CN206769848U - Thribble automatic discharge device - Google Patents

Abstract

The utility model discloses a kind of thribble automatic discharge device, it is related to petroleum and natural gas drilling field, it includes derrick, quadruple board platform and rig floor, in addition to：First mechanical arm, it is arranged at the bottom of the tongue platform on quadruple board platform, and can be moved along the length direction of tongue platform, first mechanical arm be arranged to can ring handle thribble top, and its movement can be driven；And second mechanical arm, it is arranged on rig floor, and can be moved in non-thribble region, second mechanical arm be arranged to can ring handle thribble bottom, and its movement can be driven.Rigger and floorman is replaced to be constructed with first mechanical arm and second mechanical arm, mechanical arm only needs to bear the horizontal force as caused by ring holds thribble much smaller than thribble weight, reduce mechanical arm and clamp thribble completely come the requirement during moving for mechanical arm strength and stiffness, simplify design, cost is saved, improves the security and efficiency of work.

Description

Standing automatic discharge device

technical field

The utility model relates to the field of oil and natural gas drilling. More specifically, the utility model relates to an automatic discharge device for vertical roots.

Background technique

In the existing drilling operations in our country, the mode of high-altitude operation of the derrick worker and the cooperation of the drill floor worker is still used when tripping out the drill. To lift the next column, the derrick worker needs to be at an altitude of more than 30 meters, driven by both hands or a pneumatic winch. The derrick operator pushes the upper part of the vertical root into the designated area, and then the drill floor operator supports the lower part of the vertical root and swings it to the designated position in the vertical root area of the drill floor or the wellhead. Such an operation mode not only has many risks such as falling objects from high altitude, crushing of the pneumatic winch of the second floor platform, crushing of the drilling tool swing, falling of the derrick worker, etc., but also has high labor intensity, low efficiency, and the working environment is also very bad. With the full implementation of the HSE spirit in oil drilling projects, the safety requirements for land drilling are becoming more and more stringent, and the demand for standing root automatic discharge devices is becoming increasingly urgent.

Many institutions in China have also carried out research and development on this type of device. Generally, a single two-story mechanical arm is used to suspend the vertical root to complete the discharge of the vertical root. This method requires the mechanical arm to bear the gravity of the drill string and requires the mechanical arm to have a strong The high strength and rigidity lead to the large volume of its mechanism, which has a great influence on the lifting force of the drilling rig; at the same time, it is also required that the stand is vertically discharged so that the mechanical arm can grab it. It is not at right angles, which makes it difficult for the robotic arm to grab the vertical root, and the vertical root box of the drill floor needs to be modified.

Utility model content

An object of the present invention is to solve at least the above-mentioned problems and provide at least the advantages which will be described later.

Another purpose of this utility model is to provide an automatic vertical root discharge device, which uses two upper and lower mechanical arms to simulate the tripping operation of the derrick worker and the drill floor worker, and uses the ring holding method to complete the vertical root discharge, which is compatible with the top drive, iron Drillers, automatic elevators, pneumatic slips and other equipment cooperate to improve the efficiency and safety of drilling operations.

In order to achieve these objects and other advantages according to the present utility model, a kind of vertical root automatic discharge device is provided, which includes a derrick, a second floor platform and a drill floor, and is characterized in that it also includes: a first mechanical arm, which is arranged on the second floor The bottom of the tongue platform on the platform, and can move along the length direction of the tongue platform, the first mechanical arm is set to hold the upper part of the vertical root, and can drive it to move; and the second mechanical arm, which is arranged on the drill floor and can move in the non-standing root area, the second mechanical arm is set to hold the lower part of the vertical root and drive it to move.

Preferably, the clamping ends of the first mechanical arm and the second mechanical arm are claw structures, and the claw structure includes: a claw base, which is rotatably arranged; a grasping device, comprising A pair of finger bases, a pair of finger parts and an oil cylinder; the pair of finger bases are respectively connected to the claw base through a rotating shaft, and one end of the pair of finger bases is provided with a rotating shaft and is fixedly installed with mutually engaging gears; the pair of fingers are respectively detachably fixed on a pair of finger bases, and are arranged oppositely, and the opposite faces of the pair of fingers are inwardly concave arc surfaces; the cylinder body of the oil cylinder and the clamp The claw base is hinged, and its piston rod is hinged to one of the pair of finger bases, so as to control the opening and closing of the pair of fingers in combination with the gear.

Preferably, the grabbing devices can be arranged in two groups, which are respectively arranged at both ends of the claw base along the length direction, and the fingers of the two groups of grabbing devices are different in size.

Preferably, the first mechanical arm and the second mechanical arm include a base, a large arm, a small arm, a wrist, and claws, which are sequentially connected to each other through a rotating shaft.

Preferably, a first movement track is installed on the length direction of the bottom of the tongue platform, and a first translation trolley that can move along its track is provided on the first movement track, and the first translation trolley and the first translation trolley The base of a mechanical arm is fixedly connected.

Preferably, the drill floor is provided with a second movement track, the second movement track is located directly below the first movement track, and the second movement track is provided with a second movement track that can move along its track. A translation trolley, the second translation trolley is fixedly connected to the base of the second mechanical arm.

Preferably, the drill floor further includes a rail changing mechanism and a parking track; the second moving track is connected to the parking track through a rail switching mechanism, and the parking track is set away from the wellhead.

The utility model at least includes the following beneficial effects:

1. Adopt the idea of "replacing people with machines", and use the mechanical arm to simulate the working process of humans. The mechanical arm only needs to bear the horizontal force brought by the ring holding the vertical root, which is much smaller than the weight of the vertical root, which reduces the complete clamping of the mechanical arm. The requirements for the strength and rigidity of the mechanical arm during the movement of the stand simplifies the design and saves the cost.

2. There is also a shutdown track in the moving track of the second mechanical arm. When not working, the second mechanical arm moves to the parking track through the rail change mechanism, so as to open the catwalk of the drilling floor to the working space of the wellhead, which is convenient for other drilling operations.

3. The vertical root is grasped by the method of ring holding the vertical root, which solves the problem that the vertical root is placed at an angle, such as the vertical root is not vertical, and it is very difficult to grasp the vertical root.

Other advantages, objectives and features of the utility model will partly be embodied through the following description, and partly will be understood by those skilled in the art through the research and practice of the utility model.

Description of drawings

Fig. 1 is the front view of the utility model two-story platform and the first mechanical arm;

Fig. 2 is the top view of the second floor platform and the first mechanical arm of the utility model;

Fig. 3 is the claw structure diagram of the first mechanical arm and the second mechanical arm of the utility model;

Fig. 4 is a schematic plan view of the working route of the mechanical arm during the erection discharge process of the utility model.

detailed description

The utility model will be described in further detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it by referring to the description.

In the description of the present utility model, the terms "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer" and so on are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the utility model and simplifying the description, and are not indicative or It should not be construed as limiting the invention by implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation.

As shown in Figures 1 to 4, the utility model provides a vertical root automatic discharge device, which includes a derrick, a two-story platform and a drill floor, and is characterized in that it also includes: a first mechanical arm, which is arranged on the two-story platform The bottom of the tongue table 1, and can move along the length direction of the tongue table 1, the first mechanical arm is set to hold the upper part of the vertical root, and can drive it to move; and the second mechanical arm, which is arranged on the drill floor and can move in the non-standing root area, the second mechanical arm is set to hold the lower part of the vertical root and drive it to move. In this technical solution, it is equivalent to the first mechanical arm replacing the work of the "derrick worker", but it is installed at the bottom of the tongue table, which is convenient for grabbing the vertical root, while the second mechanical arm replaces the work of the "drilling floor worker" , it can be installed in a non-standing root area. The first mechanical arm and the second mechanical arm only need to hold the vertical root, and can move it to the designated area. strength and rigidity, but also saves manpower, improves work efficiency and safety; on the other hand, because it is only ring-holding rather than clamping, the mechanical arm of the utility model can also grab Root moves.

In another technical solution, the clamping ends of the first mechanical arm and the second mechanical arm are claw structures, and the claw structure includes: a claw base 11, which is rotatably arranged; The grabbing device includes a pair of finger bases 13, a pair of finger portions 14 and an oil cylinder 12; the pair of finger bases 13 are respectively connected to the claw base 11 through a rotating shaft, and the pair of finger bases 13 One end of the rotating shaft is fixedly equipped with intermeshing gears; the pair of finger parts 14 are respectively detachably fixed on the pair of finger bases 13, and are arranged oppositely, and the opposite surfaces of the pair of finger parts 14 are inwardly recessed The cylinder body of the oil cylinder 12 is hinged with the claw base 11, and its piston rod is hinged with one of the pair of finger bases 13, thereby combining with the gear to control a pair of fingers 14 opening and closing. In this technical solution, the claw structure is described in detail. The claw base 11 and the mechanical arm are rotatably arranged through a rotating shaft, etc. When holding the vertical root, the claw base can be rotated according to the position of the vertical root. 11 Better ring holding, only one oil cylinder 12 is installed in the grabbing device, which is respectively hinged with the claw base 11 and one of the pair of finger bases 13, and the telescopic movement of the piston rod drives the pair of finger bases 13, a pair of finger bases are connected through intermeshed gears, and when one of them moves, it also drives the other to move together, so that the opening of a pair of finger parts 14 can be controlled by controlling the movement of the finger base 13 and closed; a pair of finger parts 14 are oppositely arranged and can be disassembled, so that only a pair of finger parts 14 need to be replaced when adapting to vertical roots of different diameters; the opposite faces of a pair of finger parts 14 are inwardly recessed The curved surface is to adapt to the curved surface of the vertical root, which is more convenient and better to hold the vertical root.

In another technical solution, the grabbing devices can be arranged in two groups, which are respectively arranged at both ends of the claw base 11 along the length direction, and the fingers 14 of the two groups of grabbing devices are different in size. The grabbing devices are set in two groups, and the sizes of the fingers 14 of the two groups are different. When the vertical roots to be grabbed are of different sizes, it is only necessary to rotate the direction of the claw base 11 to exchange the positions of the two groups of grabbing devices. , no need to replace the finger portion 14, so the actual operation is more convenient and simple, saving time and cost.

In another technical solution, the first mechanical arm and the second mechanical arm include a base 6 , a large arm 7 , a small arm 8 , a wrist 9 , and claws 10 , which are sequentially connected to each other through a rotating shaft. The specific structure of the mechanical arm can be selected according to the needs and the actual situation in the actual use process, as long as the ring can hold the vertical root and move it to the designated position.

In another technical solution, a first moving track 4 is installed on the length direction of the bottom of the tongue table 1, and a first translation trolley 5 that can move along its track is provided on the first moving track 4, and the The first translation trolley 5 is fixedly connected with the base 6 of the first mechanical arm. The first mechanical arm can move at the bottom of the tongue table 1, thereby encircling the upper part of the vertical root at different positions. In this technical solution, the combination of the track and the translation trolley is used, but it is not limited to this method.

In another technical solution, the drill floor is provided with a second movement track, the second movement track is located directly below the first movement track 4, and the second movement track is provided with a A second translation trolley that moves on an orbit, and the second translation trolley is fixedly connected to the base of the second mechanical arm. The second mechanical arm can move in the non-standing root area on the drill floor, so as to hold the lower part of the vertical root at different positions. In this technical solution, the combination of the track and the translation trolley is used, but it is not limited to this method.

In another technical solution, the drill floor further includes a rail switching mechanism and a shutdown rail; the second moving rail is connected to the shutdown rail through a rail switching mechanism, and the shutdown rail is set away from the wellhead. On the drilling floor, there are not only the work of the second mechanical arm, but also other drilling tasks. After the second mechanical arm completes its work, the catwalk on the drilling floor is opened to the working space of the wellhead, which can facilitate other drilling operations. The vertical root discharge device of the present utility model also includes a rail changing mechanism and a stop track, and the second moving track and the stopping track are connected through the track changing mechanism, so that the second mechanical arm can smoothly return from the working track through the rail changing mechanism after completing the work. Stand by in the shutdown track. In order not to affect other normal drilling work, the shutdown track is installed at the wellhead away from the derrick.

In order to achieve more intelligent control of the movement of the first mechanical arm and the second mechanical arm, the utility model is also equipped with a control device to complete the automatic discharge of the vertical root. The control device includes a control host, a sensor, and a visual system, wherein the control host is arranged on On the drill floor, the first mechanical arm also includes a first sensor and a first visual system corresponding to the sensor and visual system on the control device, which are located at the wrist of the first mechanical arm; the second mechanical arm also includes a The second sensor and the second vision system corresponding to the sensor on the control device and the vision system are embedded in the wrist of the second mechanical arm. The control device can receive the visual and sensory data of the top drive, iron driller, the first mechanical arm and the second mechanical arm in real time, and control the drill collar clamping plate of the second floor platform, the gear lever latch, and the first mechanical arm accordingly. And the action of the second mechanical arm, cooperate with top drive, iron driller, automatic elevator, pneumatic slips and other equipment to complete the automatic discharge of the stand.

The utility model combines the first mechanical arm and the second mechanical arm through the control system to carry out the process of vertical root automatic lowering in detail as follows:

The top drive goes down until the automatic elevator reaches the proper position. At the same time, the first translation car moves from the initial position (that is, the end of the tongue platform away from the wellhead) to the wellhead, and stops near the set position, and the first mechanical arm adjusts its posture. At this time, the ultrasonic sensor on the wrist scans around the target stand to determine the approximate position of the target stand, and then the first translation car adjusts its position according to the sensing results to move the first mechanical arm to the position facing the target stand. The first mechanical arm adjusts its posture again so that the wrist is facing the target stand. The laser ranging sensor on the wrist measures the distance from the wrist to the target stand. The arm is unfolded, the wrist moves towards the target stand, and the claws adjust the direction to the target stand. Follow the movement direction of the wrist, and stop when the wrist moves to a position about 1.1 times the length of the claw from the target stand. Then the wrist drives the jaws to move forward slowly, the ring holds the upper part of the target vertical root, and the arm shrinks to drive the target vertical root to move out from point A (as shown in Figure 4) on the second-floor platform body 3 and arrive at point B (as shown in Figure 4 shown in ), the first translation trolley starts to move, and drives the target vertical root to move toward the wellhead along the gap between the tongue table 3 and the open end of the drill pipe finger beam assembly 2, and then the gear rod latch is retracted until the target Until the stand moves to point C near the wellhead (as shown in Figure 4), the first mechanical arm adjusts its attitude, puts the upper part of the target stand into the automatic elevator, releases the claws, and the first mechanical arm returns to the initial position.

The second mechanical arm starts to move from the initial position to the direction of the wellhead, moves to the vicinity of the set position and stops, and the second mechanical arm adjusts its attitude. At this time, the ultrasonic sensor on the wrist scans around the target stand to determine the approximate position of the target stand, and then the second translation car adjusts the position according to the sensing results to move the second mechanical arm to the target stand. The second mechanical arm adjusts its posture again so that the wrist is facing the target stand. The laser ranging sensor on the wrist measures the distance from the wrist to the target stand. When the arm is unfolded, the wrist moves toward the target stand, and the claws adjust their direction to the target stand. Follow the movement direction of the wrist, and stop when the wrist moves to a position about 1.1 times the length of the claw from the target stand. Then the wrist drives the claws to move forward slowly, and the ring holds the target vertical root. After the top drive slowly moves upward and stops at an appropriate distance, the second mechanical arm retracts, and the second translation trolley moves towards the wellhead. The second mechanical arm gradually adjusts its posture on the way, so that The arm faces the direction of the wellhead until the target vertical root reaches the center of the wellhead, the iron driller steps forward to tighten the vertical root, the claws are released, the second mechanical arm returns to the initial position, and stops on the stop track through the rail change mechanism to let the work space.

The working process of the stand automatic pulling out of the drill is just opposite to the working process of the lowering of the drill, so it will not be repeated here.

Although the embodiment of the present utility model has been disclosed as above, it is not limited to the use listed in the description and the implementation, and it can be applied to various fields suitable for the present utility model. For those familiar with the art, Further modifications can be readily effected, so the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims (7)

1. a kind of thribble automatic discharge device, it includes derrick, quadruple board platform and rig floor, it is characterised in that also includes：

First mechanical arm, it is arranged at the bottom of the tongue platform on quadruple board platform, and can be moved along the length direction of tongue platform, described first Mechanical arm be arranged to can ring handle thribble top, and its movement can be driven；And

Second mechanical arm, it is arranged on rig floor, and can be moved in non-thribble region, the second mechanical arm be arranged to can ring hold Posture in standing (qigong) root bottom, and its movement can be driven.

2. thribble automatic discharge device as claimed in claim 1, it is characterised in that the first mechanical arm and second machine The bare terminal end of tool arm is claw structure, and the claw structure includes：

Claw pedestal, its rotatable setting；

Grabbing device, including a pair of finger pedestal, a pair of finger portion and oil cylinder；

The pair of finger base is connected with the claw pedestal by rotating shaft respectively, and the pair of finger base is provided with rotating shaft One end is installed with pitch wheel；

The pair of finger section is detachably secured on a pair of finger pedestal respectively, and is oppositely arranged, and a pair of finger portion is relative Face be the cambered surface to cave inward；

The cylinder body of the oil cylinder is hinged with the claw pedestal, its piston rod and one of hinge of the pair of finger base Connect, so as to be combined the opening and closure in control a pair of finger portion with the gear.

3. thribble automatic discharge device as claimed in claim 2, it is characterised in that the grabbing device may be configured as two groups, The both ends of the claw pedestal along its length are respectively arranged at, and the finger section size of two groups of grabbing devices is different.

4. thribble automatic discharge device as claimed in claim 1, it is characterised in that the first mechanical arm and second machine Tool arm includes base, large arm, forearm, wrist, claw, and they pass sequentially through rotating shaft interconnection.

5. thribble automatic discharge device as claimed in claim 4, it is characterised in that pacify on the length direction of the tongue platform bottom Equipped with the first tracks, first tracks be provided with can along the first translating trolleys of its track motion, described first Translating trolleys are fixedly connected with the base of the first mechanical arm.

6. thribble automatic discharge device as claimed in claim 5, it is characterised in that the rig floor is provided with the second motion rail Road, second tracks are located at the underface of first tracks, and second tracks are provided with can be along it Second translating trolleys of track motion, second translating trolleys are fixedly connected with the base of the second mechanical arm.

7. thribble automatic discharge device as claimed in claim 6, it is characterised in that the rig floor also includes switching tracks mechanism and stopping Machine track；

It is connected between second tracks and the shutdown track by the mechanism that switches tracks, the shutdown track is disposed remotely from Well head.