CN206769848U - Thribble automatic discharge device - Google Patents
Thribble automatic discharge device Download PDFInfo
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- CN206769848U CN206769848U CN201720533059.6U CN201720533059U CN206769848U CN 206769848 U CN206769848 U CN 206769848U CN 201720533059 U CN201720533059 U CN 201720533059U CN 206769848 U CN206769848 U CN 206769848U
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- thribble
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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
Technical field
It the utility model is related to petroleum and natural gas drilling field.More specifically, it the utility model is related to a kind of thribble
Automatic discharge device.
Background technology
In the existing drillng operation in China, still using rigger's high-altitude application, the mould of floorman's coordinated when making a trip
Formula, playing a next post thribble needs rigger in more than 30 meters of high-altitude, and with the hands or the compressed air hoist drag hook that drives captures,
The top of thribble is pushed away in rigger and puts designated area into, then buttressing thribble bottom by floorman again swings to rig floor thribble area
Specified location or well head.Such operator scheme is not only existed as falling object from high altitude, quadruple board platform compressed air hoist squeeze wound, drilling tool is swung
Squeeze wound, rigger such as falls at all multi-risk Systems, and labor intensity is big, and efficiency is low, and working environment is also very severe.With HSE essences
God's implementing comprehensively in oil drilling engineering, requirement of the land drilling well for safety is also increasingly tighter, thribble automatic-discharging dress
Put demand and also seem increasingly urgent.
Domestic many mechanisms also expand research and development to such device, generally all hold thribble using single quadruple board platform machinery arm sling
Mode complete the discharge of thribble, this mode requires that mechanical arm needs to bear the gravity of drill string, it is desirable to which mechanical arm has very
High strength and stiffness, cause its organization volume huge, rig lifting force is had a great influence；Meanwhile also require thribble vertical row
Put, so that mechanical arm captures, but because when land rig puts thribble in actual job, thribble is out of square with ground, makes
Mechanical arm is obtained to have difficulties, it is necessary to transform rig floor pipe setback when capturing thribble.
Utility model content
A purpose of the present utility model is that solve at least the above, and provides the advantages of at least will be described later.
The utility model also has a purpose to be to provide a kind of thribble automatic discharge device, using upper and lower two mechanical arm moulds
Intend the operation that makes a trip of rigger and floorman, thribble discharge is completed by the way of ring is held, with top drive, iron driller, automatically
The equipment such as elevator and air operated slips coordinates, and improves the efficiency and security of drillng operation.
In order to realize according to these purposes of the present utility model and further advantage, there is provided a kind of thribble automatic-discharging dress
Put, it includes derrick, quadruple board platform and rig floor, it is characterised in that also includes：First mechanical arm, it is arranged on quadruple board platform
The bottom of tongue platform, and being moved along the length direction of tongue platform, the first mechanical arm be arranged to can ring handle thribble top, and can
Drive its movement；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 handle thribble bottom, and its movement can be driven.
Preferably, the bare terminal end of the first mechanical arm and the second mechanical arm is claw structure, 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 be oppositely arranged, the relative face in a pair of finger portion is the cambered surface to cave inward；The cylinder body of the oil cylinder is cut with scissors with the claw pedestal
Connect, one of them of its piston rod and the pair of finger base are be hinged, so as to be combined control a pair of finger portion with the gear
Opening and closure.
Preferably, the grabbing device may be configured as two groups, be respectively arranged at the claw pedestal along its length
Both ends, and the finger section size of two groups of grabbing devices is different.
Preferably, the first mechanical arm and the second mechanical arm include base, large arm, forearm, wrist, claw,
They pass sequentially through rotating shaft interconnection.
Preferably, the first tracks, first tracks are installed on the length direction of the tongue platform bottom
Being provided with can fix along the first translating trolleys of its track motion, first translating trolleys and the base of the first mechanical arm
Connection.
Preferably, the rig floor is provided with the second tracks, and second tracks are positioned at the described first motion
The underface of track, second tracks are provided with can be along the second translating trolleys of its track motion, second translation
Dolly is fixedly connected with the base of the second mechanical arm.
Preferably, the rig floor also includes switch tracks mechanism and shutdown track；Second tracks and the shutdown
It is connected between track by the mechanism that switches tracks, the shutdown track is disposed remotely from well head.
The utility model comprises at least following beneficial effect：
1st, the thinking of " with machine substitute human labor " is used, the flow to be worked with mechanical arm simulation people, mechanical arm only needs to bear far
Less than the horizontal force as caused by ring holds thribble of thribble weight, the process that mechanical arm clamps thribble to move completely is reduced
In requirement for mechanical arm strength and stiffness, simplify design, save cost.
2nd, shutdown track is additionally provided with the track of second mechanical arm movement, second mechanical arm is by switching tracks when not working
Mechanism is moved to shutdown track, gets out of the way rig floor cat road to the working space of well head, facilitates other drillng operations.
3rd, thribble mode is held using ring and captures thribble, solve thribble placed angle, such as thribble tilts out of plumb, opposition
The problem of crawl of root is highly difficult.
Further advantage, target and feature of the present utility model embody part by following explanation, and part will also pass through
Research of the present utility model and practice are understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the utility model quadruple board platform and the front view of first mechanical arm；
Fig. 2 is the utility model quadruple board platform and the top view of first mechanical arm；
Fig. 3 is the claw structure figure of the utility model first mechanical arm and second mechanical arm；
Fig. 4 is mechanical arm operating path floor map in the utility model thribble discharge process.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to explanation
Book word can be implemented according to this.
In description of the present utility model, term " transverse direction ", " longitudinal direction ", " on ", " under ", "front", "rear", "left", "right",
The orientation or position relationship of the instruction such as " vertical ", " level ", " top ", " bottom ", " interior ", " outer " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of description the utility model and simplifies description, is not instruction or implies signified device or member
Part must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
As shown in Figures 1 to 4, the utility model provides a kind of thribble automatic discharge device, and it includes derrick, quadruple board platform with
And rig floor, it is characterised in that also include：First mechanical arm, it is arranged at the bottom of the tongue platform 1 on quadruple board platform, and can be along tongue platform 1
Length direction movement, the first mechanical arm be arranged to can ring handle thribble top, and its movement can be driven；And second machine
Tool arm, it is arranged on rig floor, and can be moved in non-thribble region, the second mechanical arm be arranged to can ring handle under thribble
Portion, and its movement can be driven.In this technical scheme, equivalent to the work that first mechanical arm instead of " rigger ", still
It is arranged on the bottom of tongue platform, is easy to capture thribble, and second mechanical arm instead of the work of " floorman ", installed in non-thribble
Region, first mechanical arm and second mechanical arm need only to ring and handle thribble, can be moved into designated area, it is not necessary to
It is clamped completely to move, reduces the strength and stiffness of mechanical arm needs, while also saves manpower, improves work
Efficiency and security；On the other hand, because only ring is held and non-clamping, in the case of thribble is inclined, this practicality is new
The mechanical arm of type can also capture thribble movement.
In another technical solution, the bare terminal end of the first mechanical arm and the second mechanical arm is claw knot
Structure, the claw structure include：Claw pedestal 11, its rotatable setting；Grabbing device, including a pair of finger pedestal 13, one
To finger section 14 and oil cylinder 12；The pair of finger base 13 is connected with the claw pedestal 11 by rotating shaft respectively, described
One end that a pair of finger pedestal 13 is provided with rotating shaft is installed with pitch wheel；The pair of finger section 14 is distinguished removable
That unloads is fixed on a pair of finger pedestal 13, and is oppositely arranged, and the relative face in a pair of finger portion 14 is the cambered surface to cave inward；Institute
It is be hinged to state cylinder body and the claw pedestal 11 of oil cylinder 12, its piston rod and one of hinge of the pair of finger base 13
Connect, so as to be combined the opening and closure in control a pair of finger portion 14 with the gear.To claw structure in this technical scheme
It is described in detail, claw pedestal 11 is rotatably set with mechanical arm by modes such as rotating shafts, when ring holds thribble
11 more preferable ring of claw pedestal can be rotated according to the position where thribble by, which waiting, is held, and an oil cylinder is only provided with grabbing device
12, it is respectively articulated with one of them of claw pedestal 11 and a pair of finger pedestal 13, is driven by the stretching motion of piston rod
One of motion of a pair of finger pedestal 13, a pair of finger pedestal are connected by pitch wheel, when one of fortune
When dynamic, also drive another to move together, so control in a pair of finger portion 14 by controlling the motion of finger base 13
Open and close；A pair of finger portion 14 is oppositely arranged, and can be dismantled, and is so only needed when adapting to the thribble of different-diameter
Will be by changing a pair of finger portion 14；The relative face in a pair of finger portion 14 is the cambered surface to cave inward, and this is to adapt to
The cambered surface of thribble, it is more convenient more preferable ring and handles thribble.
In another technical solution, the grabbing device may be configured as two groups, be respectively arranged at the claw pedestal 11
Both ends along its length, and the size of finger section 14 of two groups of grabbing devices is different.Grabbing device is arranged to two groups, and two groups
The size of finger section 14 is different, when the thribble size difference for needing to capture, it is thus only necessary to which the direction for rotating claw pedestal 11 is come
Exchange the position of two groups of grabbing devices, it is not necessary to change finger section 14, such practical operation get up it is more convenient, simple,
Save time cost.
In another technical solution, the first mechanical arm and the second mechanical arm include base 6, large arm 7, forearm
8th, wrist 9, claw 10, they pass sequentially through rotating shaft interconnection.The concrete structure of mechanical arm can as needed and actual use
During actual conditions selected, as long as can realize that ring handles thribble and is moved into specified location.
In another technical solution, the first tracks 4 are installed on the length direction of the bottom of tongue platform 1, it is described
First tracks 4 are provided with can be along the first translating trolleys 5 of its track motion, first translating trolleys 5 and described first
The base 6 of mechanical arm is fixedly connected.First mechanical arm can move in the bottom of tongue platform 1, so as to which ring holds the thribble of diverse location
Top, in this technical scheme, the combination of track and translating trolleys is used, but be not limited only to such a mode.
In another technical solution, the rig floor is provided with the second tracks, and second tracks are located at institute
The underface of the first tracks 4 is stated, second tracks are provided with can be along the second translating trolleys of its track motion, institute
The base that the second translating trolleys are stated with the second mechanical arm is fixedly connected.Second mechanical arm can move in non-thribble region on rig floor
It is dynamic, so as to which ring holds the bottom of the thribble of diverse location, in this technical scheme, the combination of track and translating trolleys has been used,
But it is not limited only to such a mode.
In another technical solution, the rig floor also includes switch tracks mechanism and shutdown track；Second tracks
It is connected between the shutdown track by the mechanism that switches tracks, the shutdown track is disposed remotely from well head.On rig floor not only
The only work of second mechanical arm, there is some other drilling well work, after second mechanical arm completes its work, get out of the way rig floor cat
Road can facilitate other drillng operations, therefore thribble tapping equipment of the present utility model further comprises and change to the working space of well head
Rail mechanism and shutdown track, the second tracks and shutdown track are connected by the mechanism that switches tracks, and second mechanical arm is completed work
It smoothly can return to shut down in track from working track via the mechanism that switches tracks after work and await orders, in order to not influence normal other brills
Well works, and shuts down track installation away from the well head by derrick.
The utility model is in order to realize the motion of more intelligent control first mechanical arm and second mechanical arm, to complete thribble
Automatic-discharging, be also provided with control device, control device includes control main frame, sensor, wherein vision system, control main frame
Be arranged on rig floor, first mechanical arm also include first sensor corresponding with the sensor on control device and vision system and
First look system, it is located at the wrist portion of first mechanical arm；Second mechanical arm yet includes and the biography on the control device
Second sensor corresponding to sensor and vision system and the second vision system, it is embedded in the wrist portion of second mechanical arm.Control
Device can the drive of real-time reception top, iron driller, the vision and sensing data of first mechanical arm and second mechanical arm, and control two accordingly
The action of layer bench drill quickly fingerboard clamp, lever bolt, first mechanical arm and second mechanical arm, coordinates top drive, iron driller, automatic hanging
The equipment such as card, air operated slips, complete the automatic-discharging of thribble.
The mistake that the utility model is transferred automatically by control system combination first mechanical arm and second mechanical arm progress thribble
Journey describes in detail as follows：
Top drive is descending, untill automatic elevator arrives at appropriate location.Meanwhile first translating trolleys from initial position (i.e.
Tongue platform is away from well head one end) moved to well head direction, it is moved to setting position and nearby stops, first mechanical arm adjustment posture.This
When wrist sonac sweeping target thribble around, determine the approximate location where target thribble, then first translation it is small
Car makes first mechanical arm move at face target thribble according to sensing outcome adjustment position.First mechanical arm adjusts appearance again
State, making wrist face target thribble, the laser range sensor of wrist determines wrist to deploy to the distance of target thribble, arm,
Wrist moves towards target thribble direction, and claw adjustment direction is to the direction of motion along wrist, when wrist is moved to apart from mesh
The position for marking about 1.1 times of claw length of thribble stops.Then wrist drives claw to be advanced slowly, and ring handles target thribble top,
Arm shrinks, and is removed with moving-target thribble from the A points (as shown in Figure 4) on quadruple board platform support body 3, reaches B points (such as institute in Fig. 4
Show) after, the first translating trolleys start to move, with moving-target thribble along the sky between tongue platform 3 and the openend of drilling rod fingerboard assembly 2
Gap is moved to well head direction, and and then lever bolt is retracted, until target thribble moves to C points (as shown in Figure 4) near well head
Untill, first mechanical arm adjustment posture, target thribble top is put into automatic elevator, claw is unclamped, and first mechanical arm is back to just
Beginning position.
Second mechanical arm starts to move from initial position to well head direction, is moved to setting position and nearby stops, the second machine
Tool arm adjusts posture.Now around the sonac sweeping target thribble of wrist, the approximate location where target thribble is determined,
Then the second translating trolleys make second mechanical arm move at face target thribble according to sensing outcome adjustment position.Second machinery
Arm adjusts posture again, makes wrist face target thribble, the laser range sensor of wrist determine wrist to target thribble away from
From arm expansion, wrist moves towards target thribble direction, and claw adjustment direction works as wrist to the direction of motion along wrist
The position for being moved to about 1.1 times of claw length of distance objective thribble stops.Then wrist drives claw to be advanced slowly, and ring handles mesh
Thribble is marked, after slowly up suitable distance stopping is driven on top, second mechanical arm arm shrinks, and the second translating trolleys move to well head direction
Dynamic, second mechanical arm progressively adjusts posture in way, makes arm towards well head direction, until target thribble arrival well head center is
Only, iron driller goes forward to tighten thribble, and claw unclamps, and second mechanical arm is back to initial position, and is stopped by the mechanism that switches tracks to shutdown
On track, working space is conceded.
The workflow of the workflow that thribble pulls out of hole automatically and lower brill is just on the contrary, be not repeated herein.
Although embodiment of the present utility model is disclosed as above, it is not restricted in specification and embodiment
Listed utilization, it can be applied to various suitable fields of the present utility model completely, for those skilled in the art,
Other modification is easily achieved, therefore under the universal limited without departing substantially from claim and equivalency range, this reality
Specific details is not limited to new and shown here as the legend with description.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720533059.6U CN206769848U (en) | 2017-05-15 | 2017-05-15 | Thribble automatic discharge device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720533059.6U CN206769848U (en) | 2017-05-15 | 2017-05-15 | Thribble automatic discharge device |
Publications (1)
| Publication Number | Publication Date |
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| CN206769848U true CN206769848U (en) | 2017-12-19 |
Family
ID=60641069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720533059.6U Active CN206769848U (en) | 2017-05-15 | 2017-05-15 | Thribble automatic discharge device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109356563A (en) * | 2018-12-18 | 2019-02-19 | 中石化四机石油机械有限公司 | Automated drilling rig integrated security protects system and control logic |
| CN111204558A (en) * | 2020-02-27 | 2020-05-29 | 北自所（北京）科技发展有限公司 | Suspension trolley circulating system and rail changing method |
| CN112211573A (en) * | 2020-09-04 | 2021-01-12 | 四川宏华石油设备有限公司 | Processing system of drilling and repairing tubular column |
| US11603720B2 (en) | 2020-09-04 | 2023-03-14 | Sichuan Honghua Petroleum Equipment Co., Ltd. | Methods for tripping a drilling rig or a workover rig |
-
2017
- 2017-05-15 CN CN201720533059.6U patent/CN206769848U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109356563A (en) * | 2018-12-18 | 2019-02-19 | 中石化四机石油机械有限公司 | Automated drilling rig integrated security protects system and control logic |
| CN109356563B (en) * | 2018-12-18 | 2022-03-18 | 中石化四机石油机械有限公司 | Integrated safety protection system and control logic for automatic drilling machine |
| CN111204558A (en) * | 2020-02-27 | 2020-05-29 | 北自所（北京）科技发展有限公司 | Suspension trolley circulating system and rail changing method |
| CN111204558B (en) * | 2020-02-27 | 2021-06-08 | 北自所（北京）科技发展有限公司 | Suspension trolley circulating system and rail changing method |
| CN112211573A (en) * | 2020-09-04 | 2021-01-12 | 四川宏华石油设备有限公司 | Processing system of drilling and repairing tubular column |
| CN112211573B (en) * | 2020-09-04 | 2021-10-01 | 四川宏华石油设备有限公司 | Processing system of drilling and repairing tubular column |
| WO2022048397A1 (en) * | 2020-09-04 | 2022-03-10 | 四川宏华石油设备有限公司 | Treatment system for drilling and workover tubular column |
| US11603720B2 (en) | 2020-09-04 | 2023-03-14 | Sichuan Honghua Petroleum Equipment Co., Ltd. | Methods for tripping a drilling rig or a workover rig |
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