RU2608136C1 - Universal drilling robot - Google Patents

Abstract

FIELD: mining.

SUBSTANCE: invention relates to drilling equipment and can be used at drilling rigs for mechanization of round-trip operations during drilling and casing strings assembly or disassembly, as well as for drilling wells. Universal drilling robot comprises upper module, lower module and positioner with hydraulic cylinders. Upper module includes installed on common plate with pipe connection two opposite located drive units with hydraulic motors, reduction gearboxes and pairs of working rollers for of upper pipe screwing with lower one, upper pipe clamping mechanism, and threaded connection torqueing (breakout) mechanism. Lower module comprises two opposite located lower pipe clamping units, enclosed in housing with pipe connector, installed under common plate, wherein each clamping unit comprises wedge, hydraulic cylinder, clamp, corresponding to lower pipe diameter, and roller bearing to ensure wedge and clamp contact. Each drive unit contains gear box, including central gear, which is in engagement with two gears of working rollers, with gearbox gear and threaded connection torqueing (breakout) unit gear. Drive unit is equipped with roller bearing with provision of contact with upper pipe clamping mechanism, consisting of two units with opposite movement to each other. Each upper pipe clamping unit comprises wedge and hydraulic cylinder. Threaded connection torqueing (breakout) mechanism consists of two units, each of which includes vertical shaft, containing gearbox and gear for provision of contact with threaded connection torqueing (breakout) unit gear, as well as hydraulic cylinders for threaded connections torqueing (breakout) and vertical shaft displacement downwards.

EFFECT: technical result consists in achieving high torque without increasing of pipes rotation drives power, expansion of functional capabilities and higher reliability of spinning wrench operation.

1 cl, 8 dwg

Description

The invention relates to drilling equipment and can be used in drilling rigs for mechanization of hoisting operations during the assembly or disassembly of drill and casing strings, as well as for drilling wells.

Currently, various types of wrenches are used in drilling rigs for screwing up drill and casing pipes, while the fastening or unfastening of threaded joints is carried out either manually using sets of machine keys and pneumatic breakers, or keys equipped with multi-stage drives for setting rotation speeds and torque moments.

The most common key for screwing or unscrewing drill pipes is an automatic drill key type AKB manufactured by Izhevneftegaz, Izhevsk (automatic standard drill bit AKB. TU 26-02028-79), equipped with pneumatic drives for rotating the upper pipe and locking the lower pipe.

The disadvantages of this key include:

- limited ability to use pipes of various diameters;

- limited ability to transmit high torque pipes when making or unscrewing;

- lack of ability to automatically control the magnitude of the torque.

A known key for screwing (unscrewing) of drill pipes (patent for invention US 2015/0167409 A1, IPC EV 21/164, publ. 06/18/2015). In a known manner, screwing (unscrewing) of pipes is carried out by two counter drive blocks, each of which is equipped with a hydraulic motor, gearbox and a pair of working rollers. The fastening (unfastening) of the threaded connection is carried out by a separate mechanism, consisting of a housing made in the form of a bracket, in which clamps with hydraulic cylinders are mounted opposite each other, while the housing has the ability to rotate relative to its own axis by means of a hydraulic cylinder. The lower pipe is kept from turning during screwing (screwing) and fastening (unfastening) operations by a separate mechanism consisting of a housing in which clamps with hydraulic cylinders are mounted opposite each other. All key actuators are installed in one housing.

The key has the following disadvantages:

- the rotation of the upper pipe is carried out by two drive units containing high-power hydraulic motors with significant oil consumption, while the resulting torque does not provide a reliable fastening or unfastening of the threaded connection when working with large diameter pipes;

- for fastening (unfastening) the threaded connection, two hydraulic cylinders are used with significant efforts to clamp the pipe, the reverse reactions from the action of the hydraulic cylinders are closed on the key body and transmitted to its external structures, which reduces the reliability of the key;

- drive blocks have a limited horizontal stroke, which does not allow the use of a key for a wide range of pipe diameters;

- the key has a monolithic design with actuators located inside, access to which is difficult for maintenance. Assembly (disassembly), adjustment and replacement of individual components and parts must be carried out at special repair sites.

The closest technical solution, selected as a prototype, is a drill key (patent for utility model RU 155113, IPC ЕВВ 19/16, publ. 09/20/2015). The drill key is made with an open pharynx for placement of downhole pipes and contains:

- the lower case, in which hydraulic cylinders are mounted opposite each other to clamp the lower pipe;

- the upper case, in which the hydraulic cylinders are mounted opposite each other to clamp the upper pipe;

- two opposing drive units, each of which consists of a pair of rollers for screwing the upper pipe from the bottom, the gearbox and the hydraulic motor;

- a hydraulic cylinder for supplying rollers to the upper pipe;

- a hydraulic cylinder for fixing the connected pipes;

- a mechanism for movement, the upper base of which is pivotally connected to its lower base by means of two pairs of vertically oriented supports, with each pair of supports connected to the hydraulic cylinder for moving the upper base relative to the lower.

The drive units are designed for screwing the upper pipe from the bottom and are located on the upper case. The mechanism of attachment (detachment) of the threaded connection is a separate unit containing hydraulic cylinders mounted in the upper case for clamping the upper pipe, which clamp the upper pipe after the end of pipe make-up, and the hydraulic cylinder of the attachment. The clamping mechanism of the upper pipe when screwing it with the lower pipe is presented in the description of the drill key only by a hydraulic cylinder, by means of which the rollers are brought to the upper pipe and fixed by it.

The disadvantages of the prototype include:

- the drill key can be used only on drilling rigs with low lifting capacity, using pipes of small diameter, since the drive units for rotating the upper pipe are installed on the anchorage and have a limited oncoming path to each other due to the design features of this node;

- the movement of the drive units is carried out by one hydraulic cylinder, which, in combination with their limited oncoming stroke, leads to insignificant in magnitude efforts to press the rollers to the upper pipe;

- when working with pipes of different diameters, the clamping of the upper pipe is carried out not along the axis of the pipe, but with some displacement due to the use of the lever system of the clamping mechanism;

- the hydraulic motors of the drive units when using single-stage gearboxes with a minimum gear ratio have a low torque;

- retention of the lower pipe from rolling is carried out by hydraulic cylinders mounted in the lower case, while the hydraulic cylinders have significant efforts to clamp the pipe. When fastening (unfastening) the threaded connection of screwed pipes, the reverse reactions from the action of hydraulic cylinders are closed inside the lower case, which reduces the reliability of the drill key;

- hydraulic cylinders clamping the upper pipe of the mechanism of fastening (unfastening) of the threaded connection of the screwed pipes have significant efforts to clamp the pipe, the reverse reactions from which are closed on the upper case and transmitted to other elements of the drill key, which reduces the reliability of its operation;

- vertically oriented support mechanism for moving, pivotally connected to the upper and lower base, when exposed to hydraulic cylinders after passing through a vertical position, they have the effect of falling a drill key, while hydraulic shocks occur in the outlet openings of the hydraulic cylinders, leading to breakdown of the hydraulic system;

- the reverse reactions from the action of the hydraulic cylinders of the attachment site of the threaded connection of the screwed pipes are transmitted to the hinges and vertical supports of the mechanism to move the key, producing their destruction.

These shortcomings stimulated the search for new solutions. At the same time, it was taken into account that at present, drilling wrenches are required to use the key when working with a wide range of pipe diameters, and for pipes with a diameter of more than 127 mm, the torques for fixing (unfastening) threaded joints should be (80-120) kNm, which entails the use of higher clamping forces of pipes (80-100) t in order to ensure their reliable fixation. In these cases, high pressure hydraulic cylinders (340-680) kg / cm ² with piston diameters of more than 150 mm are used to clamp the pipes, which leads to an increase in the flow of working fluid and, consequently, to the use of powerful electric motors in the oil station.

The objective of the proposed technical solution is to create a universal drilling robot with high torque when using low-power hydraulic motors with a high speed of the drive shaft while ensuring reliable fixation of pipes and excluding the transfer of reactive moments to its external structures and performing operations not only of screwing (unscrewing) wide-range pipes diameters without reconfiguring the clamping device of the upper pipe, but also drilling wells.

The technical result is to achieve high torque without increasing the power of the pipe rotation drives, expanding the functionality of the drill key, increasing the reliability of its operation.

The technical result is achieved by the fact that in a universal drilling robot containing the upper module, which includes two opposing drive units with hydraulic motors, gearboxes and pairs of working rollers for screwing the upper pipe from the bottom, the upper pipe mechanism with a hydraulic cylinder, as well as a threaded fastening (unfastening) mechanism connections driven by a hydraulic cylinder, the lower module, including two counter-located clamp blocks of the lower pipe with hydraulic cylinders, in addition, a positioner with hydraulic cylinders It is clear to the proposed technical solution:

- drive blocks, the clamping mechanism of the upper pipe and the mechanism of fastening (unfastening) of the threaded connection are installed on a common plate made with a connector for the pipe;

- the drive unit contains a gear box, including a Central gear, which is meshed with two gears of the working rollers, with the gear of the gearbox and the gear unit attachment (unfastening) of the threaded connection;

- at least two low-power hydraulic motors with a high frequency of rotation of the drive shaft connected by a hydraulic line are installed on the gearbox of each drive unit;

- each drive unit is equipped with a pair of roller bearings to ensure contact with the clamping mechanism of the upper pipe;

- the clamping mechanism of the upper pipe consists of two nodes with oncoming movement to each other, with each clamping unit of the upper pipe includes a wedge and a hydraulic cylinder;

- the mechanism of attachment (detachment) of the threaded connection consists of two nodes, each of which includes a vertical shaft containing a gearbox and gear to ensure contact with the gear of the attachment (attachment) of the threaded connection, as well as hydraulic cylinders for attaching, unfastening the threaded connections and moving the vertical shaft way down;

- the clamping blocks of the lower pipe are enclosed in a housing with a pipe connector mounted under a common plate;

- each clamping unit of the lower pipe contains a wedge, a hydraulic cylinder, a clamp corresponding to the diameter of the lower pipe, and a roller support to ensure contact between the wedge and the clamp.

In addition, in the universal drilling robot:

- the positioner includes an external fixed column fixed to an external base plate, in which a vertically movable internal column is installed, comprising a horizontal guide in the upper part including at least one horizontal movement hydraulic cylinder pivotally connected to the lower module body, which is mounted on a horizontal guide with the possibility of its movement due to vertical rollers contained on the sides of the horizontal guide.

The proposed technical solution is illustrated by drawings, where:

figure 1 - General view of the robot universal drilling, side view in the working position No. 2;

figure 2 is a General view from above; for clarity, one of the attachment points of the threaded connection is depicted with the cover removed;

figure 3 - view of the robot in the original (backup) position No. 1 along section A - A in figure 2, explaining, including the positioner device;

figure 4 is a view of the robot along section B - B in figure 2, explaining the device of the left drive unit and the associated node of the clamping mechanism of the upper pipe;

5 is a view of the robot along section B - B in figure 2, explaining the device associated with the left drive unit assembly mechanism of the fastening (unfastening) of the threaded connection;

6 is a view of the robot along the section G - G in figure 1 (rotated), explaining the device of the drive units and the clamping mechanism of the upper pipe;

Fig.7 is a view of the robot along the section D - D in Fig.5, explaining the location of the lower module of the robot relative to the upper module, as well as the device blocks clamp the lower pipe in the housing of the lower module;

Fig.8 is a view of the robot along section E - E in Fig.7 (rotated), explaining the device of the clamp blocks of the lower pipe in the housing of the lower module.

The universal drilling robot consists of three separate technological modules (Fig. 1):

- the upper module 1, designed to rotate the upper pipe 24 when making (unscrewing) the pipe string, fastening (unfastening) threaded joints and drilling wells;

- lower module 2, designed to clamp the lower pipe 43;

- positioner 3 is designed for horizontal and vertical movement of the robot.

The upper module 1 (figure 1) is mounted on a common plate 4 having a connector for the pipe, and includes:

- two counter-located drive units - left 5 and right 6 (figure 2);

- the clamping mechanism of the upper pipe, which consists of two nodes 8 (figure 4), each of which is in contact with its corresponding drive unit;

- the mechanism of fastening (unfastening) of the threaded connection, which consists of two nodes 16 (Fig.2, 5), each of which has the ability to come into contact with the corresponding drive unit.

The drive units 5, 6 are mounted on a common plate 4 with the ability to move on it when exposed to the clamping mechanism of the upper pipe. Each of the drive units 5, 6 contains a pair of working rollers 12 (Fig. 4), a gearbox 7 (Fig. 7), on which a gearbox 14 (Fig. 4) is installed with a group of hydraulic motors 19 of low power, but with a high speed drive shaft. Hydromotors 19 are connected by a hydraulic conduit 20.

The number of hydromotors 19 depends on the required torque required to perform pipe make-up (unscrewing) and well drilling operations and can be from two to four.

In the gearbox 14 (FIG. 4) gear units 18 are placed (partially shown), by means of which the rotation and torque from the hydraulic motors 19 are transmitted to the gear 13 located in the gearbox 7 (FIG. 6).

The gearbox 7 (figure 4, 6) contains a Central gear 10, which is meshed on one side with gear 13 of the gearbox 14, and on the opposite side with two gears 9, which transmit rotation to the working rollers 12 mounted on splined shafts 11. Also, the Central gear 10 is engaged with the gear 15 (Fig.5, 6) located between the gear 13 of the gearbox 14 and the gear 9 of the working roller 12. The gear 15 is able to come into contact with the node 16 of the fastening (unfastening) of the threaded connection ( figure 5) in between your gear mounted on the same shaft with it gear 26, which is an element of the node 16 (figure 5). On the side of the housing of the gearbox 7 (FIG. 6), a roller support 21 is installed, with the help of which the drive unit 5, 6 is contacted with the clamp unit 8 of the upper pipe.

The use in each drive unit 5, 6 of at least two low-power hydraulic motors with high speeds of the drive shaft and low torques allows for the addition of torques, taking into account the gear ratio of the gearbox, to obtain a higher torque than when used on each drive a block of one hydraulic motor of increased power with a high frequency of rotation of the drive shaft. In conjunction with the described design of the gearbox 7, the proposed design of the drive units 5, 6 allows you to have accelerated rotation of the working rollers 12 and high torque required to perform screwing (unscrewing) pipes of a wide range of diameters and drilling wells.

The nodes 16 of the attachment (detachment) of the threaded connection (Fig.2, 5) are mounted on a common plate 4. Each node 16 contains a vertical shaft 27 on which the gear 28 and the gearbox 25 located under it with the gear 26, one-sided relative to the shaft 27 are mounted. In the upper part, the vertical shaft 27 has two bores: an external spline bore 29 on which the two-arm lever 30 is mounted, and an internal cylindrical bore (not shown in FIG.), Where the hydraulic cylinder 31 is installed. The two-arm lever 30 is pivotally connected to a horizontal orientation hydraulic cylinders 33, 34, one of which is designed for fastening the threaded pipe joint, and the other for fastening.

The vertical shaft 27 has the ability to move downward under the influence of the hydraulic cylinder 31, while the gear 28 of the vertical shaft 27 engages with the gear 26 of the gearbox 25. When the pressure in the hydraulic cylinder 31 is released, the springs 32 return the vertical shaft 27 to its upper initial position.

Also, the vertical shaft 27 can rotate around its axis when exposed to a two-shouldered lever 30, driven by one of the hydraulic cylinders 33, 34.

When the vertical shaft 27 is in the lower position and when the two shoulders of the lever 30 are exposed to it, the gear 28 drives the gear 26, which, through gears 15, 10 and 9 located in the gearbox 7, transmits rotation and torque to the working rollers 12 to perform a twisting operation or untwisting a threaded connection.

The proposed design of the poses 16 of the mechanism of twisting (untwisting) of the threaded connection allows you to exclude the lock key from the robot design as an independent device.

The nodes 8 of the clamping of the upper pipe 24 (Figs. 4, 6) are installed symmetrically along the opposite sides of the common plate 4. Each node 8 contains a wedge 22 and a hydraulic cylinder 23. The wedges 22, when exposed to the hydraulic cylinders 23, can move along the guides pos.17 , motionless mounted on the sides of the common plate 4. In this case, the wedges 22 exert pressure on the support rollers 21, thereby displace the drive units 5, 6 and press the working rollers 12 against the upper tube 24 with force. When turning off the hydraulic cylinders 23, the springs 57 return the drive units 5, 6 to their original position.

The proposed wedge clamping mechanism of the upper pipe ensures its reliable fixation when performing screwing (unscrewing) of pipes with subsequent fastening (unfastening) of the threaded connection when working with pipes of a wide range of diameters without any additional reconfigurations. The reverse reactions from the action of the wedges 22 on the supporting planes of the common plate 4 have opposite signs and are mutually destroyed, thereby increasing the reliability of the robot.

The lower module 2 (Figs. 1, 7, 8) is installed under a common plate 4 and is a casing with a pipe connector, in which there are two blocks 36 for clamping the lower pipe 43 (Figs. 7, 8). The upper plate 34 of the housing (Fig.7) is mounted with a common plate 4, for example, bolted joints. On the lower plate 35 of the casing, blocks 36 for clamping the lower pipe are counter-mounted.

Each block 36 of the clamping of the lower pipe (Figs. 7, 8) contains a clamp 38 corresponding to the diameter of the lower pipe 43, an associated support roller 39 for contact with the wedge 40, and a hydraulic cylinder 42. A carbide die 41 is installed in the clamp 38. Wedges 40 the impact of the hydraulic cylinders 42 are able to move along the side plates 37 of the housing. In this case, the wedges 40 by means of the support rollers 39 drive the clamps 38, which clamp the lower pipe 43 with force. The tap 38 is removed from the pipe by means of spring ties 44 and springs 45.

The proposed wedge clamping mechanism of the lower pipe ensures its reliable fixation when performing screwing (unscrewing) of pipes with subsequent fastening (unfastening) of the threaded connection. The reverse reactions from the action of the wedges 40 on the supporting planes of the lower plate 35 have opposite signs and are mutually destroyed, thereby increasing the reliability of the robot.

The design of the actuator of the robot, consisting of modules 1 and 2, is simple and compact and allows you to install it on various types of positioners.

The proposed technical solution for the positioner design is a special case of its execution.

To install the actuator of the robot on the positioner 3, the housing of the lower module 2 has a groove 46 (Fig.7, 8).

Positioner 3 (Figs. 1, 3) comprises an outer fixed column 47, an inner movable column 50, a horizontal guide 51, at least one vertical displacement cylinder 55 and at least one horizontal displacement cylinder 56.

The outer stationary column 47 (FIG. 3) is mounted on a base plate 48 for mounting the positioner 3 on the floor of the rig. For stability, the external fixed column 47 is connected to the base plate by stiffeners 49. The external fixed column 47 is made with a vertical cylindrical bore for the inner movable column 50 and with a horizontal groove 54 in the lower part of the column 47. In the horizontal groove 54, the base plate is mounted with the possibility of moving up 53, on which the inner movable column 50 is mounted. From the outside of the stationary outer column 47, the support plate 53 comprises a vertical displacement cylinder 55.

In the upper part of the inner movable column 50, a horizontal guide 51 is mounted with vertical rollers 52 mounted on its lateral sides. The horizontal guide 51 contains at least one horizontal movement cylinder 56 (FIGS. 2, 3). The lower module 2 is mounted on the horizontal guide 51 by means of a groove 46 (Figs. 7, 8), while the horizontal movement cylinder 56 is pivotally connected to the lower plate 35 of the lower module 2 case.

The proposed positioner design allows to reduce the dimensions of the robot.

Thus, the proposed technical solution performs the task and has as a technical result the creation of a universal drilling robot with the following characteristics:

- high torque and accelerated rotation of the working rollers, which are achieved due to the proposed design of the drive units of the upper module without increasing the power of the pipe rotation drives;

- reliable fixation of the pipes due to the proposed wedge clamping mechanisms of the lower and upper pipes, which significantly increase the efforts of pressing the clamping devices to the pipes. The use of wedge mechanisms for clamping the upper and lower pipes allows, with small diameters of the hydraulic cylinders, to obtain higher clamping forces and reduces the power of the oil pump electric motors;

- there is no mechanism for attaching (unfastening) threaded joints as an independent device, and its function is performed by the module 1 described above;

- advanced functionality, as the robot performs not only the screwing (unscrewing) operations of pipes of a wide range of diameters with the subsequent attachment (detachment) of the threaded connection, but also the operations of drilling wells, which is possible due to the above characteristics: high torque and reliable fixation of the pipes. At the same time, due to the opposite arrangement of the drive units and the wedge clamping mechanism of the upper pipe, there is no need to make any adjustments in the upper module 1 when working with pipes of various diameters;

- increased reliability of the robot is ensured by the use of independent nodes and blocks in the actuators.

The proposed technical solution has efficiency, which consists of the following:

- reduction in the time of hoisting operations;

- reduction of energy intensity by reducing the power of the pump motor of the oil station, because when using low-power hydraulic motors, the flow rate of the working fluid is reduced.

The universal drilling robot has the simplicity of design, consisting of three independent modules with working bodies in the form of separate units and blocks, and does not require large labor costs during its operation. Assembly (disassembly), adjustment and replacement of individual units and blocks is simple due to their high interchangeability, as well as the use of parts symmetrical in shape in their design, and can be performed at the operating site of the universal drilling robot.

The universal drilling robot works as follows.

Performing hoisting operations.

By means available on the drilling site, the next upper pipe 24 is installed on the axis of the well (if this pipe has not been installed before) and its threaded part is inserted into the threaded part of the lower pipe 43.

All screwing and fastening operations (unfastening and loosening) are performed automatically.

Before performing operations, the robot is in the initial position (position No. 1) at a distance from the axis of the well equal to the horizontal stroke of positioner 3.

In position No. 1, the robot is prepared for work, including:

- installation of clamps 38 with dies 41 under the corresponding pipe diameter (Fig. 8);

- installation on the control panel of limiting torque.

The assembly operation of the column (make-up) is carried out in the following order.

Using the hydraulic cylinders 56 (Fig. 3), the robot moves from the starting position No. 1 to the working position No. 2.

Next, pressure is supplied to the hydraulic cylinders 42 (Fig. 8) of the blocks 36 for clamping the lower pipe 43. The wedges 40 begin to move and, acting on the support rollers 39, press the clamps 38 against the pipe 43 with force.

At the end of the clamping process of the lower pipe, pressure is supplied to the hydraulic cylinders 23 (Fig. 6) of the clamping units 8 of the upper pipe 24. The wedges 22, moving along the common plate 4, act on the roller bearings 21, while moving the gearboxes 7 towards each other, and press the working rollers 12 (figure 4) to the upper pipe 24 with a force corresponding to the pressure in the hydraulic network.

Then the pressure is supplied to the hydraulic motors 19 (figure 4). Gear blocks 18 gearboxes pos.14 drive the gears 13, 10 and 9, which are located in the gearboxes 7 (4, 6). Gears 9 transmit rotation and torque to the working rollers 12, and through them to the upper pipe 24. The process of accelerated make-up of the upper pipe 24 with the lower pipe 43 is carried out.

When touching the ends of the upper and lower pipes, the pressure in the hydraulic system sharply increases and, when the limit set by the operator is reached, the hydraulic motors 19 can be turned off and the nodes 16 for fastening (unfastening) the threaded connection begin to work (Fig. 5). The hydraulic cylinders 31 are turned on, the vertical shafts 27 together with the gears 28 are lowered downward, while the gears 28 are engaged with the gears 26 of the gearboxes 25. The hydraulic cylinders 33 (designed for attaching threaded joints) are turned on (Figs. 2, 5), which act on the two-arm levers 30. The vertical shafts 27 rotate and the gears 28 drive the gears 26, which transmit gears and rotors 12 and the upper tube 24 by means of gears 15, 10 and 9 located in the gearbox 7 (Fig. 6). etc dokrepleniya process of the threaded joint, which ends upon reaching the maximum torque, which depends on the adjusted operator on the remote control limit torque.

The pressure in the hydraulic network is released and the work switches to the "Reverse" mode.

In the “Reverse” mode, the following commands are executed sequentially:

- pressure relief in the hydraulic cylinders 23 (Fig. 4, 6) of the clamping mechanism of the upper pipe 24. Under the action of the springs 57 (Fig. 4) installed in the drive units 5, 6, the working rollers 12 are removed from the upper pipe 24;

- pressure relief in the hydraulic cylinders 42 of the clamping mechanism of the lower pipe 43. Under the action of the spring ties 44 and springs 45, the clamps 38 are diverted from the lower pipe;

- applying pressure to the hydraulic cylinders 56 (figure 1) horizontal movement of the robot. The robot moves from position No. 2 to position No. 1. At this, the screwing operation with attachment is completed.

The operation of disassembling the column (unscrewing) is as follows. Similarly, as with the implementation of the assembly operation of the column (make-up), the robot is brought to the well, the lower and upper pipes are clamped. Next, pressure is supplied to the hydraulic motors 19 of the drive units 5, 6 and to the hydraulic cylinders 34 (intended for unfastening) of the attachment (unfastening) nodes 16 of the threaded joints. With increasing pressure in the hydraulic network, maximum torque is created, which entails a breakdown of the thread in the threaded connection, while the upper pipe 24 receives an angle rotation corresponding to the course of the two shoulders lever 30 in the assembly 16. After that, the upper pipe receives accelerated rotation and the unscrewing operation is performed threaded connection. At the end of the operation, a command is issued to relieve pressure in the hydraulic network and to activate the "Reverse" mode. With the completion of the execution of the “Reverse” mode commands, the operation of unfastening the threaded joint and unscrewing the pipes is completed.

Performing a drilling operation.

The lower module 2 with the lower pipe clamping mechanism located in it does not participate in the drilling operation.

To perform a well drilling operation, the next candle is hung on the winch of the drilling rig, the upper end of the candle is connected to the stem of the swivel of the drilling rig (not shown in Fig.), And the lower end is connected to the column located in the well.

When performing a drilling operation in each drive unit 5, 6, all hydraulic motors 19 are used.

The transmission of torque to the pipe is carried out through gears 15, 10, 9.

The operation of drilling a well is as follows.

When you turn on the cylinder 55 vertical movement (figure 3), the base plate 53, together with the internal movable column 50 mounted on it, begins to move upward, raising the working modules to the stroke height of the hydraulic cylinder 55.

Pressure is applied to the hydraulic cylinders 23, the working rollers 12 are pressed against the pipe 24 with force, and the pipe 24 receives rotation with a torque. Under the influence of the winch of the drilling rig, the pipe 24 lowers down together with the robot, while drilling the well. When the robot reaches its lowest position, the pressure supply to the hydraulic cylinders 23, which press the working rollers 12 against the pipe 24, is suspended, the drive units 5, 6 are discharged from the pipe by the action of the springs 57 (Fig. 4) and the pressure is applied to the hydraulic cylinder 55 for the vertical movement of the robot. When the robot reaches its extreme upper position, pressure is again applied to the hydraulic cylinders 23, the working rollers 12 clamp the pipe again and the process repeats.

Claims (2)

1. A universal drilling robot containing an upper module, including two counter-drive units with hydraulic motors, gearboxes and pairs of working rollers for screwing the upper pipe from the lower, the clamping mechanism of the upper pipe with a hydraulic cylinder, and also the mechanism for attaching (unfastening) the threaded connection, driven in movement by a hydraulic cylinder, the lower module, including two counterclockwise clamping blocks of the lower pipe with hydraulic cylinders, in addition, a positioner with hydraulic cylinders, characterized in that the drive blocks the clamping mechanism of the upper pipe and the mechanism of attachment (detachment) of the threaded connection are mounted on a common plate made with a pipe connector, each drive unit contains a gear box including a central gear, which is meshed with two gears of the working rollers, with a gear gear and the gear of the attachment (unfastening) unit of the threaded connection, while at least two low-power hydraulic motors with a high frequency of rotation of the drive shaft are installed on the gearbox, combined hydraulic ode, and the drive unit is equipped with a roller support providing contact with the clamping mechanism of the upper pipe, consisting of two nodes with the oncoming movement to each other, while each clamping unit of the upper pipe includes a wedge and a hydraulic cylinder, in turn, a threaded attachment mechanism The connection consists of two nodes, each of which includes a vertical shaft containing a gearbox and gear to ensure contact with the gear of the attachment (unfastening) unit of the threaded connection, as well as hydraulic cylinders for attachment , unfastening threaded joints and moving the vertical shaft down; in addition, the clamping blocks of the lower pipe are enclosed in a housing with a pipe connector mounted under a common plate, with each clamping block containing a wedge, a hydraulic cylinder, a clamp corresponding to the diameter of the lower pipe, and a roller support to ensure contact between the wedge and the clamp. 2. The robot according to claim 1, characterized in that the positioner includes an external fixed column fixed to an external base plate, in which a vertically movable internal column is installed, comprising a horizontal guide in the upper part including at least one horizontal displacement hydraulic cylinder, pivotally connected to the housing of the lower module, which is mounted on a horizontal rail with the possibility of its movement due to the vertical rollers contained on the sides of the horizontal rail Yayoya.

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