CN112983304B - Double-arm robot for pipe treatment and pipe treatment system - Google Patents
Double-arm robot for pipe treatment and pipe treatment system Download PDFInfo
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- CN112983304B CN112983304B CN201911215108.1A CN201911215108A CN112983304B CN 112983304 B CN112983304 B CN 112983304B CN 201911215108 A CN201911215108 A CN 201911215108A CN 112983304 B CN112983304 B CN 112983304B
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- 238000003860 storage Methods 0.000 claims abstract description 108
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000009977 dual effect Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 28
- 238000005452 bending Methods 0.000 claims description 21
- 230000007306 turnover Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 238000005553 drilling Methods 0.000 abstract description 8
- 239000003208 petroleum Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 210000000245 forearm Anatomy 0.000 description 4
- 230000013011 mating Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
Abstract
The invention relates to the field of petroleum drilling equipment, in particular to a double-arm robot for pipe treatment and a pipe treatment system. The double arm robot comprises a column and two hands, wherein one manipulator is slidably connected with one side of the column and the other manipulator is slidably connected with the other side of the column, the manipulator comprises a clamping device for clamping the pipe tool, and the clamping devices on the two manipulators are allowed to have different movement speeds. The pipe handling system includes a pipe storage assembly and the dual arm robot described above. The double-arm robot and the pipe handling system provided by the invention can directly take the pipe from the pipe stacking site and adjust the posture of the pipe, so that a temporary storage point of the pipe is not required to be arranged on the derrick, equipment for transporting the pipe can be simplified, the load of the derrick is reduced, and the working efficiency is improved.
Description
Technical Field
The invention relates to petroleum drilling equipment machinery, in particular to a double-arm robot for pipe treatment and a pipe treatment system.
Background
In oil and gas drilling systems, including land rigs and marine rigs, temporary storage areas for drill pipe columns, i.e., setback areas, are typically provided within or outside the derrick in order to increase the efficiency of the operation, particularly the tripping operation. The drill rods are connected into double or three or even four stroke stands and vertically discharged into the stand box area.
In order to achieve the purpose, the drilling system is provided with a plurality of devices such as a stand box, a calandria machine, a stand manipulator, a rat hole, a catwalk and the like. The equipment cooperates with each other to horizontally shift and move the single drill rod to the turntable through anchoring, the single drill rod is adjusted to the vertical posture from the horizontal posture by the vertical joint manipulator, the single drill rod is connected into the vertical joint under the cooperation of the rat hole, the vertical joint is discharged at the vertical joint box by the pipe arranging machine, and when the vertical joint needs to be lowered at the wellhead, the target vertical joint is taken out from the vertical joint box by the pipe arranging machine, transferred to the wellhead and delivered to the top drive.
The visible stand box is used as a temporary stand storage device and is one of key equipment for improving working efficiency. The setback is required to have a large enough capacity to store drill pipe at all drilling depths, so the setback is required to have a large enough structural size, strength, rigidity to meet its operational needs. Meanwhile, the stand box is arranged at the middle and upper parts of the derrick, so that the overall gravity center height of the derrick is increased, and the connection reliability is met by local reinforcement. When the stand box is full of stands, the stand load of the derrick is greatly increased; the full stand condition also greatly increases the windward area of the wind load, increases the wind acting force on the derrick, and the drill floor stand box area also needs sufficient structural strength to support the weight of all stands. When emergency occurs, all the stands are taken out of the stand boxes in time, and the stands are detached to form a single stand and are placed on a pipe yard. This will result in a huge amount of work and a great amount of work efficiency waste.
Meanwhile, equipment such as a stand box, a calandria machine, a stand receiving manipulator, a rat hole, a catwalk and the like is also one of important cost components of the drilling system, and the equipment is multiple, high in manufacturing cost and heavy in weight, so that the cost of the drilling system is greatly increased.
Disclosure of Invention
The invention aims at: aiming at the problems existing in the prior art, the double-arm robot for pipe handling and the pipe handling system are provided, which can directly take the stand from a pipe yard, adjust the posture of the stand and transport the stand to a wellhead, so that a temporary stand box is not required to be placed on a derrick again, and equipment such as a calandria machine, a stand receiving manipulator, a rat hole, a catwalk and the like is not required to be adopted, so that the load of the derrick is greatly reduced.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
in one aspect, the invention provides a dual arm robot for handling pipe tools comprising a column and two manipulators, one manipulator being connected to one side of the column and the other manipulator being connected to the other side of the column, the manipulators comprising gripping means for gripping the pipe tools, the gripping means on the two manipulators being allowed to have different speeds of movement. Through the structure, when in use, the upright posts are connected to the derrick, the two manipulators of the double-arm robot stack the pipe from the pipe tool on site, and then the posture of the pipe tool is adjusted through different movement speeds of the clamping device, so that the pipe feeding is convenient to realize. By adopting the double-arm robot for handling the pipe, the pipe can be directly taken from the pipe stacking site and the posture of the pipe is regulated, so that a temporary stacking point of the pipe is not required to be arranged on the derrick, the load of the derrick is reduced, meanwhile, the pipe connection equipment can be greatly simplified, and the load of the derrick is further reduced.
As a preferable scheme of the invention, the mechanical arm further comprises a mechanical arm, one end of the mechanical arm is used for being slidably connected with the upright post, the other end of the mechanical arm is connected with the clamping device, the mechanical arms on the two mechanical arms are allowed to have different sliding speeds, and the mechanical arm comprises six-degree-of-freedom serial mechanical arms. The six-degree-of-freedom serial mechanical arm has mature technology and high reliability, has enough degrees of freedom and can meet the requirement of posture change of the pipe.
As a preferable mode of the present invention, the clamping device includes a joint, a clamping frame, a first clamping portion and a second clamping portion; one end of the clamping frame is connected with the joint, and the other end of the clamping frame is rotationally connected with the first clamping part and the second clamping part; the first clamping part and the second clamping part are oppositely arranged, and an openable clamping space is formed between the first clamping part and the second clamping part.
As a preferable scheme of the invention, the first clamping part comprises a first transmission rod, a second transmission rod, a clamping block and a clamping power piece; one end of the first transmission rod is hinged with the clamping frame, and the other end of the first transmission rod is hinged with the clamping block; one end of the second transmission rod is hinged with the clamping frame, and the other end of the second transmission rod is hinged with the clamping block; the clamping power piece is connected with the first transmission rod and is used for driving the first transmission rod to rotate; the second clamping part has the same structure as the first clamping part. Through the scheme, the clamping block can always keep translational motion in the moving process.
As a preferable scheme of the invention, one end of the clamping power piece is hinged with the clamping frame, and the other end of the clamping power piece is hinged with the first transmission rod; the clamping power piece, the first transmission rod and the clamping frame form a triangle structure, wherein one side formed by the clamping power piece can be lengthened or shortened.
As a preferable scheme of the invention, the clamping device further comprises a clamping driving piece and a clamping driving wheel, wherein the clamping driving piece and the clamping driving wheel are arranged on the clamping block, at least one clamping driving piece is arranged on the first clamping part, at least one clamping driving piece is also arranged on the second clamping part, and the clamping driving pieces are correspondingly connected with the clamping driving wheels one by one; the clamping driving wheel is used for contacting with the pipe tool in the clamping space. Through setting up clamping driving piece and clamping driving wheel, when clamping device presss from both sides the pipe utensil, clamping driving piece can drive clamping driving wheel rotation to drive the pipe utensil in the clamping space and remove, adjust the position of pipe utensil.
As a preferable mode of the present invention, in the axial direction of the grip driving wheel, the cross sectional area of the middle portion of the grip driving wheel is smaller than the cross sectional area of both ends of the grip driving wheel. Through the structure, the pipe fitting can be matched with the concave part of the clamping driving wheel, so that the contact area between the clamping driving wheel and the pipe fitting is increased, and the clamping is more stable.
As a preferred embodiment of the present invention, the side surfaces of the grip driving wheels are provided with friction lines. Through the structure, friction lines can increase friction force between the clamping driving wheel and the pipe tool, so that the clamping is more stable; simultaneously, when the clamping driving wheel rotates to adjust the position of the pipe tool, slipping can be avoided, and the position of the pipe tool in the clamping space can be adjusted more accurately.
As a preferable scheme of the invention, the manipulator is connected with the upright post through a pulley.
As a preferred scheme of the present invention, the double-arm robot further comprises an upper support frame and a lower support frame; the upper support frame is hinged with one end of the upright post, and the lower support frame is hinged with the other end of the upright post. When the double-arm robot is used, the upper support frame and the lower support frame can be connected with the derrick and are used for bearing bending moment born by the double-arm robot in the working process.
On the other hand, the invention also provides a pipe tool processing system which comprises a pipe tool storage component and the double-arm robot; the pipe tool storage assembly is used for storing pipe tools, and the double-arm robot is used for taking the pipe from the pipe tool storage assembly or placing the pipe tools on the pipe tool storage assembly. When the derrick is used, the pipe storage assembly can be directly placed on the ground, and the pipe storage assembly and the pipe fittings on the pipe storage assembly cannot cause extra load on the derrick.
As a preferred aspect of the present invention, a pipe storage assembly includes a pipe storage rack including a rack body and at least two resisting blocks; the pipe tool storage component is provided with a storage surface, the blocking blocks are convexly arranged on the storage surface and are connected with the frame body, and a storage space is formed between at least two blocking blocks.
As a preferred aspect of the present invention, the pipe storage assembly further comprises at least two whipstock drives and at least two whipstock rods; the inclined rod is connected with the pipe storage rack, and the surface of the pipe storage rack opposite to the storage surface is a supporting surface; the deflecting driving parts are connected with the deflecting rods in a one-to-one correspondence manner; the deflecting rod is provided with a first working position and a second working position, when the deflecting rod is positioned at the first working position, the distance between the first end of the storage surface and the supporting surface is larger than the distance between the second end of the storage surface and the supporting surface, and when the deflecting rod is positioned at the second working position, the distance between the first end of the storage surface and the supporting surface is smaller than the distance between the second end of the storage surface and the supporting surface. Through the structure, the deflecting driving piece drives the position of the deflecting rod to be switched between the first working position and the second working position, so that the pipe tool can roll in the required direction. For example, when the pipe is required to be taken, the pipe tool is rolled in a direction approaching the derrick; when the pipe tool needs to be stored, the pipe tool is rolled away from the derrick.
As a preferable scheme of the invention, one end of the deflecting rod is hinged with the frame body, and the connecting point of the deflecting rod and the frame body is close to the first end of the storage surface; the other end of the inclined rod is close to the second end of the storage surface and hinged with one end of the inclined driving piece, and the other end of the inclined driving piece is hinged with the frame body through the mounting lug plate; the whipstock drive may be lengthened or shortened.
As a preferred aspect of the present invention, the pipe storage assembly further includes at least two roll-over stands and at least two roll-over driving members; the turnover frame is connected with the pipe storage frame, the turnover frame is provided with a clamping surface, the clamping surface comprises a first bending part and a second bending part, the clamping surface is enabled to be a concave bending surface, and the turnover frame is hinged with the position, close to the first end of the storage surface, on the frame body; one end of the overturning driving piece is hinged with the frame body, and the other end of the overturning driving piece is hinged with one end of the overturning frame far away from the clamping surface. Through above-mentioned structure, the roll-over stand can cooperate with the deflecting bar, when getting the pole, the roll-over stand can keep apart one of them pipe utensil and other pipe utensil, is convenient for get the pipe operation, avoids once getting the condition of many pipes.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. the pipe can be directly taken out from the lower part of the derrick, so that a temporary storage device for the pipe is not required to be arranged on the derrick, the load born by the derrick is reduced, and the safety is improved;
2. the pipe taking, transporting, pipe posture adjusting, pipe discharging and other functions can be realized only by the pipe treatment system, so that equipment such as a pipe arranging machine, a vertical joint mechanical arm, a rat hole, a catwalk and the like is not needed, the derrick load is further reduced, and the on-site arrangement space is also saved;
3. through this kind of both arms robot and pipe utensil processing system, the direction of stacking of pipe utensil at the well site can be adjusted to be favorable to reducing the transportation distance of pipe utensil from the place of stacking to well head center department, be favorable to improving efficiency.
Drawings
FIG. 1 is a schematic diagram of a tubular handling system according to an embodiment of the present invention when connected to a well site and initiating tubular retrieval.
Fig. 2 is a schematic structural diagram of a manipulator according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a clamping device according to an embodiment of the present invention.
Fig. 4 is a schematic view of a whipstock of a pipe storage rack according to an embodiment of the invention in a first working position.
FIG. 5 is a schematic diagram of a pipe storage assembly according to an embodiment of the present invention.
FIG. 6 is a schematic illustration of a whipstock of a pipe storage assembly according to an embodiment of the invention in a second operational position.
Fig. 7 is a schematic view of a roll-over stand of a pipe storage assembly according to an embodiment of the present invention with one pipe spaced apart.
Fig. 8 is a schematic view of a dual arm robot according to an embodiment of the present invention when lifting a pipe from a pipe storage assembly.
Fig. 9 is a schematic diagram of a dual-arm robot according to an embodiment of the present invention in a pipe posture adjustment process.
Fig. 10 is a schematic view of the tube after the posture adjustment is completed.
FIG. 11 is a schematic illustration of the tubular being placed over the wellhead center after the column has been rotated.
Fig. 12 is a schematic structural view of a first clamping portion according to an embodiment of the present invention.
Icon: 1-a derrick; 11-a platform; 2-a double arm robot; 21-an upper support frame; 22-stand columns; 23-a manipulator; 23 a-a first manipulator; 23 b-a second manipulator; 231-pulley; 232-big arm; 233-forearm; 234-wrist; 235-clamping means; 2351-a first clamp; 2351 a-first drive rod; 2351 b-a second drive rod; 2351 c-clamp blocks; 2351 d-clamping power member; 2352-a second clamp; 2353-linker; 2354-a clamping frame; 2355-grip drive; 2356-grip drive wheel; 236-a base; 24-a lower support frame; 3-a tubing storage assembly; 301-a pipe storage rack; 31-a frame body; 32-a stop block; 33-storage space; 34-a storage surface; 35-a support surface; 36-making an inclined rod; 37-a whipstock drive; 38-a roll-over stand; 381-first bend; 382-second bend; 39-flip drive; 4-pipe tool.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Examples
Referring to fig. 1, an embodiment of the present invention provides a pipe handling system, which includes a dual-arm robot 2 and a pipe storage assembly 3. The pipe tool processing system can be used for processing pipe tools such as stands and the like on a drilling site, directly moving the pipe tools 4 from a pipe tool storage site to a wellhead, and adjusting the posture of the pipe tools 4 so as to facilitate pipe running operation. Specific:
the double arm robot 2 includes an upper support frame 21, a column 22, a lower support frame 24, and two robot arms 23.
The upper support frame 21 is rotatably connected with the upper end of the upright 22, and the upper support frame 21 is fixedly connected with the derrick 1. Specifically, the upper support 21 is provided with a mating hole, and one end of the upright 22 is rotatably disposed in the mating hole.
A lower support 24 is rotatably connected to the lower end of the upright 22, and the lower support 24 is fixedly connected to the derrick 1 or the ground. Specifically, the lower support frame 24 is provided with a mating hole, and the other end of the upright 22 is rotatably disposed in the mating hole.
When the stand 22 is connected to the upper support 21 and the lower support 24, the stand 22 is disposed along the height direction of the derrick 1, and the stand 22 only retains the degree of freedom of rotation about its own axis, so that the stand 22 can rotate under the action of external force.
The two manipulators 23 are a first manipulator 23a and a second manipulator 23b, respectively.
The first robot arm 23a is slidably connected to one side of the column 22. Specifically, the first manipulator 23a is slidably connected to one side of the column 22 via a sled 231.
The first robot 23a includes a robot arm and a gripping device 235. One end of the mechanical arm is connected with the pulley 231, and the other end of the mechanical arm is connected with the clamping device 235.
Referring to fig. 2, in the present embodiment, the robot arm is configured as a six-degree-of-freedom serial robot arm including a base 236, a large arm 232, a small arm 233, and a wrist 234. The base 236 is fixedly connected to the sled 231. The large arm 232 is hinged to the base 236 with the axis of rotation perpendicular to the large arm 232. The forearm 233 is hinged to the base 236 with the axis of rotation being perpendicular to the forearm 233. Wrist 234 is rotatably coupled to forearm 233 such that wrist 234 may rotate about its own length with an axis of rotation coincident with the length of forearm 233.
Referring to fig. 3, the clamping device 235 includes a joint 2353, a clamping frame 2354, a first clamping portion 2351, a second clamping portion 2352, a clamping driving member 2355 and a clamping driving wheel 2356.
One end of the joint 2353 is hinged with the wrist 234, and the other end of the joint 2353 is connected with the clamping frame 2354. The first clamping portion 2351 and the second clamping portion 2352 are hinged to the clamping frame 2354, the first clamping portion 2351 and the second clamping portion 2352 are disposed opposite to each other, and an openable clamping space is formed between the first clamping portion 2351 and the second clamping portion 2352.
Referring to fig. 12, the first clamping portion 2351 includes a first transmission rod 2351a, a second transmission rod 2351b, a clamping block 2351c and a clamping power member 2351d. One end of the first transmission rod 2351a is hinged with the clamping frame 2354, and the other end is hinged with the clamping block 2351 c. One end of the second transmission rod 2351b is hinged with the clamping frame 2354, and the other end is hinged with the clamping block 2351 c. The clamping frame 2354, the first transmission rod 2351a, the second transmission rod 2351b and the clamping block 2351c form a parallelogram mechanism, so that the clamping block 2351c can keep translational motion all the time during working.
One end of the clamping power member 2351d is hinged to the clamping frame 2354, and the other end of the clamping power member 2351d is hinged to the first transmission rod 2351a, so that the clamping power member 2351d can drive the first transmission rod 2351a to rotate by extending or shortening.
Four grip driving members 2355 and four grip driving wheels 2356 are provided on one grip device 235. The grip driving members 2355 are connected to the grip driving wheels 2356 in a one-to-one correspondence, and one grip driving member 2355 drives one grip driving wheel 2356. Two of the clamping driving members 2355 are disposed on the first clamping portion 2351, and the remaining two clamping driving members 2355 are disposed on the second clamping portion 2352. Specifically, the clamp driving member 2355 and the clamp driving wheel 2356 are both mounted on the clamp block 2351 c.
The clamping driving wheel 2356 is a solid of revolution structure, and in the axial direction of the clamping driving wheel 2356, the cross-sectional area of the middle part thereof is smaller than the cross-sectional area of both ends. Further, in the present embodiment, the side surface of the grip driving wheel 2356 is a single-leaf hyperboloid. The sides of the grip drive wheel 2356 are also provided with friction lines. When the first clamping portion 2351 and the second clamping portion 2352 are used for clamping the pipe fitting 4, the pipe fitting 4 in the clamping space is contacted with the clamping driving wheel 2356, and the contact area between the clamping driving wheel 2356 and the pipe fitting 4 can be increased through the concave portion in the middle of the clamping driving wheel 2356, so that more stable clamping is realized. The clamp driver 2355 may also be rotated by the clamp driver 2355 to adjust the position of the pipe tool 4 by the friction between the clamp driving wheel 2356 and the pipe tool 4. Specifically, in the present embodiment, the grip driving member 2355 is provided as a motor.
The second robot 23b has the same structure as the first robot 23 a. The second robot 23b is connected to the other side of the column 22. The second manipulator 23b is connected to the upright 22 by a further trolley 231. The second robot 23b can have a different sliding speed with respect to the column 22 than the first robot 23 a.
Referring to fig. 4-7, the pipe storage assembly 3 is configured to be disposed below the dual-arm robot 2, such that the first manipulator 23a and the second manipulator 23b can clamp the pipe 4 from the pipe storage assembly 3 when they are close to the lower end of the upright 22.
The pipe storage assembly 3 includes a pipe storage rack 301, a whipstock drive 37, a whipstock rod 36, a roll-over rack 38, and a roll-over drive 39.
Wherein the pipe tool storage rack 301 includes a rack body 31 and a stopper 32. In the present embodiment, the frame 31 is a hexahedral frame structure. The stopper 32 is connected to the frame 31.
The tube storage assembly 3 includes oppositely disposed storage surfaces 34 and support surfaces 35 thereon. When the pipe 4 is stored, the supporting surface 35 is used for contacting the ground, the storing surface 34 faces upwards, the number of the resisting blocks 32 is four, the top of the four resisting blocks 32 is higher than the storing surface 34, a storing space 33 is formed between the four resisting blocks 32, and the pipe 4 can be placed in the storing space 33.
A deflecting driver 37 is connected to the deflecting rod 36 for forming a different direction of inclination on the storage surface 34, enabling the pipe 4 on the storage surface 34 to be rotated in a predetermined direction. Specifically, a pipe storage rack 301 is connected with a deflecting driving member 37 and a deflecting rod 36. The whipstock drive 37 is hingedly connected to the whipstock rod 36.
One end of the deflecting driving piece 37 is hinged with the side face of the frame body 31 through a mounting lug plate, the other end of the deflecting driving piece 37 is hinged with one end of the deflecting rod 36, and the other end of the deflecting rod 36 is hinged with the frame body 31. The deflecting driving member 37, the deflecting rod 36 and the frame 31 form a triangle structure, wherein the length of one side formed by the deflecting driving member 37 can be stretched or shortened. Specifically, in the present embodiment, the whipstock driving member 37 is selected as an oil cylinder.
The storage surface 34 has oppositely disposed first and second ends. The tilt lever 36 has a first operating position and a second operating position. When the tilt lever 36 is in the first operative position, the first end of the storage surface 34 is spaced from the support surface 35 a greater distance than the second end of the storage surface 34 is spaced from the support surface 35; when the tilt lever 36 is in the second operating position, the first end of the storage surface 34 is spaced from the support surface 35 less than the second end of the storage surface 34 is spaced from the support surface 35.
One end of the turnover driving member 39 is fixedly connected with the frame body 31, and the other end of the turnover driving member 39 is hinged with the turnover frame 38. The roll-over stand 38 is hinged to the frame body 31 at a position near the first end of the storage surface 34. The turnover driving member 39, the turnover frame 38 and the frame body 31 form a triangle structure, and one side formed by the turnover driving member 39 can be lengthened or shortened. Specifically, the flip driver 39 is provided as an oil cylinder.
The roll-over stand 38 has a holding surface thereon, and specifically, the holding surface includes a first bending portion 381 and a second bending portion 382. When the tilting drive 39 is retracted, the first bending part 381 is below the storage surface 34, and the second bending part 382 is above the storage surface 34, such that a space for accommodating a single pipe 4 is formed between the second bending part 382 and the abutment 32 at one end, so as to clamp the pipe 4 to be gripped or just put down, and a space for accommodating the rest of the pipe 4 is formed between the second bending part 382 and the abutment 32 at the other end. When the tilting drive 39 is extended, the tilting frame 38 is rotated, so that the tube 4 just put down can be rolled toward the lower end on the storage surface 34 until the first bending portion 381 is above the storage surface 34 and the second bending portion 382 is below the storage surface 34.
By the cooperation of the turning driving member 39, the turning frame 38, the deflecting driving member 37 and the deflecting rod 36, the pipe 4 can move in a preset direction, thereby facilitating the gripping, putting down and storing of the pipe 4.
The pipe processing system provided by the invention has the working principle that:
in use, the upper support 21 of the double arm robot 2 is connected to the derrick 1, and the lower support 24 is connected below the work platform 11 of the derrick 1. The pipe storage rack 301 is placed on the ground and is positioned on the side surface below the double-arm robot 2, so that the length direction of the pipe 4 on the pipe storage rack 301 is consistent with the direction of the first manipulator 23a pointing to the second manipulator 23b, the direction of the first end of the pipe storage rack 301 pointing to the second end is perpendicular to the length direction of the pipe 4, and the first end of the storage surface 34 is relatively closer to the double-arm robot 2;
when it is desired to lift one of the columns 22, the tilt lever 36 of the pipe tool storage assembly 3 is positioned at the second working position, the second bending portion 382 of the roll-over stand 38 is lower than the storage surface 34, the first bending portion 381 is higher than the storage surface 34, then one of the pipe tools 4 is slid along the storage surface 34 to the junction of the first bending portion 381 and the second bending portion 382, and then the roll-over stand 38 is rotated to make the second bending portion 382 higher than the storage surface 34, the first bending portion 381 is lower than the storage surface 34, the pipe tools 4 are separated from the rest of the pipe tools 4 by the second bending portion 382 for clamping by the double-arm robot 2;
referring to fig. 8-10, the first and second manipulators 23a and 23b of the dual-arm robot 2 slide down, and the clamping device 235 clamps the pipe 4, and the pipe 4 is engaged with the recesses on the sides of the respective clamping driving wheels 2356. At this time, the grip driving member 2355 may rotate the grip driving wheel 2356, thereby driving the pipe 4 to move in the axial direction, thereby adjusting the position of the pipe 4. Then the first manipulator 23a and the second manipulator 23b drive the pipe 4 to move upwards, in the process, the movement speed of the first manipulator 23a is faster than that of the second manipulator 23b (or the movement speed of the second manipulator 23b is faster than that of the first manipulator 23 a), so that the posture of the pipe 4 is gradually adjusted from the horizontal direction to the vertical direction, and at the moment, the pipe 4 and the derrick 1 are respectively positioned at two sides of the upright 22;
referring to fig. 11, finally, the stand 22 is rotated to rotate the pipe 4 into the derrick 1, and the position is adjusted so that the pipe 4 is aligned with the wellhead center, thereby realizing pipe running.
The pipe handling system provided by the embodiment of the invention not only can directly take out the pipe from the pipe storage yard, but also can directly lower the pipe 4 lifted from the wellhead to the pipe storage yard, and the operation process of lowering the pipe 4 is opposite to the pipe taking process, and is not repeated.
The pipe tool processing system provided by the embodiment of the invention has the beneficial effects that:
1. the pipe can be directly taken from the position below the platform 11 of the derrick 1, so that a temporary storage device for the pipe 4 is not required to be arranged on the derrick 1, the load born by the derrick 1 is reduced, the gravity center of the derrick 1 is reduced, and the safety is improved;
2. the pipe taking, transporting, posture adjusting, pipe discharging and other functions of the pipe 4 can be realized only by the pipe processing system, so that equipment such as a pipe arranging machine, a vertical joint mechanical arm, a rat hole, a catwalk and the like are not required to be repeatedly arranged, the load of the derrick 1 is further reduced, and the on-site arrangement space is also saved;
3. all the pipes 4 can be stored in a pipe yard, and the pipe 4 can be disassembled under no emergency, so that unnecessary efficiency waste is reduced;
4. in the prior art, in order to facilitate the carrying and lifting of the pipe 4, the placing direction of the pipe 4 is longitudinal (i.e. the derrick 1 is located on the extension line of the pipe 4), and in this placing mode, the carrying distance of the pipe 4 is longer.
It should be noted that:
in the present application, the reason why the gripping devices 235 on the first robot 23a and the second robot 23b are allowed to have different movement speeds is that: after gripping the pipe 4, the posture of the pipe 4 can be adjusted by different movement speeds of the gripping devices 235 on the two manipulators 23. Those skilled in the art will appreciate that this includes both cases where the gripping devices 235 on both robots 23 are moving and the speed of movement is different; also included are cases where the gripping device 235 on one of the manipulators 23 is moving, while the gripping device 235 on the other manipulator 23 remains stationary relative to the ground (i.e., the moving speed is 0);
in addition, the method for generating the different movement speeds of the two gripping devices 235 on the two manipulators 23 may be obtained by adjusting the different sliding speeds of the two manipulators 23 and the posture of the manipulator 23 itself as described in the present embodiment, or may be obtained by adjusting only the posture of the manipulator 23 itself when the length of the manipulator 23 is sufficient;
in this embodiment, the pipe storage assembly 3 includes two pipe storage racks 301 disposed at intervals, and each pipe storage rack 301 is provided with a deflecting driving member 37, a deflecting rod 36, a tilting driving member 39, and a tilting frame 38. In other embodiments of the present invention, if it is necessary to provide the pipe tool storage rack 301, the deflecting driving member 37, the deflecting rod 36, the turning driving member 39 and the turning rack 38, the number of the above five components may be changed, and it is not necessary to use the form according to the present embodiment. Namely: a tube storage rack 301 is not necessarily connected to a tilt lever 36 and a roll-over stand 38. Throughout the pipe tool storage assembly 3: at least one of the number of the tube storage racks 301 should be set; the number of the deflecting driving members 37 and the deflecting rods 36 is at least two, so that the elongated pipe 4 is supported, and the pipe 4 can be horizontally placed; the number of the roll-over stand 38 and the roll-over driving member 39 should be at least two in order to accurately separate the single pipe 4. For example, only one pipe storage rack 301 may be provided, and at least two deflecting drivers 37, at least two deflecting rods 36, at least two tilting frames 38, and at least two tilting drivers 39 are connected to the pipe storage rack 301.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (11)
1. The double-arm robot for pipe processing is characterized by comprising a stand column, a first manipulator and a second manipulator, wherein the first manipulator is connected with one side of the stand column, and the second manipulator is connected with the other side of the stand column;
the first and second manipulators include gripping devices for gripping a pipe tool, the gripping devices of the first and second manipulators being allowed to have different speeds of movement;
the first manipulator and the second manipulator further comprise mechanical arms, the first manipulator and the second manipulator are respectively arranged on two opposite sides of the upright post and are respectively connected with the upright post in a sliding way through pulleys, the other ends of the mechanical arms are connected with the clamping devices, and the mechanical arms of the first manipulator and the second manipulator are allowed to have different sliding speeds;
the mechanical arm comprises a six-degree-of-freedom serial mechanical arm;
the clamping device comprises a joint, a clamping frame, a first clamping part and a second clamping part;
one end of the clamping frame is connected with the connector, and the other end of the clamping frame is rotationally connected with the first clamping part and the second clamping part;
the first clamping part and the second clamping part are oppositely arranged, and an openable clamping space is formed between the first clamping part and the second clamping part;
the device also comprises an upper supporting frame and a lower supporting frame;
the upper support frame with the stand upper end rotates to be connected, the lower support frame with the stand lower extreme rotates to be connected.
2. The dual arm robot of claim 1, wherein the first clamping portion comprises a first drive rod, a second drive rod, a clamping block, and a clamping power member;
one end of the first transmission rod is hinged with the clamping frame, and the other end of the first transmission rod is hinged with the clamping block;
one end of the second transmission rod is hinged with the clamping frame, and the other end of the second transmission rod is hinged with the clamping block;
the clamping frame, the first transmission rod, the second transmission rod and the clamping block form a parallelogram mechanism, and the clamping power piece is connected with the first transmission rod and used for driving the first transmission rod to rotate;
the second clamping part has the same structure as the first clamping part.
3. The double-arm robot according to claim 2, wherein one end of the clamping power member is hinged to the clamping frame, and the other end of the clamping power member is hinged to the first transmission rod;
the clamping power piece, the first transmission rod and the clamping frame form a triangle structure, wherein one side formed by the clamping power piece can be lengthened or shortened.
4. The double-arm robot according to claim 3, wherein the clamping device further comprises a clamping driving member and a clamping driving wheel, the clamping driving member and the clamping driving wheel are mounted on the clamping block, at least one clamping driving member is arranged on the first clamping portion, at least one clamping driving member is also arranged on the second clamping portion, and the clamping driving members and the clamping driving wheels are connected in a one-to-one correspondence;
the clamping driving wheel is used for being in contact with the pipe tool in the clamping space.
5. The double arm robot of claim 4 wherein the cross-sectional area of the center of the grip drive wheel is smaller than the cross-sectional area of both ends of the grip drive wheel in the axial direction of the grip drive wheel.
6. The double arm robot of claim 4 wherein the sides of the grip drive wheel are provided with friction lines.
7. A pipe handling system comprising a pipe storage assembly and the dual arm robot of any of claims 1-6;
the pipe tool storage assembly is used for storing pipe tools, and the double-arm robot is used for taking pipes from the pipe tool storage assembly or placing the pipe tools on the pipe tool storage assembly.
8. The pipe tool handling system of claim 7, wherein the pipe tool storage assembly comprises a pipe tool storage rack comprising a rack body and at least two abutment blocks;
the pipe utensil storage component is provided with a storage surface, the top surface of the resisting block is higher than the storage surface, the resisting block is connected with the frame body, and a storage space is formed between at least two resisting blocks.
9. The pipe tool handling system of claim 8, wherein the pipe tool storage assembly further comprises at least two deflecting drivers and at least two deflecting bars, the deflecting drivers being connected in one-to-one correspondence with the deflecting bars;
the deflecting rod is connected with the pipe storage rack;
the surface of the pipe storage rack opposite to the storage surface is a supporting surface;
the whipstock has a first working position and a second working position, when the whipstock is in the first working position, the distance from the first end of the storage surface to the support surface is greater than the distance from the second end of the storage surface to the support surface, and when the whipstock is in the second working position, the distance from the first end of the storage surface to the support surface is less than the distance from the second end of the storage surface to the support surface.
10. The pipe tool handling system of claim 9, wherein one end of the whipstock is hinged to the housing and a point of connection of the whipstock to the housing is proximate to the first end of the storage surface;
the other end of the deflecting rod is close to the second end of the storage surface and hinged with one end of the deflecting driving piece, and the other end of the deflecting driving piece is hinged with the frame body through an installation lug plate;
the whipstock drive member may be lengthened or shortened.
11. The pipe handling system of claim 10 wherein the pipe storage assembly further comprises at least two turndown frames and at least two turn drives, the turndown frames being connected to the pipe storage frames;
the turnover frame is provided with a clamping surface, the clamping surface comprises a first bending part and a second bending part, the clamping surface is enabled to be a concave folding surface, and the turnover frame is hinged with the position, close to the first end of the storage surface, of the frame body;
one end of the overturning driving piece is hinged with the frame body, and the other end of the overturning driving piece is hinged with one end, far away from the clamping surface, of the overturning frame.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911215108.1A CN112983304B (en) | 2019-12-02 | 2019-12-02 | Double-arm robot for pipe treatment and pipe treatment system |
| PCT/CN2020/095931 WO2021109532A1 (en) | 2019-12-02 | 2020-06-12 | Dual-arm robot for pipe processing, and pipe processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911215108.1A CN112983304B (en) | 2019-12-02 | 2019-12-02 | Double-arm robot for pipe treatment and pipe treatment system |
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| Publication Number | Publication Date |
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| CN112983304A CN112983304A (en) | 2021-06-18 |
| CN112983304B true CN112983304B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911215108.1A Active CN112983304B (en) | 2019-12-02 | 2019-12-02 | Double-arm robot for pipe treatment and pipe treatment system |
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| CN (1) | CN112983304B (en) |
| WO (1) | WO2021109532A1 (en) |
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| CN114523472B (en) * | 2022-01-24 | 2023-05-23 | 湖南视比特机器人有限公司 | Workpiece collaborative grabbing method, system and storage medium |
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| CN112983304A (en) | 2021-06-18 |
| WO2021109532A1 (en) | 2021-06-10 |
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