CN112983305B - Pipe processing robot and processing system - Google Patents
Pipe processing robot and processing system Download PDFInfo
- Publication number
- CN112983305B CN112983305B CN201911216210.3A CN201911216210A CN112983305B CN 112983305 B CN112983305 B CN 112983305B CN 201911216210 A CN201911216210 A CN 201911216210A CN 112983305 B CN112983305 B CN 112983305B
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- clamping
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- 238000012545 processing Methods 0.000 title claims abstract description 39
- 238000005452 bending Methods 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 21
- 230000007306 turnover Effects 0.000 claims description 13
- 230000002035 prolonged effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000005553 drilling Methods 0.000 abstract description 6
- 239000002699 waste material Substances 0.000 abstract description 5
- 239000003208 petroleum Substances 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 47
- 238000010586 diagram Methods 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000013519 translation Methods 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
-
- 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 pipe processing robot and a processing system, wherein the pipe processing robot comprises an upright post; the mounting frame is slidably connected with the upright post; the clamping arm is rotatably connected with the mounting frame and can rotate in a vertical plane, and a clamping part for clamping the pipe tool is arranged on the clamping arm. The pipe tool processing system comprises a pipe tool storage rack and the pipe tool processing robot. The pipe tool processing robot and the processing system provided by the invention can directly take the pipe from the ground and adjust the posture of the pipe tool, so that a temporary stand box is not required to be arranged on the derrick, the load of the derrick is reduced, and unnecessary waste of working efficiency is avoided.
Description
Technical Field
The invention relates to petroleum drilling equipment, in particular to a pipe processing robot and a processing system.
Background
In oil and gas drilling systems, in order to improve the working efficiency thereof, in particular to improve the working efficiency of tripping operations, temporary storage areas for drill pipe columns, i.e. setback areas, are usually arranged inside or outside the derrick. The drill rods are connected together by two, three or four rods to form a stand, and are vertically discharged into a 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 stand zero storage device and is one of key equipment for improving the 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 wind load, increases the acting force of wind on the derrick, and simultaneously the stand box area of the drill floor also needs enough 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, to achieve the purpose, equipment such as a calandria machine, a vertical robot, a rat hole, a catwalk and the like are required to be arranged for cooperative work, and the equipment is also one of important cost components of a drilling system.
Disclosure of Invention
The invention aims at: aiming at the problems that in the prior art, the temporary stand box needs to be placed on a derrick, the derrick load is large, a great amount of work efficiency is wasted due to the fact that the stand box is taken out when emergency occurs, and equipment required for taking the stand is more, the pipe processing robot and the pipe processing system are provided.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
in one aspect, the present invention provides a pipe handling robot comprising: a column; the mounting frame is slidably connected with the upright post; the clamping arm is rotatably connected with the mounting frame and can rotate in a vertical plane, and a clamping part for clamping the pipe tool is arranged on the clamping arm. The pipe tool processing robot provided by the invention can directly take the pipe from the ground and adjust the posture of the pipe tool, so that a temporary stand box is not required to be arranged on the derrick, and the reduction of the load of the derrick is facilitated. Meanwhile, the waste of working efficiency caused when all the stands are taken out from the temporary stand box in emergency can be avoided. Specifically, the clamping arm is used for taking a pipe, and the clamping arm is rotatably connected with the mounting frame, so that the clamping arm can be used for adjusting the posture of the pipe tool; in addition, the mounting frame is connected with the upright post in a sliding manner, so that after the clamping arm takes the pipe, enough space for posture adjustment of the pipe can be provided, and the clamping arm can conveniently drive the pipe to carry out posture adjustment.
As a preferred embodiment of the invention, the upright is slidably connected to the mounting frame by means of a trolley.
As the preferable scheme of the invention, the pipe processing robot further comprises an attitude adjustment driving piece, one end of the attitude adjustment driving piece is hinged with the mounting frame, and the output end of the attitude adjustment driving piece is hinged with the clamping arm; the posture adjustment driving member, the mounting frame and the holding arm form a triangular posture adjustment mechanism, and the length of one side constituted by the posture adjustment driving member can be lengthened or shortened. The posture adjustment of the clamping arm is realized through the structure, the structure is simple, and the triangular structure is stable under the condition that the posture adjustment driving piece does not output force. Specifically, the posture adjustment driving member can be set as a hydraulic cylinder, can output a larger force, and is convenient to control.
As a preferable scheme of the invention, the clamping arm is provided with the connecting lug which is in a triangular structure, and the connecting point of the gesture adjusting driving piece and the clamping arm is positioned on the connecting lug. Through set up the connection lug that is triangle structure on the arm, can avoid the arm to produce the interference with other structures such as mounting bracket in gesture adjustment in-process, be convenient for installation and structural design.
As a preferred aspect of the invention, the mount comprises a horn assembly and a base; the base is fixedly connected with the pulley, and the amplitude varying component is hinged with the base.
As a preferred aspect of the invention, the horn assembly comprises a first horn, a second horn, and a web; the base, the first amplitude transformer, the second amplitude transformer and the connecting plate form a parallelogram mechanism; the first amplitude transformer is used as a driving rod of the parallelogram mechanism, the second amplitude transformer is used as a driven rod of the parallelogram mechanism, the base is used as a rack of the parallelogram mechanism, and the connecting plate is used as a connecting rod of the parallelogram mechanism; the posture adjusting driving piece, the clamping arm and the connecting plate on the mounting frame form a posture adjusting mechanism. Through the structure, the base, the first amplitude transformer, the second amplitude transformer and the connecting plate form the parallelogram mechanism, so that the connecting plate can translate without rotating under the driving of the first amplitude transformer, and the clamping arm is driven by the posture adjusting mechanism consisting of the connecting plate, the posture adjusting driving piece and the clamping arm, so that the translation of the clamping arm can be realized under the condition that the posture adjustment of the clamping arm is completed, the distance between the clamping arm and the upright post is adjusted, and the operating pipe is convenient to align with the wellhead.
As a preferred scheme of the invention, the amplitude changing assembly further comprises an amplitude changing driving piece, one end of the amplitude changing driving piece is hinged with the base, and the other end of the amplitude changing driving piece is hinged with the first amplitude changing rod; the amplitude changing driving piece, the first amplitude changing rod and the base form a triangular amplitude changing driving mechanism, and the length of one side formed by the amplitude changing driving piece can be prolonged or shortened. The rotation of the first amplitude transformer is realized through the amplitude transformer driving structure, and the amplitude transformer driving structure of the triangular structure is stable under the condition that the amplitude transformer driving piece does not need to output force. Furthermore, the amplitude-variable driving piece is arranged as a hydraulic oil cylinder, so that larger force can be output, and the control is convenient.
As the preferable scheme of the invention, the pipe processing robot further comprises an upper supporting frame and a lower supporting frame; one end of the upright post is rotatably connected with the upper supporting frame, and the other end of the upright post is rotatably connected with the lower supporting frame. The upper support frame is used for providing rotation guide for the stand, and the lower support frame is used for supporting the stand. The upper support frame and the lower support frame are used for restraining the two ends of the upright post together, so that the upright post can be prevented from overturning.
As a preferable scheme of the invention, one clamping part is arranged at one end of the clamping arm, and the other clamping part is arranged at the other end of the clamping arm. The clamping part is used for clamping the pipe tool. At least two clamping parts are arranged on the clamping arm, so that the pipe tool is more stable.
On the other hand, the invention also provides a pipe tool processing system which comprises a pipe tool storage component and the pipe tool processing robot; the pipe tool storage assembly is used for storing pipe tools, and the pipe tool processing robot is used for taking the pipe from the pipe tool storage assembly or placing the pipe tools on the pipe tool storage assembly.
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. The motion of the inclined rod is realized through the structure, and the structure is simple and stable. Further, the whipstock drive may be provided as a hydraulic ram.
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:
the pipe tool processing robot and the processing system provided by the invention can directly take the pipe from the ground or the pipe tool storage component and adjust the posture of the pipe tool, so that a temporary stand box is not required to be arranged on the derrick, and the reduction of the load of the derrick is facilitated. Meanwhile, the waste of working efficiency caused when all the stands are taken out from the temporary stand box in emergency can be avoided. Specifically, the clamping arm is used for taking a pipe, and the clamping arm is rotatably connected with the mounting frame, so that the clamping arm can be used for adjusting the posture of the pipe tool; in addition, the mounting frame is connected with the upright post in a sliding manner, so that after the clamping arm takes the pipe, enough space for posture adjustment of the pipe can be provided, and the clamping arm can conveniently drive the pipe to carry out posture adjustment.
Drawings
Fig. 1 is a schematic diagram of a pipe processing system according to embodiment 1 of the present invention.
Fig. 2 is a partial enlarged view of the portion a in fig. 1.
Fig. 3 is a schematic structural diagram of a pipe handling robot according to embodiment 1 of the present invention.
Fig. 4 is a schematic structural diagram of a pipe storage rack according to embodiment 1 of the present invention.
Fig. 5 is a schematic perspective view of a pipe storage rack according to embodiment 1 of the present invention.
Fig. 6 is a schematic view of the first bending portion of the pipe storage rack provided in embodiment 1 of the present invention when the first bending portion is higher than the storage surface.
Fig. 7 is a schematic view of the second bending portion of the pipe storage rack provided in embodiment 1 of the present invention when the second bending portion is higher than the storage surface.
Fig. 8 is a schematic view of a pipe handling robot according to embodiment 1 of the present invention when taking a pipe from a pipe storage rack.
Fig. 9 is a schematic view of a pipe handling robot according to embodiment 1 of the present invention when lifting a pipe.
Fig. 10 is a schematic view of the pipe handling robot according to embodiment 1 of the present invention in the process of adjusting the posture of the pipe from horizontal to vertical.
Fig. 11 is a partial enlarged view of the portion B in fig. 10.
Fig. 12 is a schematic view of the pipe handling robot according to embodiment 1 of the present invention after the pipe posture is adjusted to be vertical.
Fig. 13 is a partial enlarged view of a portion C in fig. 12.
Fig. 14 is a schematic view of the pipe handling robot according to embodiment 1 of the present invention after the column starts to rotate.
Fig. 15 is a schematic view of the pipe handling robot according to embodiment 1 of the present invention after the column of the pipe handling robot is rotated to a position above the derrick floor.
Fig. 16 is a schematic view of the pipe handling robot according to embodiment 1 of the present invention when aligning the pipe with the wellhead.
Fig. 17 is a partial enlarged view of a portion D in fig. 16.
Fig. 18 is a schematic view showing the structure of a mounting frame of a pipe processing system according to embodiment 2 of the present invention.
Icon: 1-a pipe handling robot; 11-stand columns; 12-an upper support frame; 13-a lower support frame; 14-pulley; 15-mounting rack; 151-base; 152-amplitude variation component; 1521—a first horn; 1522-a second horn; 1523-connecting plates; 1524-horn drive; 16-attitude adjustment driving member; 17-a clamping arm; 171-connecting bumps; 172-clamping part; 2-derrick; 21-a derrick platform; 22-wellhead center; 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.
Example 1
Please refer to fig. 1-17. The embodiment of the invention provides a pipe tool processing system which comprises a pipe tool processing robot 1 and a pipe tool storage assembly 3. The pipe tool storage component 3 is used for being placed on the ground and storing pipe tools 4, and meanwhile, when a pipe needs to be taken out, the pipe tool storage component 3 can isolate one stored pipe tool 4 from other pipe tools 4, so that the pipe tool processing robot 1 can conveniently take out the pipe. The pipe handling robot 1 is used for taking out a pipe from the pipe storage assembly 3, performing posture adjustment on the pipe 4, and then conveying the pipe 4 to the wellhead center 22, so that pipe discharging operation is facilitated.
Specifically, the pipe processing robot 1 includes an upper support frame 12, a lower support frame 13, a column 11, a mounting frame 15, a clamp arm 17, and an attitude adjustment drive 16.
One end of the upright post 11 is rotatably connected with the upper supporting frame 12, and the other end of the upright post 11 is rotatably connected with the lower supporting frame 13. The upper support frame 12 is used for being connected with the derrick 2, and the lower support frame 13 is used for being connected with a drill floor base. The upper support frame 12 is used for providing restraint and rotation guide for the upright 11, and the lower support frame 13 is mainly used for bearing the overturning moment of the upright 11.
The mounting 15 is slidably connected to the upright 11 by means of a trolley 14. Specifically, carriage 14 is slidably coupled to column 11 and mounting bracket 15 is fixedly coupled to carriage 14 such that, as carriage 14 slides along column 11, mounting bracket 15 slides along column 11 with carriage 14.
The mounting 15 includes a base 151 and a horn assembly 152. The base 151 is connected to the sled 14 and the horn assembly 152 is connected to the base 151. One end of the amplitude changing component 152 is connected with the base 151, and the other end of the amplitude changing component 152 is connected with the clamping arm 17 and the posture adjusting driving member 16. The horn assembly 152 is configured to translate the clamp arm 17 and the attitude adjustment drive 16 such that the clamp arm 17 is able to move away from or toward the upright 11.
Specifically, the horn assembly 152 includes a first horn 1521, a second horn 1522, a web 1523 and a horn drive 1524.
One end of the first amplitude transformer 1521 is hinged with the base 151, and the other end of the first amplitude transformer 1521 is hinged with the connecting plate 1523; one end of the second horn 1522 is hinged to the base 151, and the other end of the second horn 1522 is hinged to the link plate 1523. With the above structure, the first horn 1521, the second horn 1522, the web 1523, and the base 151 are connected to form a parallelogram structure. The first amplitude transformer 1521 is used as a driving rod in a parallelogram structure, the second amplitude transformer 1522 is used as a driven rod in the parallelogram structure, the connecting plate 1523 is used as a connecting rod for connecting the driving rod and the driven rod, and the base 151 is used as a frame, so that the second amplitude transformer 1522 can be driven to rotate together through the rotation of the first amplitude transformer 1521, and the connecting plate 1523 can translate. The rotation of the first horn 1521 is driven in the following manner: one end of the amplitude changing driving piece 1524 is hinged with the base 151, and the other end of the amplitude changing driving piece 1524 is hinged with the first amplitude changing rod 1521, so that the amplitude changing driving piece 1524, the base 151 and the first amplitude changing rod 1521 form an amplitude changing driving mechanism with a triangle structure, and one side formed by the amplitude changing driving piece 1524 can be lengthened or shortened, so that the first amplitude changing rod 1521 is driven to rotate. Specifically, the horn drive 1524 is a hydraulic ram.
In other embodiments of the present invention, the first horn 1521 may be configured to act as a driven rod and the second horn 1522 may be configured to act as a driving rod. The horn drive member 1524 is hinged to the second horn 1522 and is capable of driving the second horn 1522 to rotate, thereby driving the link plate 1523 to translate and the first horn 1521 to rotate.
The link plate 1523 also constitutes a triangular posture adjustment mechanism together with the posture adjustment driving member 16 and the clamp arm 17, and one side constituted by the posture adjustment driving member 16 can be extended or shortened. Specifically, one end of the posture adjustment driving member 16 is hinged to the link plate 1523, the other end of the posture adjustment driving member 16 is hinged to the clamp arm 17, and the link plate 1523 is also hinged to the clamp arm 17. In this embodiment, the posture adjustment driving member 16 is a hydraulic cylinder.
The clamp arm 17 rotates as the posture adjustment driving member 16 is extended or shortened. In this embodiment, the posture adjustment driving member 16 extends or shortens in the plane in which the vertical direction is located, so that the clamping arm 17 can be driven to rotate in the plane in which the vertical direction is located, and the posture of the clamping arm 17 can be changed between the horizontal direction and the vertical direction.
In order to avoid the blockage of the mounting frame 15, the amplitude changing component 152 and the like to the posture adjustment of the clamping arm 17, a connecting lug 171 is arranged on the clamping arm 17, the connecting lug 171 is in a triangle structure, and the connecting point of the posture adjustment driving piece 16 and the clamping arm 17 is positioned on the connecting lug 171; the connection point between the connecting plate 1523 and the clamping arm 17 is also located on the connection protrusion 171, so that during the rotation of the clamping arm 17, the body of the clamping arm 17 and the structure such as the mounting frame 15 or the amplitude variation component 152 can keep a gap, thereby avoiding interference.
One end of the clamping arm 17 is provided with a clamping portion 172, and the other end of the clamping arm 17 is provided with another clamping portion 172. The holding portion 172 has a holding space for holding the pipe tool 4.
When the horn 1524 drives the first horn 1521 to rotate, the web 1523 translates only, so if the length of the attitude adjustment drive 16 is kept constant, both the attitude adjustment drive 16 and the clamp arm 17 translate along with the web 1523. When the first horn 1521 rotates, the end of the first horn away from the base 151 moves in a direction approaching or separating from the column 11, and then the first horn drives the clamp arm 17 to move in a direction separating from or approaching the column 11, thereby adjusting the distance between the pipe 4 clamped by the clamp arm 17 and the column 11.
The pipe tool storage assembly 3 is configured to be disposed below the pipe tool handling robot 1, so that the pipe tool 4 can be clamped from the pipe tool storage assembly 3 when the clamping arm 17 is close to the lower end of the upright 11.
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 working principle of the pipe tool processing system provided by the embodiment of the invention is as follows:
the pipe tool processing system can be used for taking pipes:
specifically, before the pipe handling robot 1 takes a pipe, the deflecting driving member 37 on the pipe storage assembly 3 is extended to enable the deflecting rod 36 to be located at the second working position, the first bending portion 381 of the roll-over stand 38 is higher than the storage surface 34, and the pipe 4 on the storage surface 34 rolls toward the roll-over stand 38 until being blocked by the first bending portion 381; then the turnover frame 38 turns under the action of the turnover driving piece 39, so that the first bending part 381 is lower than the storage surface 34, and the second bending part 382 is higher than the storage surface 34, and one pipe 4 is isolated by the second bending part 382, so that the pipe handling robot 1 can take out the pipe;
when taking the pipe, the clamping arm 17 is in a horizontal state, the pulley 14 drives the mounting frame 15 to move downwards, and the two clamping parts 172 clamp the pipe 4;
after taking the pipe, the pulley 14 drives the mounting frame 15 to ascend along the upright post 11, and the pipe 4 ascends along with the ascending; then the posture adjustment driving member 16 is extended, and the clamp arm 17 is rotated in the vertical plane with it, so that the posture of the pipe 4 is adjusted from the horizontal direction to the vertical direction; then the upright post 11 rotates around the length direction of the upright post, so that the pipe 4 is positioned above the derrick platform 21; the length of the amplitude drive 1524 is extended or shortened to adjust the distance between the pipe running tool 4 and the vertical column 11, thereby aligning the pipe running tool 4 with the wellhead center 22 for easy pipe running.
The pipe handling system may also be used for pipe storage operations:
specifically, after the downhole pipe 4 is lifted, the upright 11 rotates until the clamping arm 17 is located above the derrick 2, and the clamping portion 172 on the clamping arm 17 clamps the pipe 4, at this time, the clamping arm 17 extends in the vertical direction; the upright 11 then rotates about its own axis until the pipe 4 is located directly above the pipe storage assembly 3; the posture adjustment driving member 16 is shortened, so that the postures of the clamping arm 17 and the pipe 4 are adjusted from the vertical direction to the horizontal direction; the pulley 14 then drives the mounting frame 15, the clamping arms 17 and the pipe 4 to slide downwards, and approaches the pipe storage assembly 3; the clamp 172 then releases the tube 4 and places the tube 4 onto the tube storage assembly 3;
the placed pipe 4 is close to the first end of the storage surface 34 and is separated by the second bending part 382, at this time, the deflecting driving member 37 is shortened, the deflecting rod 36 is located at the first working position, the placed pipe 4 rolls along the storage surface 34 to the recess of the first bending part 381 and the second bending part 382, then the roll-over stand 38 is turned over, and the second bending part 382 is lower than the storage surface 34, so that the placed pipe 4 can continue to roll until rolling to the second end of the storage surface 34.
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 of the derrick 2, so that a temporary storage device for the pipe 4 is not required to be arranged on the derrick 2, the load born by the derrick 2 is reduced, the gravity center of the derrick 2 is reduced, and the safety is improved;
2. the processing system can realize multiple functions of pipe taking, transportation, posture adjustment of the pipe 4, pipe discharging and the like, so that equipment such as a pipe arranging machine, a vertical joint mechanical arm, a rat hole, a catwalk and the like does not need to be repeatedly arranged, the load of the derrick 2 is further reduced, and the on-site arrangement space is also saved;
3. all the pipes 4 can be stored in a storage yard of the pipes 4, so that the pipes 4 can be disassembled under no emergency, and unnecessary efficiency waste is reduced;
4. in the prior art, in order to facilitate the carrying and lifting of the pipe 4, the carrying direction of the pipe 4 is longitudinal (i.e. the derrick 2 is located on the extension line of the pipe 4), and the carrying distance of the pipe 4 in this carrying manner is longer.
It should be noted that: 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.
Example 2
Please refer to fig. 18. The present embodiment provides a pipe tool processing system, which is different from the pipe tool processing system in embodiment 1 in that: in this embodiment, the horn assembly 152 is not included on the vessel processing robot 1.
Specifically, in this embodiment, the mounting frame 15 is fixedly connected to the pulley 14. One end of the posture adjustment driving member 16 is connected to the mounting frame 15, and the output end of the posture adjustment driving member 16 is hinged to the holding arm 17. The clamping arm 17 is hinged to the mounting 15. The mounting frame 15, the posture adjustment driving member 16 and the clamping arm 17 form a triangular posture adjustment mechanism for adjusting the posture of the pipe 4, and the length of one side formed by the posture adjustment driving member 16 can be extended or shortened, so that the clamping arm 17 can be driven to rotate.
The distance between the clamping arm 17 and the mounting 15 is set as follows: so that the pipe 4 on the gripping arms 17 can be located just above the wellhead centre 22 when the stand 11 is driving the pipe 4 to rotate above the platform of the derrick 2. Namely: the wellhead center 22 is at a distance from the column 11 equal to the distance between the clamping arm 17 and the column 11.
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 (9)
1. A pipe handling robot, comprising:
a column;
the mounting frame is slidably connected with the upright post;
the clamping arm is rotatably connected with the mounting frame and can rotate in a vertical plane, and a clamping part for clamping the pipe tool is arranged on the clamping arm;
the upright post is slidably connected with the mounting frame through a pulley;
the device also comprises an attitude adjustment driving piece, wherein one end of the attitude adjustment driving piece is hinged with the mounting frame, and the other end of the attitude adjustment driving piece is hinged with the clamping arm;
the clamping arm is provided with a connecting lug which is in a triangular structure, and the connecting point of the gesture adjusting driving piece and the clamping arm is positioned on the connecting lug;
the mounting frame comprises a luffing component and a base;
the base is fixedly connected with the pulley, and the amplitude variation component is hinged with the base;
the amplitude changing assembly comprises a first amplitude changing rod, a second amplitude changing rod and a connecting plate;
the base, the first horn, the second horn and the link form a parallelogram mechanism;
the first amplitude transformer is used as a driving rod of the parallelogram mechanism, the second amplitude transformer is used as a driven rod of the parallelogram mechanism, the base is used as a rack of the parallelogram mechanism, and the connecting plate is used as a connecting rod of the parallelogram mechanism;
the amplitude changing assembly further comprises an amplitude changing driving piece, one end of the amplitude changing driving piece is hinged with the base, and the other end of the amplitude changing driving piece is hinged with the first amplitude changing rod;
the device also comprises an upper supporting frame and a lower supporting frame;
one end of the upright post is rotatably connected with the upper supporting frame, and the other end of the upright post is rotatably connected with the lower supporting frame;
one end of the clamping arm is provided with a clamping part, and the other end of the clamping arm is provided with another clamping part.
2. A pipe processing robot according to claim 1, wherein,
the posture adjustment driving piece, the mounting frame and the clamping arm form a triangular posture adjustment mechanism, and the length of one side formed by the posture adjustment driving piece can be prolonged or shortened.
3. A pipe handling robot according to claim 2, wherein,
the gesture adjusting driving piece, the clamping arm and the connecting plate on the mounting frame form the gesture adjusting mechanism.
4. A pipe processing robot according to claim 3, wherein,
the amplitude driving piece, the first amplitude transformer and the base form a triangular amplitude driving mechanism, and the length of one side formed by the amplitude transformer driving piece can be prolonged or shortened.
5. A pipe handling system comprising a pipe storage assembly and the pipe handling robot of any one of claims 1-4;
the pipe tool storage assembly is used for storing pipe tools, and the pipe tool processing robot is used for taking pipes from the pipe tool storage assembly or placing the pipe tools on the pipe tool storage assembly.
6. The pipe tool handling system of claim 5, 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.
7. The pipe tool handling system of claim 6, 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.
8. The pipe tool handling system of claim 7, 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.
9. The pipe handling system of claim 8 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 |
|---|---|---|---|
| CN201911216210.3A CN112983305B (en) | 2019-12-02 | 2019-12-02 | Pipe processing robot and processing system |
| PCT/CN2020/095929 WO2021109531A1 (en) | 2019-12-02 | 2020-06-12 | Pipe processing robot and processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911216210.3A CN112983305B (en) | 2019-12-02 | 2019-12-02 | Pipe processing robot and processing system |
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| Publication Number | Publication Date |
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| CN112983305A CN112983305A (en) | 2021-06-18 |
| CN112983305B true CN112983305B (en) | 2024-04-09 |
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| CN201911216210.3A Active CN112983305B (en) | 2019-12-02 | 2019-12-02 | Pipe processing robot and processing system |
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| CN (1) | CN112983305B (en) |
| WO (1) | WO2021109531A1 (en) |
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| CN112983305A (en) | 2021-06-18 |
| WO2021109531A1 (en) | 2021-06-10 |
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