part 363 of the positioning mechanism 36 operates to drive the trolley 362 to travel through the sprocket and the chain, the trolley 362 travels a certain distance and contacts with the end of the pipe 100, the trolley 362 continues to travel, and pushes the pipe 100;

in the above solution, the trolley 362 may be driven to move relative to the chassis 361 by a steel cable, a pulley, or an oil cylinder.

Since different types of pipes have different lengths, diameters and wall thicknesses, the chassis 361 is provided with a first driving part 363, the first driving part 363 is in driving connection with the trolley 362, the first driving part 363 is provided with an encoder for recording the displacement of the trolley 362, the length of the pipe 100 can be measured through the encoder and the displacement of the trolley 362, the length is recorded through the encoder, further preparation is made for subsequent processing of the pipe 100, for example, the length is recorded through the encoder, a recording signal is transmitted to a control system, and the control system controls the lifting of the lifting mechanism 22 to a corresponding height according to the recording signal.

As shown in fig. 18-19, a first magazine 1 is used to deliver the tubular 100 to the upender girder 30, where the tubular 100 is often drill pipe, drill collar or tubing.

Specifically, the first storage rack 1 includes a storage rack 11 and an inversion assembly 10, the storage rack 11 being used for placing the tubulars 100, and the inversion assembly 10 being used for transporting the tubulars 100 from the storage rack 11 to the inversion main beam 30.

The storage rack 11 is close to the tip of upset girder 30 with the base 31 is articulated mutually through second articulated shaft 112, storage rack 11 with it has first jacking jar 12 still to articulate between the base 31, second articulated shaft 112 is located first jacking jar 12 with between the upset girder 30.

The overturning assembly 10 comprises a material distributing arm 15 and a first overturning arm 17 which are correspondingly arranged, a placing space 152 for placing the pipe 100 is arranged between the material distributing arm 15 and the first overturning arm 17, wherein the material distributing arm 15 is hinged with the first storage rack 1 through a third hinge shaft 151, a second driving part 16 of a second driving part 16 is further connected between the material distributing arm 15 and the storage rack 11, and the second driving part 16 of the second driving part 16 drives the material distributing arm 15 to rotate around the third hinge shaft 151; the first turnover arm 17 is hinged to the first storage rack 1 through a fourth hinge shaft 171, a fourth driving part 18 is further connected between the first turnover arm 17 and the storage rack 11, and the fourth driving part 18 drives the first turnover arm 17 to rotate around the fourth hinge shaft 171.

The storage rack 11 is provided with a material blocking block 13 and a placing surface 111 for placing the pipe tool 100, the material blocking block 13 can move back and forth relative to the placing surface 111 along the placing surface 111, and the moving direction of the material blocking block 13 is close to or far away from the overturning main beam 30.

As shown in fig. 23, 28-29, a second magazine 5 for transporting the tubulars 100 onto the inversion main beam 30, where the tubulars 100 are often casing,

specifically, the second storage rack 5 includes a second tilting arm 51, a bottom frame 56 and a tilting arm 53, the bottom frame 56 and the tilting arm 53 are hinged through a fifth hinge shaft 57, a second jacking cylinder 54 is further hinged between the bottom frame 56 and the tilting arm 53, the fifth hinge shaft 57 is located between the second jacking cylinder 54 and the tilting girder 30, the second tilting arm 51 and the bottom frame 56 are hinged through a sixth hinge shaft 58, and the sixth hinge shaft 58 is located between the fifth hinge shaft 57 and the tilting girder 30.

The second storage rack 5 further comprises a second overturning arm 51, the second overturning arm 51 is hinged to the bottom frame 56 through a sixth hinge shaft 58, and the sixth hinge shaft 58 is located between the fifth hinge shaft 57 and the overturning main beam 30.

A transition arm 55 is disposed between the tilting arm 53 and the second flipping arm 51, and an end of the transition arm 55 near the tilting arm 53 is hinged to the bottom frame 56 through the fifth hinge shaft 57.

In the above scheme, the first storage rack 1 and the second storage rack 5 may be separately or simultaneously disposed, and when disposed simultaneously, the first storage rack 1 is located on one side of the turning main beam 30, and the second storage rack 5 is located on the other side of the turning main beam 30.

The purpose of the material stop block 13 on the first storage rack 1 is to ensure that when the material distribution arm 15 is used for treating pipes 100 with different diameters, only one pipe 100 is moved each time, and the telescopic cylinder 14 is adjusted to drive the material stop block 13 to move and stop at different positions so as to adapt to different pipes 100. The position of the material blocking block 13 is changed by changing the value of a displacement sensor arranged in the adjusting telescopic cylinder 14 according to the diameters of different pipes 100.

As shown in fig. 35, 36 and 41, the power mousehole 2 includes a centering device 21 and a lifting mechanism 22, the centering device 21 and the lifting mechanism 22 are vertically disposed correspondingly, the centering device 21 can limit the pipe 100 to move along the radial direction thereof, the centering device 21 is used for limiting the bottom of the pipe 100,

as shown in fig. 41, the lifting mechanism 22 includes a scissors lifting mechanism 221 and a support plate group 222 disposed on the upper portion of the scissors lifting mechanism 221, the upper end of the support plate group 222 is provided with a positioning groove 223 with a downward pointed angle, in the vertical direction, the center line of the centering region of the centering device 21 coincides with the axis of the groove, the support plate group 222 includes a plurality of support plates 224 arranged at intervals, each support plate 224 is arranged vertically, the positioning groove 223 is formed at the upper end of all the support plates, and a gap is formed between adjacent support plates 224, through which the supporting structure 34 can pass.

The centralizing and centering device 21 comprises a mounting seat 23, a protective clamp 24 and a centering mechanism 25; the mounting seat 23 may be configured as a rectangular parallelepiped hollow structure, a U-shaped opening is opened on one side of the mounting seat 23, two straight edges of the U-shaped opening are arranged in parallel with a guide mechanism, and the protection clamp 24 and the centering mechanism 25 are both installed inside the mounting seat 23, the specific structure of the protection clamp 24 is not limited as long as the pipe tool 100 can be limited in the U-shaped opening of the mounting seat 23.

As shown in fig. 42-46, the centering mechanism 25 includes a driving assembly 251, a fixing plate 253 and a bottom plate 255, the number of the fixing plates 253 in the centering mechanism 25 is 2, and the fixing plates 253 are respectively fixed on two opposite sides of the bottom plate 255, and through holes are respectively formed in the 2 fixing plates 253; a transmission arm 254, a rocker arm 257, a rocker arm clamping plate 256 and a transmission rod 252 are arranged at the through hole of each fixing plate 253, one end of the transmission arm 254 is hinged to one end of the rocker arm 257 after penetrating through the through hole, the other end of the transmission arm 254 is hinged to one end of the transmission rod 252, the other end of the rocker arm 257 is fixedly connected with the rocker arm clamping plate 256, the other end of the transmission rod 252 is hinged to one end of a driving assembly 251, the other end of the driving assembly 251 is fixedly arranged on the bottom plate 255, and the driving assembly 251 is arranged in the middle position between the through holes of the two fixing plates 253; the plane of the rocker arm clamping plates 256 can be vertically arranged with the rocker arms 257, notches are arranged on the opposite side edges of the 2 rocker arm clamping plates 256, when the centering mechanism 25 is closed under the action of the driving component 251, the notches on the 2 rocker arm clamping plates 256 form a rhombus-shaped structure, the centers of the rhombus-shaped structures are located on the symmetry line of the U-shaped opening of the mounting seat 23, and a predetermined centering and centering area for the pipe 100 is formed between the notches on the 2 rocker arm clamping plates 256.

Specifically, the drive link 252 may be selected to be a conventional link for ease of implementation. The transmission arm 254 may be a plate-shaped structure, and a rotation shaft is fixedly disposed on a plate surface of one end of the transmission arm 254, the rotation shaft is perpendicular to the plate surface of the transmission arm 254, and is hinged to one end of the swing arm 257 after passing through the through hole of the fixing plate 253, and the other end of the transmission arm 254 is hinged to one end of the transmission rod 252. Rocking arm cardboard 256 can select to be the rectangular plate to set up a breach on 2 rocking arm cardboard 256 relative sides, 2 breachs between rocking arm cardboard 256 can form a rhombus column structure, and make rocking arm cardboard 256 keep away from fixed connection between the side of breach and the rocking arm 257, be convenient for increase the joint strength between rocking arm cardboard 256 and the rocking arm 257, can also set up a reinforcing plate in rocking arm cardboard 256's below. The rocker arm 257 may be a combined structure formed by 2 rectangular plates perpendicular to each other, and one end of the rocker arm 257 is fixedly connected with the rocker arm clamping plate 256, and the other end is hinged with the transmission arm 254. The specific selection mode of the driving assembly is not limited, and for implementation, the driving assembly can be selected to be driven by hydraulic pressure or electric power.

Further, in order to further improve the effect of the centering device 5 on controlling the position of the pipe 100, and further improve the position accuracy of the pipe 100 in the present invention, the number of the centering mechanisms 25 in the present invention may be at least 2, and the centering mechanisms may be arranged in the mounting seat 23 at intervals up and down. For the sake of simplification of the structure, as shown in fig. 5, the centering mechanism 25 may be provided in 2.

According to the conveying device for moving the pipe 100 to the rat hole, the pipe 100 in the pipe storage device 4 is conveyed to the overturning mechanical arm 3 through the conveying device 6, the pipe 100 is rotated from the horizontal state to the vertical state through the overturning mechanical arm 3, the pipe 100 in the vertical state is conveyed to the power rat hole 2, the power rat hole 2 conveys the pipe 100 to the position of the vertical root, the movement track of the pipe 100 can be accurately controlled in the whole process, manual intervention is not needed, and the labor intensity and the safety risk are reduced.

Example 2

As shown in fig. 1 to 26, the pipe conveying method according to this embodiment is based on the pipe conveying system according to embodiment 1, and can achieve rapid and accurate positioning of the movement trajectory of the pipe column, so as to achieve full automation of the pipe column processing process. Which comprises the following steps:

s1: placing the pipe 100 on the inverting robot 3 using the transfer device 6;

s2: the overturning manipulator 3 clamps the pipe tool 100 and rotates from a horizontal state to a vertical state, and transmits the pipe tool 100 in the vertical state to the power rat hole 2;

s3: the power rat hole 2 delivers the pipe string 100 to the stand-off location.

Wherein the step S2 specifically includes:

s21: the inverting manipulator 3 rotates from a horizontal state to a vertical state in order to clamp the pipe 100; s22: lowering the support structure 34 or raising the scissors lift 221 so that the support structure 34 extends through the scissors lift 221 and the support structure 34 is below the locating groove 223, the centralizing and centering device 21 gripping the pipe string 100 to limit radial movement of the pipe string 100;

s23: the scissor lift mechanism 221 lifts the pipe string 100 and the jaw assembly 32 releases the pipe string 100.

The following takes the drill pipe 101 as an example (the drill pipe 101 may be replaced by a drill collar, an oil pipe, or other pipes, and is applicable), and briefly outlines the flow of the pipe handling system to the drill floor of the drill pipe 101.

Initial state: the crane 61 is located at a waiting position, the overturning mechanical arm 3 is located at a low position, and the power rat hole 2 is located at the waiting position.

The first step is as follows: the crane 61 is positioned above the pipe 100 to be transported;

the second step is that: the crane 61 grabs the plurality of pipes 100;

the third step: the crane 61 places the pipe 100 on the first storage rack 1 of the inverting robot 3;

the fourth step: inclining the first storage rack 1 towards one side of the turnover manipulator 3 to enable the drill rod 101 to roll to one side close to the turnover manipulator 3;

the fifth step: upset assembly 10 sends drill pipe 101 into upset girder 30;

and a sixth step: positioning mechanism 36 pushes drill rod 101 so that one end of drill rod 101 abuts against support structure 34;

the seventh step: the turnover main beam 30 clamps the drill rod 101 to rotate from a horizontal preset position to a vertical preset position under the action of the first telescopic member 35;

eighth step: descending the support structure 34 or ascending the scissor lifting mechanism 221 to enable the support structure 34 to be lower than the positioning groove 223, and enabling the centralizing and centering device 21 of the power rat hole 2 to hold the drill rod 101 so as to limit the radial movement of the drill rod 101;

the ninth step: the scissor lifting mechanism 221 of the power rat hole 2 continuously jacks up the drill rod 101, and the clamp body assembly 32 of the main beam 30 is turned over to loosen the drill rod 101;

the tenth step: the first telescopic member 35 of the turnover manipulator 3 is reset, and the whole turnover manipulator is reset to a horizontal state to wait for the next operation;

the eleventh step: and the power rat hole 2 moves horizontally to send the drill rod 101 to a position for connecting a stand. And after the tubular column in the rat hole is transferred away, the power rat hole is reset.

The twelfth step: the fourth to tenth steps are repeated until all of the drill rods 101 on the first magazine 1 are removed.

The thirteenth step: the first step to the tenth step are repeated until all drill rods 101 are delivered to the drill floor.

The flow of the drill pipe 101 down the rig floor is essentially the reverse of the flow of the pipe 100 up the rig floor.

The following operational flow of the casing 102 on the drill floor is illustrated as follows:

initial state: the turning manipulator 3 is located at a low position, and the second storage rack 5 is located at a waiting position.

The first step is as follows: the second storage rack 5 is inclined towards one side of the turnover main beam 30, so that the sleeve 102 rolls to one side close to the turnover main beam 30;

the second step is that: the second invert arm 51 separates one sleeve 102, so that it rolls into the transition arm 55 to wait for subsequent actions;

the third step: the second invert arm 51 continues to feed the sleeve 102 into the invert robot 3, and the jaw assembly 32 grips the sleeve 102 to limit the radial movement of the sleeve 102;

the fourth step: adjusting a positioning mechanism 36 at the tail part of the turnover manipulator 3 to enable a trolley 362 on the positioning mechanism to abut against the sleeve 102;

the fifth step: the overturning manipulator 3 rotates the clamping sleeve 102 from the horizontal position to the vertical position under the action of the first telescopic member 35;

and a sixth step: descending the support structure 34 or ascending the scissor lifting mechanism 221 to enable the support structure 34 to be lower than the positioning groove 223, and enabling the centralizing and centering device 21 of the power rat hole 2 to hold the casing 102 so as to limit the radial movement of the casing 102;

the seventh step: the scissor lifting mechanism 221 of the power rat hole 2 continuously jacks up the sleeve 102, and the clamp body assembly 32 of the main beam 30 is turned over to release the sleeve 102;

eighth step: the first telescopic member 35 of the turnover manipulator 3 is reset, the whole turnover manipulator is reset to be in a horizontal state, the next step of operation is waited, and the second storage rack (5) is reset to be in a low position;

the ninth step: the power rat hole 2 moves horizontally, the sleeve 102 is conveyed to the position of the connecting stump, and the power rat hole is reset after the sleeve in the rat hole is moved away.

The tenth step: the first through ninth steps are repeated until all of the casings 102 are delivered to the rig floor.

As an alternative solution: as shown in fig. 2-9, the pipe string storage apparatus 4 may be replaced with a vertical drill pipe box 46, with the pipes 100 in the vertical drill pipe box 46 being vertically accessed and separated from each column of pipes 100 by a fingerboard, and the stored pipe strings 100 being transported by the transport mechanism 63 and the lifting apparatus 37 from the vertical drill pipe box 46 to the first storage rack 1 or the second storage rack 5 and then to the next stand location.

The operation flow of the vertical drill rod box 46 to send the pipe 100 to the first storage rack 1 or the second storage rack 5 is as follows:

the first step is as follows: the pipe conveying mechanism 62, the bridging device 42, the conveying mechanism 63 and the lifting device 37 are prepared in place;

the second step is that: the pipe feeding mechanism 62 lifts the pipes 100 so that one pipe 100 protrudes out of the vertical drill pipe box 46;

the third step: the conveyance mechanism 63 delivers the pipe string to the lifting device 37;

the fourth step: the lifting device 37 lowers the pipe 100 to the appropriate height;

the fifth step: the lifting device 37 sends the pipe 100 to the first storage rack 1 or the second storage rack 5;

and a sixth step: the lifting device 37 is reset;

the seventh step: repeating the first step to the fifth step, and finishing processing all the tubular columns in the first row; the drive bridging device 42 seals the space above the column row of the taken tubular columns to serve as a support bridge for the subsequent rolling of the tubular columns.

Eighth step: repeating the first step to the seventh step until all pipe columns in the first drill rod 101 box are taken out; the ninth step: repeating the first step to the eighth step until all pipe columns in all drill rod 101 boxes are taken; the operation flow of the storage pipe is the reverse process of the operation flow of the taking pipe.

The above is only one process operation for pipe removal, and the present invention may be used to remove any column of a single vertical rod magazine 46 as desired. That is, the string may be picked and placed at any one of the columns in one of the vertical pipe racks 46 during the retrieval process, rather than from one end to the other.

As an alternative solution: as shown in fig. 10-16, the pipe storage device 4 may be replaced by a horizontal pipe box 47 of horizontal pipe, the pipe string in the horizontal pipe box 47 is horizontally accessible at some angle from the horizontal and separated from each layer of pipe string by a fingerboard, and the stored pipe string is transported by a pipe feeding mechanism 62, a transporting mechanism 63 and a lifting device 37 to the first storage rack 1 or the second storage rack 5 and then to the setting position.

The operation process of the power drill rod 101 of the horizontal pipe conveying to the first storage rack 1 or the second storage rack 5 is as follows:

operation flow of taking the first pipe 100

The first step is as follows: the pipe conveying mechanism 62, the conveying mechanism 63 and the lifting device 37 are prepared in place;

the second step is that: the pipe feeding mechanism 62 pushes the pipes 100 so that one pipe 100 protrudes out of the column box and rolls into the lifting device 37; (ii) a

The third step: the lifting device 37 lowers the pipe 100 to the appropriate height;

the fourth step: the lifting device 37 sends the pipe 100 to the first storage rack 1 or the second storage rack 5;

the fifth step: the lifting device 37 is reset;

and a sixth step: repeating the first step to the fifth step, and taking all the pipes 100 of the first horizontal drill rod box 47 out;

the operation flow of taking the pipe tool 100 in the other horizontal drill pipe box 47 is as follows:

the first step is as follows: the pipe conveying mechanism 62, the conveying mechanism 63 and the lifting device 37 are prepared in place;

the second step is that: the pipe conveying mechanism 62 of the taken drill rod 101 pushes the pipes 100, so that one pipe 100 protrudes out of the horizontal drill rod box 47 and rolls into the lifting device 37;

the third step: the lifting device 37 sends the taken pipe 100 to a proper height;

the fourth step: the lifting device 37 sends the pipe 100 to the conveying mechanism 63 and conveys the pipe;

the fifth step: the conveying mechanism 63 conveys the pipe string to the lifting device 37;

and a sixth step: the lifting device 37 sends the pipe 100 to the conveying mechanism 63 and conveys the pipe;

the seventh step: the transport mechanism 63 transports the pipe 100 to the lifting device 37

Eighth step: the lifting device 37 lowers the pipe 100 to the appropriate height;

the ninth step: the lifting device 37 sends the pipe 100 to the drill stem transfer table 31

The tenth step: the lifting device 37 is reset;

by repeating the above-mentioned process, the other tubular columns can be completely conveyed to the first storage rack 1 or the second storage rack 5,

the operation flow of storing the pipe is basically the reverse of the operation flow of taking the pipe, and only local adjustment is needed to meet the requirement

The pipe-taking process is only described by selecting one of the operation methods for easy understanding, and in fact, any row in one horizontal drill pipe box 47 can be taken according to the needs of the invention. That is, the pipe 100 may be picked and placed in any row of one of the horizontal drill pipe boxes 47 during the picking process, rather than from one end to the other, top to bottom, or bottom to top.

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 (17)

1. A pipe conveying system is characterized by comprising pipe storage equipment (4), a turnover manipulator (3), transmission equipment (6) and a power rat hole (2),

the pipe tool storage equipment (4) is used for placing a horizontally arranged pipe tool (100), and one end of the pipe tool storage equipment (4) is arranged in an open mode;

the conveying device (6) is used for conveying the pipes (100) in the pipe storage device (4) to the overturning mechanical arm (3);

the overturning manipulator (3) is used for rotating the pipe (100) from a horizontal state to a vertical state and transmitting the pipe (100) in the vertical state to the power rat hole (2);

the power rat hole (2) is used for conveying the pipe (100) to a position for jointing the pipe with the stump.

2. A pipe handling system according to claim 1, wherein the transfer apparatus (6) comprises a crane (61), the crane (61) being adapted to hoist the pipe (100) and place the pipe (100) on the upender robot (3).

3. A pipe handling system according to claim 1, wherein the transport device (6) comprises a pipe conveying mechanism (62), at least one storage cell (41) for placing the pipe (100) is arranged in the pipe storage device (4), one end of the storage cell (41) is open, the other end of the storage cell (41) is provided with the pipe conveying mechanism (62), and the pipe conveying mechanism (62) can push the pipe (100) out of the storage cell (41) from the open end of the storage cell (41).

4. A pipe handling system according to claim 3, wherein the transfer device (6) further comprises a transport mechanism (63), the transport mechanism (63) being arranged above the storage compartment (41), the pipe (100) ejected from the open end of the storage compartment (41) being transportable by the transport mechanism (63) onto the inverting robot (3).

5. A pipe conveying system according to claim 4, wherein the conveying mechanism (63) comprises a driving wheel (634), a driven wheel (633) and a conveying belt (631), the conveying belt (631) is respectively matched with the driving wheel (634) and the driven wheel (633), and a protrusion (632) for pushing the pipe (100) along the moving direction of the conveying belt (631) is arranged on the outer side of the conveying belt (631).

6. A pipe handling system according to claim 5, wherein the storage compartments (41) are arranged vertically.

7. A pipe handling system according to claim 6, wherein the storage compartment (41) is provided with a bridging device (42) on top, said bridging device (42) having a closed state and an open state,

when the bridging device (42) is in the closed state, the bridging device (42) is positioned at the top of the storage cell (41), and the top surface of the bridging device (42) is flush with the top surface of the storage cell (41);

the bridging device (42) is located to one side of the storage compartment (41) when the bridging device (42) is in the open state.

8. A pipe handling system according to claim 5, wherein the storage compartments (41) are arranged laterally.

9. A pipe running system according to claim 8, wherein there are at least two pipe storage facilities (4), and a lifting assembly (45) for lifting and lowering the pipe (100) is provided between at least two adjacent pipe storage facilities (4), and the lifting assembly (45) is located at the side corresponding to the opening of the storage cell (41).

10. Pipe handling system according to any one of claims 1 to 9, wherein said overturning manipulator (3) comprises a base (31) and an overturning girder (30) for fixing a pipe (100), one end of said base (31) and one end of said overturning girder (30) being hinged by means of a first hinge axis (33), a first telescopic member (35) being hinged between said overturning girder (30) and said base (31).

11. The pipe handling system of claim 10, wherein the flipping robot (3) further comprises a lifting device (37),

the lifting device (37) is arranged on one side, close to the overturning girder (30), of the pipe storage device (4), the transmission device (6) is used for transmitting the pipe (100) to the lifting device (37), and the lifting device (37) is used for lifting the pipe (100) to a height corresponding to the overturning girder (30) and transmitting the pipe to the overturning girder (30).

12. A pipe handling system according to claim 10, wherein said overturning girder (30) is provided with at least one pincer assembly (32), said pincer assembly (32) being able to limit the radial movements of said pipe (100); the end of the overturning girder (30) close to the first articulated shaft (33) is provided with a supporting structure (34), the supporting structure (34) is used for positioning one end of the pipe (100); one end of the turnover girder (30) far away from the first hinge shaft (33) is provided with a positioning mechanism (36), the positioning mechanism (36) is positioned at the end part of the turnover girder (30) far away from the first hinge shaft (33) and is configured to: the positioning mechanism (36) is able to push the tube (100) from the end of the tube (100) remote from the first articulated shaft (33) when the tube (100) is in the overturning girder (30).

13. Pipe string handling system according to claim 12, characterised in that the power mousehole (2) comprises a centering device (21) and a lifting mechanism (22), the centering device (21) and the lifting mechanism (22) being vertically arranged in correspondence, the centering device (21) being able to limit the radial movement of the pipe string (100), the centering device (21) being adapted to limit the bottom of the pipe string (100).

14. A pipe handling system according to claim 13, wherein the lifting mechanism (22) comprises a scissor lift mechanism (221) and a supporting plate set (222) disposed on the upper portion of the scissor lift mechanism (221), the upper end of the supporting plate set (222) is provided with a positioning groove (223) for positioning the end of the pipe (100), and the centering area of the centering device (21) corresponds to the positioning groove (223) in the vertical direction.

15. A pipe handling system according to claim 14, wherein the support plate group (222) comprises a plurality of support plates (224) arranged at intervals, each support plate (224) is arranged vertically, the upper ends of all the support plates form the positioning groove (223), and a gap is formed between adjacent support plates (224) for allowing the supporting structure (34) to pass through.

16. A method for conveying a pipe string, based on claim 15, characterized in that the pipe string handling system comprises the following steps:

s1: -placing the pipe (100) on a flipping robot (3) with the transfer device (6);

s2: the overturning mechanical hand (3) clamps the pipe (100) and rotates from a horizontal state to a vertical state, and transmits the pipe (100) in the vertical state to the power rat hole (2);

s3: the power rat hole (2) conveys the pipe (100) to a position for jointing the stumps.

17. The method for conveying a tube according to claim 16, characterized in that step S2 comprises the following steps:

s21: the overturning mechanical arm (3) clamps the pipe (100) and rotates from a horizontal state to a vertical state;

s22: lowering the support structure (34) or raising the scissors lift mechanism (221) with the support structure (34) through the scissors lift mechanism (221) and the support structure (34) below the locating groove (223), the centralizing and centering device (21) gripping the pipe string (100) to limit radial movement of the pipe string (100);

s23: the scissor lifting mechanism (221) lifts the pipe (100) and the tong body assembly (32) loosens the pipe (100).

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