CN116065979A - An automatic processing system for drilling rig string - Google Patents

Abstract

The invention relates to an automatic processing system of a drilling machine pipe column, which comprises a base, a derrick, a crown block, a top drive, a hydraulic elevator, an intelligent drilling robot, a drilling floor manipulator, a power drill rod box, a lifting power catwalk, a power drill rod box, a track type iron driller and a telescopic arm type iron driller, wherein the crown block, the top drive and the hydraulic elevator are matched with a drilling machine to drill, a steel structure guide rail is arranged on the derrick, the intelligent drilling robot is in sliding connection with the steel structure guide rail through four groups of rollers, a track is arranged on the drilling floor of the base, the drilling floor manipulator is in sliding connection with the track, the power drill rod box is matched with the lifting power catwalk to transmit the pipe column, the track type iron driller is movably connected with the drilling floor of the base through a gear and a rack, and the telescopic arm type iron driller is fixed on one side of the drilling floor of the base. The novel automatic processing system for the drilling machine pipe column can greatly improve the pipe column processing efficiency, meanwhile, the equipment automation degree is high, the labor cost is reduced, and the related potential safety hazards are reduced.

Description

An automatic processing system for drilling rig string

technical field

The invention relates to the field of oil and gas drilling equipment, in particular to an automatic processing system for drilling rig strings.

Background technique

In oil drilling operations, there is a constant need for string handling. During the processing of pipe strings by traditional drilling rigs, the catwalk transports the pipe strings to the drill floor, the grabbing equipment grabs the pipe strings, and delivers them to the disassembly equipment for disassembly and connection, and then to the second-floor pipe rower for discharge. During the process, a lot of related equipment is required, and a large number of relevant operators are required to cooperate, and the operation efficiency of each work process is low, and it is impossible to efficiently process all types of strings, and it cannot meet the automation requirements. There are many problems in the work process. Security risks.

Contents of the invention

In order to solve the technical problems existing in the prior art, the present invention provides an automatic processing system for pipe strings of drilling rigs, which can greatly improve the processing efficiency of pipe strings.

For achieving the above object, technical solution of the present invention is as follows:

An automatic processing system for drilling rig strings, including base, derrick, crown block, top drive, hydraulic elevator, intelligent drilling robot, drill floor manipulator, power drill box, lifting power catway, power drill box, track Type iron driller and telescopic arm type iron driller, the crown block, top drive and hydraulic elevator cooperate with the drilling rig to trip out, and the steel structure guide rail is set on the derrick, and the intelligent drilling robot slides and connects with the steel structure guide rail through four sets of rollers , there is a track on the drill floor of the base, the manipulator on the drill floor is slidingly connected to the track, the power drill pipe box and the lifting power catway cooperate with the transmission pipe string, and the rail-type iron driller is connected to the drill floor of the base through gears and racks As a removable connection, the telescopic arm iron driller is fixed on the side of the base with the drill floor.

As a preferred technical solution, the intelligent drilling robot includes a trolley frame, a main arm, a slewing base, a sub-arm, a clamp head and several electric cylinders. The trolley frame is slidingly connected to the steel structure guide rail through four sets of rollers. It is connected with the trolley frame through a pin shaft, the electric cylinder between the main arm and the trolley frame is connected with the main arm transmission, the slewing base is connected with the lower end of the main arm, and the electric cylinder between the main arm and the slewing base is connected with the slewing base Transmission connection, the upper end of the auxiliary arm is fixedly connected with the rotary base through bolts, and the lower end of the auxiliary arm is connected with the clamp head.

As a preferred technical solution, the manipulator on the drill floor includes a slewing device, a large arm, a small arm, a first joint, a second joint, a clamping pliers and an electric drive device. 1. The forearm and the big arm, the first joint and the forearm, the second joint and the first joint, and the first joint and the clamp are all connected by slewing bearings.

As a preferred technical solution, the lifting power catwalk includes a catwalk base, a lifting beam, a lifting cylinder, a column and clamps. Four sets of kicking legs are symmetrically installed on the left and right sides of the catwalk base. The hydraulic cylinder between the catwalk bases is driven to kick the drilling tools in the power drill rod box, and the drilling tools reach the designated position in the clamp on the column. One end of the lifting beam is installed on the catwalk base through the pin shaft, and the column is rotated through The support is connected to the other end of the lifting beam, and the column rotates around its own central axis under the drive of the hydraulic motor. The two sets of clamps are connected to the column through rack and pinion meshing, and the two sets of clamps are driven along the column by the relevant hydraulic motor. The central axis moves, and at the same time, the built-in hydraulic cylinders of the two sets of tongs drive the jaws to open and close to clamp the drilling tool.

As a preferred technical solution, there are four layers of space in the power drill box, and the pipe strings stored in the four spaces are transported to the kick legs of the lifting power catwalk through the power drill box.

As a preferred technical solution, crown block, top drive, hydraulic elevator, intelligent drilling robot, drill floor manipulator, power drill box, lifting power catwalk, power drill box, rail-type iron driller and telescopic arm type Angle and displacement sensors are installed on iron drillers.

As a preferred technical solution, the automatic processing system of the drilling rig string is equipped with a computer vision module.

As a preferred technical solution, the drilling rig automatic processing system has three working modes: driller's room control, remote control, and offline automatic operation.

Compared with prior art, the beneficial effect of the present invention is:

A new type of drilling rig pipe string automatic processing system according to the present invention combines power drill pipe boxes, lifting power catwalks, intelligent drilling robots, drill floor manipulators, top drives, rail-type iron drillers, and telescopic arm-type iron drillers. and other automation equipment are integrated into one, so that all parts of the system work closely together, and operate efficiently in the working conditions of pipe string transportation, grabbing, docking, and discharge, which can greatly improve the processing efficiency of pipe strings. At the same time, the equipment has a high degree of automation and is easy to operate It is convenient and safe, requires less auxiliary personnel, and has various operation modes, which greatly reduces labor costs and related safety hazards. The system uses modern vision systems and sensor systems, which can automatically identify working conditions and operate automatically. It adopts intelligent human-computer interaction solutions. , so that the operation status of each device is displayed on the electronic monitoring device in real time, with a high degree of intelligence.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a drilling rig pipe string automatic processing system of the present invention;

Fig. 2 is a three-dimensional schematic diagram of an intelligent drilling robot in a drilling rig automatic processing system of the present invention;

Fig. 3 is a three-dimensional schematic diagram of a hoisting power catwalk in a drilling rig automatic processing system of the present invention;

Fig. 4 is a three-dimensional schematic diagram of a drill floor manipulator in a drilling rig pipe string automatic processing system according to the present invention;

Fig. 5 is a schematic diagram of a hoisting catwalk lifting pipe string in a drilling rig pipe string automatic processing system of the present invention;

Fig. 6 is a schematic diagram of an intelligent drilling robot grabbing a catwalk pipe string in an automatic processing system for a drilling rig pipe string according to the present invention.

Fig. 7 is a schematic diagram of an intelligent drilling robot in an automatic handling system of a drilling rig pipe string putting a pipe string into a rat hole according to the present invention.

Fig. 8 is a schematic diagram of connecting vertical roots of an automatic processing system for drilling rig pipe strings according to the present invention.

Fig. 9 is a schematic diagram of an intelligent drilling robot in an automatic processing system for drilling rig strings according to the present invention to discharge the stand.

Fig. 10 is a schematic diagram of the manipulator on the drill floor in cooperation with the discharge stand in the automatic processing system of the drilling rig pipe string according to the present invention.

Fig. 11 is a schematic diagram of an automatic handling system of a drilling rig pipe string sending a vertical root to the top drive according to the present invention.

Fig. 12 is a schematic diagram of a butt joint drilling tool at the wellhead in a drilling rig automatic processing system of the present invention

In the figure: 11. Base; 12. Power drill box; 13. Derrick; 14. Rail driller; 15. Telescopic arm driller; 16. Crane; 17. Top drive; 18. Hydraulic elevator ;19. Pipe string; 20. Newly grabbed pipe string; 21. Lifting power catwalk; 22. Clamp; 23. Catwalk base; 24. Kicking leg; 25. Lifting beam; 26. Lifting Oil cylinder; 27. Column; 30. Righting pliers; 31. Intelligent drilling robot; 32. Roller; 33. Pulley frame; 34. Main arm; 35. Swivel base; 36. Secondary arm; 37. Clamp head; 38. Steel structure guide rail; 41. Manipulator on drill floor; 42. Clamping pliers; 43. Track; 44. Rotary device; 45. Big arm; 46. Forearm; 47. First joint; 48. Second joint; 50. Rat hole; 61. root; 62. finger beam; 63. borehole center.

Detailed ways

The technical solution of the present invention is further described below in conjunction with specific embodiments:

As shown in Figure 1, an automatic processing system for drilling rig strings includes a base 11, a derrick 13, a crane 16, a top drive 17, a hydraulic elevator 18, an intelligent drilling robot 31, a manipulator 41 on the drill floor, and a power drill pipe box 12 , hoisting power catwalk 21, power drill pipe box 12, rail-type iron driller 14 and telescopic arm-type iron driller 15, crown block 16, top drive 17 and hydraulic elevator 18 in cooperation with drilling rig tripping, derrick 13 There is a steel structure guide rail 38 on it, and the intelligent drilling robot 31 is slidingly connected with the steel structure guide rail 38 through four sets of rollers 32, and a track 43 is provided on the drilling floor surface of the base 11, and the drilling floor surface manipulator 41 is slidingly connected with the rail 43. The drill pipe box 12 and the lifting power catway 21 cooperate with the transmission pipe string 19, the rail-type iron driller 14 is movably connected with the drill floor surface of the base 11 through gears and racks, and the telescopic arm-type iron driller 15 is fixed on the The side of the base 11 with the drill floor. The base 11 and the derrick 13 are the bearing and installation bases of the entire drilling rig automatic handling system for pipe strings. The intelligent drilling robot 31 cooperates with the manipulator 41 on the drill floor to handle the pipe string 19; the power drill box 12 is used for storing the pipe string 19, The power catwalk 21 is used together; the lifting type power catwalk 21 can realize the contact between the ground and the drill floor surface by kicking in the pipe string 19, clamping by the clamp 22, rotating the column 27, lifting the column 27, and walking by the clamp 22. The pipe string 19 is transported; the rail-type iron driller 14 and the telescopic arm-type iron driller 15 can cooperate with the system to process various types of pipe strings 19 .

As shown in Figure 2, the intelligent drilling robot 31 includes a pulley frame 33, a main arm 34, a slewing base 35, an auxiliary arm 36, a pincer head 37, and several electric cylinders. 38 is used as a sliding connection, under the drive of the electric winch, the trolley frame 33 moves vertically along the steel structure guide rail 38, and the upper end of the main arm 34 is connected with the trolley frame 33 through a pin shaft, between the main arm 34 and the trolley frame 33 The electric cylinder drives the lower main arm 34 to complete the luffing action, the rotary base 35 is connected to the lower end of the main arm 34 through the pin shaft, and the rotary base 35 completes tilting under the drive of the electric cylinder between the main arm 34 and the rotary base 35 Compensation action, at the same time, the rotary base 35 is divided into upper and lower parts, and the two parts are connected by a rotary bearing, which can complete the rotary action under the drive of the servo motor. Driven by the servo motor inside the upper end of the arm 36, the luffing action is completed. The clamp head 37 is connected to the lower end of the auxiliary arm 36 through a pin shaft, and the tilting action of the clamp head 37 can be completed under the drive of the electric cylinder between the auxiliary arm 36 and the clamp head 37. Three sets of servo electric cylinders are installed inside the clamp head 37 to respectively drive two sets of clamping clamps 42 and one set of righting clamps 30 to open and close. The intelligent drilling robot 31 has multiple degrees of freedom and is driven by an electric cylinder to complete vertical motion, main arm 34 luffing, tilt compensation, rotary motion, auxiliary arm 36 luffing, clamp head 37 tilting, clamp head 37 righting and clamping etc., the range of motion covers the space required for the processing of all pipe strings 19.

As shown in FIG. 4 , the manipulator 41 on the drill floor includes a rotary device 44 , a large arm 45 , a small arm 46 , a first joint 47 , a second joint 48 , clamping pliers 42 and an electric drive device. The rotary device 44 is mounted on the corresponding track 43 of the base 11 through rack and pinion engagement, and can walk along the track 43 and rotate by itself under the drive of the servo motor. The big arm 45 and the rotary device 44, the small arm 46 and the big arm 45, the first The joint 47 and the forearm 46, the second joint 48 and the first joint 47, and the first joint 47 and the clamping pliers 42 are all connected by slewing bearings. The clamping principle is a planar four-bar mechanism driven by its internal servo motor. The manipulator 41 on the drill floor is driven by an electric drive device to complete walking, rotation, 45 rotations of the big arm, 46 rotations of the small arm, 47 rotations of the first joint, 48 rotations of the second joint, 42 rotations of the clamping tongs, and clamping by the clamping tongs 42, etc. action, cooperate with the intelligent drilling robot 31 to work.

The power drill box 12 is provided with four layers of space, and the pipe string 19 stored in the four layers of space is transported to the kicker 24 of the lifting type power catwalk 21 through the power drill box 12 .

As shown in Figure 3, the lifting type power catwalk 21 comprises a catwalk base 23, a lifting beam 25, a lifting cylinder 26, a column 27 and a clamp 22, and the catwalk base 23 is a structural steel weldment as a whole, Four groups of kicking legs 24 are symmetrically installed on the left and right sides of the base 23 through pin shafts, and the kicking legs 24 can be driven by the hydraulic cylinder between the catwalk base 23 to complete the kicking of the drilling tool in the power drilling rod box 12, so that the drilling tool Arriving at the specified position in the clamp 22 on the column 27, one end of the lifting beam 25 is installed on the catwalk base 23 through a pin shaft, and can be rotated between the horizontal position and the vertical position under the drive of the lifting cylinder 26. The support is connected to the other end of the lifting beam 25, and can rotate around its own central axis under the drive of a hydraulic motor. The two sets of clamps 22 are connected to the column 27 through rack and pinion engagement, and can be driven along the column 27 under the relevant hydraulic motor. The axis moves, and at the same time, the two sets of clamps 22 have built-in hydraulic oil cylinders, which are used to drive the jaws to open and close to clamp the drilling tool. The lifting power catwalk 21 drives the lifting beam 25 up and down through the lifting cylinder 26, and lifts the pipe string 19 transferred to the kick leg 24 from a horizontal posture to a vertical posture and transports it to the corresponding position in front of the drill floor. It is convenient for the subsequent treatment of the pipe string 19 .

Crane 16, top drive 17, hydraulic elevator 18, intelligent drilling robot 31, drill floor manipulator 41, power drill box 12, lifting power catwalk 21, power drill box 12, rail driller 14 and Angle and displacement sensors are installed on the telescopic arm type iron driller 15, which are used to monitor the real-time data of each action of each component in the system, so as to improve the visibility, accuracy and safety of the system.

The automatic processing system of the drilling rig string is equipped with a computer vision module, which can monitor the working conditions of each part of the system in real time, and realize the digitization, informationization and intelligence of the system.

The drilling rig string automatic processing system has three working modes: driller’s room control, remote control, and offline automatic operation. When the driller’s room is in control mode, the driller conducts real-time monitoring and command of the working conditions of all parts of the entire system in the driller’s room. During remote control, the operator remotely controls each part of the system through the wireless remote controller and system wireless receiver. When offline automatic operation, the entire system automatically recognizes the current working condition and automatically works according to the predetermined working condition process without personnel monitoring Assistance, through these three working modes, the controllability, adaptability and work efficiency of the system are greatly improved.

The working method of the rig pipe string automatic processing system comprises the following steps:

Step 1: As shown in Figure 5, the lifting power catwalk 21 transports the pipe string 19 from the ground power drill pipe box 12 to the base 11 in front of the drill floor face by kicking in the pipe string 19, rotating the vertical column 27, and lifting the vertical column 27. corresponding position.

Step 2: As shown in FIG. 6 , the intelligent drilling robot 31 descends to a corresponding height, and adjusts its action to align the pipe string 19 .

Step 3: As shown in Figure 7, the intelligent drilling robot 31 grabs the pipe string 19 and lifts it up. After reaching a certain height, the pipe string 19 moves toward the mouse hole 50 in a vertical posture through motion transformation. The arm 45 and the small arm 46 are stretched out, and the clamp 42 is used to support the pipe string 19. With the cooperation of the intelligent drilling robot 31 and the drill floor manipulator 41, the pipe string 19 is aligned with the mouse hole 50, and the intelligent drilling robot 31 clamps the pipe string 19 And the pipe string 19 is lowered to a certain position in the mouse hole 50, the mechanical clamp 42 on the drilling floor is released, the big arm 45 and the small arm 46 are retracted, and the intelligent drilling robot 31 continues to lower the pipe string 19 to the corresponding position in the mouse hole 50.

Step 4: As shown in Figure 8, the system repeats steps 1 and 2, and aligns the newly captured pipe string 20 with the pipe string 19 put in steps 1, 2, and 3 in the mouse hole 50 according to steps similar to step 3, The intelligent drilling robot 31 unclamps the clamp head 37, stretches out the telescopic arm type iron driller 15, and performs spin and buckle on the two pipe strings 19. After the docking is completed, the telescopic arm type iron driller 15 retracts, and the manipulator 41 When retracted, the clamp head 37 of the intelligent drilling robot 31 is clamped, and the pipe string 19 is lowered to the corresponding position of the mouse hole 50 .

Step 5: As shown in Figures 9 and 10, after repeating steps 1, 2, 3, and 4, a complete vertical root 61 formed by butting three pipe strings 19 has been formed in the mouse hole 50, and the intelligent drilling robot 31 will complete the vertical root 61 from It is proposed in the mouse hole 50 that the manipulator 41 on the drill floor supports the lower part of the vertical root 61, and the intelligent drilling robot 31 sends the complete vertical root 61 to the corresponding position of the finger beam 62 of the second-floor platform through motion transformation. During this process, the manipulator 41 on the drill floor moves synchronously support.

Step 6: As shown in Figure 11, stop drilling when the top drive 17 reaches the limit position, the hydraulic elevator 18 opens, the top drive 17 rises to the corresponding position, and the intelligent drilling robot 31 takes out the vertical root 61 in the finger beam 62 and sends it to the Entering the hydraulic elevator 18, the hydraulic elevator 18 is closed, and during this process, the manipulator 41 on the drilling floor moves synchronously for support.

Step 7: As shown in Figure 12, the manipulator 41 on the drill floor supports the vertical root 61 to align with the pipe string 19 of the borehole center 63, and the telescopic arm type iron driller 15 extends to the corresponding position of the borehole center 63, and the two pipe strings 19 are aligned. After the butt joint is completed, the telescopic arm type iron driller 15 retracts, and the top drive 17 drives the pipe string 19 to continue drilling.

This embodiment is only a further explanation of the present invention, not a limitation of the present invention. Those skilled in the art can make non-creative modifications to this embodiment as required after reading this description, but as long as they are within the scope of the claims of the present invention are protected by patent law.

Claims (8)

1. The utility model provides a rig tubular column automated processing system, its characterized in that includes base, derrick, overhead traveling crane, top drive, hydraulic elevator, intelligent drilling robot, drilling floor face manipulator, power drilling rod box, play to rise power catwalk, power drilling rod box, track type iron driller and flexible arm type iron driller, overhead traveling crane, top drive and hydraulic elevator cooperation rig go down be equipped with steel structure guide rail on the derrick, intelligent drilling robot pass through four sets of gyro wheels with steel structure guide rail makes sliding connection, be equipped with the track on the drilling floor face of base, drilling floor face manipulator with sliding connection is made to the track, power drilling rod box with play to rise power catwalk cooperation transmission tubular column, track type iron driller pass through gear and rack with the drilling floor face of base makes movable connection, flexible arm type iron driller is fixed one side of having the drilling floor face of base.

2. The automatic drilling machine pipe column processing system according to claim 1, wherein the intelligent drilling robot comprises a trolley frame, a main arm, a rotary base, an auxiliary arm, a clamp head and a plurality of electric cylinders, the trolley frame is in sliding connection with the steel structure guide rail through four groups of rollers, the upper end of the main arm is connected with the trolley frame through a pin shaft, the electric cylinders between the main arm and the trolley frame are in transmission connection with the main arm, the rotary base is connected with the lower end of the main arm, the electric cylinders between the main arm and the rotary base are in transmission connection with the rotary base, the upper end of the auxiliary arm is fixedly connected with the rotary base through bolts, and the lower end of the auxiliary arm is connected with the clamp head.

3. The automated drill string handling system of claim 1, wherein the drill floor manipulator comprises a swivel, a large arm, a small arm, a first joint, a second joint, a clamp, and an electric drive, wherein the swivel is slidably coupled to a rail on the base, and the large arm is coupled to the swivel, the small arm is coupled to the large arm, the first joint is coupled to the small arm, the second joint is coupled to the first joint, and the first joint is coupled to the clamp by a slewing bearing.

4. The automatic drill pipe column processing system of claim 1, wherein the lifting power catwalk comprises a catwalk base, lifting beams, lifting cylinders, stand columns and clamps, four groups of kicklegs are symmetrically arranged on the left side and the right side of the catwalk base, the kicklegs are driven by the hydraulic cylinders between the catwalk base to kick a drilling tool in the power drill pipe box, the drilling tool reaches a designated position in the clamp on the stand columns, one end of each lifting beam is arranged on the catwalk base through a pin shaft, the stand columns are connected with the other end of each lifting beam through a slewing bearing, the stand columns are driven by the hydraulic motor to rotate around the central axis of the stand columns, the two groups of clamps are connected to the stand columns through gear rack meshing, the two groups of clamps are driven by the relevant hydraulic motor to move along the central axis of the stand columns, and meanwhile, the hydraulic cylinders arranged in the two groups of clamps drive the clamp teeth to open and close so as to clamp the drilling tool.

5. The automatic processing system for drilling machine pipe columns according to claim 4, wherein four layers of spaces are arranged in the power drill pipe box, and pipe columns stored in the four layers of spaces are conveyed to kicklegs of the lifting power catwalk through the power drill pipe box.

6. The automated drill string handling system of claim 1, wherein the crown block, top drive, hydraulic elevator, intelligent drilling robot, drill floor manipulator, power drill pipe box, lifting power catwalk, power drill pipe box, rail iron driller, and telescopic arm iron driller are each equipped with angle and displacement sensors.

7. The automated drill string handling system of claim 1, wherein the automated drill string handling system is equipped with a computer vision module.

8. The automated drill string handling system of claim 1, wherein the automated drill string handling system has three modes of operation, driller's room control, remote control, and off-line automated operation.

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