WO2021109531A1 - 一种管具处理机器人及处理系统 - Google Patents

一种管具处理机器人及处理系统 Download PDF

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Publication number
WO2021109531A1
WO2021109531A1 PCT/CN2020/095929 CN2020095929W WO2021109531A1 WO 2021109531 A1 WO2021109531 A1 WO 2021109531A1 CN 2020095929 W CN2020095929 W CN 2020095929W WO 2021109531 A1 WO2021109531 A1 WO 2021109531A1
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WO
WIPO (PCT)
Prior art keywords
pipe
storage
clamping arm
frame
hinged
Prior art date
Application number
PCT/CN2020/095929
Other languages
English (en)
French (fr)
Inventor
何波
高杭
秦皓
Original Assignee
四川宏华石油设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 四川宏华石油设备有限公司 filed Critical 四川宏华石油设备有限公司
Publication of WO2021109531A1 publication Critical patent/WO2021109531A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP 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
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155—Handling between horizontal and vertical position

Definitions

  • the invention relates to an oil drilling and production equipment, in particular to a pipe processing robot and a processing system.
  • a temporary storage area for drill pipe columns that is, a root box area
  • the drill rods are connected by two, three or four to form a standing root, which is vertically discharged into the standing root box area.
  • the drilling system needs to be equipped with a stand-up box, a pipe arranging machine, a stand-up manipulator, a mouse hole, a catwalk and many other equipment.
  • the coordinated operation of these equipments will move a single drill rod horizontally to the turntable by anchoring a single drill rod, and connect the standing manipulator to adjust the single drill rod from a horizontal attitude to a vertical attitude, and connect the single drill rod into a root with the cooperation of the mouse hole.
  • the pipe arranging machine is used to discharge the stand root box. When the wellhead needs to be lowered, the pipe arranging machine removes the target stand root from the stand root box, transfers it to the wellhead, and delivers it to the top drive.
  • the stand root box as a stand root zero storage device, is one of the key equipment to improve work efficiency.
  • the stand box needs to have a large enough capacity to store drill pipes of all drilling depths, so the stand box needs to have enough large structural size, structural strength, and rigidity to meet its work needs.
  • the stand box is installed in the upper part of the derrick, which increases the height of the center of gravity of the derrick as a whole, and needs to be strengthened locally to meet the connection reliability.
  • the stand root box is full of stand roots, the stand root load of the derrick will be greatly increased; the full stand root situation also greatly increases the windward area of the wind load and increases the force of the wind on the derrick.
  • the stand root box area of the drill floor also needs sufficient structural strength. Support the weight of all standing roots.
  • the purpose of the present invention is to solve the problems in the prior art that due to the need to place a temporary stand box on the derrick, the derrick load is large, and when the stand box is taken out in an emergency, a lot of work efficiency is wasted, and there are too many equipment needed to connect the root. , Provide a pipe processing robot and processing system.
  • the present invention provides a pipe processing robot, which includes: a column; a mounting frame, the mounting frame is slidably connected to the column; a clamping arm, the clamping arm is rotatably connected to the mounting frame, and the clamping arm can Rotating in a vertical plane, the clamping arm is provided with a clamping part for clamping the pipe tool.
  • the pipe processing robot provided by the present invention can directly take pipes from the ground and adjust the posture of the pipes, so that there is no need to set a temporary stand box on the derrick, which is beneficial to reduce the load of the derrick. At the same time, it can also avoid the waste of work efficiency caused when all the stand roots need to be taken out of the temporary stand root box in an emergency situation.
  • the clamping arm is used to take the pipe, and the clamping arm is rotatably connected with the mounting frame, so that the clamping arm can be used to adjust the posture of the pipe; in addition, the mounting frame is slidably connected to the column, so that the clamping arm After the pipe is taken, there can be enough space for the posture adjustment of the pipe, which is convenient for the clamping arm to drive the pipe for posture adjustment.
  • the upright column and the mounting frame are slidably connected by a trolley.
  • the pipe processing robot further includes a posture adjustment drive member, one end of the posture adjustment drive member is hinged with the mounting frame, and the output end of the posture adjustment drive member is hinged with the clamping arm; the posture adjustment drive member, the mounting frame and the clamp
  • the holding arm forms a triangular posture adjustment mechanism, and the length of one side formed by the posture adjustment driving member can be extended or shortened.
  • the posture adjustment of the clamping arm is realized by the above-mentioned structure, and the structure is simple.
  • the posture adjustment drive member does not output force
  • the triangular structure is relatively stable.
  • the posture adjustment drive member can be set as a hydraulic cylinder, which can output a relatively large force and is easy to control.
  • a connecting protrusion is provided on the clamping arm, and the connecting protrusion has a triangular structure, and the connection point between the attitude adjustment driving member and the clamping arm is located on the connecting protrusion.
  • the mounting frame includes a luffing assembly and a base; the base is fixedly connected with the trolley, and the luffing assembly is hinged with the base.
  • the horn assembly includes a first horn, a second horn and a connecting plate; the base, the first horn, the second horn and the connecting plate form a parallelogram mechanism;
  • the horn is used as the driving rod of the parallelogram mechanism, the second horn is used as the driven rod of the parallelogram mechanism, the base is used as the frame of the parallelogram mechanism, and the connecting plate is used as the connecting rod of the parallelogram mechanism;
  • the clamping arm and the connecting plate on the mounting frame form a posture adjustment mechanism.
  • the posture adjustment mechanism composed of the plate, the posture adjustment drive member and the clamping arm drives the clamping arm, which can realize the translation of the clamping arm when the posture adjustment of the clamping arm has been completed, thereby adjusting the gap between the clamping arm and the column
  • the distance is easy to operate the pipe tool to align the wellhead.
  • the luffing assembly further includes a luffing drive member, one end of the luffing drive member is hinged with the base, and the other end of the luffing drive member is hinged with the first horn; the luffing drive member, the first luffing rod
  • the rod and the base form a triangular luffing drive mechanism, and the length of one side formed by the luffing drive member can be extended or shortened.
  • the rotation of the first horn is realized by the above-mentioned amplitude-changing drive structure, and the amplitude-changing drive structure of the triangular structure is relatively stable when the amplitude-changing drive member does not need to output force.
  • the luffing drive member is set as a hydraulic cylinder, which can output a relatively large force and is easy to control.
  • the pipe processing robot further includes an upper support frame and a lower support frame; one end of the column is rotatably connected with the upper support frame, and the other end of the column is rotatably connected with the lower support frame.
  • the upper support frame is used to provide rotation guidance for the column, and the lower support frame is used to support the column.
  • the upper support frame and the lower support frame restrain the two ends of the column together, which can prevent the column from overturning.
  • one end of the clamping arm is provided with a clamping part, and the other end of the clamping arm is provided with another clamping part.
  • the clamping part is used to clamp the pipe.
  • At least two clamping parts are provided on the clamping arm, which can make the pipe more stable.
  • the present invention also provides a pipe processing system, which includes a pipe storage component and the pipe processing robot described above; the pipe storage component is used to store pipes, and the pipe processing robot is used to store the pipes. Take the pipe from the assembly or place the pipe on the pipe storage assembly.
  • the pipe storage assembly includes a pipe storage rack, the pipe storage rack includes a frame body and at least two resisting blocks; the pipe storage component has a storage surface, and the resisting block is protruding from the storage surface and interacts with The frame bodies are connected, and a storage space is formed between at least two resisting blocks.
  • the pipe storage assembly further includes at least two whipstock driving members and at least two whipstock rods;
  • the whipstock rod is connected to the pipe storage rack, and the surface of the pipe storage rack opposite to the storage surface is Supporting surface;
  • the tilting drive member and the tilting rod are connected in a one-to-one correspondence;
  • the tilting rod has a first working position and a second working position.
  • the position of the whipstock driving member driven by the whipstock rod is switched between the first working position and the second working position, so that the pipe can be rolled in a required direction.
  • the pipe tool is rolled in the direction close to the derrick; when the pipe tool needs to be stored, the pipe tool is rolled in the direction away from the derrick.
  • one end of the whipstock rod is hinged with the frame body, and the connection point of the whipstock rod and the frame body is close to the first end of the storage surface; the other end of the whipstock rod is close to the second end of the storage surface, and It is hinged with one end of the leaning driving member, and the other end of the leaning driving member is hinged with the frame body through the mounting ear plate; the leaning driving member can be extended or shortened.
  • the movement of the tilting rod is realized by the above-mentioned structure, and the structure is simple and stable.
  • the skew driving member can be configured as a hydraulic cylinder.
  • the pipe storage assembly further includes at least two turning frames and at least two turning driving members; the turning frame is connected to the pipe storage frame, the turning frame has a clamping surface, and the clamping surface includes a first curved surface.
  • the folding part and the second bending part make the clamping surface appear as a concave folding surface, and the turning frame is hinged to the position on the frame body close to the first end of the storage surface; one end of the turning driving part is hinged to the frame body, turning the driving part The other end is hingedly connected with the end of the turning frame away from the clamping surface.
  • the pipe processing robot and processing system provided by the present invention can directly take pipes from the ground or pipe storage components, and adjust the posture of the pipes, so that there is no need to set a temporary root box on the derrick, which is beneficial to reduce the load of the derrick. At the same time, it can also avoid the waste of work efficiency caused when all the stand roots need to be taken out of the temporary stand root box in an emergency situation.
  • the clamping arm is used to take the pipe, and the clamping arm is rotatably connected with the mounting frame, so that the clamping arm can be used to adjust the posture of the pipe; in addition, the mounting frame is slidably connected to the upright, so that the clamping arm After the pipe is taken, there can be enough space for the posture adjustment of the pipe, which is convenient for the clamping arm to drive the pipe for posture adjustment.
  • Fig. 1 is a schematic structural diagram of a pipe processing system provided by Embodiment 1 of the present invention.
  • Fig. 2 is a partial enlarged view of part A in Fig. 1.
  • Fig. 3 is a schematic structural diagram of a pipe processing robot provided by Embodiment 1 of the present invention.
  • Fig. 4 is a schematic structural diagram of a pipe storage rack provided by Embodiment 1 of the present invention.
  • Fig. 5 is a schematic diagram of a three-dimensional structure of a pipe storage rack provided by Embodiment 1 of the present invention.
  • Fig. 6 is a schematic diagram when the first bending part of the pipe storage rack provided by the first embodiment of the present invention is higher than the storage surface.
  • FIG. 7 is a schematic diagram when the second bent portion of the pipe storage rack provided by Embodiment 1 of the present invention is higher than the storage surface.
  • Fig. 8 is a schematic diagram of the pipe handling robot according to Embodiment 1 of the present invention when taking pipes from the pipe storage rack.
  • Fig. 9 is a schematic diagram of the pipe handling robot provided in Embodiment 1 of the present invention when the pipe is lifted.
  • Fig. 10 is a schematic diagram of the pipe handling robot provided in Embodiment 1 of the present invention in the process of adjusting the posture of the pipe from horizontal to vertical.
  • Fig. 11 is a partial enlarged view of part B in Fig. 10.
  • Fig. 12 is a schematic diagram of the pipe processing robot provided in Embodiment 1 of the present invention after the pipe posture has been adjusted to the vertical position.
  • Fig. 13 is a partial enlarged view of part C in Fig. 12.
  • Fig. 14 is a schematic diagram after the column of the pipe handling robot provided by Embodiment 1 of the present invention starts to rotate.
  • Embodiment 15 is a schematic diagram of the pipe processing robot provided by Embodiment 1 of the present invention after the column is rotated until the pipe is located above the derrick platform.
  • Fig. 16 is a schematic structural diagram of the pipe processing robot provided in Embodiment 1 of the present invention when the pipe is aligned with the center of the wellhead.
  • Fig. 17 is a partial enlarged view of part D in Fig. 16.
  • FIG. 18 is a schematic structural diagram of the mounting frame of the pipe processing system provided by Embodiment 2 of the present invention.
  • Icon 1-Pipe processing robot; 11-Column; 12-Upper support frame; 13-Lower support frame; 14-Trolley; 15-Mounting frame; 151-Base; 152-Luffing assembly; 1521-First change Amplitude; 1522-Second horn; 1523-Connecting plate; 1524-Amplitude driving part; 16-Posture adjustment driving part; 17-Clamping arm; 171-Connecting protrusion; 172-Clamping part; 2- Derrick; 21- derrick platform; 22-wellhead center; 3-pipe storage assembly; 301-pipe storage rack; 31-frame body; 32-stop block; 33-storage space; 34-storage surface; 35-support surface 36-tilting rod; 37-tilting driving part; 38-turning frame; 381-first bending part; 382-second bending part; 39-turning driving part; 4-pipe tool.
  • the embodiment of the present invention provides a pipe processing system, which includes a pipe processing robot 1 and a pipe storage assembly 3.
  • the pipe storage assembly 3 is used to place the pipes 4 on the ground and store the pipes 4.
  • the pipe storage assembly 3 can also separate the stored pipes 4 from other pipes 4 when the pipes need to be taken out, which is convenient for pipes.
  • the tool processing robot 1 performs a take-in operation.
  • the pipe processing robot 1 is used to take pipes from the pipe storage assembly 3, adjust the posture of the pipes 4, and then transport the pipes 4 to the wellhead center 22, thereby facilitating the down-pipe operation.
  • the pipe processing robot 1 includes an upper support frame 12, a lower support frame 13, a column 11, a mounting frame 15, a clamping arm 17 and a posture adjustment driving member 16.
  • the upper support frame 12 is used to connect to the derrick 2 and the lower support frame 13 is used to connect to the base of the drill floor.
  • the upper support frame 12 is used to provide restraint and rotation guidance for the column 11, and the lower support frame 13 is mainly used to bear the overturning moment of the column 11.
  • the mounting frame 15 and the column 11 are slidably connected by a trolley 14. Specifically, the trolley 14 is slidably connected to the column 11, and the mounting frame 15 is fixedly connected to the trolley 14, so that when the trolley 14 slides along the column 11, the mounting frame 15 will slide along the column 11 along with the trolley 14.
  • the mounting frame 15 includes a base 151 and a luffing assembly 152.
  • the base 151 is connected to the trolley 14, and the luffing assembly 152 is connected to the base 151.
  • One end of the luffing assembly 152 is connected with the base 151, and the other end of the luffing assembly 152 is connected with the clamping arm 17 and the posture adjustment driving member 16.
  • the luffing assembly 152 is used to drive the clamping arm 17 and the posture adjustment driving member 16 to translate, so that the clamping arm 17 can move away from or approach the column 11.
  • the luffing assembly 152 includes a first horn 1521, a second horn 1522, a connecting plate 1523, and a luffing drive 1524.
  • first horn 1521 is hinged with the base 151, the other end of the first horn 1521 is hinged with the connecting plate 1523; one end of the second horn 1522 is hinged with the base 151, and the other end of the second horn 1522 is hinged with the connecting plate 1523.
  • the plate 1523 is hinged.
  • the first horn 1521 is used as the driving rod in the parallelogram structure
  • the second horn 1522 is used as the driven rod in the parallelogram structure
  • the connecting plate 1523 is used as the connecting rod connecting the driving rod and the driven rod
  • the base 151 As a frame, the rotation of the first horn 1521 can drive the second horn 1522 to rotate together and make the connecting plate 1523 move in translation.
  • the rotation of the first horn 1521 is driven in the following manner: one end of the horn 1524 is hinged with the base 151, and the other end of the horn 1524 is hinged with the first horn 1521, so that the horn 1524 and the base 151 are hinged.
  • the seat 151 and the first horn 1521 form a triangular structure luffing drive mechanism, and one side formed by the luffing drive member 1524 can be extended or shortened, thereby driving the first horn 1521 to rotate.
  • the luffing driving member 1524 is a hydraulic cylinder.
  • the first horn 1521 may be used as a driven rod
  • the second horn 1522 may be used as a driving rod.
  • the luffing driving member 1524 is hinged to the second horn 1522 and can drive the second horn 1522 to rotate, thereby driving the connecting plate 1523 to move in translation, and driving the first horn 1521 to rotate.
  • the connecting plate 1523 also forms a triangular posture adjustment mechanism together with the posture adjustment driving member 16 and the clamping arm 17, and the side formed by the posture adjustment driving member 16 can be extended or shortened. Specifically, one end of the attitude adjustment driving member 16 is hinged with the connecting plate 1523, the other end of the attitude adjustment driving member 16 is hinged with the clamping arm 17, and the connecting plate 1523 is also hinged with the clamping arm 17.
  • the posture adjustment driving member 16 is a hydraulic cylinder.
  • the posture adjustment driving member 16 When the posture adjustment driving member 16 is extended or shortened, the clamping arm 17 rotates accordingly.
  • the posture adjustment driving member 16 is extended or shortened in the plane where the vertical direction is located, so that the clamping arm 17 can be driven to rotate in the plane where the vertical direction is located, so that the posture of the clamping arm 17 can be horizontal. There is a change between the direction and the vertical direction.
  • a connecting protrusion 171 is provided on the clamping arm 17.
  • the connecting protrusion 171 has a triangular structure, and the attitude adjustment driving member 16 is connected to the clamping arm.
  • the connecting point of the arm 17 is located on the connecting protrusion 171; the connecting point of the connecting plate 1523 and the clamping arm 17 is also located on the connecting protrusion 171, so that during the rotation of the clamping arm 17, the body of the clamping arm 17 and the mounting Structures such as the frame 15 or the luffing assembly 152 can maintain a gap, thereby avoiding interference.
  • the clamping portion 172 has a clamping space for clamping the pipe tool 4.
  • the luffing drive member 1524 drives the first horn 1521 to rotate, since the connecting plate 1523 can only move along therewith, if the length of the posture adjustment drive member 16 remains constant at this time, the posture adjustment drive member 16, the clamp Both the holding arms 17 will move in parallel with the connecting plate 1523.
  • the first horn 1521 rotates, its end away from the base 151 moves in a direction close to or away from the column 11, and then it drives the clamping arm 17 to move away from or close to the column 11, thereby adjusting the clamping arm 17 The distance between the clamped pipe 4 and the upright 11.
  • the pipe storage assembly 3 is configured to be arranged under the pipe processing robot 1 so that the pipe 4 can be clamped from the pipe storage assembly 3 when the clamping arm 17 is close to the lower end of the column 11.
  • the pipe storage assembly 3 includes a pipe storage rack 301, a tilting driving member 37, a tilting rod 36, a turning frame 38 and a turning driving member 39.
  • the pipe storage rack 301 includes a rack body 31 and a blocking block 32.
  • the frame body 31 is a hexahedral frame structure.
  • the blocking block 32 is connected with the frame body 31.
  • the pipe storage assembly 3 includes a storage surface 34 and a supporting surface 35 which are arranged oppositely.
  • the supporting surface 35 is used to contact the ground, the storage surface 34 faces upwards, and the number of stop blocks 32 is four.
  • the tops of the four stop blocks 32 are higher than the storage surface 34, and the top of the four stop blocks 32 is higher than the storage surface 34.
  • a storage space 33 is formed in between, and the pipe tool 4 can be placed in the storage space 33.
  • the tilting driving member 37 is connected to the tilting rod 36, and is used to form slopes in different directions on the storage surface 34, so that the pipe 4 on the storage surface 34 can rotate in a preset direction.
  • a tilting drive 37 and a tilting rod 36 are connected to a pipe storage rack 301.
  • the whip driving member 37 and the whip rod 36 are hingedly connected.
  • the tilting driving member 37, the tilting rod 36 and the frame body 31 form a triangular structure, wherein the length of one side formed by the tilting driving member 37 can be extended or shortened.
  • the skew driving member 37 is selected as an oil cylinder.
  • the storage surface 34 has first and second ends opposed to each other.
  • the whipstock bar 36 has a first working position and a second working position. When the whip bar 36 is in the first working position, the distance between the first end of the storage surface 34 and the support surface 35 is greater than the distance between the second end of the storage surface 34 and the support surface 35; when the whip bar 36 is in the second working position, the storage The distance from the first end of the surface 34 to the supporting surface 35 is smaller than the distance from the second end of the storage surface 34 to the supporting surface 35.
  • the turning drive member 39 is fixedly connected to the frame body 31, and the other end of the turning drive member 39 is hinged to the turning frame 38.
  • the turning frame 38 is hingedly connected to a position on the frame body 31 close to the first end of the storage surface 34.
  • the turning driving member 39, the turning frame 38 and the frame body 31 form a triangular structure, and one side formed by the turning driving member 39 can be extended or shortened.
  • the turnover driving member 39 is configured as an oil cylinder.
  • the turning frame 38 has a clamping surface.
  • the clamping surface includes a first bending portion 381 and a second bending portion 382.
  • the first bending portion 381 is lower than the storage surface 34
  • the second bending portion 382 is higher than the storage surface 34, so that the second bending portion 382 is formed between the second bending portion 382 and the stop block 32 at one end.
  • the space for accommodating a single pipe 4 is used to hold the pipe 4 to be picked up or just put down, and the space between the second bending portion 382 and the blocking block 32 at the other end is used for accommodating the remaining pipes 4.
  • the turning frame 38 rotates, and the pipe tool 4 that has just been put down can roll toward the lower end of the storage surface 34 until the first bending part 381 is higher than the storage surface 34, and the second bending part 381 is higher than the storage surface 34.
  • the folded portion 382 is lower than the storage surface 34.
  • the pipe tool 4 can be moved in a preset direction, so that the pipe tool 4 can be easily grasped, put down and stored.
  • the pipe processing system can be used to take the pipe:
  • the tilting drive member 37 on the pipe storage assembly 3 is extended, so that the tilting rod 36 is located in the second working position, and the first bending part 381 of the turning frame 38 is high.
  • the pipe tool 4 on the storage surface 34 rolls toward the turning frame 38 until it is blocked by the first bending portion 381; then the turning frame 38 is turned over under the action of the turning drive member 39 to make the first bending portion 381 Lower than the storage surface 34, and the second bending portion 382 is higher than the storage surface 34, one of the pipes 4 is separated by the second bending portion 382, which is convenient for the pipe handling robot 1 to take the pipes;
  • the clamping arm 17 When the pipe is taken, the clamping arm 17 is in a horizontal state, the trolley 14 drives the mounting frame 15 to move down, and the two clamping parts 172 clamp the pipe 4;
  • the pulley 14 drives the mounting frame 15 to rise along the column 11, and the pipe tool 4 rises accordingly; then the attitude adjustment driving member 16 extends, and the clamping arm 17 rotates in the vertical plane to make the pipe tool 4 posture Is adjusted from horizontal to vertical; then the column 11 rotates around its own length, so that the pipe 4 is located above the derrick platform 21; the length of the luffing drive 1524 is extended or shortened, and the pipe 4 and the column 11 are adjusted Distance, so that the pipe tool 4 is aligned with the center 22 of the wellhead, facilitating the downpipe.
  • the pipe processing system can also be used for custody work:
  • the column 11 is rotated until the clamping arm 17 is located above the derrick 2, and the clamping portion 172 on the clamping arm 17 clamps the pipe tool 4. At this time, the clamping arm 17 is in the vertical position. Then the column 11 rotates around its axis until the pipe 4 is located directly above the pipe storage assembly 3; the posture adjustment driving member 16 is shortened, so that the posture of the clamping arm 17 and the pipe 4 is changed from vertical to Adjust to the horizontal direction; then the carriage 14 drives the mounting frame 15, the clamping arm 17 and the pipe 4 to slide down and approach the pipe storage assembly 3; then the clamping part 172 loosens the pipe 4 and places the pipe 4 in the pipe storage Component 3;
  • the placed pipe tool 4 is close to the first end of the storage surface 34 and is separated by the second bending portion 382.
  • the tilting drive member 37 is shortened, and the tilting rod 36 is located in the first working position.
  • the pipe 4 rolls along the storage surface 34 to the recesses of the first bending portion 381 and the second bending portion 382, and then the turning frame 38 is turned over, and the second bending portion 382 is lower than the storage surface 34, so that the placed pipe is 4 can continue to roll until the second end of the storage surface 34 is rolled.
  • the pipes can be taken directly from the position below the platform of the derrick 2, so that there is no need to set up temporary storage devices for pipe tools 4 on the derrick 2, which reduces the load on the derrick 2 and helps reduce the center of gravity of the derrick 2 and improves safety Sex
  • All the pipes 4 can be stored in the pipe 4 yard, and the pipes 4 can be disassembled in no emergency, reducing unnecessary efficiency waste;
  • the placement direction of the pipe 4 is longitudinal (that is, the derrick 2 is located on the extension line of the pipe 4).
  • the transportation distance is long, and through the pipe processing system provided by the embodiment of the present invention, the placement of the pipes 4 in the yard is changed from longitudinal to horizontal, which improves the utilization rate of the yard, shortens the transportation distance of the pipes 4, and improves effectiveness.
  • the pipe storage assembly 3 includes two pipe storage racks 301 arranged at intervals, and each pipe storage rack 301 is provided with a tilting driving member 37 and a tilting rod. 36. A turning drive 39 and a turning frame 38.
  • the pipe storage rack 301, the tilting drive member 37, the tilting rod 36, the turning drive member 39, and the turning frame 38 need to be provided, the corresponding relationship between the numbers of the above-mentioned five components can also be other. Change, not necessarily in accordance with the form described in this embodiment. That is, a pipe storage rack 301 is not necessarily connected with a tilting rod 36 and a turning rack 38.
  • the number of pipe storage racks 301 should be set at least one; the number of whip drive members 37 and whip bars 36 should be set at least two, so as to facilitate the formation of the elongated pipe 4 Support, so that the pipe 4 can be placed horizontally; the number of the turning frame 38 and the turning driving member 39 should be at least two, so as to facilitate the accurate separation of the single pipe 4.
  • only one pipe storage rack 301 may be provided, and at least two tilting drive members 37, at least two tilting rods 36, at least two turning frames 38, and at least two turning drives are connected to this pipe storage rack 301.
  • Piece 39 is only one pipe storage rack 301, and at least two tilting drive members 37, at least two tilting rods 36, at least two turning frames 38, and at least two turning drives are connected to this pipe storage rack 301.
  • This embodiment provides a pipe processing system.
  • the difference from the pipe processing system in the first embodiment is that: in this embodiment, the pipe processing robot 1 does not include the luffing assembly 152.
  • the mounting frame 15 is fixedly connected to the trolley 14.
  • One end of the attitude adjustment driving member 16 is connected with the mounting frame 15, and the output end of the attitude adjustment driving member 16 is hinged with the clamping arm 17.
  • the clamping arm 17 is hinged to the mounting frame 15.
  • the mounting frame 15, the attitude adjustment driving member 16 and the clamping arm 17 form a triangular attitude adjustment mechanism for adjusting the attitude of the pipe 4, and the length of one side formed by the attitude adjustment driving member 16 can be extended or shortened, so that the Drive the clamping arm 17 to rotate.
  • the distance between the clamping arm 17 and the mounting frame 15 is set such that when the column 11 drives the pipe 4 to rotate above the platform of the derrick 2, the pipe 4 on the clamping arm 17 can be located just above the wellhead center 22 . That is, the distance between the wellhead center 22 and the upright column 11 is equal to the distance between the clamping arm 17 and the upright column 11.

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Abstract

一种管具处理机器人（1）及处理系统，属于石油钻采设备领域，管具处理机器人（1）包括：立柱（11）；安装架（15），安装架（15）与立柱（11）可滑动地连接；夹持臂（17），夹持臂（17）与安装架（15）可转动地连接，夹持臂（17）能够在竖直平面内转动，夹持臂（17）上设有用于夹持管具（4）的夹持部（172）。管具处理系统包括管具存储架（301）和管具处理机器人（1）。管具处理机器人（1）能够直接从地面取管，并进行管具（4）的姿态调整，从而无需在井架（2）上设置临时立根盒，有利于减小井架（2）的负载，避免不必要的工作效率的浪费。

Description

一种管具处理机器人及处理系统 技术领域
本发明涉及一种石油钻采设备，特别是一种管具处理机器人及处理系统。
背景技术
在石油天然气钻井系统中，为了提高其工作效率，特别是为了提高起下钻作业的工作效率，通常会在井架内或外设置钻杆立柱临时储存区域，也就是立根盒区域。钻杆被两根、三根或四根连接在一起形成立根，竖直排放到立根盒区域内。
为实现上述目的，钻井系统需配置立根盒、排管机、接立根机械手、鼠洞、猫道等诸多设备。这些设备协同作业将通过锚定单根钻杆水平移运到转台，接立根机械手将单根钻杆从水平姿态调整到竖直姿态，并在鼠洞的配合下将单根钻杆连接成立根，并交由排管机排放在立根盒，等井口需要下放立根时，排管机将目标立根从立根盒中取出，并移送至井口，交给顶驱。
可见立根盒作为立根零存储装置，是提高工作效率的关键设备之一。立根盒需要有足够大容量来储存所有钻井深度的钻杆，所以立根盒需要有足够的大结构尺寸、结构强度、刚度满足其工作需要。同时，立根盒安装在井架中上部，增加了井架整体的重心高度，且需局部加强来满足连接可靠性。当立根盒内存满立根时，井架的立根载荷将大大增加；满立根情况还大大增加了风载的迎风面积，增大了风对井架作用力，同时钻台立根盒区域也需足够结构强度来支撑所有立根的重量。当突发紧急情况时，还需要及时将全部立根从立根盒里取出，拆卸成单根放置在管具堆场。这将造成巨大的工作量，而且造成大量工作效率的浪费。
同时要实现上述目的，还需要设置排管机、接立根机械手、鼠洞、猫道等设备进行协同工作，这些设备也是钻井系统重要成本组成之一。
发明内容
本发明的目的在于：针对现有技术中，由于需要在井架上放置临时立根盒所存在的井架载荷大、突发紧急情况时取出立根盒造成大量工作效率浪费、接立根所需设备多的问题，提供一种管具处理机器人及处理系统。
为了实现上述目的，本发明采用的技术方案为：
一方面，本发明提供了一种管具处理机器人，其包括：立柱；安装架，安装架与立柱可滑动地连接；夹持臂，夹持臂与安装架可转动地连接，夹持臂能够在竖直平面内转动，夹持臂上设有用于夹持管具的夹持部。本发明提供的管具处理机器人可以直接从地面取管，并进行管具的姿态调节，从而无需在井架上设置临时立根盒，有利于减少井架的负载。同时，也能够避免突发紧急情况时需要将全部立根从临时立根盒中取出时造成的工作效率的浪费。具体的，夹持臂用于取管，夹持臂与安装架可转动地连接，使得夹持臂可以用于调整管具的姿态；另外，安装架与立柱滑动地相连，使得在夹持臂取管之后，能够具有足够的管具姿态调整的空间，便于夹持臂带动管具进行姿态调整。
作为本发明的优选方案，立柱与安装架通过滑车可滑动地相连。
作为本发明的优选方案，管具处理机器人还包括姿态调整驱动件，姿态调整驱动件一端与安装架铰接，姿态调整驱动件的输出端与夹持臂铰接；姿态调整驱动件、安装架和夹持臂形成三角形的姿态调整机构，且由姿态调整驱动件构成的一边的长度可伸长或缩短。夹持臂的姿态调整通过上述的结构实现，结构简单，在姿态调整驱动件不输出力的情况下，三角结构较为稳定。具体的，姿态调整驱动件可以被设置为液压油缸，能够输出较大的力、便于控制。
作为本发明的优选方案，夹持臂上设有连接凸块，连接凸块呈三角结构，姿态调整驱动件与夹持臂的连接点位于连接凸块上。通过在夹持臂上设置呈三角结构的连接凸块，能够避免夹持臂在姿态调整过程中与安装架等其余结构产生干涉，便于安装和结构设计。
作为本发明的优选方案，安装架包括变幅组件和基座；基座与滑车固定相连，变幅组件与基座铰接。
作为本发明的优选方案，变幅组件包括第一变幅杆、第二变幅杆和连板；基座、第一变幅杆、第二变幅杆和连板形成平行四边形机构；第一变幅杆作为平行四边形机构的主动杆，第二变幅杆作为平行四边形机构的从动杆，基座作为平行四边形机构的机架，连板作为平行四边形机构的连杆；姿态调整驱动件、夹持臂与安装架上的连板组成姿态调整机构。通过上述的结构，基座、第一变幅杆、第二变幅杆和连板形成平行四边形机构，使得在第一变幅杆的驱动下，连板能够平移而不发生转动，再通过连板、姿态调整驱动件和夹持臂组成的姿态调整机构带动夹持臂，能够在夹持臂的姿态调整已经完成的情况下，实现夹持臂的平移，从而调节夹持臂与立柱之间的距离，便于操作管具对准井口。
作为本发明的优选方案，变幅组件还包括变幅驱动件，变幅驱动件一端与基座铰接，变幅驱动件另一端与第一变幅杆铰接；变幅驱动件、第一变幅杆与基座形成三角形的变幅驱动机构，由变幅驱动件所组成的一边的长度可伸长或缩短。第一变幅杆的转动通过上述的变幅驱动结构实现，在变幅驱动件不需要输出力的情况下，三角结构的变幅驱动结构较为稳定。进一步的，变幅驱动件设置为液压油缸，能够输出较大的力、便于控制。
作为本发明的优选方案，管具处理机器人还包括上支撑架和下支撑架；立柱一端与上支撑架可转动相连，立柱另一端与下支撑架可转动相连。上支撑架用于为立柱提供转动导向，下支撑架用于支撑立柱。上支撑架与下支撑架一起约束立柱的两端，能够避免立柱产生倾覆。
作为本发明的优选方案，夹持臂一端设有一个夹持部，夹持臂另一端设有另一个夹持部。夹持部用于夹持管具。在夹持臂上设置至少两个夹持部，能够使管具更加稳定。
另一方面，本发明还提供了一种管具处理系统，其包括管具存储组件与上 述的管具处理机器人；管具存储组件用于存放管具，管具处理机器人用于从管具存储组件上取管或用于将管具放置在管具存储组件上。
作为本发明的优选方案，管具存储组件包括管具存储架，所述管具存储架包括架体和至少两个抵挡块；管具存储组件具有存放表面，抵挡块凸设于存放表面并与所述架体相连，至少两个抵挡块之间形成存放空间。
作为本发明的优选方案，管具存储组件还包括至少两个造斜驱动件和至少两个造斜杆；造斜杆与管具存储架相连，管具存储架上与存放表面相对的表面为支撑表面；造斜驱动件与造斜杆一一对应相连；造斜杆具有第一工作位置和第二工作位置，造斜杆位于第一工作位置时，存放表面第一端距支撑表面的距离大于存放表面的第二端距支撑表面的距离，造斜杆位于第二工作位置时，存放表面第一端距支撑表面的距离小于存放表面的第二端距支撑表面的距离。通过上述结构，造斜驱动件带动造斜杆的位置在第一工作位置和第二工作位置之间切换，使得管具能够向需要的方向滚动。例如，在需要取管时，使管具向靠近井架的方向滚动；在需要存放管具时，使管具向远离井架的方向滚动。
作为本发明的优选方案，造斜杆一端与架体铰接，且造斜杆与架体的连接点靠近于存放表面的第一端；造斜杆另一端靠近于存放表面的第二端，且与造斜驱动件一端铰接，造斜驱动件另一端通过安装耳板与架体铰接；造斜驱动件可伸长或缩短。造斜杆的运动通过上述的结构实现，结构简单、稳定。进一步的，造斜驱动件可以被设置为液压油缸。
作为本发明的优选方案，管具存储组件还包括至少两个翻转架与至少两个翻转驱动件；翻转架与管具存储架相连，翻转架上具有卡持面，卡持面包括第一弯折部和第二弯折部，使卡持面呈现为一个内凹的折面，翻转架与架体上靠近存放表面第一端的位置铰接；翻转驱动件一端与架体铰接，翻转驱动件另一端与翻转架远离卡持面的一端铰接。通过上述结构，翻转架能够与造斜杆配合，在取杆时，翻转架能够将其中的一根管具与其他管具隔离开来，便于取管操作， 避免一次取到多根管的情况。
综上所述，由于采用了上述技术方案，本发明的有益效果是：
本发明提供的管具处理机器人和处理系统可以直接从地面或者管具存储组件上取管，并进行管具的姿态调节，从而无需在井架上设置临时立根盒，有利于减少井架的负载。同时，也能够避免突发紧急情况时需要将全部立根从临时立根盒中取出时造成的工作效率的浪费。具体的，夹持臂用于取管，夹持臂与安装架可转动地连接，使得夹持臂可以用于调整管具的姿态；另外，安装架与立柱滑动地相连，使得在夹持臂取管之后，能够具有足够的管具姿态调整的空间，便于夹持臂带动管具进行姿态调整。
附图说明
图1是本发明实施例1提供的管具处理系统的结构示意图。
图2是图1中A部的局部放大图。
图3是本发明实施例1提供的管具处理机器人的结构示意图。
图4是本发明实施例1提供的管具存储架的结构示意图。
图5是本发明实施例1提供的管具存储架的立体结构示意图。
图6是本发明实施例1提供的管具存储架的第一弯折部高于存放表面时的示意图。
图7是本发明实施例1提供的管具存储架的第二弯折部高于存放表面时的示意图。
图8是本发明实施例1提供的管具处理机器人从管具存储架上取管时的示意图。
图9是本发明实施例1提供的管具处理机器人提起管具时的示意图。
图10是本发明实施例1提供的管具处理机器人在将管具姿态从水平调到竖 直过程中的示意图。
图11是图10中B部的局部放大图。
图12是本发明实施例1提供的管具处理机器人完成将管具姿态调整到竖直后的示意图。
图13是图12中C部的局部放大图。
图14是本发明实施例1提供的管具处理机器人的立柱开始旋转之后的示意图。
图15是本发明实施例1提供的管具处理机器人的立柱旋转至管具位于井架平台上方之后的示意图。
图16是本发明实施例1提供的管具处理机器人将管具对准井口中心时的结构示意图。
图17是图16中D部的局部放大图。
图18是本发明实施例2提供的管具处理系统的安装架的结构示意图。
图标：1-管具处理机器人；11-立柱；12-上支撑架；13-下支撑架；14-滑车；15-安装架；151-基座；152-变幅组件；1521-第一变幅杆；1522-第二变幅杆；1523-连板；1524-变幅驱动件；16-姿态调整驱动件；17-夹持臂；171-连接凸块；172-夹持部；2-井架；21-井架平台；22-井口中心；3-管具存储组件；301-管具存储架；31-架体；32-抵挡块；33-存放空间；34-存放表面；35-支撑表面；36-造斜杆；37-造斜驱动件；38-翻转架；381-第一弯折部；382-第二弯折部；39-翻转驱动件；4-管具。
具体实施方式
下面结合附图，对本发明作详细的说明。
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实 施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
实施例1
请参阅图1-图17。本发明实施例提供了一种管具处理系统，其包括管具处理机器人1和管具存储组件3。管具存储组件3用于放置于地面，并存放管具4，同时，管具存储组件3还可以在需要取管时，将存放的一根管具4与其他管具4隔离开，便于管具处理机器人1进行取管操作。管具处理机器人1用于从管具存储组件3上取管，并对管具4进行姿态调整，然后将管具4输送到井口中心22，从而便于进行下管操作。
具体的，管具处理机器人1包括上支撑架12、下支撑架13、立柱11、安装架15、夹持臂17和姿态调整驱动件16。
立柱11一端与上支撑架12可转动相连，立柱11另一端与下支撑架13可转动相连。上支撑架12用于与井架2相连，下支撑架13用于与钻台底座相连。上支撑架12用于为立柱11提供约束和回转导向，下支撑架13主要用于承受立柱11的倾覆力矩。
安装架15与立柱11通过滑车14可滑动地相连。具体的，滑车14与立柱11可滑动地相连，安装架15与滑车14固定相连，从而在滑车14沿立柱11滑动时，安装架15会随滑车14一起沿立柱11产生滑动。
安装架15包括基座151和变幅组件152。基座151与滑车14相连，变幅组件152与基座151相连。变幅组件152一端与基座151相连，变幅组件152另一端与夹持臂17和姿态调整驱动件16相连。变幅组件152用于带动夹持臂17和姿态调整驱动件16平移，使夹持臂17能够远离或靠近立柱11。
具体的，变幅组件152包括第一变幅杆1521、第二变幅杆1522、连板1523和变幅驱动件1524。
第一变幅杆1521一端与基座151铰接，第一变幅杆1521另一端与连板1523铰接；第二变幅杆1522一端与基座151铰接，第二变幅杆1522另一端与连板1523铰接。通过上述结构，使得第一变幅杆1521、第二变幅杆1522、连板1523和基座151连接形成平行四边形结构。其中第一变幅杆1521作为平行四边形结构中的主动杆，第二变幅杆1522作为平行四边形结构中的从动杆，连板1523作为连接主动杆与从动杆的连杆，基座151作为机架，则通过第一变幅杆1521的转动，可以带动第二变幅杆1522一起转动，并使连板1523发生平动。第一变幅杆1521的转动通过以下的方式驱动：变幅驱动件1524一端与基座151铰接，变幅驱动件1524另一端与第一变幅杆1521铰接，使得变幅驱动件1524、基座151和第一变幅杆1521形成一个三角结构的变幅驱动机构，且其中变幅驱动件1524构成的一边可伸长或缩短，从而带动第一变幅杆1521转动。具体的，变幅驱动件1524为液压油缸。
在本发明的其他实施方式中，还可以使第一变幅杆1521作为从动杆，使第二变幅杆1522作为主动杆。变幅驱动件1524与第二变幅杆1522铰接，并能够带动第二变幅杆1522转动，从而带动连板1523平动，带动第一变幅杆1521转动。
连板1523还与姿态调整驱动件16和夹持臂17一起组成一个三角形的姿态调整机构，且姿态调整驱动件16所构成的一边可伸长或缩短。具体的，姿态调整驱动件16一端与连板1523铰接，姿态调整驱动件16另一端与夹持臂17铰接，连板1523还与夹持臂17铰接。本实施例中，姿态调整驱动件16为液压油缸。
在姿态调整驱动件16伸长或缩短时，夹持臂17随之产生转动。本实施例中，姿态调整驱动件16在竖直方向所在的平面内伸长或缩短，从而可以带动夹持臂17在竖直方向所在的平面内转动，使得夹持臂17的姿态可以在水平方向和竖直方向之间产生变化。
为了避免安装架15或变幅组件152等对夹持臂17的姿态调整产生阻碍，在夹持臂17上设置连接凸块171，连接凸块171呈三角结构，姿态调整驱动件16与夹持臂17的连接点位于连接凸块171上；连板1523与夹持臂17的连接点也位于连接凸块171上，使得在夹持臂17转动的过程中，夹持臂17的本体与安装架15或变幅组件152等结构能够保持间隙，从而避免干涉。
夹持臂17一端设有一个夹持部172，夹持臂17另一端设有另一个夹持部172。夹持部172上具有用于夹持管具4的夹持空间。
在变幅驱动件1524驱动第一变幅杆1521转动时，由于连板1523只能随之产生平动，因此，若此时姿态调整驱动件16的长度保持恒定，姿态调整驱动件16、夹持臂17都将随连板1523一起平动。第一变幅杆1521在转动时，其远离基座151的一端沿靠近或远离立柱11的方向移动，则其带动夹持臂17向远离或靠近立柱11的方向移动，从而调整夹持臂17所夹持的管具4与立柱11的距离。
管具存储组件3用于设置于管具处理机器人1的下方，使得夹持臂17靠近于立柱11下端时，能够从管具存储组件3上夹取管具4。
管具存储组件3包括管具存储架301、造斜驱动件37、造斜杆36、翻转架38和翻转驱动件39。
其中，管具存储架301包括架体31和抵挡块32。在本实施例中，架体31为六面体框架结构。抵挡块32与架体31相连。
管具存储组件3上包括相对设置的存放表面34和支撑表面35。在存放管具4时，支撑表面35用于与地面接触，存放表面34朝上，抵挡块32的数量为四个，四个抵挡块32的顶部高于存放表面34，在四个抵挡块32之间形成一个存放空间33，管具4可以放置于存放空间33中。
造斜驱动件37与造斜杆36相连，用于在存放表面34上形成不同方向的斜度，使存放表面34上的管具4能够向预设的方向转动。具体的，一个管具存储 架301上连接有一个造斜驱动件37和一个造斜杆36。造斜驱动件37和造斜杆36铰接相连。
造斜驱动件37一端通过安装耳板与架体31的侧面铰接相连，造斜驱动件37另一端与造斜杆36一端铰接，造斜杆36另一端与架体31铰接。造斜驱动件37、造斜杆36与架体31组成三角形结构，其中造斜驱动件37所构成的一边的长度可伸张或缩短。具体的，本实施例中，造斜驱动件37选择为油缸。
存放表面34具有相对设置的第一端和第二端。造斜杆36具有第一工作位置和第二工作位置。造斜杆36位于第一工作位置时，存放表面34第一端距支撑表面35的距离大于存放表面34的第二端距支撑表面35的距离；造斜杆36位于第二工作位置时，存放表面34第一端距支撑表面35的距离小于存放表面34的第二端距支撑表面35的距离。
翻转驱动件39一端与架体31固定相连，翻转驱动件39另一端与翻转架38铰接。翻转架38与架体31上靠近存放表面34的第一端的位置铰接。翻转驱动件39、翻转架38与架体31形成一个三角结构，且由翻转驱动件39构成的一边可伸长或缩短。具体的，翻转驱动件39被设置为油缸。
翻转架38上具有卡持面，具体的，卡持面包括第一弯折部381和第二弯折部382。在翻转驱动件39缩短时，第一弯折部381低于存放表面34，第二弯折部382高于存放表面34，使得第二弯折部382与一端的抵挡块32之间形成用于容纳单根管具4的空间，从而夹持住待抓起或刚被放下的管具4，第二弯折部382与另一端的抵挡块32之间则用于容纳其余的管具4。在翻转驱动件39伸长时，翻转架38旋转，则刚被放下的管具4可以向存放表面34上的较低端滚动，直到第一弯折部381高于存放表面34，第二弯折部382低于存放表面34。
通过翻转驱动件39、翻转架38、造斜驱动件37、造斜杆36的配合，可以实现管具4向预设的方向运动，从而便于抓取、放下和存储管具4。
本发明实施例提供的管具处理系统的工作原理在于：
管具处理系统可用于取管工作：
具体的，在管具处理机器人1取管前，管具存储组件3上的造斜驱动件37伸长，使造斜杆36位于第二工作位置，翻转架38的第一弯折部381高于存放表面34，存放表面34上的管具4向翻转架38滚动，直至被第一弯折部381挡住；然后翻转架38在翻转驱动件39的作用下翻转，使第一弯折部381低于存放表面34，第二弯折部382高于存放表面34，则其中一个管具4被第二弯折部382隔离开，便于管具处理机器人1取管；
取管时，夹持臂17处于水平态，滑车14带动安装架15下移，两个夹持部172夹住管具4；
取管后，滑车14带动安装架15沿立柱11上升，管具4随之上升；然后姿态调整驱动件16伸长，夹持臂17随之在竖直平面内旋转，使得管具4的姿态被从水平向调整到竖直向；然后立柱11绕自身长度方向自转，使管具4位于井架平台21的上方；变幅驱动件1524的长度伸长或缩短，调整管具4与立柱11的距离，从而使管具4对准井口中心22，便于进行下管。
管具处理系统还可用于存管工作：
具体的，井下的管具4被提起后，立柱11旋转至夹持臂17位于井架2上方，夹持臂17上的夹持部172夹住管具4，此时，夹持臂17在竖直方向上延伸；然后立柱11绕自身轴线旋转，直到管具4位于管具存储组件3的正上方；姿态调整驱动件16缩短，使夹持臂17和管具4的姿态被从竖直向调整到水平向；然后滑车14带动安装架15、夹持臂17和管具4下滑，靠近管具存储组件3；然后夹持部172松开管具4，将管具4放置到管具存储组件3上；
被放置的管具4靠近于存放表面34的第一端，且被第二弯折部382隔离开，此时，造斜驱动件37缩短，造斜杆36位于第一工作位置，被放置的管具4沿存放表面34滚动到第一弯折部381与第二弯折部382的凹陷处，然后翻转架38翻转，第二弯折部382低于存放表面34，使得被放置的管具4可以继续滚动， 直到滚动到存放表面34的第二端。
本发明实施例提供的管具处理系统的有益效果在于：
1.可以直接从井架2的平台以下的位置取管，从而无需在井架2上设置管具4临时存放装置，减小了井架2承受的载荷，有利于降低井架2的重心，有利于提高安全性；
2.只需要该处理系统即可以实现取管、运输、管具4姿态调整和下管等多个功能，从而无需再重复设置排管机、接立根机械手、鼠洞、猫道等设备，进一步降低了井架2载荷，也有利于节省现场布置空间；
3.所有管具4都可存储于管具4堆场，无紧急情况下管具4拆卸作业，减少不必要的效率浪费；
4.现有技术中，为了便于管具4的搬运和提升，管具4的摆放方向都为纵向(即井架2位于管具4的延长线上)，这种摆放方式管具4的搬运距离较长，而通过本发明实施例提供的上述管具处理系统，管具4在堆场的摆放姿态从纵向改为横向，提供了堆场利用率，缩短管具4搬运距离，提高效率。
需要说明的是：在本实施例中，管具存储组件3包括间隔设置的两个管具存储架301，每一个管具存储架301上均设有一个造斜驱动件37、一个造斜杆36、一个翻转驱动件39和一个翻转架38。在本发明的其他实施方式中，若需要设置管具存储架301、造斜驱动件37、造斜杆36、翻转驱动件39和翻转架38，上述五个部件的数量对应关系还可以有其他变化，而不必然依照本实施例所述的形式。即：一个管具存储架301上并不必然连接一个造斜杆36和一个翻转架38。在整个管具存储组件3中：管具存储架301的数量应设置至少一个；造斜驱动件37和造斜杆36的数量应设置至少两个，从而便于对细长型的管具4形成支撑，使管具4能够被水平地放置；翻转架38与翻转驱动件39的数量应设置至少两个，从而便于准确地分隔单根管具4。例如，可以只设置一个管具存储架301，这个管具存储架301上连接有至少两个造斜驱动件37、至少两个造斜 杆36、至少两个翻转架38、至少两个翻转驱动件39。
实施例2
请参阅图18。本实施例提供了一种管具处理系统，与实施例1中的管具处理系统的区别在于：在本实施例中，管具处理机器人1上不包括变幅组件152。
具体的，本实施例中，安装架15与滑车14固定相连。姿态调整驱动件16一端与安装架15相连，姿态调整驱动件16的输出端与夹持臂17铰接。夹持臂17与安装架15铰接。安装架15、姿态调整驱动件16与夹持臂17形成一个三角形的、用于调整管具4姿态的姿态调整机构，且姿态调整驱动件16构成的一边的长度可伸长或缩短，从而可以带动夹持臂17转动。
夹持臂17与安装架15之间的距离这样设置：使得立柱11在带动管具4旋转到井架2的平台上方时，夹持臂17上的管具4能够刚好位于井口中心22的正上方。即：井口中心22距立柱11的距离等于夹持臂17与立柱11之间的距离。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (14)

  1. 一种管具处理机器人，其特征在于，包括：
    立柱；
    安装架，所述安装架与所述立柱可滑动地连接；
    夹持臂，所述夹持臂与所述安装架可转动地连接，所述夹持臂能够在竖直平面内转动，所述夹持臂上设有用于夹持管具的夹持部。
  2. 根据权利要求1所述的管具处理机器人，其特征在于，所述立柱与所述安装架通过滑车可滑动地相连。
  3. 根据权利要求2所述的管具处理机器人，其特征在于，还包括姿态调整驱动件，所述姿态调整驱动件一端与所述安装架铰接，所述姿态调整驱动件另一端与所述夹持臂铰接；
    所述姿态调整驱动件、所述安装架和所述夹持臂形成三角形的姿态调整机构，且由所述姿态调整驱动件构成的一边的长度可伸长或缩短。
  4. 根据权利要求3所述的管具处理机器人，其特征在于，所述夹持臂上设有连接凸块，所述连接凸块呈三角结构，所述姿态调整驱动件与所述夹持臂的连接点位于所述连接凸块上。
  5. 根据权利要求4所述的管具处理机器人，其特征在于，所述安装架包括变幅组件和基座；
    所述基座与所述滑车固定相连，所述变幅组件与所述基座铰接。
  6. 根据权利要求5所述的管具处理机器人，其特征在于，所述变幅组件包括第一变幅杆、第二变幅杆和连板；
    所述基座、所述第一变幅杆、所述第二变幅杆和所述连板形成平行四边形机构；
    所述第一变幅杆作为平行四边形机构的主动杆，所述第二变幅杆作为平行四边形机构的从动杆，所述基座作为平行四边形机构的机架，所述连板作为平行四边形机构的连杆；
    所述姿态调整驱动件、所述夹持臂与所述安装架上的所述连板组成所述姿态调整机构。
  7. 根据权利要求6所述的管具处理机器人，其特征在于，所述变幅组件还包括变幅驱动件，所述变幅驱动件一端与所述基座铰接，所述变幅驱动件另一端与所述第一变幅杆铰接；
    所述变幅驱动件、所述第一变幅杆与所述基座形成三角形的变幅驱动机构，由所述变幅驱动件所组成的一边的长度可伸长或缩短。
  8. 根据权利要求1所述的管具处理机器人，其特征在于，还包括上支撑架和下支撑架；
    所述立柱一端与所述上支撑架可转动相连，所述立柱另一端与所述下支撑架可转动相连。
  9. 根据权利要求1所述的管具处理机器人，其特征在于，所述夹持臂一端设有一个夹持部，所述夹持臂另一端设有另一个夹持部。
  10. 一种管具处理系统，其特征在于，包括管具存储组件与权利要求1-9中任意一项所述的管具处理机器人；
    所述管具存储组件用于存放管具，所述管具处理机器人用于从所述管具存储组件上取管或用于将管具放置在所述管具存储组件上。
  11. 根据权利要求10所述的管具处理系统，其特征在于，所述管具存储组件包括管具存储架，所述管具存储架包括架体和至少两个抵挡块；
    所述管具存储组件具有存放表面，所述抵挡块的顶面高于所述存放表面，所述抵挡块与所述架体相连，至少两个所述抵挡块之间形成存放空间。
  12. 根据权利要求11所述的管具处理系统，其特征在于，所述管具存储组件还包括至少两个造斜驱动件和至少两个造斜杆，所述造斜驱动件与所述造斜杆一一对应相连；
    所述造斜杆与所述管具存储架相连；
    所述管具存储架上与所述存放表面相对的表面为支撑表面；
    所述造斜杆具有第一工作位置和第二工作位置，所述造斜杆位于第一工作位置时，所述存放表面第一端距所述支撑表面的距离大于所述存放表面的第二端距所述支撑表面的距离，所述造斜杆位于第二工作位置时，所述存放表面第一端距所述支撑表面的距离小于所述存放表面的第二端距所述支撑表面的距离。
  13. 根据权利要求12所述的管具处理系统，其特征在于，所述造斜杆一端与所述架体铰接，且所述造斜杆与所述架体的连接点靠近于所述存放表面的第一端；
    所述造斜杆另一端靠近于所述存放表面的第二端，且与所述造斜驱动件一端铰接，所述造斜驱动件另一端通过安装耳板所述架体铰接；
    所述造斜驱动件可伸长或缩短。
  14. 根据权利要求13所述的管具处理系统，其特征在于，所述管具存储组件还包括至少两个翻转架与至少两个翻转驱动件，所述翻转架与所述管具存储架相连；
    所述翻转架上具有卡持面，所述卡持面包括第一弯折部和第二弯折部，使所述卡持面呈现为一个内凹的折面，所述翻转架与所述架体上靠近所述存放表面的第一端的位置铰接；
    所述翻转驱动件一端与所述架体铰接，所述翻转驱动件另一端与所述翻转架远离所述卡持面的一端铰接。
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