CN202006470U - Second floor column discharge system - Google Patents

Abstract

The utility model discloses a racking platform tubular column discharge system, include: the device comprises a longitudinal moving assembly, a mechanical arm assembly, a pulley assembly, a walking platform assembly and a racking of a two-layer platform pipe; wherein: one end of the mechanical arm assembly is connected with the mechanical arm assembly, and the other end of the mechanical arm assembly is connected with the pulley assembly; the manipulator assembly is driven by hydraulic pressure, a plunger oil cylinder is arranged in the manipulator assembly, a jaw plate is fixed on the clamping part and used for clamping the pipe body, and a contact type displacement sensor is arranged on the manipulator assembly; the top of the pulley assembly is provided with a low-speed large-torque hydraulic motor which is connected with the mechanical arm assembly through a transmission flange to drive the mechanical arm assembly to rotate, and two sides of the pulley assembly are provided with roller sets; the longitudinal movement assembly is fixed with the pulley assembly by a ball screw nut; the walking board assembly is positioned above the longitudinal moving assembly; the second-layer pipe bent frame is positioned above the walking board assembly. The utility model discloses can reduce mechanical structure at the in-process that realizes that racking platform tubular column discharges automation, reduce equipment cost and maintenance cost.

Description

Second floor column discharge system

technical field

The utility model relates to the technical field of petroleum and natural gas exploitation, in particular to a pipe string discharge system for a two-story platform.

Background technique

Today's oil and gas industry pays more and more attention to HSE (Health, Safety and Environment), especially in the field of drilling and workover with harsh working conditions. Gradually reducing the labor intensity of workers, improving operation efficiency and ensuring construction safety have become the main tasks in the future. development trend.

At present, the pipe string discharge operations of the existing drilling rigs and workover rigs are all completed by drillers on the second-floor platform. The working conditions are difficult, the safety is not guaranteed, the operation efficiency is low, and it may not be possible under severe weather conditions. However, on domestic drilling rigs or workover rigs, the development of automation equipment technology for oil and gas drilling and workover is still only in the research stage. The utility model patent whose publication number is CN2522228 introduces a kind of manipulator that can pull the drill pipe in the center of the derrick into the inner side of the derrick and pull out the drill pipe from the inner side of the derrick to the center of the derrick on the second floor platform. , No. 1 hydraulic cylinder shaft, second platform, No. 2 hydraulic cylinder, No. 1 hydraulic cylinder, sector gear body, rack, small flat-shaped strut, large flat-shaped strut, No. 3 hydraulic cylinder, No. 3 hydraulic cylinder rod, four No. 1 hydraulic cylinder rod, live fork head, dead fork head body, No. 4 hydraulic cylinder and fork head pin. After installing the manipulator on the second floor platform, a certain degree of pipe string discharge automation can be realized. However, the system is generally bulky and complex to maintain.

Utility model content

The embodiment of the utility model provides a two-story platform pipe string discharge system, which is used to reduce the mechanical structure and reduce equipment costs and maintenance costs in the process of realizing the automatic discharge of the two-story platform pipe string. The system includes:

Longitudinal movement assembly 1, manipulator assembly 2, mechanical arm assembly 3, pulley assembly 4, walking platform assembly 5, two-story platform pipe bent frame 6; where:

The mechanical arm assembly 3 includes a forearm 16 and an upper arm 10, both of which are welded structures resistant to bending. The movement of the mechanical arm assembly 3 is provided by two long-stroke oil cylinders; one end of the mechanical arm assembly 3 is connected to the manipulator assembly 2, and the other end is connected to the Pulley assembly 4 connection;

The manipulator assembly 2 is driven by hydraulic pressure, and the inside is a plunger oil cylinder. The clamping part is fixed with a jaw plate 25 for clamping the pipe body. The manipulator assembly 2 is equipped with a contact displacement sensor 26 for adjusting the pipe body. The relative position with the manipulator assembly 2 is detected, and after the pipe body touches the probe of the contact displacement sensor 26, the contact displacement sensor 26 sends a signal to the manipulator assembly 2 to clamp the pipe body;

The top of the trolley assembly 4 is a low-speed high-torque hydraulic motor, which is connected to the mechanical arm assembly 3 through the transmission flange 30, and drives the mechanical arm assembly 3 to rotate. The two sides of the trolley assembly 4 are roller groups;

The longitudinal movement assembly 1 utilizes the ball screw nut 36 and the pulley assembly 4 to be fixed together, and its hydraulic motor drives the transmission screw 45, which is converted into the linear motion of the transmission nut, so as to realize the longitudinal movement of the pulley;

The walking platform assembly 5 is located above the longitudinal moving assembly 1, surrounded by guardrails;

The second-floor platform tube bent frame 6 is located above the walking platform assembly 5 and is a cantilever structure. Two supporting reinforcing rods are installed at the far end, and the other end of the reinforcing rod is hinged to the position below the second-floor platform of the derrick to form a triangular supporting structure. .

The second-story platform pipe column discharge system in the embodiment of the utility model combines the manipulator assembly for grabbing the pipe column with the mechanical arm assembly, the pulley assembly, the longitudinal movement assembly, the walking platform assembly, the second-story platform pipe rack, etc. The system is integrated, and all assemblies and components comply with the oil and gas industry drilling and workover equipment specifications, and can be installed on existing land drilling rigs or workover rigs, offshore land drilling rigs or workover rigs, replacing the existing two-story platform And supporting equipment to meet the needs of grabbing and discharging pipe strings during drilling and workover operations. The system is light and compact. Compared with the existing technology, the mechanical structure is simplified, the volume and weight are greatly reduced, and the speed of equipment handling and installation is faster; the equipment cost and maintenance cost of the system are low, and compared with the existing technology Compared with the system as a whole, the structure is compact, the mechanical parts are few, the cost is low, and the versatility is strong. It can adapt to the harsh and harsh working environment of oil and gas development sites, and is easy to maintain and overhaul. It is in line with the characteristics of domestic drilling and workover operations.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. For example, those skilled in the art can also obtain other drawings based on these drawings without paying creative labor. In the attached picture:

Fig. 1 is the structural representation of the two-story platform column discharge system in the utility model embodiment;

Fig. 2 is the structural representation of mechanical arm assembly in the utility model embodiment;

Fig. 3 is a schematic top view of the mechanical arm assembly in the embodiment of the present invention;

Fig. 4 is the structural representation of manipulator assembly in the utility model embodiment;

Fig. 5 is a schematic top view of the manipulator assembly in the embodiment of the present invention;

Fig. 6 is an A-A sectional view of the manipulator assembly of Fig. 5 in the embodiment of the utility model;

Fig. 7 is a schematic structural view of the tackle assembly in the embodiment of the present invention;

Fig. 8 is a schematic top view of the pulley assembly in the embodiment of the utility model;

Fig. 9 is a B-B sectional view of the block assembly of Fig. 8 in the embodiment of the present invention;

Fig. 10 is a schematic bottom view of the longitudinal movement assembly in the embodiment of the present invention;

Fig. 11 is a schematic structural view of the walking platform assembly in the embodiment of the present invention;

Fig. 12 is a schematic left view of the walking platform assembly of Fig. 11 in the embodiment of the present invention;

Fig. 13 is a schematic diagram of the structure of the two-story platform tube bent frame in the embodiment of the present invention.

Figure number:

1- Longitudinal movement assembly; 2- Manipulator assembly; 3- Robot arm assembly; 4- Pulley assembly; 5- Walking platform assembly; Displacement sensor; 9-base cylinder; 10-upper arm; 11-end cover retaining ring; 12-upper arm-forearm cylinder; 13-connection pin; 14-manipulator cylinder; 15-rod for manipulator; 16-forearm; Oil cylinder body; 18-oil cylinder head; 19-piston; 20-combined hydraulic sealing element; 21-transmission block; 22-connecting pin of clamping pliers; 23-self-lubricating sliding bearing; ;26-contact displacement sensor; 27-horizontal state sensor; 28-trolley support; 29-sleeve support for tackle bearing; 30-transmission flange; 31-thrust bearing of tackle; 32-horizontal roller group; 33-vertical Roller group; 34-thrust bearing retaining ring; 35-tackle motor support frame; 36-ball screw nut; 37-tackle hydraulic motor; 38-motor brake device; 39-motor reduction box; 40-rotary encoder; 41-walking platform support frame; 42-bearing end cover; 43-front bearing box; 44-anti-collision cushion; 45-transmission screw; 46-walking platform hydraulic motor; 47-hydraulic motor brake device; 48-motor transmission Box; 49-horizontal displacement sensor; 50-walking platform motor support plate; 51-rear bearing box; 52-walking platform connection support; 53-guardrail.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiment of the utility model clearer, the embodiment of the utility model will be further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiment of the utility model and its description are used to explain the utility model, but not as a limitation to the utility model.

In view of the shortcomings of the existing technology, combined with the working environment and construction characteristics of the site, the embodiment of the utility model provides a two-story platform pipe string discharge system, which is an electromechanical-hydraulic integration system for existing oil and gas drilling rigs or workover rigs. The pipe string discharge system of the second floor platform can be installed on existing drilling rigs and workover rigs to meet the needs of grasping and discharging pipe strings during drilling and workover operations, and has become an important automatic supporting equipment for oil drilling rigs and workover rigs.

Fig. 1 is a schematic structural diagram of a pipe string discharge system on a second floor platform in an embodiment of the present invention. As shown in Figure 1, the second-floor pipe column discharge system in the embodiment of the utility model includes:

Longitudinal movement assembly 1, manipulator assembly 2, mechanical arm assembly 3, pulley assembly 4, walking platform assembly 5, two-story platform pipe bent frame 6; where:

The mechanical arm assembly 3 includes a forearm 16 and an upper arm 10, both of which are welded structures resistant to bending. The movement of the mechanical arm assembly 3 is provided by two long-stroke oil cylinders; one end of the mechanical arm assembly 3 is connected to the manipulator assembly 2, and the other end is connected to the Pulley assembly 4 connection;

The manipulator assembly 2 is driven by hydraulic pressure, and the inside is a plunger oil cylinder. The clamping part is fixed with a jaw plate 25 for clamping the pipe body. The manipulator assembly 2 is equipped with a contact displacement sensor 26 for adjusting the pipe body. The relative position with the manipulator assembly 2 is detected, and after the pipe body touches the probe of the contact displacement sensor 26, the contact displacement sensor 26 sends a signal to the manipulator assembly 2 to clamp the pipe body;

The top of the trolley assembly 4 is a low-speed high-torque hydraulic motor, which is connected with the mechanical arm assembly 3 through the transmission flange 30, and drives the mechanical arm assembly 3 to rotate. The two sides of the trolley assembly 4 are roller groups; The group can reduce the friction resistance when the block moves longitudinally in the walking platform;

The longitudinal movement assembly 1 utilizes the working principle of the screw transmission, and uses the ball screw nut 36 to fix the pulley assembly 4 together. Its hydraulic motor drives the transmission screw 45, which is converted into the linear motion of the drive nut to realize the longitudinal movement of the pulley. move;

The walking platform assembly 5 is located above the longitudinal moving assembly 1, surrounded by guardrails, which can ensure the personal safety of construction or equipment maintenance personnel;

The second-floor platform tube bent frame 6 is located above the walking platform assembly 5 and is a cantilever structure. In order to improve the overall strength and rigidity, two supporting reinforcing rods are installed at the far end. The positions are hinged to form a triangular support structure.

Fig. 2 is a schematic structural diagram of the mechanical arm assembly in the embodiment of the utility model; Fig. 3 is a schematic top view of the robotic arm assembly in the embodiment of the utility model. The function of mechanical arm assembly 3 is to realize actions such as stretching out, shrinking, lifting, and lowering. As shown in Figures 2 and 3, the specific structure of the mechanical arm assembly 3 is as follows:

The top of the mechanical arm assembly 3 is the base 7, which is connected with the transmission flange 30 of the tackle assembly 4. The upper arm 10 and the forearm 16 are an integral welded structure with reinforcing ribs. the plates are hinged together;

The base oil cylinder 9 is connected with the upper arm 10 and the base 7 respectively, and an angular displacement sensor 8 is installed at the hinge of the base oil cylinder 9 near the base 7 to monitor the rotational angular displacement of the upper arm 10 relative to the base 7 and angular velocity;

The upper arm-forearm oil cylinder 12 is respectively connected to the upper arm 10 and the forearm 16, and an angular displacement sensor 8 is also installed at the hinge of the upper arm 10 and the forearm 16 to measure the rotational angular displacement and angular velocity of the forearm 16 relative to the upper arm 10;

The manipulator cylinder 14 is connected with the manipulator assembly 2 through the manipulator connecting rod 15, and is used to keep the manipulator assembly 2 grabbing the pipe string in a horizontal posture during the movement of the manipulator assembly 3;

The motion parameters measured by all angular displacement sensors of the mechanical arm assembly 3 are used to calculate the displacement, velocity and acceleration of the pipe string, and to prevent collision with the second-floor platform pipe bent frame 6 and the drill floor, and prevent the mechanical arm from being unstable due to excessive inertial force ;

All hinged parts in the mechanical arm assembly 3 include connecting pins 13 and end cover retaining rings 11 to fix the position.

Fig. 4 is a schematic structural view of the manipulator assembly in the embodiment of the present invention; Fig. 5 is a schematic top view of the manipulator assembly in the embodiment of the present invention; Fig. 6 is an A-A sectional view of the manipulator assembly in Fig. 5 in the embodiment of the present invention . The function of the manipulator assembly 2 is to clamp the pipe string. As shown in Figure 4, Figure 5 and Figure 6, the specific structure of the manipulator assembly 2 is as follows:

The main part of the manipulator assembly 2 is the manipulator cylinder block 17, the outside is the oil cylinder cover 18, and the inside is a short-stroke piston 19; in order to ensure sufficient sealing between the piston 19 and the inner wall of the manipulator cylinder body 17, the piston 19 has a Combining the hydraulic sealing element 20, the other end of the piston 19 is threadedly connected with the transmission block 21, and the transmission block 21 transmits the thrust of the piston 19 to the clamping pliers 24;

The inboard of two clamping pliers 24 is fixed with pincer tooth plate 25, and clamping pliers 24 is hinged together by clamping pliers connecting pin 22 and manipulator oil cylinder body 17, and there is automatic between clamping pliers connecting pin 22 and manipulator oil cylinder body 17. lubricate sliding bearing 23;

Two sensors are installed on the top of the manipulator assembly 2:

The contact displacement sensor 26 is used to provide the position information of the pipe string to be operated relative to the clamping tongs 24, so as to send a control instruction to the manipulator cylinder 14 for the clamping tongs 24 to grab the pipe string in a timely manner;

The horizontal state sensor 27 is used to monitor the attitude of the manipulator assembly 2. During the movement of the manipulator assembly 3 and the manipulator assembly 2, when it is detected that the manipulator assembly 2 is in a non-horizontal attitude, a signal is sent to make the manipulator cylinder 14 adjust The attitude of the manipulator assembly 2 holding the pipe string to ensure that the pipe string will not topple.

Fig. 7 is a structural schematic diagram of the block assembly in the embodiment of the utility model; Fig. 8 is a schematic top view of the block assembly in the embodiment of the utility model; Fig. 9 is a B-B sectional view of the block assembly in Fig. 8 in the embodiment of the utility model . The function of the tackle assembly 4 is to realize the rotary motion of the mechanical arm assembly 3 . As shown in Figure 7, Figure 8 and Figure 9, the specific structure of the tackle assembly 4 is as follows:

The core part of the tackle assembly 4 is a low-speed high-torque tackle hydraulic motor 37 with a motor braking device 38 and a motor reduction box 39 in series. The tackle hydraulic motor 37 is fixed by a tackle motor support frame 35, and the top is a rotary encoder 40 for Measure and output the angular displacement and angular velocity of the hydraulic motor shaft for judging the position and motion state of the mechanical arm assembly 3;

The block bracket 28 is the protective shell of the block assembly 4, which is a welded structure with evenly distributed reinforcing ribs, and a hydraulic control valve group is installed on the supporting plate on one side; the block bearing sleeve support 29 is used to stop the two blocks. The push bearing 31 is limited and fixed; there is a row of horizontal roller sets 32 on both sides of the tackle bracket 28, which is used to reduce frictional resistance when the tackle assembly 4 moves longitudinally; the tackle bracket 28 has a vertical roller set at the four corners of the top surface 33, used to reduce the frictional force when moving in the walking platform support frame 41;

The top of the tackle assembly 4 is a ball screw nut 36, which is matched with the transmission screw 45 of the longitudinal movement assembly 1;

The upper thrust bearing retaining ring 34 of the pulley thrust bearing 31 located above is connected and fixed with the top of the base 7 of the mechanical arm assembly 3 through uniformly distributed bolt groups, and the transmission flange 30 is connected with the bottom of the base 7 through uniformly distributed bolts. The bolt group is fixed, and the transmission flange 30 is used to transmit torque to the mechanical arm assembly 3 .

Fig. 10 is a schematic bottom view of the longitudinal movement assembly in the embodiment of the present utility model. The longitudinal movement assembly 1 drives the pulley 4 and the mechanical arm assembly 3 to move longitudinally. As shown in Figure 10, the specific structure of the longitudinal movement assembly 1 is as follows:

The main body of the longitudinal movement assembly 1 is the walking platform supporting frame 41, the power and driving part are located inside the walking platform supporting frame 41, the transmission principle is a screw transmission mode, and the roller group seat of the pulley assembly 4 is inside the walking platform supporting frame 41 on the rails on both sides;

The front bearing box 43 is fixed in the walking platform support frame 41, and the outside of the front bearing box 43 is a bearing end cover 42;

The anti-collision buffer pad 44 is installed at both ends of the transmission screw 45, and the hydraulic motor 46 of the walking platform drives the motor transmission box 48 through the hydraulic motor braking device 47, and then the power is passed to the transmission screw 45;

A horizontal displacement sensor 49 is installed on the platform motor support plate 50, which is used to measure the position on the transmission screw 45 when the tackle assembly 4 moves;

Rear bearing box 51 is fixed on the platform motor support plate by flange;

The longitudinal movement assembly 1 is connected with the two-layer platform tube bent frame 6 through a plurality of walking platform connection supports 52 .

Fig. 11 is a schematic structural view of the walking platform assembly in the embodiment of the utility model; Fig. 12 is a schematic left view of the walking platform assembly in Fig. 11 in the embodiment of the utility model. The walking platform assembly 5 is located above the longitudinal movement assembly 1. As shown in Fig. 11 and Fig. 12, the walking platform assembly 5 is located above the longitudinally moving assembly 1, and there are guardrails 53 around it.

Fig. 13 is a schematic diagram of the structure of the two-story platform tube bent frame in the embodiment of the present invention. The two-layer platform tube bent frame 6 is basically the same as the existing two-layer platform structure.

In the embodiment of the utility model, the working method of the column discharge system of the second floor platform is as follows:

When pulling out on site, the longitudinal movement assembly 1 positions the tackle assembly 4 to the side near the wellhead of the walking platform assembly 5, the tackle assembly 4 drives the mechanical arm assembly 3 toward the wellhead, and the mechanical arm assembly 3 extends to the wellhead. For the processed pipe string, the manipulator assembly 2 clamps the pipe string, and the manipulator assembly 3 lifts the pipe string away from the drilling floor. After stabilization, the manipulator assembly 3 retracts, and the pulley assembly 4 drives the manipulator assembly 3 to rotate In the space between the walking platform assembly 5 and the second-floor platform tube bent frame 6 finger beams, the longitudinal movement assembly 1 works to position the trolley assembly 4 to a certain row of finger beams where the pipe column needs to be placed, and then the mechanical arm assembly 3 Stretch out and push the pipe string to the designated position, put down the pipe string after being stabilized, and complete the process of pipe string storage;

The process of drilling in the field is completely opposite to the process of pulling out the drill; when drilling in the field, the pulley assembly 4 drives the mechanical arm assembly 3 to rotate to the space between the walking platform assembly 5 and the second-floor platform pipe bent frame 6 finger beam, The longitudinal movement assembly 1 works to position the pulley assembly 4 to a certain row of finger beams that need to extract the pipe string, then the mechanical arm assembly 3 extends to the pipe string to be processed, the manipulator assembly 2 clamps the pipe string, and the mechanical arm assembly 3 The assembly 3 lifts the pipe string away from the second-floor platform pipe rack 6, and after stabilization, the longitudinal movement assembly 1 positions the block assembly 4 to the side near the wellhead of the walking platform assembly 5, and the block assembly 4 drives the mechanical arm assembly 3 is facing the wellhead, and the mechanical arm assembly 3 is stretched out, and the pipe string is lowered after being stabilized.

Specifically, the process of clamping the pipe string by the two clamping pliers 24 of the manipulator assembly 2 is based on the principle of leverage, and may include:

When the pipe string clamping operation is performed, the rodless cavity of the manipulator cylinder 14 on the manipulator arm assembly 3 enters high-pressure oil to push the piston 19 inside the manipulator cylinder body 17 of the manipulator assembly 2 to move, and the piston 19 pushes the other end of the manipulator through the screw thread. The connected transmission block 21, when the transmission block 21 moves, stretch the tail end of the clamping pliers 24, the clamping clamps 24 rotate around the clamping clamp connection pin 22 of the articulated manipulator oil cylinder body 17, and the other side of the clamping clamps 24 is closed. Tighten, clamp tooth plate 25 fixed on the inner side of clamping pliers 24 holds the pipe string tightly; when the pipe string is put to the designated position, the oil circuit of manipulator oil cylinder 14 changes direction, the rod chamber enters high-pressure oil, piston 19 retracts, and transmission block 21 No more pushing force is applied to the clamping jaws 24, and the clamping jaws 24 loosen the pipe string.

The second-story platform pipe column discharge system in the embodiment of the utility model combines the manipulator assembly for grabbing the pipe column with the mechanical arm assembly, the pulley assembly, the longitudinal movement assembly, the walking platform assembly, the second-story platform pipe rack, etc. The system is integrated, and all assemblies and components comply with the oil and gas industry drilling and workover equipment specifications, and can be installed on existing land drilling rigs or workover rigs, offshore land drilling rigs or workover rigs, replacing the existing two-story platform And supporting equipment to meet the needs of grabbing and discharging pipe strings during drilling and workover operations. The main features of the system are: (1) Portable and compact system: the system is designed for light weight. Compared with the existing technology, the mechanical structure is simplified, the volume and weight are greatly reduced, and the speed is faster during equipment handling and installation. Fast; (2) High operating efficiency: The system is a single-arm grasping automatic operation device for pipe strings, and its operation process is relatively simple and flexible; (3) Mechatronic-hydraulic integration: Hydraulic drive mode is adopted, including 4 oil cylinders and 2 cylinders. Only a low-speed high-torque hydraulic motor controls the movement trajectory of the manipulator and the manipulator; (4) Good compatibility: From the beginning of the system design, compatibility has been considered, and the discharge area of the pipe string on the second floor can be set to X-Y rectangular coordinates type, can be installed on the derrick of existing drilling rigs and workover rigs without modification, and can also be matched with new drilling rigs and new workover rigs; (5) Low equipment and maintenance costs: compared with existing technologies , the system as a whole has a compact structure, less mechanical parts, low cost, and strong versatility. It can adapt to the harsh and harsh working environment of oil and gas development sites, and is easy to maintain and repair. It is in line with the characteristics of domestic drilling and workover operations.

If this technology is applied to the site and works together with the pipe string processing device on the drilling floor, it will be able to complete various pipe string processing operations, replace manual pipe string processing operations, significantly improve operating efficiency, improve the existing working environment, and improve On-site construction safety.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present utility model in detail. Within the protection scope of the utility model, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims (5)

1. A two-layer platform pipe string discharge system is characterized in that, comprising: Longitudinal movement assembly (1), manipulator assembly (2), mechanical arm assembly (3), pulley assembly (4), walking platform assembly (5), two-story platform pipe bent frame (6); where: The mechanical arm assembly (3) includes a forearm (16) and an upper arm (10), both of which are welded structures resistant to bending. The motion of the mechanical arm assembly (3) is provided by two long-stroke oil cylinders; one end of the mechanical arm assembly (3) It is connected with the manipulator assembly (2), and the other end is connected with the tackle assembly (4); The manipulator assembly (2) is driven by hydraulic pressure, and the inside is a plunger oil cylinder. The clamping part is fixed with a jaw plate (25) for clamping the pipe body. The manipulator assembly (2) is equipped with a contact displacement sensor ( 26), used to detect the relative position between the pipe body and the manipulator assembly (2), after the pipe body touches the probe of the contact displacement sensor (26), the contact displacement sensor (26) sends to the manipulator assembly ( 2) Send a signal to clamp the pipe body; The top of the trolley assembly (4) is a low-speed high-torque hydraulic motor, which is connected to the mechanical arm assembly (3) through the transmission flange (30) to drive the mechanical arm assembly (3) to rotate, and the trolley assembly (4) Roller sets on both sides; The longitudinal movement assembly (1) is fixed together with the pulley assembly (4) by the ball screw nut (36), and its hydraulic motor drives the transmission screw (45), which is converted into the linear motion of the drive nut to realize the longitudinal movement of the pulley. move; The walking platform assembly (5) is located above the longitudinal moving assembly (1), surrounded by guardrails; The second-story platform pipe bent frame (6) is located above the walking platform assembly (5), and is a cantilever structure. Two supporting reinforcing rods are installed at the far end, and the other end of the reinforcing rod is hinged to the position below the second-story platform of the derrick. form a triangular support structure. 2. The pipe column discharge system of the two-story platform as claimed in claim 1, wherein the specific structure of the mechanical arm assembly (3) is as follows: The top of the mechanical arm assembly (3) is a base (7), which is connected to the transmission flange (30) of the tackle assembly (4), and the upper arm (10) and the forearm (16) are integral welded structures with reinforcing ribs. The upper arm (10) is hinged together with the ear plate of the base (7) through a connecting pin (13); The base oil cylinder (9) is connected with the upper arm (10) and the base (7) respectively, and an angular displacement sensor (8) is installed at the hinge of the base oil cylinder (9) near the base (7) side for Monitoring the rotational angular displacement and angular velocity of the upper arm (10) relative to the base (7); The upper arm-forearm oil cylinder (12) is respectively connected with the upper arm (10) and the forearm (16), and an angular displacement sensor (8) is also installed at the hinge of the upper arm (10) and the forearm (16), which is used to measure the relative position of the forearm (16). Rotational angular displacement and angular velocity of the upper arm (10); The manipulator oil cylinder (14) is connected with the manipulator assembly (2) through the manipulator connecting rod (15), and is used to keep the manipulator assembly (2) grabbing the pipe string during the movement of the manipulator arm assembly (3). in a horizontal posture; The motion parameters measured by all the angular displacement sensors of the mechanical arm assembly (3) are used to calculate the displacement, velocity and acceleration of the pipe string, and to prevent collisions with the second-floor platform pipe bent frame (6) and the drill floor, preventing excessive inertial force from causing Mechanical arm instability; All hinged parts in the mechanical arm assembly (3) include connecting pin (13) and end cover retaining ring (11), to fix the limit. 3. The pipe column discharge system of the two-story platform as claimed in claim 1, wherein the specific structure of the manipulator assembly (2) is as follows: The main part of the manipulator assembly (2) is the manipulator oil cylinder (17), and the interior is a short-stroke piston (19). There is a combined hydraulic sealing element (20) on the piston (19), and the other end of the piston (19) is connected to the transmission The block (21) is connected by threads, and the transmission block (21) transmits the thrust of the piston (19) to the clamping pliers (24); The inner sides of the two clamping pliers (24) are fixed with clamp tooth plates (25), and the clamping clamps (24) are hinged together with the manipulator oil cylinder body (17) by the clamping clamp connecting pins (22), and the clamping clamp connecting pins There is self-lubricating sliding bearing (23) between (22) and manipulator oil cylinder block (17); Two sensors are installed on the top of the manipulator assembly (2): The contact displacement sensor (26) is used to provide the position information of the pipe string to be operated relative to the clamping tongs (24), so as to send a control instruction to the manipulator cylinder (14) to grab the pipe string by the clamping tongs (24) in a timely manner; The horizontal state sensor (27) is used to monitor the posture of the manipulator assembly (2). During the movement of the manipulator arm assembly (3) and the manipulator assembly (2), when the manipulator assembly (2) is detected to be non-level During attitude, signal is sent to make manipulator oil cylinder (14) adjust the attitude of the manipulator assembly (2) of clamping pipe string, to guarantee that pipe string can not topple over. 4. The two-story platform pipe column discharge system as claimed in claim 1, wherein the specific structure of the tackle assembly (4) is as follows: The core component of tackle assembly (4) is the tackle hydraulic motor (37) of the low-speed high-torque that has motor braking device (38) and motor reduction box (39) in series, and tackle hydraulic motor (37) is supported by tackle motor support frame (35). ) is fixed, and the top is a rotary encoder (40), which is used to measure and output the angular displacement and angular velocity of the hydraulic motor shaft for judging the position and motion state of the mechanical arm assembly (3); The block bracket (28) is the protective shell of the block assembly (4), which is a welded structure with uniformly distributed reinforcing ribs, and a hydraulic control valve group is installed on the supporting plate on one side; the block bearing sleeve support (29) is used It is used to limit and fix the two block thrust bearings (31); a row of horizontal roller sets (32) are respectively arranged on both sides of the block bracket (28), which are used to reduce frictional resistance when the block assembly (4) moves longitudinally; Pulley support (28) has a vertical roller group (33) respectively at the four corners of the top surface, for reducing the frictional force when moving in the walking platform support frame (41); The top of the tackle assembly (4) is a ball screw nut (36), which is matched with the drive screw (45) of the longitudinal movement assembly (1); The upper thrust bearing retaining ring (34) of the upper block thrust bearing (31) is connected and fixed with the top of the base (7) of the mechanical arm assembly (3) through a group of evenly distributed bolts, and the transmission flange (30 ) and the bottom of the base (7) are fixed by uniformly distributed bolt groups, and the transmission flange (30) is used to transmit torque to the mechanical arm assembly (3). 5. The pipe string discharge system of the two-story platform as claimed in claim 1, characterized in that, the specific structure of the longitudinal movement assembly (1) is as follows: The main body of the longitudinal movement assembly (1) is the walking platform support frame (41), the power and the drive part are located inside the walking platform support frame (41), and the roller group seat of the tackle assembly (4) is on the walking platform support frame (41). 41) On the tracks on both sides of the interior; The front bearing box (43) is fixed in the walking platform support frame (41), and the outside of the front bearing box (43) is a bearing end cover (42); The anti-collision buffer pad (44) is installed at both ends of the transmission screw (45), and the hydraulic motor of the walking platform (46) drives the motor transmission box (48) through the hydraulic motor brake device (47), and then the power is passed to the transmission screw (45 ); A horizontal displacement sensor (49) is installed on the platform motor support plate (50), which is used to measure the position on the transmission lead screw (45) when the tackle assembly (4) moves; Back bearing box (51) is fixed on the platform motor support plate by flange; The longitudinal movement assembly (1) is connected with the second-layer platform tube bent frame (6) through a plurality of walking platform connection supports (52). the

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