CN112096320A

CN112096320A - Conveying device and method for pipe

Info

Publication number: CN112096320A
Application number: CN202010820364.XA
Authority: CN
Inventors: 冯影川; 吕岩; 陈崇; 唐爱民; 吴正华; 马加尚
Original assignee: Sichuan Honghua Petroleum Equipment Co Ltd
Current assignee: Sichuan Honghua Petroleum Equipment Co Ltd
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2020-12-18
Anticipated expiration: 2040-08-14
Also published as: CN112096320B; WO2022033400A1

Abstract

The invention relates to automatic pipe tool treatment equipment, in particular to a conveying device and a conveying method for a pipe tool, wherein the conveying device comprises a base and an overturning main beam for fixing the pipe tool, one end of the base is hinged with one end of the overturning main beam through a first hinge shaft, and a first telescopic member of a telescopic member is hinged between the overturning main beam and the base. According to the pipe conveying device for the pipe, the initial state is the horizontal preset position, one end of the base is hinged with one end of the overturning main beam through the first hinge shaft, when the pipe conveying device works, the first telescopic component extends out in an operation mode, the overturning main beam is pushed to rotate around the first hinge shaft, the overturning main beam drives the pipe in the clamp body assembly to rotate simultaneously and reach the vertical preset position, the pipe is fixed on the overturning main beam in the whole process, the track is controllable, and therefore the pipe can be conveyed rapidly and accurately.

Description

Conveying device and method for pipe

Technical Field

The invention relates to an automatic pipe tool processing device, in particular to a conveying device and a conveying method for pipe tools.

Background

In the field of petroleum and natural gas drilling and production, the drilling pipe (drill rod, drill collar and casing) is used as the most frequently used tool with various types and large quantity, and the service time of the drilling pipe exceeds 90 percent in the drilling operation. All tubulars are transported individually by type and delivered to the rig floor using specialized equipment when arriving at the well site for use. After completion of the well, when the well needs to be moved, special equipment is adopted to convey the pipe to the ground for storage and transportation.

The professional equipment which is widely used in the industry at present and used for conveying the pipe from the ground to the drilling platform surface is a power catwalk, and the whole process usually adopts the power catwalk, a drill rod rack, a rat hole, a righting manipulator, an iron roughneck, an elevator and other equipment to work in a matched mode, so that the pipe conveying operation from the ground to the drilling platform surface is completed. Wherein the core equipment is a power catwalk, and the power catwalk completes the process of conveying the pipe from the ground low position to the drill floor high position. However, due to the particularity of the equipment, catwalk conveying pipes need to be connected with an elevator, and the pipes are conveyed to the drilling platform and are required to be in an inclined state.

Due to the development of the industry for automation and intellectualization. It is desirable to quickly and accurately transport the pipe string to the table, from a horizontal predetermined position to a vertical predetermined position, and to complete subsequent pipe string operations. And the pipe tool conveyed to the drill floor by the catwalk is in an inclined state, and the inclined positions and angles of the pipe tool are different due to different lengths, diameters and wall thicknesses of different types of pipe tools. The tilted state of the pipe tool thus causes great difficulty in rapidly and precisely treating the pipe tool.

Disclosure of Invention

The invention aims to: aiming at the problem that in the prior art, the pipe conveyed to the drill floor by the catwalk is in an inclined state, and the inclined positions and angles of the pipe are different due to different lengths, diameters and wall thicknesses of different types of pipes. The tilted state of the pipe tool thus causes great difficulty in rapidly and precisely treating the pipe tool. The pipe conveying device and the pipe conveying method can convey the pipe from a ground horizontal preset position to a vertical preset position, realize controllable track and convey the pipe quickly and accurately.

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

the utility model provides a conveyor for pipe utensil, includes the base and is used for the upset girder of fixed pipe utensil, the one end of base with the one end of upset girder is articulated through first articulated axle, the upset girder with still articulate between the base has first telescopic member.

According to the pipe conveying device for the pipe, the initial state is the horizontal preset position, one end of the base is hinged with one end of the overturning main beam through the first hinge shaft, when the pipe conveying device works, the first telescopic component runs and extends to push the overturning main beam to rotate around the first hinge shaft, the overturning main beam drives the pipe in the clamp body assembly to simultaneously rotate to reach the vertical preset position, the pipe is fixed on the overturning main beam in the whole process, the track is controllable, and therefore the pipe can be conveyed rapidly and accurately.

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.

Preferably, the clamp body assembly is correspondingly provided with clamp arms, and clamping spaces for clamping the pipe are arranged between the correspondingly arranged clamp arms. So that the clamp body assembly can limit the radial movement of the pipe tool and can limit the axial movement of the pipe tool.

Preferably, a first supporting structure is arranged at the end part of the turnover main beam close to the first hinge shaft, and the first supporting structure is used for positioning one end of the pipe.

The positioning in the scheme is as follows: the first supporting structure is abutted to one end of the pipe fitting so as to perform axial positioning, or the first supporting structure can perform axial positioning on the pipe fitting and can also perform radial limiting on the pipe fitting. The positioning in the scheme comprises the following steps: the first support structure can fix the radial displacement of the pipe and limit the axial displacement of the pipe towards one side of the first support structure;

alternatively, the first and second electrodes may be,

the pipe is limited in axial displacement only to one side of the first support structure, and the pipe is limited in radial displacement by the caliper body assembly.

Preferably the first support structure is shaped to match the interface to enable at least part of the interface to pass through the first support structure to carry the pipe away.

Preferably, the delivery device for the pipe tool,

the turnover main beam is positioned at the end part of the turnover main beam far away from the first articulated shaft,

and is configured to:

when the tube is positioned on the turnover main beam, the positioning mechanism can push the tube from the end of the tube far away from the first articulated shaft.

Through the positioning mechanism, the pipe can be pushed to a horizontal preset position.

Preferably, the positioning mechanism comprises a base frame and a trolley which are arranged in a relatively moving mode, and the trolley is used for pushing the pipe. The trolley can reciprocate relative to the underframe to push the pipe tool and reset.

Preferably, a first driving part is arranged on the underframe, the first driving part is in driving connection with the trolley, and an encoder used for recording the displacement of the trolley is arranged on the first driving part.

The length of the pipe can be measured through the encoder and the trolley displacement, and the length is recorded through the encoder so as to prepare for the subsequent treatment of the pipe.

Preferably, the delivery device for the pipe tools further comprises a first storage rack and/or a second storage rack, wherein,

the first storage rack is used for conveying the pipe to the turnover main beam;

the second storage rack is used for conveying the pipe to the overturning main beam.

Preferably, the first storage rack comprises a storage rack for placing the pipe string and an inversion assembly for transporting the pipe string from the storage rack onto the inversion main beam.

Preferably, the storage rack is close to the tip of upset girder with the base passes through the second articulated axle articulated, the storage rack with still articulated between the base have first jacking jar, the second articulated axle is located first jacking jar with between the upset girder.

The storage rack rotates around the second hinge shaft by extending the first jacking cylinder, and the storage rack inclines towards one side of the turnover main beam.

Preferably, the overturning assembly comprises a material distributing arm and a first overturning arm which are correspondingly arranged, and a placing space for placing the pipe is arranged between the material distributing arm and the first overturning arm.

The material distributing arm and the first overturning arm are correspondingly arranged, namely the material distributing arm and the first overturning arm are oppositely arranged and have a certain matching relation, so that a placing space for placing the pipe can be formed together.

Preferably, the material distribution arm is hinged to the first storage rack through a third hinge shaft, a second driving part of a second driving part is further connected between the material distribution arm and the storage rack, and the second driving part of the second driving part drives the material distribution arm to rotate around the third hinge shaft.

Preferably, the first turnover arm is hinged to the first storage rack through a fourth hinge shaft, a fourth driving part is further connected between the first turnover arm and the storage rack, and the fourth driving part drives the first turnover arm to rotate around the fourth hinge shaft.

Preferably, the storage rack is provided with a material blocking block and a placing surface for placing the pipe, the upper portion of the material blocking block is exposed out of the placing surface, the material blocking block can move back and forth relative to the placing surface along the placing surface, and the material blocking block moves in the direction close to or far away from the overturning main beam.

The distance between the pipe and the material distribution arm is adjusted through the material blocking block, so that when the material distribution arm is used for treating pipes with different diameters, only one pipe is guaranteed to be moved and transported each time.

Preferably, the storage rack is further provided with an adjusting telescopic cylinder, the adjusting telescopic cylinder is in driving connection with the material blocking block, a displacement sensor is arranged on the adjusting telescopic cylinder, and the displacement sensor is used for changing the position of the material blocking block according to the diameter of the pipe.

The adjusting telescopic cylinder drives the material blocking block to operate and stop at different positions so as to adapt to different pipes, and the positions of the material blocking block are changed by changing the numerical values of displacement sensors arranged in the adjusting telescopic cylinder according to the diameters of the different pipes.

Preferably, the second storage rack comprises a bottom frame and an inclined arm, the bottom frame is hinged to the inclined arm through a fifth hinge shaft, a second jacking cylinder is hinged between the bottom frame and the inclined arm, and the fifth hinge shaft is located between the second jacking cylinder and the turnover main beam.

The purpose that the tilting arm rotates around the fifth articulated shaft and tilts towards one side of the turnover main beam is achieved by extending the second jacking cylinder.

Preferably, the second storage rack further comprises a second turnover arm and a driving cylinder, the second turnover arm is connected with the bottom frame through a sixth hinge shaft, the sixth hinge shaft is located between the fifth hinge shaft and the turnover main beam, and the driving cylinder can drive the second turnover arm to rotate around the fifth hinge shaft.

Preferably, a transition arm is arranged between the inclined arm and the second overturning arm, and the end part of the transition arm close to the inclined arm is hinged with the underframe through the fifth hinge shaft. So as to realize that the transition arm and the second overturning arm are coaxially arranged, thereby ensuring that the structure is more compact.

Preferably, one side of the turnover main beam is provided with the first storage rack, and the other side of the turnover main beam is provided with the second storage rack.

The first storage rack and the second storage rack are arranged at the same time, so that pipe fittings of different specifications can be met, the pipe fittings of different specifications can be rapidly switched back and forth, and the conveying efficiency is further improved.

The invention also discloses a conveying method, and the conveying device for the pipe tool based on the application comprises the following steps:

s1, conveying the pipe to the turnover main beam;

s2, the trolley pushes the pipe tool against the trolley, the pipe tool reaches a horizontal preset position on the turnover main beam, the pipe tool is fixed to the turnover main beam, and the trolley retracts and is separated from the pipe tool;

s3, pushing the turnover main beam to rotate around the first hinge shaft by using the first telescopic component, and driving the pipe in the clamp body assembly to rotate simultaneously by using the turnover main beam so as to enable the pipe to reach a vertical preset position;

s4, loosening the pipe by the turnover main beam;

s5, the first telescopic component contracts, and the turnover main beam drives the clamp body assembly to rotate around the first hinge shaft and return to the horizontal preset position.

According to the conveying method, the pipe tool at the horizontal preset position can be effectively conveyed to the vertical preset position based on the conveying device, the pipe tool is fixed on the turnover main beam in the whole process, the track is controllable, and therefore the pipe tool can be conveyed quickly and accurately.

Preferably, one side of the conveying device is provided with a first storage rack as described in the present application, and the step S1 includes the steps of:

S1A1, conveying the pipe to the first storage rack;

S1A2, operating the first jacking cylinder to enable the storage rack to incline towards one side of the turnover main beam and enable the pipe to prop against the material blocking block;

S1A3, driving the material distribution arm to rotate, wherein the material distribution arm drives the pipe on the storage rack to move and is in contact with the first overturning arm;

S1A4, the fourth driving part drives the first overturning arm to rotate, and after the pipe rolls into the first overturning arm, the pipe is driven by the first overturning arm to enter the clamp body assembly;

preferably, one side of the conveying device is provided with a second storage rack as described in the present application, and the step S1 includes the steps of:

S1B1, conveying the pipe to the second storage rack;

S1B2, driving the inclined arm to rotate and incline by a second jacking cylinder on a second storage frame, driving the pipe tool on the second storage frame to move by the inclined arm, rolling the pipe tool to one end, close to the overturning main beam, of the inclined arm, and contacting with the second overturning arm;

S1B3, the driving cylinder drives the second overturning arm to rotate, and the transition arm rotates downwards by means of self weight until the transition arm rolls towards the inclined pipe on one side of the overturning girder and is in contact with the second overturning arm;

S1B4. the driving cylinder continues to drive the second overturning arm to rotate and swing, and the pipe rotates along with the second overturning arm and enters the clamp body assembly.

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

1. according to the pipe conveying device for the pipe, the initial state is the horizontal preset position, one end of the base is hinged with one end of the overturning main beam through the first hinge shaft, when the pipe conveying device works, the first telescopic component extends out in an operation mode, the overturning main beam is pushed to rotate around the first hinge shaft, the overturning main beam drives the pipe in the clamp body assembly to rotate simultaneously and reach the vertical preset position, the pipe is fixed on the overturning main beam in the whole process, the track is controllable, and therefore the pipe can be conveyed rapidly and accurately.

2. According to the pipe conveying device, the first driving part is arranged on the bottom frame and is in driving connection with the trolley, the encoder used for recording the displacement of the trolley is arranged on the first driving part, the length of a pipe can be measured and calculated through the encoder and the displacement of the trolley, the length is recorded through the encoder, and further preparation is made for subsequent treatment of the pipe.

3. The conveying system can be provided with the first storage rack and the second storage rack simultaneously to meet the requirements of pipe fittings with different specifications, and can rapidly switch among the pipe fittings with different specifications back and forth, so that the conveying efficiency is further improved.

4. According to the conveying method, the pipe tool at the horizontal preset position can be effectively conveyed to the vertical preset position based on the conveying device, the pipe tool is fixed on the turnover main beam in the whole process, the track is controllable, and therefore the pipe tool can be conveyed quickly and accurately.

Drawings

Fig. 1 is a schematic structural view of a delivery device for a tube according to the present invention.

Fig. 2 is a schematic structural view (a front three-dimensional isometric view) of a first magazine of the present invention.

Fig. 3 is a schematic structural view (rear three-dimensional isometric view) of a first storage rack of the present invention.

Fig. 4 is a schematic structural view of the inverted main beam of the present invention.

Fig. 5 is a front view of the inverted main beam of the present invention (with the caliper body assembly open).

Fig. 6 is a front view of the flip main beam of the present invention (with the caliper body assembly closed).

Fig. 7 is a schematic view of the structure of a second storage shelf of the present invention.

Fig. 8 is a schematic structural view of the positioning mechanism of the present invention.

FIG. 9 is a schematic structural diagram of step 2 in example 2 of the present invention.

FIG. 10 is a schematic structural diagram of step 3 in example 2 of the present invention.

FIG. 11 is a schematic structural diagram of step 4 in example 2 of the present invention.

FIG. 12 is a schematic structural diagram of step 3 in example 3 of the present invention.

FIG. 13 is a schematic structural diagram of step 4 in example 3 of the present invention.

Fig. 14 is a schematic diagram of a delivery system of the present invention.

Fig. 15 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).

Fig. 16 is a schematic view of the pipe of the present invention placed on a turnover girder in cooperation (when the cart pushes the pipe against the cart).

Figure 17 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 18 is a schematic of the pipe string of the present invention being placed on the inverted main beam in engagement (the pipe string to a vertical predetermined position).

Figure 19 is a schematic view of the inverted main beam of the present invention mated with a powered mousehole (the tube to a vertical predetermined position).

Fig. 20 is a schematic structural view of the bottom structure of the dynamic rat hole of the present invention rising to the high position.

Icon: 1-a first storage rack; 10-a flipping assembly; 100-tube; 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; 16-a second drive member; 17-a first flipping arm; 171-a fourth hinge axis; 18-a fourth drive component; 2-dynamic rat hole; 3-overturning the manipulator; 30-turning over the main beam; 31-a base; 32-a caliper body assembly; 321-a clamping arm; 322-a clamping space; 33-a first articulated shaft; 34-a first support structure; 35-a first telescopic member; 36-a positioning mechanism; 361-chassis; 362-car; 363-a first drive member; 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.

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 8, the delivery device for a tube according to the present embodiment includes,

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

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 arms 321, and a clamping space 322 for clamping the pipe 100 is formed between the correspondingly arranged clamping arms 321.

b. The supporting mode is as follows: the end of the turning main beam 30 close to the first hinge shaft 33 is provided with a first supporting structure 34, the first supporting structure 34 is used for positioning one end of the pipe 100, one end of the pipe 100 abuts against the first supporting structure 34, meanwhile, the first supporting structure 34 can realize the connection of the pipe 100 with other equipment, the first supporting structure 34 is arranged in a shape matched with the connection equipment, so that at least one part of the connection equipment can pass through the first supporting structure 34, and the pipe 100 can be taken away.

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. 8, 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, a rack and pinion, or an oil cylinder.

Since different types of pipes have different lengths, diameters and wall thicknesses, the chassis 361 is provided with the 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 and calculated through the encoder and the displacement of the trolley 362, and the length, the diameter and the wall thickness are recorded through the encoder, so that the subsequent treatment of the pipe 100 is prepared.

A first storage rack 1 for transporting the tubulars 100 onto the upender girder 30, where the tubulars 100 are often drill pipes, drill collars.

Specifically, the first storage rack 1 includes a storage rack 11 for placing the pipe string 100 and an inversion assembly 10 for transferring the pipe string 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 for placing the pipe 100 is formed between the material distributing arm 15 and the first overturning arm 17, wherein the material distributing arm 15 is hinged to 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.

A second magazine 5 for transporting the tubulars 100 onto the inversion girder 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 arranged between the tilting arm 53 and the second overturning arm 51, and the end of the transition arm 55 close to 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 can be arranged independently or simultaneously, and when the first storage rack 1 and the second storage rack 5 are arranged simultaneously, the first storage rack 1 is located on one side of the turnover main beam 30, and the second storage rack 5 is located on the other side of the turnover main beam 30, so as to form the conveying system.

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.

Example 2

As shown in fig. 1 to 6, 8 to 11, and 15 to 20, a conveying method according to the present embodiment, which is based on the conveying apparatus for pipe tools described in embodiment 1 and is implemented with a first storage rack 1, includes the steps of:

initial state: the pipe tool crane is provided with automatic pipe tool processing equipment with a first storage rack 1, and power rat holes 2 are all located at waiting stations.

Step 1: the pipe string crane grasps the pipe string 100, walks, and places the pipe string 100 into the first storage rack 1 of the automated pipe string handling equipment. Step 2: and operating the first jacking cylinder 12, and adjusting the position of the material blocking block 13 to adapt to the size of the pipe 100 to be treated at present. At the same time, the first lift cylinder 12 of the first storage rack 1 is operated to tilt the storage rack 11. The pipe 100 is rolled on the placing surface 111 of the storage rack 11, and the pipe 100 is made to approach the material blocking block 13. As shown in fig. 9;

and step 3: the material distributing cylinder 16 operates to drive the material distributing arm 15 to rotate, and the material distributing arm 15 drives the tubes 100 on the storage rack 11 to move and contact with the first overturning arm 17. As shown in fig. 10;

and 4, step 4: the fourth driving part 18 operates to drive the first turning arm 17 to rotate, after the pipe 100 rolls into the first turning arm 17, the pipe is driven by the first turning arm 17 to enter the pincer body assembly 32 on the turning main beam 30, the second driving part 16 operates to drive the material distributing arm 15 to rotate, and the material distributing arm 15 operates to a low position. The trolley 362 on the positioning mechanism 36 is now away from the pipe string 100. As shown in fig. 11;

and 5: the first driving part 363 of the positioning mechanism 36 runs, the trolley 362 is driven by the chain wheel and the chain to run, the trolley 362 runs a certain distance and then contacts the end of the pipe 100, the trolley 362 continues to run and pushes the pipe 100 until the other end of the pipe 100 contacts the first supporting structure 34 on the turnover main beam 30, the first driving part 363 stops driving, and the trolley 362 stops running. As shown in fig. 15 and 16, in the present embodiment, the trolley 362 may also be driven to move by a steel cable and a pulley, or an oil cylinder, wherein the first driving member 363 is preferably shown as a motor or an electric motor;

step 6: the encoder of the first driving part 363 records data, the length of the pipe tool 100 is calculated through the stroke, after the data is recorded, the first driving part 363 reversely drives, the trolley 362 is driven by the chain wheel and the chain to reversely travel to the fixed position to stop, and at this time, the clamp body assembly 32 on the turnover main beam 30 is in an open state.

As shown in fig. 17 and 18;

and 7: the cylinders on the jaw assembly 32 are operated to push the jaw assembly 32 to operate the clamping tube 100. The tilt main beam 30 is now in a horizontal predetermined position.

And 8: the first telescopic member 35 is extended to push the turning main beam 30 to operate, the turning main beam 30 drives the pipe tool 100 in the pincer body assembly 32 to rotate simultaneously, the pipe tool 100 is adjusted to a vertical preset position from a horizontal preset position, and the pipe tool 100 enters the power rat hole 2 in a working range. As shown in fig. 19;

and step 9: the power rat hole 2 is operated, and the bottom of the rat hole is lifted to the lower end of the contact pipe 100. The centering device operates to center the tool 100. As shown in fig. 20;

step 10: the jaw assembly 32 on the automated pipe treatment equipment invert main beam 30 is opened. At this time, the turning main beam 30 is in a vertical preset position;

step 11: the rat hole bottom continues to lift the pipe 100 until the top of the pipe 100 exceeds the rig floor a certain distance for an elevator to pick up the pipe 100 or other equipment to grasp the pipe 100, the lift mechanism stops running, the rat hole top centering device runs, and the pipe 100 is centered. At this point, the first invert arm 17 on the first storage rack 1 is in the lowered position.

Step 12: the fourth driving means 18 of the first storage rack 1 is operated to drive the sprocket and thus the first tilting arm 17 to rotate until the first tilting arm 17 is operated to the high position and stopped in preparation for the next tube 100.

Step 13: the first telescopic member 35 drives the turning main beam 30 to rotate, and the turning main beam 30 stops running after being adjusted from a vertical preset position to a horizontal preset position. The equipment is the same as the equipment in the state of the step 2, and the continuous circulation operation can be realized by repeating the step 2 to the step 13.

In the above scheme

In step 1: the entire process of the pipe crane gripping the pipe 100, walking and placing the pipe 100 into the first storage rack 1 may be replaced by a powered drill pipe box or an apparatus that performs the same function.

In step 12, the chain wheel can be replaced by a synchronous pulley or a V-shaped pulley or other equivalent functional equipment with equivalent functions through a steel wire rope, a pulley, a gear rack and a jacking device oil cylinder.

The flow path of the recovery pipe 100 is opposite to the above-described flow path, and the inclination angle and the position of each mechanism are also different. After the pipe 100 is adjusted from the vertical preset position to the horizontal preset position along with the turning main beam 30, the trolley 362 cannot be adopted for axial pulling, the rollers 37 can be arranged at the corresponding positions of the turning main beam 3, the driving mechanism is connected to at least one of the rollers 37, and the driving mechanism drives the rollers 37 to rotate, so that the purpose of driving the pipe 100 to reversely move axially is achieved.

The conveying method of the embodiment is based on the conveying device of the application, the pipe tool 100 at the horizontal preset position can be effectively conveyed to the vertical preset position, the pipe tool 100 is fixed on the turnover main beam 30 in the whole process, the track is controllable, and therefore the pipe tool can be conveyed fast and accurately.

Example 3

As shown in fig. 1, 4-8 and 12-20, a method of delivery described in this example is based on the delivery device for tube sets described in example 1 and is carried out with the second magazine 5, in which case the tube set 100 is often a casing, comprising the following steps:

initial state: and the second storage rack 5 and the power rat hole 2 are all positioned at waiting stations.

Step 1: the tubes 100 on the casing rack enter the automated tube handling apparatus above the second storage rack 5.

Step 2: the second jacking cylinder 54 on the second storage rack 5 operates to drive the tilting arm 53 to rotate and tilt towards one side of the turnover main beam 30, and the tilting arm 53 drives the pipe 100 on the casing rack to move, enter the range of the tilting arm 53 and roll to the lower end of the tilting arm 53 to be in contact with the second turnover arm 51. As shown in fig. 12.

And step 3: the driving cylinder 52 drives the second overturning arm 51 to swing in a rotating mode, the transition arm 55 rotates downwards due to self weight, the angle is changed until the transition arm 55 is in contact with the lower supporting structure, the transition arm 55 stops rotating, the angle is adjusted to be inclined downwards, and the pipe 100 enters the upper surface of the transition arm 55 and is in contact with the second overturning arm 51 due to the fact that the pipe rolls downwards due to self weight. As shown in fig. 12;

and 4, step 4: the driving cylinder 52 continues to operate to drive the second overturning arm 51 to continue to rotate and swing, and the pipe tool 100 enters the range of the second overturning arm 51 until the rotating arm of the second overturning arm 51 rotates to the low position, and the pipe tool 100 enters the pincer body assembly 32 on the overturning main beam 30. With the jaw assembly 32 in the open position, the positioning mechanism 36 is engaged with the tube 100. As shown in fig. 13;

and 5: the first driving part 363 of the positioning mechanism 36 runs, the trolley 362 is driven by the chain wheel and the chain to run, the trolley 362 runs a certain distance 1 and then contacts the end of the pipe 100, the trolley 362 continues to run and pushes the pipe 100 until the other end of the pipe 100 contacts the first supporting structure 34 on the turnover main beam 30, the first driving part 363 stops driving, and the trolley 362 stops running. In the scheme, the trolley 362 can also be driven to travel by a steel wire rope, a pulley or an oil cylinder, wherein the first driving part 363 is preferably a motor or a motor; as shown in fig. 15 and 16.

Step 6: the encoder of the first driving part 363 records data, the length of the pipe tool 100 is calculated through the stroke, after the data is recorded, the first driving part 363 reversely drives, the trolley 362 is driven by the chain wheel and the chain to reversely travel to the fixed position to stop, and at this time, the clamp body assembly 32 on the turnover main beam 30 is in an open state. As illustrated in fig. 17 and 18.

And 7: the cylinders 36 on the jaw assemblies 32 are operated to push the jaw assemblies 32 to operate the clamping tube 100. The tilt main beam 30 is now in a horizontal predetermined position.

And 8: the first telescopic member 35 extends to push the turning main beam 30 to operate, the turning main beam 30 drives the pipe tool 100 in the pincer body assembly 32 to rotate simultaneously, the pipe tool 100 is adjusted to a vertical preset position from a horizontal preset position, and then the pipe tool 100 enters the power rat hole 2 in a working range. As shown in fig. 19;

and step 9: the power rat hole 2 is operated, and the bottom of the rat hole is lifted to the lower end of the contact pipe 100. The centering device operates to center the tool 100.

Step 10: the caliper body assembly 32 on the flip main beam 30 is opened. The tilt girder 30 is now in a vertical predetermined position.

Step 11: the rat hole bottom continues to lift the pipe 100 until the top of the pipe 100 exceeds the rig floor by a certain distance for an elevator to pick up the pipe 100 or other equipment to grasp the pipe 100, the lifting mechanism stops running, and the rat hole top centering device runs. At this time, the second overturning arm 51 on the second storage rack 5 is in the low position. As shown in fig. 20;

step 12: the second lifting cylinder 54 of the second storage rack 5 is operated to rotate the tilting arm 53 to the lower position. The cylinder 52 is actuated to rotate the second invert arm 51, the second invert arm 51 rotates the transition arm 55, and the second invert arm 51 stops rotating to the high position in preparation for processing the next pipe 100.

Step 13: the first telescopic member 35 drives the turning main beam 30 to rotate reversely, and the turning main beam 30 stops operating after being adjusted from a vertical preset position to a horizontal preset position. The equipment is the same as the equipment in the state of the step 1, and the continuous circulation operation can be realized by repeating the steps 1 to 13.

The method of retrieving the tubular string 100 may be reversed from the above-described flow path with different angles and positions of the various mechanisms. After the pipe 100 is adjusted from the vertical preset position to the horizontal preset position along with the turning main beam 30, the trolley 362 cannot be adopted for axial pulling, the rollers 37 can be arranged at the corresponding positions of the turning main beam 3, the driving mechanism is connected to at least one of the rollers 37, and the driving mechanism drives the rollers 37 to rotate, so that the purpose of driving the pipe 100 to reversely move axially is achieved.

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

1. The conveying device for the pipe tool is characterized by comprising a base (31) and an overturning girder (30) for fixing the pipe tool (100), wherein one end of the base (31) and one end of the overturning girder (30) are hinged through a first hinge shaft (33), and a first telescopic member (35) is hinged between the overturning girder (30) and the base (31).

2. A delivery device for tubes according to claim 1, characterized in that 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 tube (100).

3. A delivery device for tubulars according to claim 2, characterized in that clamping arms (321) are correspondingly arranged on the jaw assembly (32), between which clamping arms (321) there is a clamping space (322) for clamping the tubular (100).

4. A conveying device for tubes (100), according to claim 2, characterized in that the end of the overturning girder (30) close to the first articulation axis (33) is provided with a first support structure (34), said first support structure (34) being intended to position one end of the tube (100).

5. A device for transporting tubes according to claim 4, characterized in that it also comprises positioning means (36), said positioning means (36) being located at the end of said overturning girder (30) remote from said first hinging axis (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 on the overturning girder (30).

6. A device for transporting tubulars as claimed in claim 5, characterised in that the positioning means (36) comprises a carriage (362) and an undercarriage (361) arranged for relative movement, the carriage (362) being arranged for pushing the tubular (100).

7. A pipe conveying device according to claim 6, characterized in that a first driving part (363) is arranged on the chassis (361), the first driving part (363) is in driving connection with the trolley (362), and an encoder for recording the displacement of the trolley (362) is arranged on the first driving part (363).

8. A delivery device for tubes according to any one of claims 1-7, characterized in that it further comprises a first and/or a second store (5), wherein,

-said first storage rack is used for transporting said pipes (100) onto said overturning girder (30);

the second storage rack (5) is used for conveying the pipes (100) to the overturning girder (30).

9. A conveying device for tubes according to claim 8, characterized in that said first storage rack (1) comprises a storage rack (11) and an overturning assembly (10), said storage rack (11) being used for placing said tubes (100), said overturning assembly (10) being used for conveying said tubes (100) from said storage rack (11) onto said overturning girder (30).

10. A pipe conveying device according to claim 9, characterized in that the end of said storage frame (11) close to said overturning girder (30) is hinged to said base (31) by means of a second hinge axis (112), said storage frame (11) being also hinged to said base (31) by means of a first jacking cylinder (12), said second hinge axis (112) being located between said first jacking cylinder (12) and said overturning girder (30).

11. A conveying device for pipe tools according to claim 10, characterized in that the turning assembly (10) comprises a correspondingly arranged distributing arm (15) and a first turning arm (17), and a placing space for placing the pipe tool (100) is arranged between the distributing arm (15) and the first turning arm (17).

12. A pipe conveying device according to claim 11, characterized in that the distributing arm (15) is articulated to the storage frame (11) by means of a third articulation axis (151), and a second driving member (16) is connected between the distributing arm (15) and the storage frame (11), said second driving member (16) driving the distributing arm (15) to rotate around the third articulation axis (151).

13. A device for conveying pipes according to claim 11, characterized in that said first overturning arm (17) is hinged to said storage frame (11) through a fourth hinge axis (171), and in that a fourth driving member (18) is connected between said first overturning arm (17) and said storage frame (11), said fourth driving member (18) driving said first overturning arm (17) to rotate around said fourth hinge axis (171).

14. The conveying device for the pipe tools as claimed in claim 13, wherein a material blocking block (13) and a placing surface (111) for placing the pipe tools (100) are arranged on the storage rack (11), the placing surface (111) is exposed at the upper part of the material blocking block (13), the material blocking block (13) can move back and forth along the placing surface (111) relative to the placing surface (111), and the material blocking block (13) moves in a direction close to or far away from the overturning girder (30).

15. The conveying device for the pipe tools as claimed in claim 14, wherein an adjusting telescopic cylinder (14) is further arranged on the storage rack (11), the adjusting telescopic cylinder (14) is in driving connection with the material blocking block (13), and a displacement sensor is arranged on the adjusting telescopic cylinder (14) and used for changing the position of the material blocking block (13) according to the diameter of the pipe tool (100).

16. A pipe conveying device according to claim 8, characterized in that said second storage rack (5) comprises a base frame (56) and an inclined arm (53), said base frame (56) and said inclined arm (53) being hinged by a fifth hinge axis (57), a second jacking cylinder (54) being also hinged between said base frame (56) and said inclined arm (53), said fifth hinge axis (57) being located between said second jacking cylinder (54) and said overturning girder (30).

17. A pipe conveying device according to claim 16, characterized in that said second store (5) further comprises a second overturning arm (51) and a driving cylinder (52) in driving connection, said second overturning arm (51) being hinged to said base frame (56) by a sixth hinge axis (58), said sixth hinge axis (58) being located between said fifth hinge axis (57) and said overturning girder (30), said driving cylinder (52) being able to drive said second overturning arm (51) in rotation about said fifth hinge axis (57).

18. A delivery device for tubes according to claim 17, characterized in that a transition arm (55) is provided between said tilting arm (53) and said second overturning arm (51), the end of said transition arm (55) close to said tilting arm (53) being hinged to said base frame (56) by means of said fifth hinging axis (57).

19. Conveying device for tubulars according to claim 8, characterised in that one side of the flip girder (30) is provided with the first storage rack (1) and the other side of the flip girder (30) is provided with the second storage rack (5).

20. A conveying method, based on a conveying device for tubes according to claim 6 or 7, comprising the following steps:

s1, conveying the pipe (100) to the turnover main beam (30);

s2, the trolley (362) pushes the pipe (100) against, the pipe (100) reaches a horizontal preset position on the turning main beam (30), the pipe (100) is fixed to the turning main beam (30), and the trolley (362) retracts and is separated from the pipe (100);

s3, pushing the overturning main beam (30) to rotate around the first hinge shaft (33) by using the first telescopic component (35), and driving the pipe (100) in the clamp body assembly (32) to rotate simultaneously by using the overturning main beam (30) so as to enable the pipe (100) to reach a vertical preset position;

s4, loosening the pipe (100) by the turnover main beam (30);

s5, the first telescopic component (35) is contracted, and the turnover main beam (30) drives the clamp body assembly (32) to rotate around the first hinge shaft (33) and return to the horizontal preset position.

21. A method according to claim 20, characterised in that one side of the conveyor is provided with a first store (1) according to claim 14, said step S1 comprising the following steps:

S1A1, conveying the pipe (100) to the first storage rack (1);

S1A2, operating the first jacking cylinder (12), enabling the storage rack (11) to incline towards one side of the turnover main beam (30), and enabling the pipe tool (100) to prop against the material blocking block (13);

S1A3, driving the material distribution arm (15) to rotate, wherein the material distribution arm (15) drives a pipe (100) on the storage rack (11) to move and is in contact with the first overturning arm (17);

S1A4. the fourth driving part (18) drives the first overturning arm (17) to rotate, and after the pipe (100) rolls into the first overturning arm (17), the pipe is driven by the first overturning arm (17) to enter the pliers body assembly (32).

22. A method according to claim 20, characterised in that one side of the conveyor is provided with a second magazine (5) according to claim 18, said step S1 comprising the following steps:

S1B1, conveying the pipe (100) to the second storage rack (5);

S1B2, driving the inclined arm (53) to rotate and incline by a second jacking cylinder (54) on a second storage rack (5), driving the pipe tool (100) on the second storage rack (5) to move by the inclined arm (53), rolling the pipe tool (100) to one end, close to the turnover main beam (30), of the inclined arm (53), and contacting with the second turnover arm (51);

S1B3, the driving cylinder (52) drives the second overturning arm (51) to rotate, and the transition arm (55) rotates downwards by means of self weight until the transition arm (55) rolls towards the inclined pipe (100) on one side of the overturning main beam (30) and is in contact with the second overturning arm (51);

S1B4. the driving cylinder (52) continues to drive the second overturning arm (51) to rotate and swing, and the pipe (100) rotates along with the second overturning arm (51) and enters the clamp body assembly (32).