CN113006716A - Equipment for automatically positioning and detecting drill rod joint by photoelectric non-contact method - Google Patents
Equipment for automatically positioning and detecting drill rod joint by photoelectric non-contact method Download PDFInfo
- Publication number
- CN113006716A CN113006716A CN202110255962.1A CN202110255962A CN113006716A CN 113006716 A CN113006716 A CN 113006716A CN 202110255962 A CN202110255962 A CN 202110255962A CN 113006716 A CN113006716 A CN 113006716A
- Authority
- CN
- China
- Prior art keywords
- joint
- frame
- drill rod
- fixedly connected
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title description 5
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 238000005553 drilling Methods 0.000 claims description 25
- 238000010586 diagram Methods 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000005622 photoelectricity Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 230000005294 ferromagnetic effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 241001079814 Symphyotrichum pilosum Species 0.000 description 9
- 235000004224 Typha angustifolia Nutrition 0.000 description 9
- 238000005259 measurement Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005307 ferromagnetism Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/18—Connecting or disconnecting drill bit and drilling pipe
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geophysics (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The application relates to equipment for automatically positioning and detecting a drill rod joint by photoelectric contactless, belonging to the technical field of drill rod control equipment, which comprises a mechanical arm, a connecting frame is connected at one end of the mechanical arm, the connecting frame is fixedly connected with a front clamping frame and a rear clamping frame, the front clamping frame is positioned at one side of the rear clamping frame, the front clamping frame is connected with a front clamping assembly for clamping a female joint of a drill rod joint, the rear clamping frame is connected with a rear clamping assembly for clamping the female joint of the drill rod joint, one side of the connecting frame, which corresponds to the front clamping frame and is far away from the rear clamping frame, is connected with a tightening assembly for clamping and rotating a male joint of the drill rod joint, and the automatic control system, the automatic control system comprises a distance detection module, a scanning control module, a waveform calculation module and a clamping control module, and the automatic control system has the effects of accurately and automatically detecting and positioning the drill rod joint and ensuring the accurate clamping position.
Description
Technical Field
The invention relates to the technical field of drill rod control equipment, in particular to equipment for automatically positioning and detecting a drill rod joint by using photoelectric contactless technology.
Background
Currently, the drill pipe is a steel pipe with a thread at the tail part and is used for connecting the surface equipment of the drilling machine and the drilling and grinding equipment or a bottom hole device at the bottom end of the drilling well. The purpose of the drill pipe is to carry drilling mud to the drill bit and, together with the drill bit, raise, lower or rotate the bottom hole assembly. The drill pipe must be able to withstand large internal and external pressures, twists, bends and vibrations. The drill rod joint is a component of a drill rod and is divided into a male joint and a female joint which are connected to two ends of a drill rod pipe body. In order to avoid drilling accidents such as drill pipe breakage, tripping and the like caused by connector abrasion, a drill pipe connector anti-abrasion belt is required to be arranged on a drill pipe female connector. In particular, in the case of tripping, once the friction between the drill and the drill rod is too low when the drill rod is pulled out, the drill rod joint is not screwed down or the clamping device of the drill fails, the drill rod falls down, the drill rod and the drill bit falling into the drill hole are difficult to take out, and serious loss is caused.
The above prior art solutions have the following drawbacks: if the drill rod joint is not stably connected, accidents such as tripping or drilling distortion are easy to happen, so that the drill rod joint needs to be screwed at the connection position, but at present, an automatic drilling machine cannot accurately clamp and screw the connection position of the drill rod joint.
Disclosure of Invention
In order to be able to accurately press from both sides tight coupling department of tool joint, this application provides a device that adopts photoelectricity contactless automatic positioning and detection tool joint.
The application provides a device that adopts photoelectric contactless automatic positioning and detection tool joint adopts following technical scheme:
the equipment for automatically positioning and detecting the drill rod joint by using photoelectric non-contact comprises a manipulator, wherein one end of the manipulator is connected with a connecting frame, the connecting frame is fixedly connected with a front clamping frame and a rear clamping frame, the front clamping frame is positioned on one side of the rear clamping frame, the front clamping frame is connected with a front clamping assembly for clamping a female joint of the drill rod joint, the rear clamping frame is connected with a rear clamping assembly for clamping the female joint of the drill rod joint, one side, corresponding to the front clamping frame, of the connecting frame, far away from the rear clamping frame, is connected with a tightening assembly for clamping and rotating a male joint of the drill rod joint, and the equipment further comprises an automatic control system, wherein the automatic control system comprises a distance detection module, a scanning control module, a waveform;
the distance detection module comprises a photoelectric distance measurement sensor, the photoelectric distance measurement sensor detects a distance value between the photoelectric distance measurement sensor and the drill rod joint, and the distance detection module transmits the distance value to the waveform calculation module;
the scanning control module receives an input instruction and then controls the distance detection module to work, controls the manipulator to drive the connecting frame to move along the moving direction of the drill rod joint and transmits the moving stroke information of the connecting frame to the waveform calculation module;
the waveform calculation module is used for drawing a plane waveform diagram according to the received distance value and the stroke information, calculating a most severely changed region in the plane waveform diagram and taking the region as a joint region, acquiring the stroke information of the joint region, calculating a coordinate interval of the joint according to the stroke information of the joint region, and sending the coordinate interval of the joint to the clamping control module;
and the clamping control module controls the mechanical arm to place the region between the front clamping frame and the tightening assembly in the coordinate interval of the joint according to the obtained coordinate interval of the joint.
By adopting the scheme, when the manipulator is required to buckle the drill rod joint, the drill rod joint is firstly controlled to move up and down, the photoelectric distance measuring sensor is used for scanning the surface of the drill rod joint to obtain a oscillogram simulating the surface shape of the drill rod joint, and the system automatically calculates the position of the joint and controls the equipment to clamp the joint according to the oscillogram. The connecting part of the drill rod joint can be accurately clamped, the tightening effect is stable, the positioning can be carried out when the shackle needs to be unscrewed, and the possibility of tripping is reduced.
Preferably, photoelectric distance measuring sensor fixed connection is in preceding clamping frame, the link corresponds back clamping frame and keeps away from the clean frame of preceding clamping frame one side fixedly connected with, the clean frame corresponds under the photoelectric distance measuring sensor fixedly connected with driving motor of position department, driving motor's output shaft fixedly connected with commutator, commutator other end fixedly connected with transmission shaft, the clean wheel of transmission shaft fixedly connected with, a plurality of clean blades of clean wheel fixedly connected with, when tool joint is located back clamping frame, clean blade homoenergetic butt tool joint.
Through adopting above-mentioned scheme, driving motor passes through the commutator and drives the transmission shaft rotation, and the transmission shaft drives clean wheel and rotates, and when drilling rod joint was taken out from the underground, the position that photoelectric distance measuring sensor detected can be cleaned to clean wheel, reduces the possibility of detection error.
Preferably, link fixedly connected with joint frame, the equal sliding connection in joint frame both ends has the arc of cooperation tool joint, two arcs all slide along perpendicular to tool joint moving direction, the one end fixedly connected with that two arcs kept away from each other has ferromagnetic carriage, the equal first spring of fixedly connected with of carriage, the equal fixed connection of the first spring other end is on the joint frame, two arcs homoenergetic butt on the tool joint under the first spring natural state, the joint frame is close to the equal fixedly connected with electro-magnet of every carriage position department, when the carriage butt when the electro-magnet, first spring is in compression state.
Through adopting above-mentioned scheme, when tight tool joint is pressed from both sides to needs, can control the electro-magnet and lose the electricity, first spring can promote the arc and support the drilling rod, plays the effect that the reinforcing presss from both sides tight effect.
Preferably, the connecting frame is fixedly connected with a servo motor, an output shaft of the servo motor is arranged along the moving direction of the drill rod joint, an output shaft of the servo motor is fixedly connected with a file, and the file can be abutted against the drill rod joint;
the automatic control system further comprises a slotting control module, the slotting control module calls a joint coordinate interval of the waveform calculation module, the slotting control module stores a set distance value, the slotting control module obtains a slotting coordinate by adding the joint coordinate interval and the set distance value, the slotting control module monitors the downward moving distance of the drill rod, when the moving distance is equal to the set distance value, whether the current coordinate of the drill rod joint is located at the slotting coordinate is calculated, if the current coordinate is located at the slotting coordinate, the servo motor is controlled to enable the file to abut against the drill rod, and the tightening assembly is controlled to rotate the drill rod.
Through adopting above-mentioned scheme, screw up the subassembly and fix the drilling rod after, the file supports tight drilling rod, screw up the subassembly and rotate the drilling rod, the file can grind out the round shallow slot at drilling rod fixed position, when the drilling rod removes, can control the electro-magnet and lose the electricity, let the arc butt drilling rod surface, when the arc was pushed away the shallow slot by first spring in, the arc can block the drilling rod, let the drilling rod produce and pause, the junction of drilling rod joint has been located the tight department of clamp of equipment this moment, the accuracy of equipping the tight position of clamp has further been guaranteed. Meanwhile, if the drill rod is in the process of being extracted upwards, the arc-shaped plate can prevent the drill rod from falling downwards if the drill rod is tripped, and the loss of tripping is reduced.
Preferably, the dead slot has all been seted up to every arc intermediate position department, the spout has all been seted up to every carriage corresponding dead slot position, the length direction setting of dead slot is all followed to the spout, equal sliding connection has the slider in the spout, the slider is close to the equal fixedly connected with nail pole in dead slot one side, the nail pole sets up along the length direction of dead slot, the joint frame is close to the cylinder body of the equal fixedly connected with emergency hydraulic cylinder of every slider position department, the length direction setting of piston rod along the spout of emergency hydraulic cylinder, the piston rod homoenergetic of emergency hydraulic cylinder butt on the slider.
By adopting the scheme, when tripping occurs, the piston rod of the emergency hydraulic cylinder can be controlled to push the sliding block to slide, the nail rod is driven into the drill rod, the drill rod is prevented from continuously falling, and the loss of the rest drill rod and drill bit can be avoided although one drill rod can be lost.
Preferably, the automatic control system further comprises a slip detection module and an emergency locking module;
the slip detection module controls the electromagnet to lose power when the front clamping assembly and the rear clamping assembly clamp the drill rod joint, monitors the position and the moving speed of the drill rod, and sends a starting signal to the emergency locking module when the position of the drill rod changes and the moving speed of the drill rod exceeds a set value;
and the emergency locking module receives the starting signal and then controls a piston rod of the emergency hydraulic cylinder to extend out.
By adopting the scheme, the system can automatically detect whether the drill rod falls accidentally or not, automatically control the emergency hydraulic cylinder to act, has high automation degree, can prevent the drill rod from falling accidentally in time, and has high response speed and high reliability.
Preferably, the carriage corresponds the spout both ends and has all seted up the sliding tray, the sliding tray sets up along the length direction of spout, the equal fixedly connected with sliding plate in every slider both sides, the equal sliding connection of sliding plate is in the sliding tray, the carriage corresponds every sliding tray and is close to the equal fixedly connected with baffle of arc one end, the sliding plate all can the butt in the baffle, the equal fixedly connected with second spring of sliding plate, the equal fixed connection of the second spring other end is on the baffle, the nail pole is located the dead slot under the second spring natural state.
Through adopting above-mentioned scheme, when emergency hydraulic cylinder's piston rod withdrawed, the second spring can stimulate the slider and return to the normal position, realizes automatic re-setting.
Preferably, the connecting frame corresponds to one side, away from the front clamping frame, of the rear clamping frame, and is fixedly connected with a locking frame, the locking frame is connected with a first bevel gear in a locking and rotating mode, a through hole for a drill rod joint to pass through is formed in the middle of the first bevel gear, the locking frame is fixedly connected with a locking motor at a position close to the first bevel gear, an output shaft of the locking motor is fixedly connected with a second bevel gear, the second bevel gear is meshed with the first bevel gear, a spiral track is fixedly arranged on one side, away from the second bevel gear, of the first bevel gear, the locking frame is provided with a plurality of slideways, the slideways are arranged towards the through hole, locking blocks are slidably connected in each slideway, each locking block is provided;
and the sliding detection module controls the locking motor to rotate to enable the locking block to be tightly abutted against the drill rod joint when the front clamping assembly and the rear clamping assembly clamp the drill rod joint.
By adopting the scheme, the system can automatically control the locking motor to act, the locking motor drives the second bevel gear to rotate, the second bevel gear drives the first bevel gear to rotate, the first bevel gear drives all the locking blocks to synchronously move along the slide way, so that the locking blocks clamp the drill rod, the locking blocks can also clamp the drill rod even if the system is accidentally powered off, the drilling rod is not easily influenced by equipment aging, and the possibility of accidental falling of the drill rod can be further reduced.
Preferably, the front clamping assembly comprises a plurality of front hydraulic cylinders fixedly connected to the front clamping frame, piston rods of the front hydraulic cylinders are arranged towards the center of the front clamping frame, the piston rods of the front hydraulic cylinders are fixedly connected with front clamping blocks, and the front clamping blocks can abut against the drill rod joint;
the rear clamping assembly comprises a plurality of rear hydraulic cylinders fixedly connected to the rear clamping frame, piston rods of the rear hydraulic cylinders are arranged towards the center of the rear clamping frame, rear clamping blocks are fixedly connected to piston rods of the rear hydraulic cylinders, and the rear clamping blocks can abut against the drill rod connector.
By adopting the scheme, the front clamping assembly pushes the front clamping block to clamp the drill rod joint through the front hydraulic cylinder, and the rear clamping assembly pushes the rear clamping block to clamp the drill rod joint through the rear hydraulic cylinder.
Preferably, the manipulator includes the connecting seat and rotates the first arm of connecting on the connecting seat, the first arm other end rotates and is connected with the second arm, second arm other end fixedly connected with support, link sliding connection is on the support, the link slides along tool joint's direction of movement, the connecting seat articulates the cylinder body that has first flexible pneumatic cylinder, the piston rod of first flexible pneumatic cylinder articulates on first arm, first arm articulates the cylinder body that has the flexible pneumatic cylinder of second, the piston rod of the flexible pneumatic cylinder of second articulates on the second arm, the cylinder body of the flexible pneumatic cylinder of support fixedly connected with third, the piston rod of the flexible pneumatic cylinder of third sets up along tool joint's direction of movement, the piston rod fixed connection of the flexible pneumatic cylinder of third is on the link.
Through adopting above-mentioned scheme, the manipulator is through the position of the flexible pneumatic cylinder control support of first flexible pneumatic cylinder and second, and the flexible pneumatic cylinder of third can promote the link and reciprocate, makes things convenient for the position of adjustment link.
In conclusion, the invention has the following beneficial effects:
1. when the manipulator is required to buckle the drill rod joint, the drill rod joint is firstly controlled to move up and down, the photoelectric distance measuring sensor is enabled to scan the surface of the drill rod joint, a waveform diagram simulating the surface shape of the drill rod joint is obtained, and the system automatically calculates the position of the joint and controls the equipment to clamp the joint according to the waveform diagram. The connecting part of the drill rod joint can be accurately clamped, the tightening effect is stable, the positioning can be carried out when the shackle needs to be unscrewed, and the possibility of tripping is reduced.
Drawings
Fig. 1 is a schematic view of an overall structure of an apparatus for automatic positioning and detection of a tool joint by photoelectric contactless positioning according to an embodiment of the present disclosure;
fig. 2 is a schematic structural view of a manipulator of an apparatus for automatic positioning and detection of a tool joint using electro-optical contactless positioning according to an embodiment of the present disclosure;
fig. 3 is a schematic view of a connection bracket of an apparatus for automatic positioning and detection of tool joints using electro-optical contactless positioning according to an embodiment of the present disclosure;
FIG. 4 is a cross-sectional view of a front clamping assembly and a rear clamping assembly of an apparatus for automatic photoelectric contactless positioning and detection of a tool joint according to an embodiment of the present application;
fig. 5 is a schematic view of a cleaning rack of an apparatus for automatic positioning and detection of tool joints using electro-optical contactless positioning according to an embodiment of the present disclosure;
fig. 6 is a schematic view of a locking bracket of an apparatus for automatic photoelectric contactless positioning and detection of a tool joint according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of a first bevel gear, a second bevel gear and a locking block of an apparatus for automatic photoelectric contactless positioning and detection of a tool coupling according to an embodiment of the present disclosure;
fig. 8 is a schematic view of a clamping frame of an apparatus for automatic photoelectric contactless positioning and detection of tool joints according to an embodiment of the present disclosure;
FIG. 9 is a cross-sectional view of a hollow channel, a slider and a nail rod of an apparatus for automatic photoelectric contactless positioning and detection of a drill rod coupling according to an embodiment of the present application;
fig. 10 is a system block diagram of an automatic control system for an apparatus for automatic positioning and detection of a tool joint using electro-optical contactless positioning in accordance with an embodiment of the present application;
fig. 11 is a block diagram of a slotting control module, a slip detection module, and an emergency locking module of an apparatus for employing photoelectric contactless automatic positioning and detection of a tool joint according to an embodiment of the present application.
In the figure, 1, a robot; 11. a connecting seat; 111. a first telescopic hydraulic cylinder; 12. a first robot arm; 121. a second telescopic hydraulic cylinder; 13. a second mechanical arm; 14. a support; 141. a third telescopic hydraulic cylinder; 2. a connecting frame; 21. a front clamping frame; 22. a front clamping assembly; 221. a front hydraulic cylinder; 222. a front clamping block; 23. a rear clamping frame; 24. a rear clamping assembly; 241. a rear hydraulic cylinder; 242. a rear clamping block; 25. screwing the assembly; 26. a servo motor; 261. filing; 3. a cleaning frame; 31. a drive motor; 32. a commutator; 33. a drive shaft; 34. a cleaning wheel; 35. cleaning the blades; 4. a clamping frame; 41. a carriage; 411. a chute; 412. a slider; 4121. a sliding plate; 413. a nail rod; 414. a sliding groove; 415. a baffle plate; 416. a second spring; 42. an arc-shaped plate; 421. an empty groove; 43. a first spring; 44. an electromagnet; 45. an emergency hydraulic cylinder; 5. a locking frame; 51. a first bevel gear; 511. a spiral track; 52. a second bevel gear; 53. locking the motor; 54. a slideway; 55. a locking block; 551. a helical groove; 6. an automatic control system; 61. a distance detection module; 611. a photoelectric distance measuring sensor; 62. a scanning control module; 63. a waveform calculation module; 64. a clamping control module; 65. a slotting control module; 66. a slip detection module; 67. an emergency locking module.
Detailed Description
The present application is described in further detail below with reference to figures 1-11.
The embodiment of the application discloses equipment of adopting photoelectricity contactless automatic positioning and detection tool joint, as shown in fig. 1 and fig. 2, including manipulator 1, 1 one end of manipulator is connected with link 2. The manipulator 1 comprises a connecting seat 11 and a first manipulator 12 rotationally connected to the connecting seat 11, the other end of the first manipulator 12 is rotationally connected with a second manipulator 13, and the other end of the second manipulator 13 is fixedly connected with a support 14. The connecting frame 2 is slidably connected to the support 14, and the connecting frame 2 slides along the moving direction of the drill rod joint. The connecting base 11 is hinged with a cylinder body of a first telescopic hydraulic cylinder 111, and a piston rod of the first telescopic hydraulic cylinder 111 is hinged on the first mechanical arm 12. The first mechanical arm 12 is hinged with a cylinder body of a second telescopic hydraulic cylinder 121, and a piston rod of the second telescopic hydraulic cylinder 121 is hinged on the second mechanical arm 13. The support 14 is fixedly connected with a cylinder body of a third telescopic hydraulic cylinder 141, a piston rod of the third telescopic hydraulic cylinder 141 is arranged along the moving direction of the drill rod joint, and a piston rod of the third telescopic hydraulic cylinder 141 is fixedly connected to the connecting frame 2. The manipulator 1 controls the position of the support 14 through the first telescopic hydraulic cylinder 111 and the second telescopic hydraulic cylinder 121, and the third telescopic hydraulic cylinder 141 can push the connecting frame 2 to move up and down, so that the position of the connecting frame 2 can be adjusted conveniently.
As shown in fig. 3, the connecting frame 2 is fixedly connected with a front clamping frame 21 and a rear clamping frame 23, the front clamping frame 21 is located on one side of the rear clamping frame 23, the front clamping frame 21 is connected with a front clamping assembly 22 for clamping a female joint of a drill pipe joint, the rear clamping frame 23 is connected with a rear clamping assembly 24 for clamping the female joint of the drill pipe joint, and the connecting frame 2 is connected with a tightening assembly 25 for clamping and rotating a male joint of the drill pipe joint corresponding to one side of the front clamping frame 21 away from the rear clamping frame 23. The front clamping frame 21 is fixedly connected with a photoelectric distance measuring sensor 611.
As shown in fig. 3 and 4, the front clamping assembly 22 includes a plurality of front hydraulic cylinders 221 fixedly connected to the front clamping frame 21, piston rods of the front hydraulic cylinders 221 are all disposed towards the center of the front clamping frame 21, piston rods of the front hydraulic cylinders 221 are all fixedly connected to front clamping blocks 222, and the front clamping blocks 222 can all abut against the drill rod joints. The rear clamping assembly 24 includes a plurality of rear hydraulic cylinders 241 fixedly connected to the rear clamping frame 23, piston rods of the rear hydraulic cylinders 241 are all arranged towards the center of the rear clamping frame 23, the piston rods of the rear hydraulic cylinders 241 are all fixedly connected with rear clamping blocks 242, and the rear clamping blocks 242 can be abutted to the drill rod joints. Front clamping assembly 22 clamps the pipe joints by pushing front clamping blocks 222 through front hydraulic cylinders 221, and rear clamping assembly 24 clamps the pipe joints by pushing rear clamping blocks 242 through rear hydraulic cylinders 241.
As shown in fig. 3 and 5, the cleaning frame 3 is fixedly connected to the side of the connecting frame 2 away from the front clamping frame 21 corresponding to the rear clamping frame 23, and the driving motor 31 is fixedly connected to the position of the cleaning frame 3 right below the photoelectric distance measuring sensor 611. An output shaft of the driving motor 31 is fixedly connected with a commutator 32, the other end of the commutator 32 is fixedly connected with a transmission shaft 33, the transmission shaft 33 is fixedly connected with a cleaning wheel 34, and the cleaning wheel 34 is fixedly connected with a plurality of cleaning blades 35. The cleaning blades 35 are each able to abut the slip joint when the slip joint is located within the rear clamping frame 23. The driving motor 31 drives the transmission shaft 33 to rotate through the commutator 32, the transmission shaft 33 drives the cleaning wheel 34 to rotate, and when the drill rod joint is pulled out from the ground, the cleaning wheel 34 can clean the position detected by the photoelectric distance measuring sensor 611, so that the possibility of detection errors is reduced.
As shown in fig. 6 and 7, the connecting frame 2 is fixedly connected with a locking frame 5 (see fig. 3) corresponding to one side of the rear clamping frame 23, which is far away from the front clamping frame 21, and is connected with a first bevel gear 51 in a locking and rotating manner, and a through hole for a drill rod joint to pass through is formed in the middle of the first bevel gear 51. A locking motor 53 is fixedly connected to the locking frame 5 near the first bevel gear 51, and a second bevel gear 52 is fixedly connected to an output shaft of the locking motor 53. The second bevel gear 52 is meshed with the first bevel gear 51, and a spiral track 511 is fixedly arranged on one side of the first bevel gear 51 far away from the second bevel gear 52. Locking frame 5 has seted up a plurality of slides 54, and slide 54 all dashes to the through-hole setting, and equal sliding connection has latch segment 55 in every slide 54, and spiral groove 551 of cooperation spiral track 511 is all seted up to latch segment 55, and the equal sliding connection of latch segment 55 is on spiral track 511. The locking motor 53 drives the second bevel gear 52 to rotate, the second bevel gear 52 drives the first bevel gear 51 to rotate, the first bevel gear 51 drives all the locking blocks 55 to synchronously move along the slide way 54, so that the locking blocks 55 clamp the drill rod, the locking blocks 55 can clamp the drill rod even if the system is powered off accidentally, the influence of equipment aging is not easy to cause, and the possibility of accidental falling of the drill rod can be further reduced.
As shown in fig. 3 and 8, a servomotor 26 is fixedly connected to the link 2, an output shaft of the servomotor 26 is provided along the moving direction of the tool joint, a file 261 is fixedly connected to an output shaft of the servomotor 26, and the file 261 can abut against the tool joint. After the tightening assembly 25 fixes the drill rod, the file 261 abuts against the drill rod, and when the tightening assembly 25 rotates the drill rod, the file 261 can grind a circle of shallow grooves at the fixed position of the drill rod. The connecting frame 2 is fixedly connected with a clamping frame 4, the two ends of the clamping frame 4 are respectively connected with an arc plate 42 matched with a drill rod joint in a sliding mode, the two arc plates 42 slide along the moving direction of the drill rod joint perpendicular to each other, and one end of each arc plate 42, which is far away from each other, is fixedly connected with a sliding frame 41 with ferromagnetism.
As shown in fig. 8 and 9, the sliding frames 41 are fixedly connected with first springs 43, the other ends of the first springs 43 are fixedly connected to the clamping frame 4, the two arc plates 42 can abut against the drill rod joint in a natural state of the first springs 43, electromagnets 44 are fixedly connected to the clamping frame 4 at positions close to each sliding frame 41, and when the sliding frame 41 abuts against the electromagnets 44, the first springs 43 are in a compressed state. When the drilling rod moves, the electromagnet 44 can be controlled to lose power, the arc-shaped plate 42 is abutted to the surface of the drilling rod, when the arc-shaped plate 42 is pushed into the shallow groove by the first spring 43, the drilling rod can be clamped by the arc-shaped plate 42, the drilling rod stops, the connection part of the drill rod joint is located at the clamping position of the equipment, and the accuracy of the clamping position of the equipment is further ensured. Meanwhile, if the drill rod is tripped in the process of being extracted upwards, the arc-shaped plates 42 can prevent the drill rod from falling downwards, and the loss of tripping is reduced.
As shown in fig. 8 and 9, each arc plate 42 has an empty slot 421 at the middle position, a sliding slot 411 has been opened at the position corresponding to the empty slot 421 of each sliding frame 41, the sliding slots 411 are all arranged along the length direction of the empty slot 421, a sliding block 412 is slidably connected in the sliding slot 411, a nail rod 413 is fixedly connected to one side of the sliding block 412 close to the empty slot 421, the nail rod 413 is arranged along the length direction of the empty slot 421, a clamping frame 4 is arranged along the length direction of the sliding block 412 and is fixedly connected to an emergency hydraulic cylinder 45, a piston rod of the emergency hydraulic cylinder 45 is arranged along the length direction of the sliding slot 411, and the piston rod of the emergency hydraulic cylinder 45 can abut against the sliding block 412. When the tripping occurs, the piston rod of the emergency hydraulic cylinder 45 can be controlled to push the sliding block 412 to slide, the nail rod 413 is driven into the drill rod, the drill rod is prevented from continuously falling, and although one drill rod is lost, the loss of the rest drill rod and the drill bit can be avoided. When the tripping occurs, the piston rod of the emergency hydraulic cylinder 45 can be controlled to push the sliding block 412 to slide, the nail rod 413 is driven into the drill rod, the drill rod is prevented from continuously falling, and although one drill rod is lost, the loss of the rest drill rod and the drill bit can be avoided.
As shown in fig. 8 and 9, sliding grooves 414 are respectively formed at two ends of the sliding groove 411 corresponding to the sliding frame 41, the sliding grooves 414 are arranged along the length direction of the sliding groove 411, sliding plates 4121 are respectively and fixedly connected to two sides of each sliding block 412, the sliding plates 4121 are respectively and slidably connected to the sliding grooves 414, the sliding frame 41 is respectively and fixedly connected to a baffle 415 at one end of each sliding groove 414 close to the arc-shaped plate 42, the sliding plates 4121 can be abutted to the baffle 415, second springs 416 are respectively and fixedly connected to the sliding plates 4121, the other ends of the second springs 416 are respectively and fixedly connected to the baffle 415, and the nail rod 413 is located in the empty groove 421 in the natural state of. When the piston rod of the emergency hydraulic cylinder 45 is retracted, the second spring 416 pulls the sliding block 412 back to the original position, so that automatic reset is realized.
As shown in fig. 10 and 11, the device for automatically positioning and detecting the drill rod joint by photoelectric contactless method further comprises an automatic control system 6, wherein the automatic control system 6 comprises a distance detection module 61, a photoelectric distance measurement sensor 611, a scanning control module 62, a waveform calculation module 63, a clamping control module 64, a slotting control module 65, a sliding-down detection module 66 and an emergency locking module 67.
As shown in fig. 10, the distance detection module 61 is connected to the photoelectric ranging sensor 611, the photoelectric ranging sensor 611 detects a distance value between itself and the tool joint, and the distance detection module 61 transmits the distance value to the waveform calculation module 63. The scanning control module 62 receives the input command, controls the distance detection module 61 to work, controls the manipulator 1 to drive the connecting frame 2 to move along the movement direction of the drill rod joint, and transmits the travel information of the movement of the connecting frame 2 to the waveform calculation module 63. The waveform calculation module 63 draws a plane waveform diagram according to the received distance value and the stroke information, the waveform calculation module 63 calculates a region with the most drastic change in the plane waveform diagram and uses the region as a joint region, the waveform calculation module 63 acquires the stroke information of the joint region, calculates a coordinate interval of the joint according to the stroke information of the joint region, and sends the coordinate interval of the joint to the clamping control module 64. The clamping control module 64 controls the robot 1 to place the region between the front clamping frame 21 and the tightening unit 25 within the joint coordinate zone according to the acquired joint coordinate zone. When the manipulator 1 is required to buckle the drill rod joint, the drill rod joint is firstly controlled to move up and down, the photoelectric distance measuring sensor 611 is used for scanning the surface of the drill rod joint to obtain a waveform diagram simulating the surface shape of the drill rod joint, and the system automatically calculates the position of the joint according to the waveform diagram and controls equipment to clamp the joint. The connecting part of the drill rod joint can be accurately clamped, the tightening effect is stable, the positioning can be carried out when the shackle needs to be unscrewed, and the possibility of tripping is reduced.
As shown in fig. 11, the slotting control module 65 calls a connection coordinate interval of the waveform calculating module 63, the slotting control module 65 stores a set distance value, the slotting control module 65 adds the connection coordinate interval and the set distance value to obtain a slotting coordinate, the slotting control module 65 monitors a downward movement distance of the drill rod, when the movement distance is equal to the set distance value, the slotting control module calculates whether a current coordinate of the drill rod joint is located at the slotting coordinate, and if the current coordinate is located at the slotting coordinate, the slotting control module controls the servo motor 26 to abut the file 261 on the drill rod, and controls the tightening assembly 25 to rotate the drill rod. The system can automatically control the file 261 to grind the drill rod, and the grinding position is accurate.
As shown in fig. 11, the slip detection module 66 controls the electromagnet 44 to be powered off when the front clamping assembly 22 and the rear clamping assembly 24 clamp the drill rod joint, controls the emergency locking module 67 to extend the piston rod of the emergency hydraulic cylinder 45 after receiving the start signal, monitors the position and the moving speed of the drill rod, and sends the start signal to the emergency locking module 67 when the position of the drill rod changes and the moving speed of the drill rod exceeds a set value. The emergency locking module 67 receives the start signal and controls the piston rod of the emergency hydraulic cylinder 45 to extend. The system can automatically detect whether the drill rod falls accidentally or not, automatically control the emergency hydraulic cylinder 45 and the locking motor 53 to act, has high automation degree, can prevent the drill rod from falling accidentally in time, and has high response speed and high reliability.
The implementation principle of this application embodiment adopting equipment of photoelectricity contactless automatic positioning and detection tool joint does: when the manipulator 1 is required to buckle the drill rod joint, the drill rod joint is firstly controlled to move up and down, the photoelectric distance measuring sensor 611 is used for scanning the surface of the drill rod joint to obtain a waveform diagram simulating the surface shape of the drill rod joint, and the system automatically calculates the position of the joint according to the waveform diagram and controls equipment to clamp the joint. The connecting part of the drill rod joint can be accurately clamped, the tightening effect is stable, the positioning can be carried out when the shackle needs to be unscrewed, and the possibility of tripping is reduced.
After the drill rod is buckled, the system controls the file 261 to grind the drill rod after the drill rod moves to a proper position, and a circle of shallow grooves are ground. When it is desired to clamp the pipe joint, the electromagnet 44 may be controlled to de-energise and the first spring 43 will urge the arcuate plate 42 against the pipe. The system can automatically detect whether the drill rod falls accidentally or not, and automatically control the arc-shaped plate 42 and the locking block 55 to clamp the drill rod, so that the drill rod is prevented from falling continuously. The piston rod of the emergency hydraulic cylinder 45 can be controlled to push the sliding block 412 to slide, so that the nail rod 413 is driven into the drill rod, and the drill rod is prevented from continuously falling.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (10)
1. The utility model provides an equipment of adopting photoelectricity contactless automatic positioning and detection tool joint, including manipulator (1), manipulator (1) one end is connected with link (2), clamp frame (21) and back clamp frame (23) before link (2) fixedly connected with, preceding clamp frame (21) are located back clamp frame (23) one side, preceding clamp frame (21) are connected with preceding clamping component (22) that press from both sides the female joint of tight tool joint, back clamp frame (23) are connected with back clamping component (24) that press from both sides the female joint of tight tool joint, link (2) correspond preceding clamp frame (21) keep away from back clamp frame (23) one side and are connected with the subassembly (25) of screwing up that presss from both sides tightly and rotate the male joint of tool joint, its characterized in that: the automatic control system (6) comprises a distance detection module (61), a scanning control module (62), a waveform calculation module (63) and a clamping control module (64);
the distance detection module (61) comprises a photoelectric distance measuring sensor (611), the photoelectric distance measuring sensor (611) detects a distance value between the photoelectric distance measuring sensor and the drill rod joint, and the distance detection module (61) transmits the distance value to the waveform calculation module (63);
the scanning control module (62) receives an input instruction and then controls the distance detection module (61) to work, controls the manipulator (1) to drive the connecting frame (2) to move along the moving direction of the drill rod joint, and transmits stroke information of the movement of the connecting frame (2) to the waveform calculation module (63);
the waveform calculation module (63) draws a plane waveform diagram according to the received distance value and the stroke information, the waveform calculation module (63) calculates the most severely changed area in the plane waveform diagram and takes the area as a joint area, the waveform calculation module (63) acquires the stroke information of the joint area, calculates the coordinate interval of the joint according to the stroke information of the joint area, and sends the coordinate interval of the joint to the clamping control module (64);
and the clamping control module (64) controls the mechanical arm (1) to place the area between the front clamping frame (21) and the tightening assembly (25) in the coordinate interval of the joint according to the obtained coordinate interval of the joint.
2. The device of claim 1, wherein the device for automatically positioning and detecting the tool joint with photoelectric contactless comprises: photoelectric distance measuring sensor (611) fixed connection is in preceding clamping frame (21), connecting frame (2) correspond back clamping frame (23) and keep away from preceding clamping frame (21) one side fixedly connected with clean frame (3), clean frame (3) correspond photoelectric distance measuring sensor (611) under position fixedly connected with driving motor (31), the output shaft fixedly connected with commutator (32) of driving motor (31), commutator (32) other end fixedly connected with transmission shaft (33), transmission shaft (33) fixedly connected with cleaning wheel (34), a plurality of clean blade (35) of cleaning wheel (34) fixedly connected with, when the drilling rod connects to be located back clamping frame (23), clean blade (35) homoenergetic butt drilling rod connects.
3. The device of claim 1, wherein the device for automatically positioning and detecting the tool joint with photoelectric contactless comprises: link (2) fixedly connected with joint frame (4), the equal sliding connection in joint frame (4) both ends has arc (42) that cooperation tool joint, two arc (42) all slide along perpendicular to tool joint moving direction, the one end fixedly connected with that two arc (42) kept away from each other has ferromagnetic carriage (41), the equal first spring (43) of fixedly connected with of carriage (41), the equal fixed connection of first spring (43) other end is on joint frame (4), two arc (42) all can the butt on the tool joint under first spring (43) natural state, joint frame (4) are close to the equal fixedly connected with electro-magnet (44) of every carriage (41) position department, when carriage (41) butt in electro-magnet (44), first spring (43) are in the compression state.
4. The device of claim 3, wherein the device for automatically positioning and detecting the tool joint is a photoelectric contactless tool, and comprises: the connecting frame (2) is fixedly connected with a servo motor (26), an output shaft of the servo motor (26) is arranged along the moving direction of the drill rod joint, an output shaft of the servo motor (26) is fixedly connected with a file (261), and the file (261) can abut against the drill rod joint;
the automatic control system (6) further comprises a slotting control module (65), the slotting control module (65) calls a joint coordinate interval of the waveform calculation module (63), a set distance value is stored in the slotting control module (65), a slotting coordinate is obtained by adding the slotting control module (65) according to the joint coordinate interval and the set distance value, the slotting control module (65) monitors the downward moving distance of the drill rod, when the moving distance is equal to the set distance value, whether the coordinate of the current drill rod joint is located in the slotting coordinate is calculated, if the coordinate is located in the slotting coordinate, the servo motor (26) is controlled to enable the file (261) to abut against the drill rod, and the screwing assembly (25) is controlled to rotate the drill rod.
5. The device of claim 3, wherein the device for automatically positioning and detecting the tool joint is a photoelectric contactless tool, and comprises: empty slot (421) have all been seted up in every arc (42) intermediate position department, spout (411) have all been seted up to every carriage (41) corresponding empty slot (421) position, the length direction setting of empty slot (421) is all followed in spout (411), equal sliding connection has slider (412) in spout (411), slider (412) are close to the equal fixedly connected with nail pole (413) in empty slot (421) one side, the length direction setting of empty slot (421) is followed in nail pole (413), the cylinder body of the equal fixedly connected with emergency hydraulic cylinder (45) of every slider (412) position department is close to in joint frame (4), the length direction setting of spout (411) is followed to the piston rod of emergency hydraulic cylinder (45), the piston rod homoenergetic of emergency hydraulic cylinder (45) is the butt on slider (412).
6. The device of claim 5, wherein the device for automatically positioning and detecting the tool joint is a photoelectric contactless tool, and comprises: the automatic control system (6) also comprises a sliding detection module (66) and an emergency locking module (67);
the slip detection module (66) controls the electromagnet (44) to lose power when the front clamping assembly (22) and the rear clamping assembly (24) clamp the drill rod joint, monitors the position and the moving speed of the drill rod, and sends a starting signal to the emergency locking module (67) when the position of the drill rod changes and the moving speed of the drill rod exceeds a set value;
and the emergency locking module (67) receives the starting signal and then controls a piston rod of the emergency hydraulic cylinder (45) to extend out.
7. The device of claim 5, wherein the device for automatically positioning and detecting the tool joint is a photoelectric contactless tool, and comprises: sliding frame (41) correspond spout (411) both ends and have all seted up sliding tray (414), sliding tray (414) set up along the length direction of spout (411), the equal fixedly connected with sliding plate (4121) in every slider (412) both sides, the equal sliding connection in sliding tray (414) of sliding plate (4121), sliding frame (41) correspond every sliding tray (414) and are close to equal fixedly connected with baffle (415) of arc (42) one end, sliding plate (4121) all can the butt in baffle (415), the equal fixedly connected with second spring (416) of sliding plate (4121), the equal fixed connection in baffle (415) of second spring (416) other end, nail pole (413) are located empty groove (421) under second spring (416) the natural state.
8. The device of claim 6, wherein the device for automatically positioning and detecting the tool joint with photoelectric contactless comprises: one side, far away from the front clamping frame (21), of the connecting frame (2) corresponding to the rear clamping frame (23) is fixedly connected with a locking frame (5), the locking frame is connected with a first bevel gear (51) in a rotating mode, a through hole for a drill rod joint to pass through is formed in the middle of the first bevel gear (51), a locking motor (53) is fixedly connected to the position, close to the first bevel gear (51), of the locking frame (5), an output shaft of the locking motor (53) is fixedly connected with a second bevel gear (52), the second bevel gear (52) is meshed with the first bevel gear (51), a spiral track (511) is fixedly arranged on one side, far away from the second bevel gear (52), of the first bevel gear (51), a plurality of slide ways (54) are arranged on the locking frame (5), the slide ways (54) are arranged towards the through hole, a locking block (55) is slidably connected in each slide way (54), spiral, the locking blocks (55) are all connected to the spiral track (511) in a sliding manner;
and the slip detection module (66) controls the locking motor (53) to rotate to enable the locking block (55) to be abutted against the drill rod joint when the front clamping assembly (22) and the rear clamping assembly (24) clamp the drill rod joint.
9. The device of claim 1, wherein the device for automatically positioning and detecting the tool joint with photoelectric contactless comprises: the front clamping assembly (22) comprises a plurality of front hydraulic cylinders (221) fixedly connected to the front clamping frame (21), piston rods of the front hydraulic cylinders (221) are arranged towards the center of the front clamping frame (21), piston rods of the front hydraulic cylinders (221) are fixedly connected with front clamping blocks (222), and the front clamping blocks (222) can abut against a drill rod joint;
the rear clamping assembly (24) comprises a plurality of rear hydraulic cylinders (241) fixedly connected to the rear clamping frame (23), piston rods of the rear hydraulic cylinders (241) are arranged towards the center of the rear clamping frame (23), rear clamping blocks (242) are fixedly connected to piston rods of the rear hydraulic cylinders (241), and the rear clamping blocks (242) can abut against the drill rod connector.
10. The device of claim 1, wherein the device for automatically positioning and detecting the tool joint with photoelectric contactless comprises: the manipulator (1) comprises a connecting seat (11) and a first mechanical arm (12) which is rotatably connected onto the connecting seat (11), the other end of the first mechanical arm (12) is rotatably connected with a second mechanical arm (13), the other end of the second mechanical arm (13) is fixedly connected with a support (14), a connecting frame (2) is slidably connected onto the support (14), the connecting frame (2) slides along the moving direction of a drill rod joint, the connecting seat (11) is hinged with a cylinder body of a first telescopic hydraulic cylinder (111), a piston rod of the first telescopic hydraulic cylinder (111) is hinged onto the first mechanical arm (12), the first mechanical arm (12) is hinged with a cylinder body of a second telescopic hydraulic cylinder (121), a piston rod of the second telescopic hydraulic cylinder (121) is hinged onto the second mechanical arm (13), the support (14) is fixedly connected with a cylinder body of a third telescopic hydraulic cylinder (141), a piston rod of the third telescopic hydraulic cylinder (141) is arranged along the moving direction of the, a piston rod of the third telescopic hydraulic cylinder (141) is fixedly connected to the connecting frame (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110255962.1A CN113006716B (en) | 2021-03-09 | 2021-03-09 | Equipment for automatically positioning drill rod joint and detecting drill rod joint by adopting photoelectric non-contact mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110255962.1A CN113006716B (en) | 2021-03-09 | 2021-03-09 | Equipment for automatically positioning drill rod joint and detecting drill rod joint by adopting photoelectric non-contact mode |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113006716A true CN113006716A (en) | 2021-06-22 |
| CN113006716B CN113006716B (en) | 2022-06-28 |
Family
ID=76402993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110255962.1A Active CN113006716B (en) | 2021-03-09 | 2021-03-09 | Equipment for automatically positioning drill rod joint and detecting drill rod joint by adopting photoelectric non-contact mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113006716B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202338214U (en) * | 2011-10-19 | 2012-07-18 | 宝鸡石油机械有限责任公司 | Continuous circulation drilling device with drill rod positioning device and reactive torque device |
| CN204511427U (en) * | 2015-01-30 | 2015-07-29 | 扬州大学 | Pressure and flow measurement device in a kind of Novel down-hole drilling tool |
| CN104832080A (en) * | 2015-04-24 | 2015-08-12 | 西安科技大学 | Light-type full-hydraulic drilling machine for underground drilling of coal mine |
| WO2017217839A1 (en) * | 2016-06-15 | 2017-12-21 | Itrec B.V. | Wellbore drilling with a rotatable head clamp component |
| CN111287657A (en) * | 2020-04-03 | 2020-06-16 | 四川海斯特能源技术有限责任公司 | Rotary steering tool for drilling |
| CA3136197A1 (en) * | 2019-04-09 | 2020-10-15 | Weatherford Technology Holdings, Llc | Apparatus and method for locating tool joint |
-
2021
- 2021-03-09 CN CN202110255962.1A patent/CN113006716B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202338214U (en) * | 2011-10-19 | 2012-07-18 | 宝鸡石油机械有限责任公司 | Continuous circulation drilling device with drill rod positioning device and reactive torque device |
| CN204511427U (en) * | 2015-01-30 | 2015-07-29 | 扬州大学 | Pressure and flow measurement device in a kind of Novel down-hole drilling tool |
| CN104832080A (en) * | 2015-04-24 | 2015-08-12 | 西安科技大学 | Light-type full-hydraulic drilling machine for underground drilling of coal mine |
| WO2017217839A1 (en) * | 2016-06-15 | 2017-12-21 | Itrec B.V. | Wellbore drilling with a rotatable head clamp component |
| CA3136197A1 (en) * | 2019-04-09 | 2020-10-15 | Weatherford Technology Holdings, Llc | Apparatus and method for locating tool joint |
| CN111287657A (en) * | 2020-04-03 | 2020-06-16 | 四川海斯特能源技术有限责任公司 | Rotary steering tool for drilling |
Non-Patent Citations (1)
| Title |
|---|
| 洪鹤云等: "一种新型钻杆接头磨损检测装置的研制", 《石油机械》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113006716B (en) | 2022-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207329645U (en) | A kind of equipment of automatic press mounting | |
| CN110625593B (en) | End effector of intelligent hole making robot | |
| CN108381142B (en) | Vertical motor quick-changing device for nuclear industry | |
| CN105598658B (en) | A kind of flexible axis hole automatic assembling apparatus applied to large-scale precision equipment | |
| CN110170598A (en) | The shaping device and shaping deviation-rectifying system of pin for plug-in unit | |
| CN108731864A (en) | A kind of automatic detection device and method of electric vehicle DC charging rifle contact engaging and separating force | |
| CN109128350A (en) | A kind of automatic pipe cutting equipment | |
| CN107052865B (en) | Multifunctional clamp for special-shaped parts | |
| CN209063127U (en) | A kind of upper and lower material clamp of engine cylinder body | |
| CN113006716B (en) | Equipment for automatically positioning drill rod joint and detecting drill rod joint by adopting photoelectric non-contact mode | |
| CN103728373B (en) | Ultrasound wave sweeping seam tracking system and method | |
| CN111001681A (en) | Coaxiality automatic detection and deviation rectification mechanism based on magnetic flux change | |
| CN107497701B (en) | Automatic detection equipment for sensor | |
| CN112611352A (en) | Shape measurement assembly of small-inclination cutting part and inclination measurement assembly thereof | |
| CN211759730U (en) | Device for simultaneously positioning and screwing multiple nuts | |
| CN211727770U (en) | Horizontal lathe for machining gear | |
| CN218270445U (en) | Electric tooth checking machine | |
| CN105478968A (en) | Semi-automatic welding equipment for specially-shaped weld joints | |
| CN206985103U (en) | A kind of fastener transport mechanism for automobile fastener inserter | |
| CN209424960U (en) | A kind of adjustable positioning and clamping mechanism of numerical control machine slide rail | |
| CN214095987U (en) | Shape measurement assembly of small-inclination cutting part and inclination measurement assembly thereof | |
| CN113074637B (en) | Error detection device for machining | |
| CN221047466U (en) | Synchronous clamping and positioning device | |
| CN218658832U (en) | Bearing press-fitting machine with adjustable roller diameter | |
| CN216770383U (en) | High-precision detection equipment for hole sites of engine assembly line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |