CN112627747A - Pipe supporting device - Google Patents
Pipe supporting device Download PDFInfo
- Publication number
- CN112627747A CN112627747A CN202011360321.4A CN202011360321A CN112627747A CN 112627747 A CN112627747 A CN 112627747A CN 202011360321 A CN202011360321 A CN 202011360321A CN 112627747 A CN112627747 A CN 112627747A
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- clamping
- proximity switch
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- pipe
- finger
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- 230000008859 change Effects 0.000 abstract description 13
- 238000005553 drilling Methods 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract 1
- 208000028659 discharge Diseases 0.000 description 6
- 230000001939 inductive effect Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/10—Slips; Spiders ; Catching devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the oil and gas drilling technology, in particular to a pipe supporting device which comprises a base connected to the free end of a manipulator of a drilling platform, wherein the base is provided with a pair of clamping fingers and a driving part, and the clamping fingers can open and close under the driving of the driving part to clamp a pipe column; the base is provided with telescopic fingers, and the telescopic fingers are used for matching with clamping fingers to form clamping areas to clamp tubular columns with different sizes; the base is also provided with a camera and/or a proximity switch, and the camera and/or the proximity switch are used for observing and/or detecting the position of the tubular column in real time. The clamping area formed by the invention can change along with the change of the size of the tubular column, three points of stable stress are formed on the tubular column, collision damage is avoided, the safety and the reliability are high, the stability is high, and the operation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of oil and gas drilling equipment, in particular to a pipe supporting device.
Background
The drill floor manipulator is a main wellhead automation device, is arranged on a drill floor, can replace a bench worker to transfer and discharge a pipe column, realizes automation of transfer and discharge treatment of the pipe column on the drill floor, reduces the number of operators on the drill floor, reduces labor intensity and easily treats a large-diameter drill collar; the pipe supporting device is assembled at the free end of the drill manipulator, is a direct execution mechanism of the drill floor manipulator for clamping the pipe column, has the function similar to the hand of a drill floor worker, and clamps and drives the drilling tool to move to a target position.
The existing pipe supporting device has the following problems:
1. in recent years, automatic machines, intelligent equipment and unmanned operation equipment are widely applied to drilling operation, and the existing pipe supporting device only has a conventional clamping mechanical structure and a hydraulic control/electric control mechanism, needs a special person to operate during operation, cannot accurately cooperate with the daily operation of other automatic equipment such as an intelligent drill floor manipulator and the like, and cannot improve the working efficiency;
2. although a part of the existing pipe supporting devices can process drilling tools with different diameters, the formed clamping area is far larger than the diameter of the pipe column and cannot be changed according to the diameter of the pipe column, and the pipe column frequently collides with the inner side of the tong head to cause damage to the surface of the pipe column.
Disclosure of Invention
The invention provides a pipe supporting device aiming at the technical defects that the existing pipe supporting device needs to be operated by a specially-assigned person, cannot be accurately matched with other automatic equipment such as an intelligent drill floor mechanical arm and the like, and a formed clamping area cannot be changed according to the diameter of a pipe column; the invention can detect and observe the position of the pipe column in real time, accurately and efficiently move and discharge the pipe columns with different sizes by matching with the intelligent drill floor manipulator, and can automatically finish the clamping action of the pipe column under an intelligent control system without the operation of a special person; the clamping area formed by the invention can change along with the change of the size of the tubular column, three points of stable stress are formed on the tubular column, collision damage is avoided, the safety and the reliability are high, the stability is high, and the operation efficiency is improved.
In order to achieve the above purpose, the invention provides the following technical scheme:
a pipe supporting device comprises a base connected to the free end of a manipulator of a drill floor, wherein a pair of clamping fingers and a driving part are arranged on the base, and the clamping fingers can open and close under the driving of the driving part to clamp a pipe column;
the base is provided with telescopic fingers, and the telescopic fingers are used for forming clamping areas together with the clamping fingers to clamp the pipe columns with different sizes;
the base is further provided with a camera and/or a proximity switch, and the camera and/or the proximity switch are used for observing and/or detecting the position of the pipe column in real time.
The pipe supporting device has the basic functions of clamping the pipe column, moving and discharging; a clamping area formed by the pair of clamping fingers and the telescopic finger can change along with the size change of the tubular column, three points of stable stress are formed on the tubular column, collision damage is avoided, and the clamping effect is more stable; meanwhile, the clamping fingers and the telescopic fingers are connected together, so that the clamping fingers and the telescopic fingers can be linked to adapt to tubular columns with different sizes; for a large-size tubular column, when the clamping fingers are expanded, the telescopic fingers are retracted along with the large-size tubular column, so that the clamping radius is increased; for a small-size tubular column, the clamping fingers are folded, and the telescopic fingers are extended along with the folding fingers, so that the clamping radius is reduced; namely, a triangular stress structure is formed on the pipe column all the time;
the camera and/or the proximity switch are set up for matching with automatic or intelligent equipment, and an operator of the drill floor manipulator can accurately judge the position of the tubular column according to a real-time image provided by the camera and/or position information provided by the proximity switch, so that the drill floor manipulator and the pipe supporting device are matched with each other to quickly and efficiently finish the movement and the discharge of the tubular column.
As a preferable scheme of the invention, each clamping finger is provided with a first mounting hole and a second mounting hole;
each mounting hole I is hinged with the base through a pin shaft I, each mounting hole II is hinged with one end of a connecting plate through a pin shaft II, and the other end of the connecting plate is hinged with a telescopic finger through a pin shaft III; the telescopic finger is fixedly connected with the output end of the driving part.
The structure and the connection mode of the clamping fingers are designed according to actual conditions so as to ensure the safety and the reliability of the pipe supporting operation; the invention uses a driving part, and the two clamping fingers which are approximately symmetrically arranged are connected and simultaneously pushed and pulled through the telescopic fingers, so that the synchronous opening and closing actions of the two clamping fingers and the telescopic fingers are realized, the tubular columns with different sizes can be clamped in a certain range, and the application range of the invention is improved; simultaneously, the telescopic fingers and the clamping fingers are synchronously telescopic, so that a three-point clamping structure for the tubular column is realized, and the clamping stability is improved.
As a preferable aspect of the present invention, the camera is provided on an upper side of the grip finger.
The camera is arranged at a position with good visual field and less shielding, the upper side of the clamping finger meets the condition, and the position is not shielded by light rays, so that the position condition of the clamping finger and the tubular column can be clearly observed; other mounting positions can be selected according to actual conditions.
In a preferred embodiment of the present invention, the proximity switch is provided below the grip finger.
The main function of the proximity switch is to detect the position of the pipe column, and no requirements are made on light and visual field; the installation position of the finger clamp does not interfere with other structures as far as possible, so that the finger clamp is installed on the lower side of the clamping finger, and the sensitivity of the finger clamp is ensured while other structures are not interfered.
In a preferred embodiment of the present invention, the proximity switch is an inductive proximity switch, a laser proximity switch, or an infrared proximity switch.
Under different working conditions, a suitable proximity switch, such as an inductive proximity switch, a laser proximity switch or an infrared proximity switch, is selected according to actual conditions. The reason why inductive proximity switches are preferred here is that: the inductive proximity switch is suitable for metal equipment, has stable performance, strong anti-interference capability, high switching frequency, water resistance, shock resistance and corrosion resistance, and is the preferred scheme of the invention.
In a preferred embodiment of the present invention, the driving unit is an air cylinder, a hydraulic cylinder, or an electric cylinder.
The invention needs the driving part to provide linear reciprocating motion, and the air cylinder, the hydraulic cylinder or the electric cylinder can provide stable and reliable linear reciprocating motion, so the structure is simple and reliable, and the maintenance and the replacement are convenient; the specific scheme can be determined according to actual conditions.
As a preferable scheme of the invention, the end part of the telescopic finger is provided with an auxiliary roller.
The end part of the telescopic finger can be provided with an auxiliary roller according to the requirement of the situation; the auxiliary roller is arranged to further avoid damage to the surface of the pipe column; because the auxiliary roller contacts with the pipe column, when the pipe column moves up and down in the clamping area, the auxiliary roller rolls along with the movement of the pipe column, thereby avoiding the damage to the surface of the pipe column.
The invention has the beneficial effects that: the invention can detect and observe the position of the pipe column in real time, accurately and efficiently move and discharge the pipe columns with different sizes by matching with the intelligent drill floor manipulator, and can automatically finish the clamping action of the pipe column under an intelligent control system without the operation of a special person; the clamping area formed by the invention can change along with the change of the size of the tubular column, three points of stable stress are formed on the tubular column, collision damage is avoided, the safety and the reliability are high, the stability is high, and the operation efficiency is improved.
Description of the drawings:
fig. 1 is a schematic view of an installation structure of a pipe supporting device of the present invention.
Fig. 2 is a schematic structural diagram of a pipe supporting device in the embodiment.
FIG. 3 is a structural top view of the supporting tube device in an open state according to the embodiment.
Fig. 4 is a structural top view of the pipe supporting device in an open state after a base is hidden.
FIG. 5 is a top view of the pipe supporting device shown in the embodiment shown in a closed state with the base hidden.
The reference signs are: 101-pipe supporting device, 1-base, 2-clamping fingers, 21-first mounting hole, 22-second mounting hole, 23-connecting plate, 3-driving part, 4-telescopic fingers, 41-auxiliary roller, 5-camera, 6-proximity switch, 7-pipe column, 8-drill floor mechanical arm, 91-first pin shaft, 92-second pin shaft and 93-third pin shaft.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
In order to show the internal mechanism of the present embodiment more clearly, the housing of the base 1 is hidden by the partial picture.
As shown in fig. 1, the pipe supporting device comprises a base 1 connected to the free end of a drill floor manipulator 8, wherein a pair of clamping fingers 2 and a driving part 3 are arranged on the base 1, and the clamping fingers 2 can be driven by the driving part 3 to open and close to clamp a pipe column 7; wherein the driving part 3 is a hydraulic cylinder.
As shown in fig. 2-5, the base 1 is provided with a telescopic finger 4, and the telescopic finger 4 is used for clamping pipe columns 7 with different sizes by matching with the clamping finger 2;
the base 1 is also provided with a camera 5 and a proximity switch 6, and the camera 5 and the proximity switch 6 are used for observing and detecting the position of the tubular column 7 in real time so as to realize automatic control; wherein the camera 5 is arranged on the upper side of the clamping finger 2; the proximity switch 6 is arranged on the lower side of the clamping finger 2, and the proximity switch 6 is an inductive proximity switch;
each clamping finger 2 is provided with a first mounting hole 21 and a second mounting hole 22; each mounting hole I21 is hinged with the base 1 through a pin shaft I91, each mounting hole II 22 is hinged with one end of the connecting plate 23 through a pin shaft II 92, and the other end of the connecting plate 23 is hinged with the telescopic finger 4 through a pin shaft III 93; the telescopic finger 4 is fixedly connected with the output end of the driving part 3, and the end part of the telescopic finger 4 is provided with an auxiliary roller 41;
the pipe supporting device has the basic functions of clamping the pipe column 7, moving and discharging; a clamping area formed by the pair of clamping fingers 2 and the telescopic finger 4 can change along with the size change of the tubular column 7, three-point stable stress is formed on the tubular column 7, collision damage is avoided, and the clamping effect is more stable; meanwhile, the clamping fingers 2 and the telescopic fingers 4 are connected together, so that the clamping fingers and the telescopic fingers can be linked to adapt to tubular columns 7 of different sizes; for the large-size tubular column 7, when the clamping fingers 2 are expanded, the telescopic fingers 4 are retracted along with the expansion, so that the clamping radius is increased; for the small-size tubular column 7, the clamping fingers 2 are folded, and the telescopic fingers 4 are extended along with the folding, so that the clamping radius is reduced; namely, a triangular stress structure is always formed on the pipe column 7;
the camera 5 and the proximity switch 6 are set up for matching with automation or intelligent equipment, and an operator of the drill floor manipulator 8 can accurately judge the position of the tubular column 7 according to a real-time image provided by the camera 5 and position information provided by the proximity switch 6, so that the drill floor manipulator 8 and the pipe supporting device 101 are matched with each other to quickly and efficiently finish the moving and discharging work of the tubular column 7.
The structure and the connection mode of the clamping fingers 2 are designed according to actual conditions so as to ensure the safety and the reliability of the pipe supporting operation; in the embodiment, the driving part 3 is used, and the two clamping fingers 2 which are approximately symmetrically arranged are connected and simultaneously pushed and pulled by the telescopic fingers 4, so that the synchronous opening and closing actions of the two clamping fingers 2 are realized, and the telescopic fingers 4 are matched to clamp tubular columns 7 with different sizes in a certain range, so that the application range of the invention is widened, the three-point clamping structure of the tubular columns 7 is realized, and the clamping stability is improved.
The camera 5 should be installed at a position with a good view and little shielding, the upper side of the clamping finger 2 meets the condition, and the position is not shielded by light rays, so that the position conditions of the clamping finger 2 and the tubular column 7 can be clearly observed; other mounting positions can be selected according to actual conditions; the main function of the proximity switch 6 is to detect the position of the pipe column 7, and no requirement is made on light and visual field; the installation position of the clamping finger does not interfere with other structures as far as possible, so that the clamping finger is installed on the lower side of the clamping finger 2, and the sensitivity of the clamping finger is ensured while the clamping finger does not interfere with other structures;
the inductive proximity switch is suitable for metal equipment, has stable performance, strong anti-interference capability, high switching frequency, water resistance, shock resistance and corrosion resistance, and is the preferred scheme of the invention;
this embodiment needs drive division 3 to provide straight reciprocating motion, and the hydraulic cylinder can provide reliable and stable straight reciprocating motion, and simple structure is reliable, it is convenient to maintain the change.
The auxiliary roller 41 is arranged to further avoid damage to the surface of the pipe column 7; since the auxiliary roller 41 is in contact with the pipe string 7, when the pipe string 7 moves up and down in the gripping area, the auxiliary roller 41 rolls with the movement of the pipe string 7, thereby preventing damage to the surface of the pipe string 7.
The invention can detect and observe the position of the tubular column 7 in real time, accurately and efficiently move and discharge the tubular columns 7 with different sizes by matching with an intelligent drill floor manipulator, and can automatically finish the clamping action of the tubular column 7 under an intelligent control system without the operation of a special person; the clamping area formed by the invention can change along with the size change of the pipe column 7, three-point stable stress is formed on the pipe column 7, collision damage is avoided, the safety and reliability are realized, the stability is high, and the operation efficiency is improved.
All of the features disclosed above, or all of the steps in any method or process disclosed, may be combined in any combination, except features and/or steps that are mutually exclusive.
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 (7)
1. The pipe supporting device is characterized by comprising a base (1) connected to the free end of a drill floor manipulator (8), wherein a pair of clamping fingers (2) and a driving part (3) are arranged on the base (1), and the clamping fingers (2) can be driven by the driving part (3) to open and close to clamp a pipe column (7);
the base (1) is provided with a telescopic finger (4), and the telescopic finger (4) is used for being matched with the clamping finger (2) to form a clamping area together to clamp the pipe columns (7) with different sizes;
still be equipped with camera (5) and/or proximity switch (6) on base (1), camera (5) and/or proximity switch (6) are used for observing and/or surveying in real time the position of tubular column (7).
2. A pipe handling device according to claim 1, wherein each gripping finger (2) is provided with a first mounting hole (21) and a second mounting hole (22);
each mounting hole I (21) is hinged with the base (1) through a pin shaft I (91), each mounting hole II (22) is hinged with one end of the connecting plate (23) through a pin shaft II (92), and the other end of the connecting plate (23) is hinged with the telescopic finger (4) through a pin shaft III (93); the telescopic finger (4) is fixedly connected with the output end of the driving part (3).
3. A pipe handling device according to claim 1, wherein the camera (5) is arranged on the upper side of the gripping fingers (2).
4. A pipe handling device according to claim 1, wherein the proximity switch (6) is provided on the underside of the gripping finger (2).
5. A pipe supporting device according to claim 4, wherein the proximity switch (6) is a current-type proximity switch or a laser-type proximity switch or an infrared-type proximity switch.
6. A pipe supporting device according to any one of claims 1-5, wherein the drive part (3) is a pneumatic or hydraulic or electric cylinder.
7. A pipe handling device according to any one of claims 1 to 5, characterised in that the end of the telescopic fingers (4) is provided with auxiliary rollers (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011360321.4A CN112627747A (en) | 2020-11-27 | 2020-11-27 | Pipe supporting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011360321.4A CN112627747A (en) | 2020-11-27 | 2020-11-27 | Pipe supporting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112627747A true CN112627747A (en) | 2021-04-09 |
Family
ID=75306709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011360321.4A Pending CN112627747A (en) | 2020-11-27 | 2020-11-27 | Pipe supporting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112627747A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114320193A (en) * | 2021-12-31 | 2022-04-12 | 中石化四机石油机械有限公司 | Self-adaptive centering centralizer for oil pipe of workover automation platform and use method of self-adaptive centering centralizer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114320193A (en) * | 2021-12-31 | 2022-04-12 | 中石化四机石油机械有限公司 | Self-adaptive centering centralizer for oil pipe of workover automation platform and use method of self-adaptive centering centralizer |
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Application publication date: 20210409 |