WO2018152968A1 - 一种陆地科学钻探用钻机的钻具自动运移装置 - Google Patents

一种陆地科学钻探用钻机的钻具自动运移装置 Download PDF

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Publication number
WO2018152968A1
WO2018152968A1 PCT/CN2017/083017 CN2017083017W WO2018152968A1 WO 2018152968 A1 WO2018152968 A1 WO 2018152968A1 CN 2017083017 W CN2017083017 W CN 2017083017W WO 2018152968 A1 WO2018152968 A1 WO 2018152968A1
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Prior art keywords
drilling
mast
manipulator
arm
base
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PCT/CN2017/083017
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English (en)
French (fr)
Inventor
孙友宏
于萍
康思杰
王清岩
沙永柏
高科
赵研
靳恩朝
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吉林大学
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Publication of WO2018152968A1 publication Critical patent/WO2018152968A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables

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  • the invention belongs to the technical field of oil drilling and relates to an automatic moving and discharging device for drilling tools.
  • the automatic drilling device is part of the rig ground equipment part and is an important component of the drilling tool automatic processing system. It is used to transport the drilling tool from the ground to the drilling rig during drilling operations, and to lower the drilling tool from the drilling rig to the drilling rig. ground.
  • domestic land rigs still use the most traditional catwalks in drilling string transportation, root setting, and drill string discharge. It is a long truss body with a paving plate on its working face, with manual operation as the main operation mode; the operation needs to be completed by many people, the workman is labor-intensive, dangerous, and the work efficiency is extremely low, which is prone to personal injury and death. accident.
  • the overall structure of the new type of automatic drilling device is large, and the lifting height cannot meet the market. It is necessary to develop an efficient, safe and low-cost drilling tool conveying device.
  • the object of the present invention is to provide an efficient, safe, and low-cost drilling tool conveying device for the problems and deficiencies described in the background art, and in particular, it can meet the drilling of different drilling platforms.
  • An automatic drilling device for a drilling rig for terrestrial science drilling characterized in that: the automatic moving device of the drilling tool comprises a guide rail, a moving platform of a drilling rig, a mast, an extended mechanical arm I, a robot I, a base, a fixed plate , horizontal hydraulic cylinder, moving base plate, strut, double hydraulic cylinder, extended mechanical arm II and manipulator II, the guide rail is mounted on the drill floor, and a drilling platform mobile trolley is placed on the guide rail; the drilling platform The top of the moving trolley is provided with a hole; the bottom of the mast has a turntable, and the turntable shaft of the turntable is connected to the top of the moving platform of the drilling platform through the hole; the extended mechanical arm I is connected with the mast through the square hole, and the extended mechanical arm I and a drilling winch connection; the robot 1 is welded to the extended mechanical arm I; the base adopts a frame structure, and the base is respectively provided with a groove on opposite sides of the inner side; the fixing plate is fixed on the base, and Located
  • the number of the extended mechanical arm I and the robot I is two, and the two extended mechanical arms I are arranged up and down along the length direction of the mast.
  • the number of the robot II and the extension arm II is two, and the two extension arms II are arranged up and down along the length direction of the strut.
  • the present invention can bring the following beneficial effects:
  • the device provided by the invention has high automation, high intelligence and high operation efficiency.
  • the device of the invention has compact structure, simple operation and low running cost.
  • the invention integrates the strut, the manipulator and the base, and the length of the strut and the base can be designed by the height of the drilling table, and the lift height and the transport length are adjustable, which can meet the requirements of different drilling machines, high efficiency, safety and low cost. Drilling device.
  • the drill pipe clamping and discharging system of the invention can not only complete the drilling platform movement on the drill pipe, but the designed rotary mast and the extended mechanical arm cooperate with the drilling platform to move the trolley to accurately discharge the drill pipe, and complete the drill pipe from the ground to the ground. The entire process of drilling the countertop.
  • Figure 1 is a side view of a complete machine of an automatic drilling tool for a land drilling rig according to the present invention.
  • FIG. 2 is a side view showing the whole working state of the automatic drilling device of the drilling tool for a terrestrial scientific drilling according to the present invention.
  • Figure 3 is a partial cross-sectional view of the vertical structure of the drill pipe of the present invention.
  • Figure 4 is a partial cross-sectional view of the drill pipe clamp discharge system of the present invention.
  • Figure 5 is a front elevational view of the robot of the present invention.
  • Figure 6 is a partial cross-sectional view of the manipulator of the present invention.
  • Figure 7 is a schematic illustration of a clamped small diameter drill of the present invention.
  • Figure 8 is a schematic illustration of a clamped large diameter drill of the present invention.
  • Fig. 9 is a schematic view showing the state of clamping of the present invention when the position of the drill is eccentric.
  • the automatic drilling device for a drilling rig for terrestrial science drilling comprises two major systems, including a drill pipe erection system and a drill pipe clamping discharge system, wherein the drilling
  • the pole upright system comprises a base 6, a fixed plate 7, a horizontal hydraulic cylinder 8, a moving base plate 9, a strut 10, a double hydraulic cylinder 11, an extended mechanical arm II12 and a manipulator II13, and the drill pipe vertical system completes the drill pipe
  • the vertical and horizontal movement of the strut 10 is completed under the combined action of the horizontal hydraulic cylinder 8 and the double hydraulic cylinder 11, and two extension type mechanical arms II12 are mounted on one side of the strut 10, and two extensional machines are installed.
  • the arm II12 is arranged up and down along the length of the strut 10, the manipulator II13 is screwed with the extended arm II12, and the manipulator II13 can realize the clamping and loosening action of the drill pipe; when the strut 10 is in the flat state, the manipulator II13 can grasp the ground.
  • Horizontal drill pipe, double Cylinder 11 of the struts 10 to provide power from vertical, horizontal movement of the hydraulic cylinder 8 driven by the horizontal motion of the base plate 9, to avoid the movement mechanism dead point.
  • the drill pipe clamping and discharging system comprises a guide rail 1, a drilling platform moving trolley 2, a mast 3, an extended mechanical arm I4 and a robot I5.
  • the guide rail 1 is mounted on the drilling platform, and the drilling platform moving trolley 2 realizes positioning and moving back and forth through the guide rail 1.
  • the bottom of the mast 3 is designed as a turntable structure, and the rig moving cart 2 is connected to the mast 3 turntable shaft through the top hole, the mast 3 can be rotated by 180 degrees by the turntable, and the extended arm I4 and the mast 3 are connected by a square hole, The extended arm I4 can be moved up and down by the drilling winch to realize the vertical movement of the drill pipe from the ground to the drilling platform.
  • the extended mechanical arm I4 and the robot I5 are rigidly connected by welding, and the robot I5 can realize the drill pipe. Clamp and release action.
  • the manipulator I5 on the mast 3 releases the drill pipe, the upper manipulator I5 clamps the drill pipe, and the top drilling winch recovers the cable, which drives the upper robot I5 to move upward, and the upper robot I5 catches The drill pipe is vertically moved upwards.
  • the drilling winch stops.
  • the lower manipulator I5 clamps the drill pipe, the turntable at the bottom of the mast 3 rotates 90 degrees, and the mast 3 rotates to realize two extension machines.
  • Arm I4 rotates at the same angle, the rig moves small
  • the car 2 drives the mast 3 along the guide rail 1 to move to the inside of the drill floor to the opposite side of the drill pipe placement frame, the vertical root is facing the discharge frame opening, the extended mechanical arm I4 is extended, the drill pipe is sent to the designated position, and the robot I5 is released.
  • the extended arm I4 is contracted, the mast 3 is rotated 90 degrees, and the extended arm I4 is turned to the wellhead.
  • FIG. 7 and FIG. 8 are respectively schematic views of clamping the diameters of different drilling tools according to the present invention
  • FIG. 9 is a schematic view showing the clamping state of the drilling tool when the drilling tool is eccentric.
  • the manipulator I5 and the manipulator II13 are both horizontal cylinder, clamping mechanism 14, link frame 15, clamping cylinder block 16, link frame rib 17, clamping roller 18, beam slide 19, clamping bracket 20, adjustment
  • the screw 21, the limiting rod assembly 22 and the clamping piece 23 are fixed to the connecting rod frame 15 by the clamping cylinder block 16 and the pin shaft;
  • the clamping cylinder block 16 is welded to the connecting rod frame 15
  • One end of the connecting rod frame 15 is connected to the beam sliding plate 19 through the pin shaft, and the other end is hinged to the clamping mechanism 14 to realize the clamping and releasing action of the clamping mechanism 14 through the telescopic movement of the horizontal cylinder piston rod;
  • the limiting rod assembly 22 is respectively screwed with the beam sliding plate 19 and the adjusting screw 21; one end of the connecting rod frame rib 17 is connected with the adjusting screw 21 through a pin shaft, and the other end of the connecting rod frame rib 17 passes through the pin shaft and
  • the clamping bracket 20 is connected;
  • the clamping roller 18
  • the number of the clamping rollers 18 is the same as the number of the clamping pieces 23, and the number is four.
  • the clamping piece 23 is provided with four symmetrical threaded holes, and the clamping piece 23 and the clamping roller 18 are screwed.
  • a profile beam is provided between the four clamping pieces 23 for longitudinal positioning.
  • the manipulator clamping mechanism 14 of the present invention uses four clamping rollers 18 to clamp the drill pipe from both sides, and the force is uniform, and the damage to the drill pipe is small.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)

Abstract

一种陆地科学钻探用钻机的钻具自动运移装置被公开。该钻具自动运移装置包括钻杆起竖系统和钻杆夹持排放系统，钻杆起竖系统包括基座（6）、固定板（7）、水平液压缸（8）、移动基座板（9）、撑杆（10）、双液压缸（11）、伸展式机械臂Ⅱ（12）及机械手Ⅱ（13），钻杆起竖系统完成钻杆从地面水平摆放到竖立并且提升到钻台面的过程，钻杆夹持排放系统包括导轨（1）、钻井台移动小车（2）、桅杆（3）、伸展式机械臂Ⅰ（4）和机械手Ⅰ（5），导轨（1）安装在钻台面上，钻井台移动小车（2）通过导轨（1）实现定位和前后移动，桅杆（3）底部设计为转盘结构，钻井台移动小车（2）通过顶部孔与桅杆（3）转盘轴相连接，桅杆（3）可由转盘实现180度转动，伸展式机械臂Ⅰ（4）可通过钻井绞车实现上下移动，从而实现钻杆从地面到钻井台的竖直移动。

Description

一种陆地科学钻探用钻机的钻具自动运移装置 技术领域
本发明属于石油钻井技术领域，涉及一种钻具自动化运移与排放设备。
背景技术
钻具自动运移装置隶属钻机地面装备部分,是钻具自动化处理系统的重要组成部件，用于钻井作业时从地面向钻台上输送钻具，及从钻台将卸下的钻具下放到地面。目前国内陆地钻机在钻柱输送、建立根、钻柱排放等钻具处理方式上采用最多的仍是传统的猫道。它是一个其工作面装有铺板的长条状桁架体，以人力作业为主要操作模式；作业需要多人配合完成，作业人员劳动强度大、危险性高、作业效率极低、易发生人身伤亡事故。且目前新型钻具自动运移装置整体结构较大,举升高度不能满足市场，需要研制高效、安全、低成本的钻具输送装置。
因此，本领域亟需要一种新的技术来改变这样的现状。
发明内容
本发明的目的就是针对背景技术中所述的问题和不足，提供一种高效、安全、低成本的钻具输送装置，特别是能满足不同高度钻台面钻具运移。
为达到上述技术目的，本发明提出了如下的技术方案：
一种陆地科学钻探用钻机的钻具自动运移装置，其特征是：该钻具自动运移装置包括导轨、钻井台移动小车、桅杆、伸展式机械臂Ⅰ、机械手Ⅰ、基座、固定板、水平液压缸、移动基座板、撑杆、双液压缸、伸展式机械臂Ⅱ及机械手Ⅱ，所述导轨安装在钻台面上，并在导轨上放置有钻井台移动小车；所述钻井台移动小车顶部设置有孔；所述桅杆底部具有转盘，且转盘的转盘轴通过孔与钻井台移动小车顶部连接；所述伸展式机械臂Ⅰ通过方形孔与桅杆连接，并且伸展式机械臂Ⅰ与钻井绞车连接；所述机械手Ⅰ与伸展式机械臂Ⅰ焊接；所述基座采用框架式结构，基座靠内两侧相对位置分别设置有凹槽；所述固定板固定在基座上，并位于基座具有凹槽一侧；所述水平液压缸通过销轴安装在固定板上，并且水平液压缸的液压杆与移动基座板连接；所述移动基座板两侧分别安装在基座的两个凹槽内；所述撑杆和双液压缸分别通过销轴安装在移动基座板上，且撑杆通过销轴与双液压缸连接；所述伸展式机械臂Ⅱ焊接在撑杆上；所述机械手Ⅱ与伸 展式机械臂Ⅱ螺纹连接。
进一步，所述伸展式机械臂Ⅰ和机械手Ⅰ数量均为两个，且两个伸展式机械臂Ⅰ沿桅杆的长度方向上下布置。
进一步，所述机械手Ⅱ与伸展式机械臂Ⅱ数量均为两个，且两个伸展式机械臂Ⅱ沿撑杆的长度方向上下布置。
通过上述设计方案，本发明可以带来如下有益效果：
1、与传统使用钻台和猫道上的气动绞车拉、拽钻具配合的操作方式相比，本发明提供的装置自动化、智能化程度高，操作效率高。
2、与国内新型全液压动力猫道相比，本发明装置结构紧凑，操作简单，运行成本低。
3、本发明集撑杆、机械手、基座于一体，撑杆与基座长度可以由钻台面高度自行设计，举升高度、运输长度可调，可以满足不同钻机需要的高效、安全、低成本的钻具输送装置。
4、本发明的钻杆夹持排放系统不仅能完成钻杆上钻台面动作，设计的回转式桅杆与伸展式机械臂配合钻井台移动小车能进行钻杆的准确排放，完成钻杆由地面到钻台面的完整的全过程。
附图说明
以下结合附图和具体实施方式对本发明作进一步的说明：
图1是本发明一种陆地科学钻探用钻机的钻具自动运移装置的整机侧视图。
图2是本发明一种陆地科学钻探用钻机的钻具自动运移装置的整机工作状态侧视图。
图3是本发明的钻杆起竖系统局部剖视图。
图4是本发明的钻杆夹持排放系统局部剖视图。
图5是本发明的机械手主视图。
图6是本发明的机械手局部剖视图。
图7是本发明夹持小直径钻具的示意图。
图8是本发明夹持大直径钻具的示意图。
图9是本发明在钻具位置偏心时的夹持状态示意图。
图中：1-导轨、2-钻井台移动小车、3-桅杆、4-伸展式机械臂Ⅰ、5-机械手Ⅰ、6-基座、7-固定板、8-水平液压缸、9-移动基座板、10-撑杆、 11-双液压缸、12-伸展式机械臂Ⅱ、13-机械手Ⅱ、14-夹紧机构、15-连杆架、16-夹紧缸座、17-连杆架筋板、18-夹紧滚轮、19-横梁滑板、20-夹紧支架、21-调整螺杆、22-限位杆组件、23-夹紧片。
具体实施方式
请参照图1到图4所示，本发明提出的一种陆地科学钻探用钻机的钻具自动运移装置由两大系统组成，包括钻杆起竖系统和钻杆夹持排放系统，其中钻杆起竖系统包括基座6、固定板7、水平液压缸8、移动基座板9、撑杆10、双液压缸11、伸展式机械臂Ⅱ12及机械手Ⅱ13，钻杆起竖系统完成钻杆从地面水平摆放到竖立并且提升到钻台面的过程，其中撑杆10和双液压缸11分别通过销轴安装在移动基座板9上，移动基座板9可在水平液压缸8的作用下水平移动，在水平液压缸8与双液压缸11的复合作用下完成撑杆10的起竖与平铺动作，撑杆10一侧安装有两个伸展式机械臂Ⅱ12，两个伸展式机械臂Ⅱ12沿撑杆10长度方向上下布置，机械手Ⅱ13与伸展式机械臂Ⅱ12螺纹连接，机械手Ⅱ13能够实现钻杆的夹持与松开动作；撑杆10处于平铺状态时机械手Ⅱ13可以抓取地面水平钻杆，双液压缸11为撑杆10提供起竖动力，水平液压缸8带动移动基座板9水平动作，避免机构运动死点。钻杆起竖作业时，撑杆13上的机械手Ⅱ13夹紧钻杆1，水平液压缸8液压杆收缩，移动基座板9向固定板7侧水平移动，双液压缸8液压杆收缩，撑杆10由水平竖直起竖。钻杆夹持排放系统包括导轨1、钻井台移动小车2、桅杆3、伸展式机械臂Ⅰ4和机械手Ⅰ5，导轨1安装在钻台面上，钻井台移动小车2通过导轨1实现定位和前后移动，桅杆3底部设计为转盘结构，钻井台移动小车2通过顶部孔与桅杆3转盘轴相连接，桅杆3可由转盘实现180度转动，伸展式机械臂Ⅰ4与桅杆3之间通过方形孔连接，所述伸展式机械臂Ⅰ4可通过钻井绞车实现上下移动，从而实现钻杆从地面到钻井台的竖直移动，所述伸展式机械臂Ⅰ4与机械手Ⅰ5通过焊接实现刚性连接，机械手Ⅰ5能够实现钻杆的夹持与松开动作。钻杆夹持排放动作时，桅杆3上处于下部的机械手Ⅰ5松开钻杆，处于上部的机械手Ⅰ5夹紧钻杆，顶部钻井绞车回收缆绳，带动上部的机械手Ⅰ5向上移动，上部的机械手Ⅰ5抓取钻杆竖直向上运动，两个机械手Ⅰ5距离约9m时钻井绞车停止动作，此时下部的机械手Ⅰ5夹紧钻杆，桅杆3底部的转盘回转90度，桅杆3转动实现两个伸展式机械臂Ⅰ4同角度转动，钻井台移动小 车2沿导轨1带动桅杆3向钻台面内侧移动到钻杆摆放架正对面，立根正对排放架开口，伸展式机械臂Ⅰ4伸展，将钻杆送入指定位置，机械手Ⅰ5松开。伸展式机械臂Ⅰ4收缩，桅杆3回转90度，伸展式机械臂Ⅰ4转至正对井口。
请参阅图5到图9，所述图7和图8分别是本发明夹持不同钻具直径的示意图，图9为本发明在钻具位置偏心时的夹持状态示意图。所述机械手Ⅰ5和机械手Ⅱ13均由水平油缸、夹紧机构14、连杆架15、夹紧缸座16、连杆架筋板17、夹紧滚轮18、横梁滑板19、夹紧支架20、调整螺杆21、限位杆组件22及夹紧片23组成，所述水平油缸通过夹紧缸座16和销轴固定在连杆架15上；所述夹紧缸座16与连杆架15焊接在一起；所述连杆架15的一端通过销轴与横梁滑板19连接，另一端与夹紧机构14铰接，通过水平油缸活塞杆的伸缩运动，实现夹紧机构14的夹紧与松开动作；所述限位杆组件22分别与横梁滑板19、调整螺杆21通过螺纹连接；所述连杆架筋板17一端与调整螺杆21通过销轴连接，连杆架筋板17另一端通过销轴与夹紧支架20连接；所述夹紧滚轮18通过夹紧片23安装在夹紧机构14上，且夹紧滚轮18与夹紧片23通过螺纹连接；所述夹紧支架20上安装有液压马达，且液压马达的输出轴与夹紧滚轮18连接，可以实现夹紧力的调整。所述夹紧滚轮18数量与夹紧片23数量相同，数量均为四个，夹紧片23上设有对称的四个螺纹孔，夹紧片23与夹紧滚轮18之间通过螺纹连接，四个夹紧片23之间设有工型梁实现纵向定位。与现有技术相比，本发明的机械手夹紧机构14，采用四个夹紧滚轮18从两侧夹紧钻杆，受力均匀，对钻杆损伤小。

Claims (3)

  1. 一种陆地科学钻探用钻机的钻具自动运移装置，其特征是：该钻具自动运移装置包括导轨(1)、钻井台移动小车(2)、桅杆(3)、伸展式机械臂Ⅰ(4)、机械手Ⅰ(5)、基座(6)、固定板(7)、水平液压缸(8)、移动基座板(9)、撑杆(10)、双液压缸(11)、伸展式机械臂Ⅱ(12)及机械手Ⅱ(13)，所述导轨(1)安装在钻台面上，并在导轨(1)上放置有钻井台移动小车(2)；所述钻井台移动小车(2)顶部设置有孔；所述桅杆(3)底部具有转盘，且转盘的转盘轴通过孔与钻井台移动小车(2)顶部连接；所述伸展式机械臂Ⅰ(4)通过方形孔与桅杆(3)连接，并且伸展式机械臂Ⅰ(4)与钻井绞车连接；所述机械手Ⅰ(5)与伸展式机械臂Ⅰ(4)焊接；所述基座(6)采用框架式结构，基座(6)靠内两侧相对位置分别设置有凹槽；所述固定板(7)固定在基座(6)上，并位于基座(6)具有凹槽一侧；所述水平液压缸(8)通过销轴安装在固定板(7)上，并且水平液压缸(8)的液压杆与移动基座板(9)连接；所述移动基座板(9)两侧分别安装在基座(6)的两个凹槽内；所述撑杆(10)和双液压缸(11)分别通过销轴安装在移动基座板(9)上，且撑杆(10)通过销轴与双液压缸(11)连接；所述伸展式机械臂Ⅱ(12)焊接在撑杆(10)上；所述机械手Ⅱ(13)与伸展式机械臂Ⅱ(12)螺纹连接。
  2. 根据权利要求1所述的一种陆地科学钻探用钻机的钻具自动运移装置，其特征是：所述伸展式机械臂Ⅰ(4)和机械手Ⅰ(5)数量均为两个，且两个伸展式机械臂Ⅰ(4)沿桅杆(3)的长度方向上下布置。
  3. 根据权利要求1所述的一种陆地科学钻探用钻机的钻具自动运移装置，其特征是：所述机械手Ⅱ(13)与伸展式机械臂Ⅱ(12)数量均为两个，且两个伸展式机械臂Ⅱ(12)沿撑杆(10)的长度方向上下布置。
PCT/CN2017/083017 2017-02-22 2017-05-04 一种陆地科学钻探用钻机的钻具自动运移装置 WO2018152968A1 (zh)

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