WO2022033397A1 - 一种多功能机械手 - Google Patents

一种多功能机械手 Download PDF

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Publication number
WO2022033397A1
WO2022033397A1 PCT/CN2021/111130 CN2021111130W WO2022033397A1 WO 2022033397 A1 WO2022033397 A1 WO 2022033397A1 CN 2021111130 W CN2021111130 W CN 2021111130W WO 2022033397 A1 WO2022033397 A1 WO 2022033397A1
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WO
WIPO (PCT)
Prior art keywords
assembly
pipe
swing
pliers
vertical
Prior art date
Application number
PCT/CN2021/111130
Other languages
English (en)
French (fr)
Inventor
何波
陈崇
吕岩
Original Assignee
四川宏华石油设备有限公司
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Publication of WO2022033397A1 publication Critical patent/WO2022033397A1/zh

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Classifications

    • 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
    • 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 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
    • 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
    • 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
    • E21B19/16—Connecting or disconnecting pipe couplings or joints

Definitions

  • the invention relates to the technical field of oil and gas drilling equipment, in particular to a multifunctional manipulator.
  • Oil and gas drilling operations require constant tripping and drilling tool discharge.
  • a vertical root manipulator is usually configured to perform offline connection of vertical roots
  • the invention proposes a multi-functional manipulator in view of the technical defect that the grasping, disassembling and discharging of existing pipes are allocated to different equipments, and the pipe handover process between equipments will reduce work efficiency and increase operation safety risks;
  • the invention integrates the existing pipe-connecting manipulators, pipe-arranging machines and other pipe-operating equipment into one, which can complete the off-line dismantling and connecting of the vertical roots, move the vertical roots from the rat hole to the wellhead or the finger beam on the second floor, and greatly reduce the vertical roots in the high position.
  • the handover operation is convenient, the operation safety risk is reduced, the equipment utilization rate is provided, and the drilling rig cost is reduced; after using the present invention, the auxiliary operation of the derrick worker is not required for the second-floor platform, which reduces the dangerous operation of workers at high altitude and improves the work efficiency.
  • a multifunctional manipulator comprising a vertical motion component connected to a derrick and capable of vertical movement relative to the derrick, the vertical motion component being provided with a lateral motion component capable of lateral movement relative to the vertical motion component , the lateral movement component is provided with a slewing component that can rotate relative to the lateral movement component, the slewing component is provided with a swing component that can swing relative to the slewing component, and the swing component is provided with a relative a gripper assembly that rotates on the swing assembly;
  • the vertical motion assembly, the lateral motion assembly, the slewing assembly, the swing assembly and the gripper assembly can cooperate with each other under the control of the control system and are jointly used for grasping or disassembling or pushing the pipe tool.
  • the invention can independently complete the actions such as off-line disassembly and connection of vertical roots, moving the vertical roots from the rat hole to the wellhead or the finger beam of the second-floor platform;
  • the connected and discharged gripper components realize multi-direction and multi-degree-of-freedom movements, and the equipment has high adaptability.
  • the drill pipe catwalk can be configured for horizontal or inclined grabbing of pipes, and the pipe turning manipulator can also be configured for vertical pipes.
  • the second-floor platform does not need the auxiliary operation of the derrick worker, which reduces the dangerous operation of workers at high altitude and improves the work efficiency .
  • the vertical motion assembly includes a base, the base is connected to the front thigh of the derrick through two vertical rails, and the stroke L of the vertical motion assembly is greater than the length L1 of the stand.
  • the vertical movement component makes reasonable use of the derrick structure, and sets two mutually parallel rails on the front thigh, so as to realize the vertical movement of the present invention;
  • the length of L can be set according to the actual situation.
  • the base is connected to the winch wire rope system through a wire rope, so as to realize the up and down sliding of the vertical movement component.
  • the winch wire rope system is the preferred solution for the driving device of the vertical motion mechanism.
  • the winch wire rope system is a commonly used traction system for drilling rigs. Its advantages are simple operation, reliable performance, convenient maintenance and low cost; Different replacement for other forms of drive.
  • the lateral motion assembly is a parallelogram structure and is equipped with a driving part, one end of the lateral motion assembly is fixedly connected to the middle of the vertical motion assembly, and the other end is connected to the rotating assembly;
  • the parallelogram structure of the lateral movement assembly can swing in a vertical plane perpendicular to the front plane of the derrick under the driving of the driving part, so as to realize the lateral movement of the rotating assembly, so that the working range of the gripper assembly can be increased. Covers the X-axis area of the finger beam area.
  • the specific direction of the lateral movement here generally refers to the direction perpendicular to the front plane of the derrick, so as to simplify the design and installation and reduce the cost;
  • the parallelogram structure is preferably used as the main structure of the lateral movement assembly; the parallelogram structure can swing in a vertical plane perpendicular to the front plane of the derrick, thereby driving the rotating assembly to move laterally; the advantage of the parallelogram structure is that the mechanism can be folded and occupied. Small space; as it swings down, it increases the length of the swing assembly, allowing for a wider range of work.
  • the driving part is a hydraulic cylinder.
  • the hydraulic cylinder with telescopic function is one of the commonly used driving components in drilling rigs. Its advantages are mature technology, high reliability, convenient operation and low cost; other forms of driving parts can also be selected according to the actual situation.
  • the lateral movement component is a truss component
  • the truss component includes a truss and a translation vehicle that are connected to each other, and one end of the truss is vertically connected to the middle of the vertical movement component, and the translation vehicle The upper end of the translation vehicle is slidably connected to the truss, and the lower end of the translation vehicle is connected to the rotating assembly;
  • the translation vehicle can reciprocate within the length of the truss, so as to realize the lateral movement of the rotating assembly, so that the working range of the gripper assembly covers the X-axis area of the finger beam area.
  • the specific direction of the lateral movement here generally refers to the direction perpendicular to the front plane of the derrick, so as to simplify the design and installation and reduce the cost;
  • the truss assembly is preferably used as the main structure of the lateral motion assembly; unlike the parallelogram structure, which is a non-fixed structure, the truss assembly is a fixed structure, wherein the truss is perpendicular to and fixedly connected to the vertical motion assembly, and is The translation car realizes the lateral movement of the rotating component;
  • the truss component can directly realize the lateral movement of the rotating component without the cooperation of other moving components; the advantages of this structure are that the structure is simple and reliable, the performance is stable, the operation is more convenient, and the maintenance and repair costs are lower; but because the truss is a fixed structure, the formation of work The range is also fixed and cannot form a larger operating range.
  • the swivel assembly includes a slewing seat, the upper end of the slewing seat is connected to the lateral motion assembly through a slewing reducer, the lower end of the slewing seat is used to connect the swing assembly, and the slewing deceleration
  • the machine is used to drive the swivel base to rotate around its own axis to achieve positive and negative 180° rotation.
  • the slewing seat can drive the gripper assembly to turn to different areas such as wellhead, rat hole, finger beam, etc. according to the needs of the working conditions, so as to realize multi-directional, multi-degree-of-freedom movements, and horizontal or inclined grabbing , greatly improving the scope of application of the present invention.
  • the swing assembly includes a swing arm, the upper end of the swing arm is rotatably connected to the swing assembly through an upper joint, and the lower end of the swing arm is connected to the gripper assembly through a lower joint, thereby Make the working range of the gripper assembly cover the Y-axis area of the finger beam area.
  • the swinging component functions as an arm, which drives the claw component to turn to different areas such as wellhead, mouse hole, finger beam, etc., to perform horizontal or inclined grabbing in multiple directions and multiple degrees of freedom, greatly improving the scope of application of the present invention.
  • the gripper assembly includes a sliding seat, the sliding seat is rotatably connected to the swinging assembly through a rotating bracket, and the sliding seat is provided with a guide pliers, a clamping pliers and a pushing pliers;
  • the guiding pliers and the clamping pliers are coaxially installed for jointly grasping the pipe tool, and the pushing and supporting forceps are used for pushing and supporting the pipe tool.
  • the pipe tool or stand is clamped by the guide pliers, and the degree of freedom of rotation along the axis is provided for the pipe tool or stand during the process of dismantling the pipe tool or stand, so as to protect it from damage; Provide enough clamping force to withstand the gravity of the pipe or stand; push and support pliers can limit the pipe or stand in the clamp body, and provide enough space to accommodate different sizes of pipe or stand when tilted and pushed need.
  • the guide pliers and the clamping pliers are coaxially arranged on the upper and lower ends of the sliding seat, and the pushing and holding pliers are arranged on the top of the sliding seat and are connected with the guide pliers and the clamping pliers.
  • the axes are arranged at 90°.
  • the guide pliers and the clamping pliers are used to grasp the pipe together, and the push and support pliers are used to push and support the pipe; the two sets of structures that realize the two functions are arranged at 90° to ensure the two functions of the gripper assembly They do not interfere with each other, allowing the gripper assembly to achieve more functions without replacing parts; other arrangements can also be selected according to specific needs.
  • the guide pliers use roller-type grippers to ensure that the pipe tool can still rotate along its own axis after being grasped.
  • the roller When the guide pliers grab the pipe, the roller contacts the pipe and clamps it. During the process of dismantling the pipe or connecting the stand, the roller rotates with the rotation of the pipe, providing the pipe with the degree of freedom to choose along the axis, protecting the pipe.
  • the pipes are not damaged, and other gripper forms can also be selected according to specific needs.
  • the sliding seat is connected to the rotating bracket through a buffer mechanism; the buffer mechanism is used for the gripper assembly to contact the pipe or the pipe clamped by the gripper assembly Mechanical shock absorption when contacting fixtures, and for compensating for travel differences in the threaded connection of the pipe.
  • the buffer mechanism When the guide pliers and the clamping pliers are stationary, the buffer mechanism is in a contracted/relaxed state. When the pipe is clamped, the buffer mechanism is stretched/compressed due to the gravity of the pipe; when the guide pliers and the clamping pliers lower the pipe to the drill When docking with another pipe, but due to the delay of the control system, the movement trend of the guide pliers and the clamping pliers cannot be stopped immediately, that is, after the clamped pipe touches the support, the guiding pliers and the clamping pliers will Continue the lowering action, if there is no buffer device at this time, it will easily produce mechanical impact and cause damage to equipment or drilling tools;
  • the buffer device is stretched/compressed, and the stretched/compressed stroke is compensated for the gripper assembly, so that the gripper assembly can continue to descend within the buffer stroke.
  • the control system detects the action of the buffer device , stop the lowering action immediately, so as to play the role of pipe contact protection and equipment impact protection; at the same time, the buffer stroke of the buffer device during the process of pipe or stand disassembly can also compensate for the stroke difference of the pipe thread connection.
  • the buffer mechanism is an oil cylinder
  • the sliding seat and the rotating bracket are sleeved with each other and can slide relative to each other; Sliding direction provides cushioning protection.
  • the present invention preferably uses the oil cylinder as the buffer mechanism, and the sliding seat and the rotating bracket are sleeved with each other to match the single freedom of the oil cylinder. It has the advantages of simple and reliable structure, convenient maintenance and low cost, and can be applied to most conventional drilling rigs.
  • the present invention realizes multi-direction and multi-degree-of-freedom actions for the gripper components for grasping, disassembling and discharging through the vertical motion components, the lateral motion components, the rotary components and the swing components;
  • the equipment used for offline standing connection and standing discharge is reduced to one equipment, such as the standing manipulator and the pipe arrangement machine, which saves the space occupied by the equipment, and can independently complete the offline disconnection and connection of standing roots and move the standing roots from the mouse hole to the wellhead or the second floor.
  • the action of the platform finger beam and other actions greatly reduces the handover operation of the stand at a high position, reduces the operation safety risk, improves the equipment utilization rate, and reduces the cost of the drilling rig; after using the present invention, the second-story platform does not need the auxiliary operation of the derrick worker, which reduces the dangerous operation of the workers at high altitude and improves the efficiency of the drilling rig. work efficiency.
  • FIG. 1 is a schematic diagram of a working scene of a multifunctional manipulator in Embodiment 1.
  • FIG. 1 is a schematic diagram of a working scene of a multifunctional manipulator in Embodiment 1.
  • FIG. 2 is a schematic structural diagram of a multifunctional manipulator in Embodiment 1.
  • FIG. 2 is a schematic structural diagram of a multifunctional manipulator in Embodiment 1.
  • FIG. 3 is a partial top view of FIG. 1 .
  • FIG. 4 is a schematic diagram of the assembly structure of the swing assembly and the gripper assembly in Embodiment 1.
  • FIG. 4 is a schematic diagram of the assembly structure of the swing assembly and the gripper assembly in Embodiment 1.
  • FIG. 5 is a schematic structural diagram of the gripper assembly in Embodiment 1.
  • FIG. 5 is a schematic structural diagram of the gripper assembly in Embodiment 1.
  • FIG. 6 is a schematic structural diagram of the gripper assembly in Embodiment 1.
  • FIG. 6 is a schematic structural diagram of the gripper assembly in Embodiment 1.
  • FIG. 7 is an enlarged view of the structure at A in FIG. 6 .
  • FIG. 8 is a schematic diagram of step 1 of the multi-functional manipulator in the embodiment 1 for grasping, disassembling, moving, and discharging the standing root.
  • FIG. 9 is a schematic diagram of step 2 of the multi-functional manipulator in the embodiment 1 for grabbing, disassembling, moving, and discharging the standing root.
  • FIG. 10 is a schematic diagram of step 3 of the multi-functional manipulator in Example 1, in which the standing root is grasped, disassembled, moved, and discharged.
  • FIG. 11 is a schematic diagram of step 4 of the multi-functional manipulator in Example 1 for grabbing, disassembling, moving, and discharging the standing root.
  • FIG. 12 is a schematic diagram of step 5 of the multi-functional manipulator in Example 1 in which the root is grasped, disassembled, moved, and discharged.
  • FIG. 13 is a schematic diagram of the operation of the multi-functional manipulator in the embodiment 1 for pushing and supporting the pipe.
  • FIG. 14 is an enlarged view of the structure at B in FIG. 13 .
  • FIG. 15 is a schematic diagram of a working scene of a multifunctional manipulator in Embodiment 2.
  • FIG. 15 is a schematic diagram of a working scene of a multifunctional manipulator in Embodiment 2.
  • FIG. 16 is a schematic structural diagram of a multifunctional manipulator in Embodiment 2.
  • FIG. 16 is a schematic structural diagram of a multifunctional manipulator in Embodiment 2.
  • Reference numerals are: 1-vertical motion assembly, 11-base, 12-vertical rail, 2-transverse motion assembly, 21-drive part, 22-truss, 23-translation car, 3-swivel assembly, 31-swivel Seat, 32- Slewing reducer, 4- Swing assembly, 41- Swing arm, 42- Upper joint, 43- Lower joint, 5- Claw assembly, 51- Sliding seat, 52- Swivel bracket, 53- Guide pliers, 531 -Roller gripper, 54-Clamping pliers, 55-Pushing pliers, 56-Buffer mechanism, 6-Winch wire rope system, 61-Wire rope, 7-Finger beam area, 8-Pipe fittings, 81-Stand, 9- Derrick, 91-Front Thigh, 92-Derrick Front Plane, 93-Drilling Platform, 94-Cat Road, 951-Mouse Cave One, 952-Mouse Cave Two.
  • a multifunctional manipulator includes a vertical motion assembly 1 that is connected to a derrick 9 and can move vertically relative to the derrick 9 .
  • the lateral motion assembly 2 that moves, the lateral motion assembly 2 is provided with a rotary assembly 3 that can rotate relative to the lateral motion assembly 2, the rotary assembly 3 is provided with a swing assembly 4 that can swing relative to the rotary assembly 3, and the swing assembly 4 is provided with There is a claw assembly 5 that can rotate relative to the swing assembly 4;
  • the stroke L of the vertical motion assembly 1 is greater than the length L1 of the vertical root 81; the vertical motion assembly 1 is connected to the winch wire rope system 6 through the wire rope 61 to realize the up and down sliding of the vertical motion assembly 1;
  • the vertical motion component 1, the lateral motion component 2, the slewing component 3, the swing component 4 and the gripper component 5 can cooperate with each other under the control of the control system and are jointly used for grasping or disassembling or pushing the pipe tool 8 or the pipe tool stand 81;
  • the vertical motion assembly 1 includes a base 11, and the base 11 is connected to the front thigh 91 of the derrick 9 through two vertical rails 12;
  • the lateral movement assembly 2 is a parallelogram structure, one end of which is fixedly connected to the middle of the base 11, and the other end is connected to the rotating assembly 3; the parallelogram structure can swing in a vertical plane perpendicular to the front plane 92 of the derrick under the drive of the driving part 21, In order to realize the lateral movement of the rotating assembly 3; so that the working range of the gripper assembly 5 covers the X-axis area of the finger beam area 7, wherein the driving part 21 is a hydraulic cylinder;
  • the rotary assembly 3 includes a rotary base 31, the upper end of the rotary base 31 is connected to the lateral motion assembly 2 through a rotary reducer 32, the lower end of the rotary base 31 is used to connect the swing assembly 4, and the rotary reducer 32 is used to drive the rotary base 31 to achieve its own axis. Positive and negative 180° rotation;
  • the swing assembly 4 includes a swing arm 41, the upper end of the swing arm 41 is rotatably connected to the lower end of the swivel base 31 through the upper joint 42, and the lower end of the swing arm 41 is connected to the gripper assembly 5 through the lower joint 43, Thereby, the working range of the gripper assembly 5 covers the Y-axis area of the finger beam area 7;
  • the gripper assembly 5 includes a sliding seat 51 , the sliding seat 51 is rotatably connected to the lower joint 43 through a rotating bracket 52 , and the sliding seat 51 is provided with a guide pliers 53 and a clamping pliers 54 And push and support pliers 55; guide pliers 53 and clamping pliers 54 are coaxially installed to jointly grasp the pipe tool 8 or the vertical root 81, and the push and support pliers 55 are used to push and support the pipe tool 8 or the pipe root 82; the guide pliers 53 Coaxial with the clamping pliers 54 are arranged on the upper and lower ends of the sliding seat 51, and the pushing and supporting pliers 55 are arranged on the top of the sliding seat 51 and are arranged at 90° with the axes of the guiding pliers 53 and the clamping pliers 54;
  • the sliding seat 51 is connected to the rotating bracket 52 through a buffer mechanism 56;
  • the buffer mechanism 56 is used to reduce the mechanical impact when the gripper assembly 5 contacts the pipe 8 or the pipe 8 clamped by the gripper assembly 5 contacts the fixed object, and is used to compensate the pipe Stroke difference with 8-thread connection;
  • the buffer mechanism 56 is an oil cylinder, the sliding seat 51 and the rotating bracket 52 are relatively sleeved and can slide relatively; the two ends of the oil cylinder are respectively connected to the sliding seat 51 and the rotating bracket 52, so as to provide buffer protection along the relative sliding direction;
  • the guide pliers 53 adopts a roller-type gripper 531 to ensure that the pipe tool 8 or the stand 81 can still rotate along its own axis after being grasped.
  • Figure 8-12 is a diagram of the operation steps of a multi-functional manipulator in this embodiment for grabbing, disassembling, moving, and discharging:
  • Step 1 As shown in Figure 8, when the drilling rig uses the catwalk 94 to move the pipe 8, two mouse holes need to be configured, namely the mouse hole 1 951 and the mouse hole 2 952, of which the mouse hole 2 952 is used as a temporary storage pipe. 8 use;
  • Step 2 As shown in Figure 9, after the gripper assembly 5 clamps the pipe 8, the winch wire rope system 6 lifts the vertical motion assembly 1, and the vertical motion assembly 1 moves upward along the vertical track 12; The posture change of the pipe 8 adjusts the rotation angle of the gripper assembly 5 , and finally the pipe 8 is separated from the catwalk 94 and the pipe 8 is adjusted to a vertical posture.
  • Step 3 As shown in Figure 10, after the pipe tool 8 is adjusted to a vertical posture, continue to fine-tune the position of the pipe tool 8 to align it with the mouse hole 2 952, control the winch wire rope system 6 to lower the vertical motion component 1, and move the pipe
  • the tool 8 is placed in the rat hole 2 952 for temporary storage.
  • the buffer mechanism 56 is activated, and the control system instructs the winch wire rope system 6 to decelerate and stop, which plays a protective role; the rat hole 2 952 Lower the pipe tool 8 to a suitable height to make room for operation; at the same time, the catwalk 94 moves the second pipe tool 8 to the drill floor 93 .
  • Step 4 As shown in Figure 11, after the pipe tool 8 in the rat hole 2 952 is placed in place, the guide pliers 53 and the clamping pliers 54 of the gripper assembly 5 release the pipe tool 8, and adjust the multifunctional manipulator to the grasping force of step 1. Take the posture, grab the second pipe 8, and place the second pipe 8 in the mouse hole 951 for temporary storage; at the same time, the catwalk 94 transports the third pipe 8 to the drill floor 93;
  • Step 5 As shown in Figure 12, after the second pipe 8 in the rat hole 1 951 is placed in place, the guide pliers 53 and the clamping pliers 54 of the gripper assembly 5 release the second pipe 8, and the multifunctional manipulator Adjust to the grabbing posture of step 1, grab the third pipe 8, and connect the second pipe 8 in rat hole 1 951 and the pipe 8 in mouse hole 2 952 in turn to form the posture shown in Figure 1 , the operation of docking the vertical root 81 is completed at this time;
  • the stand removal procedure is the reverse of the above procedure.
  • Figures 13-14 are schematic diagrams of a multi-functional manipulator in this embodiment for pushing and supporting pipes:
  • the multi-functional manipulator Before the multi-functional manipulator performs the pushing and supporting operation, first move the vertical movement component down to a suitable height, and then adjust the gripper component 5 to the pushing and supporting operation posture through the lower joint 43 of the swing component 4, even if the pushing and supporting forceps 55 are facing the pipe. Tool 8; thereby pushing the pipe tool 8 to the target position of the wellhead or finger beam area 7.
  • the vertical motion assembly 1 reasonably utilizes the structure of the derrick 9, and two mutually parallel vertical rails 12 are arranged on the front thigh 91, so as to realize the vertical movement of the present invention;
  • the root 81 is disconnected and connected, so the vertical stroke L of the entire equipment needs to be greater than the vertical length L1 (that is, the sum of the lengths of the three pipes 8 );
  • the length of the stroke L of 1 can be set according to the actual situation;
  • the winch wire rope system 6 is the preferred solution for the driving device of the vertical motion mechanism 1.
  • the winch wire rope system 6 is a commonly used traction system for drilling rigs. Its advantages are simple operation, reliable performance, convenient maintenance and low cost; If the accuracy requirements are different, replace it with other forms of drive devices;
  • the specific direction of the lateral movement here generally refers to the direction perpendicular to the front plane 92 of the derrick, so as to simplify the design and installation and reduce the cost;
  • a parallelogram structure is preferred as the main structure of the lateral movement assembly 2; the parallelogram structure can swing in a vertical plane perpendicular to the front plane 92 of the derrick, thereby realizing the lateral movement of the rotating assembly 3; the advantages of the parallelogram structure are: The mechanism is foldable and occupies less space; since it is equivalent to increasing the length of the swing assembly 4 when it swings downward, it can achieve a wider range of operations;
  • the slewing base 31 can drive the gripper assembly 5 to turn to different areas such as wellheads, rat holes, finger beams, etc., according to the needs of the working conditions, so as to realize multi-directional, multi-degree-of-freedom movements, and horizontal Or inclined grasping, greatly improving the scope of application of the present invention;
  • the pipe tool 8 or the stand 81 is clamped by the guide pliers 53 to provide it with the degree of freedom to rotate along the axis during the process of dismantling the pipe tool 8 or the stand 81 to protect it from damage;
  • the clamping pliers 54 clamp the pipe tool 8 Or the stand 81 can provide enough clamping force to bear the gravity of the pipe 8 or the stand 81;
  • the pushing forceps 55 can limit the pipe 8 or the stand 81 in the clamp body, and provide enough space to adapt to different sizes of pipes Space requirements for 8 or stand 81 when tilting and pushing;
  • the guide pliers 53 and the clamping pliers 54 are used to jointly grasp the pipe tool 8, and the push and support forceps 55 are used to push and support the pipe tool 8; These functions do not interfere with each other, allowing the gripper assembly 5 to achieve more functions without replacing parts;
  • the roller-type gripper 531 contacts and clamps the pipe tool 8.
  • the roller rotates with the rotation of the pipe tool 8, which is The pipe 8 provides the freedom to choose and install along the axis to protect the pipe from damage;
  • the buffer mechanism 56 When the guide pliers 53 and the clamping pliers 54 are stationary, the buffer mechanism 56 is in a retracted state. After clamping the pipe 8, the buffer mechanism 56 is stretched/compressed due to the gravity of the pipe 8; when the guide pliers 53 and the clamping pliers 54 When lowering the pipe tool 8 to the drill floor or docking with another pipe tool 8, but due to the delay of the control system, the movement trend of the guide tongs 53 and the clamping tongs 54 cannot be stopped immediately, that is, the clamped pipe tool 8 is in contact with After the support, the guide pliers 53 and the clamping pliers 54 will continue to move down, and if there is no buffer device 56 at this time, it will be easy to produce mechanical impact and cause equipment damage;
  • the buffer device 56 is elongated, and the elongated stroke is compensated to the gripper assembly 5, so that the gripper assembly 5 can continue to descend within the buffering stroke.
  • the control system detects the movement of the buffer device 56. , stop the lowering action immediately, so as to play the role of contact protection of the pipe tool 8 and equipment impact protection; at the same time, the buffer stroke of the buffer device 56 during the disassembly of the pipe tool 8 can also compensate for the stroke difference of the connection of the pipe tool thread 81;
  • an oil cylinder is preferably used as the buffer mechanism 56, and the sliding seat 51 and the rotating bracket 52 are sleeved with each other to match the single cylinder of the oil cylinder.
  • the degree of freedom buffers the direction; the scheme is simple and reliable in structure, convenient in maintenance and low in cost, and can be applied to most conventional drilling rigs.
  • the present invention can independently complete actions such as off-line dismantling of vertical roots, moving vertical roots from mouse holes to wellheads or finger beams on the second floor;
  • the gripper assembly 5 that grasps, disassembles and discharges realizes multi-directional and multi-degree-of-freedom movements, and has high equipment adaptability, which can greatly reduce the handover operation of the stand at a high position, reduce the risk of operation safety, improve equipment utilization, and reduce drilling rig costs. ;
  • the two-story platform does not need the auxiliary operation of the derrick worker, which reduces the dangerous operation of workers at high altitude and improves the work efficiency.
  • the lateral motion component 2 is a truss component
  • the truss component includes a truss 22 and a translation vehicle 23 that are connected to each other, and one end of the truss 22 is vertically connected to the base 11, the upper end of the translation vehicle 23 is slidably connected to the truss 22, and the lower end of the translation vehicle 23 is connected to the rotating assembly 3;
  • the translation vehicle 23 can reciprocate within the length of the truss 22 to realize the lateral movement of the rotating assembly 3 , so that the working range of the gripper assembly 5 covers the X-axis area of the finger beam area 7 .
  • the specific direction of the lateral movement here generally refers to the direction perpendicular to the front plane 92 of the derrick, so as to simplify the design and installation and reduce the cost. ;
  • the truss assembly is preferably used as the main structure of the lateral motion assembly 2; unlike the parallelogram structure adopted in Embodiment 1, which is a non-fixed structure, the truss assembly is a fixed structure, wherein the truss 22 is perpendicular to and fixedly connected to the vertical motion assembly 1.
  • the lateral movement of the rotating assembly 3 is realized by the translation vehicle 23 moving within the length of the truss 22;
  • the truss component can directly realize the lateral movement of the rotating component 3 without the cooperation of other moving components; the advantages of this structure are that the structure is simple and reliable, the performance is stable, the operation is more convenient, and the maintenance and repair costs are lower; however, because the truss is a fixed structure, the formation of The working range is also fixed, and a larger working range cannot be formed.

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Abstract

一种多功能机械手，包括连接在井架（9）上并能够相对井架竖向运动的竖直运动组件（1），竖直运动组件上设有能够相对于竖直运动组件横向运动的横向运动组件（2），横向运动组件上设有能够相对于横向运动组件转动的回转组件（3），回转组件上设有能够相对于回转组件摆动的摆动组件（4），摆动组件上设有能够相对于摆动组件转动的手爪组件（5）；竖直运动组件、横向运动组件、回转组件、摆动组件和手爪组件共同用于抓取或拆接或推扶管具。该多功能机械手能够大幅减少立根在高位的交接作业，降低作业安全风险，提供设备利用率，降低钻机成本，提高工作效率。

Description

一种多功能机械手 技术领域
本发明涉及油气钻探设备技术领域，特别涉及一种多功能机械手。
 背景技术
油气钻井作业中，需要不断地进行起下钻和钻具排放工作。
对于起下钻作业，为了减少时间成本、提高工作效率，一般会提前将三个单根管具连接成“立根”存放到二层台指梁内备用，达到一次起下三个单根的效果，减少管具在井口对接、连接和拆卸的时间，从而提高工作效率；在传统钻机的布置中，通常配置接立根机械手进行立根的离线连接；
对于钻具排放作业，即管具完成立根连接后，由于不能立即送到井口钻井，需暂时存放在指梁区，在传统钻机的布置中，通常配置二层台排管机将立根在指梁和井口间移运；
按照管具的抓取、拆接、排放这一操作顺序，传统钻机对应配备管具抓取设备、立根拆接设备和立根排放设备；即管具抓取设备完成抓取动作后，交给立根拆接设备进行立根连接或拆卸动作，拆接动作完成后，交给立根排放设备进行移运和排放。
由此可见，管具的抓取、拆接、排放分配给不同设备完成，设备之间的管具交接过程会降低工作效率，增加作业安全风险；且当所有管具完成立根连接后，接立根机械手将会闲置，闲置的接立根机械手需提升到高位或者收回，以让出井口与指梁之间的区域，避免干涉其他设备完成后续的立根移运作业。
 技术问题
本发明针对现有管具的抓取、拆接、排放分配给不同设备完成，设备之间的管具交接过程会降低工作效率、增加作业安全风险的技术缺陷，提出一种多功能机械手；本发明将现有接立根机械手、排管机等管具操作设备集成为一体，能够完成立根离线拆接、将立根从鼠洞移运到井口或二层台指梁等动作，大幅减少立根在高位的交接作业，降低作业安全风险，提供设备利用率，降低钻机成本；使用本发明后，二层台无需井架工辅助操作，减少工人高空危险作业，提高工作效率。
 技术解决方案
为了实现上述发明目的，本发明提供了以下技术方案：
一种多功能机械手，包括连接在井架上并能够相对所述井架竖向运动的竖直运动组件，所述竖直运动组件上设有能够相对于所述竖直运动组件横向运动的横向运动组件，所述横向运动组件上设有能够相对于所述横向运动组件转动的回转组件，所述回转组件上设有能够相对于所述回转组件摆动的摆动组件，所述摆动组件上设有能够相对于所述摆动组件转动的手爪组件；
所述竖直运动组件、横向运动组件、回转组件、摆动组件和手爪组件能够在控制系统控制下相互配合并共同用于抓取或拆接或推扶管具。
本发明能够独立完成立根离线拆接、将立根从鼠洞移运到井口或二层台指梁等动作；通过竖直运动组件、横向运动组件、回转组件和摆动组件，为实施抓取、拆接、排放的手爪组件实现多方向、多自由度动作，设备适配性高，可以配置钻杆猫道进行管具水平或倾斜抓取，也可配置管具翻转机械手进行管具的竖直抓取；能够大幅减少立根在高位的交接作业，降低作业安全风险，提供设备利用率，降低钻机成本；使用本发明后，二层台无需井架工辅助操作，减少工人高空危险作业，提高工作效率。
作为本发明的优选方案，所述竖直运动组件包括底座，所述底座通过两根竖向轨道连接在所述井架的前大腿上，所述竖直运动组件的行程L大于立根的长度L1。
竖直运动组件合理利用井架结构，在前大腿上设置两条相互平行的轨道，从而实现本发明的竖直移动；在实际使用中，由于需要经常对立根进行拆接操作，因此需要整个设备的竖直行程L大于立根长度L1(一个立根由三根管具连接而成，即L1=三根管具长度之和)；在不需要拆接立根的特殊工况下，竖直运动组件的行程L的长度可根据实际情况设定。
作为本发明的优选方案，所述底座通过钢丝绳连接绞车钢丝绳系统，以实现所述竖直运动组件的上下滑动。
绞车钢丝绳系统是竖直运动机构的驱动装置优选方案，绞车钢丝绳系统是钻机常用的牵引系统，其优势在于操作简单、性能可靠、检修维护方便、成本低廉；可以根据具体工况和操作精度要求的不同更换为其他形式的驱动装置。
作为本发明的优选方案，所述横向运动组件为平行四边形结构并配套有驱动部，所述横向运动组件的一端固定连接在所述竖直运动组件的中部，另一端连接所述转动组件；
所述横向运动组件的平行四边形结构在所述驱动部带动下能够在垂直于井架前平面的竖直平面内摆动，以实现所述转动组件的横向移动，从而使所述手爪组件的作业范围覆盖指梁区的X轴区域。
在实现竖直运动的基础上，需要选择合适的机构实现转动组件的横向运动，此处所述横向运动的具体方向一般是指垂直于井架前平面的方向，以简化设计和安装、降低成本；
此处优选平行四边形结构作为横向运动组件的主体结构；平行四边形结构能够在垂直于井架前平面的竖直平面内摆动，从而带动转动组件横向运动；平行四边形结构的优势在于，机构可折叠、占据空间小；由于其向下摆动时等同于增加了摆动组件的长度，因此可实现更大范围的作业。
作为本发明的优选方案，所述驱动部为液压缸。
具备伸缩功能的液压缸是钻机中常用的驱动部件之一，其优势在于技术成熟、可靠性高、操作方便、成本低；也可根据实际情况选择其他形式的驱动部。
作为本发明的优选方案，所述横向运动组件为桁架组件，所述桁架组件包括相互连接的桁架和平移车，所述桁架的一端垂直连接在所述竖直运动组件的中部，所述平移车的上端可滑动地连接所述桁架，所述平移车的下端连接所述转动组件；
所述平移车能够在所述桁架长度范围内往复运动，以实现所述转动组件的横向移动，从而使所述手爪组件的作业范围覆盖指梁区的X轴区域。
在实现竖直运动的基础上，需要选择合适的机构实现转动组件的横向运动，此处所述横向运动的具体方向一般是指垂直于井架前平面的方向，以简化设计和安装、降低成本；
此处优选桁架组件作为横向运动组件的主体结构；与平行四边形结构是非固定结构不同，桁架组件为固定结构，其中桁架垂直于并固定连接在竖直运动组件上，通过在桁架长度范围内运动的平移车实现转动组件的横向移动；
桁架组件能够直接实现转动组件横向运动，无需其他运动组件进行配合；该结构的优势在于，结构简单可靠、性能稳定、操作更方便、维护检修成本更低；但由于桁架是固定结构，形成的作业范围也固定，不能形成更大的作业范围。
作为本发明的优选方案，所述回转组件包括回转座，所述回转座的上端通过回转减速机连接所述横向运动组件，所述回转座的下端用于连接所述摆动组件，所述回转减速机用于带动所述回转座绕自身轴线实现正负180°转动。
在回转减速机驱动下，回转座能够根据工况需要，通过摆动组件带动手爪组件转向井口、鼠洞、指梁等不同区域，从而实现多方向、多自由度动作，以及水平或倾斜抓取，大幅提高本发明的适用范围。
作为本发明的优选方案，所述摆动组件包括摆动臂，所述摆动臂的上端通过上关节可转动地连接所述回转组件，所述摆动臂的下端通过下关节连接所述手爪组件，从而使所述手爪组件的作业范围覆盖所述指梁区的Y轴区域。
摆动组件起到手臂的功能，其带动手爪组件转向井口、鼠洞、指梁等不同区域，在多方向、多自由度下进行水平或倾斜抓取，大幅提高本发明的适用范围。
作为本发明的优选方案，所述手爪组件包括滑动座，所述滑动座通过转动支架可转动地连接所述摆动组件，所述滑动座上设有导向钳、夹紧钳和推扶钳；所述导向钳和夹紧钳同轴安装，用于共同抓取所述管具，所述推扶钳用于推扶所述管具。
由导向钳对管具或立根进行夹持，在拆接管具或立根过程中为管具或立根提供沿轴线旋转的自由度，保护其不受损坏；夹紧钳夹持管具或立根后能提供足够的夹紧力以承受管具或立根的重力；推扶钳可将管具或立根限位在钳体内，并提供足够空间以适应不同尺寸的管具或立根在倾斜推扶时的空间需求。
作为本发明的优选方案，所述导向钳和夹紧钳同轴设于所述滑动座的上下端，所述推扶钳设于所述滑动座顶部并与所述导向钳和夹紧钳的轴线成90°布置。
导向钳和夹紧钳用于共同抓取所述管具，推扶钳用于推扶所述管具；将实现两种功能的两组结构呈90°布置，保证手爪组件的两种功能相互不干涉，让手爪组件在不更换部件的情况下实现更多功能；也可以根据具体需求选择其他布置形式。
作为本发明的优选方案，所述导向钳采用滚轮式手爪，以保证所述管具被抓取后仍能沿自身轴线转动。
在导向钳抓取管具时，由滚轮接触管具并进行夹持，在管具拆卸或连接立根过程中，滚轮随管具转动而转动，为管具提供沿轴线选装的自由度，保护管具不受损坏，也可以根据具体需求选择其他手爪形式。
作为本发明的优选方案，所述滑动座通过缓冲机构连接所述转动支架；所述缓冲机构用于在所述手爪组件接触所述管具或所述手爪组件夹持的所述管具接触固定物时消减机械冲击，以及用于补偿所述管具丝扣连接的行程差。
导向钳和夹紧钳静止时，缓冲机构处于收缩/松弛状态，当夹持管具后，缓冲机构因管具重力作用被拉长/压缩；当导向钳和夹紧钳将管具下放至钻台或者与另一根管具对接时，但由于控制系统的延迟，无法立即停止导向钳和夹紧钳的运动趋势，即被夹持的管具接触支撑物后，导向钳和夹紧钳会继续下放动作，此时如果没有缓冲装置，将容易产生机械冲击并造成设备或钻具的损坏；
该情况下，缓冲装置被拉长/压缩，其被拉长/压缩的行程补偿给手爪组件，使得手爪组件能够在缓冲行程内继续下行，在此过程中，控制系统检测到缓冲装置动作，立即停止下放动作，从而起到管具接触保护和设备冲击保护的作用；同时管具或立根拆接过程中缓冲装置的缓冲行程还能够补偿管具丝扣连接的行程差。
作为本发明的优选方案，所述缓冲机构为油缸，所述滑动座和转动支架相互套接并能够相对滑动；所述油缸的两端分别连接所述滑动座和转动支架，从而沿所述相对滑动方向提供缓冲保护。
滑动座、缓冲机构和转动支架三者之间的连接方式有多种，应当根据实际需求选择；本发明优选油缸作为缓冲机构，并将滑动座和转动支架相互套接，以匹配油缸的单自由度缓冲方向；该方案结构简单可靠、维护方便、成本低廉，可适用于大多数常规钻机。
 有益效果
本发明的有益效果是：本发明通过竖直运动组件、横向运动组件、回转组件和摆动组件，为实施抓取、拆接、排放的手爪组件实现多方向、多自由度动作；本发明将原用于离线立根连接、立根排放的接立根机械手、排管机等设备缩减到一个设备，节省了设备占用空间，能够独立完成立根离线拆接、将立根从鼠洞移运到井口或二层台指梁等动作，大幅减少立根在高位的交接作业，降低作业安全风险，提高设备利用率，降低钻机成本；使用本发明后，二层台无需井架工辅助操作，减少工人高空危险作业，提高工作效率。
 附图说明
图1为实施例1中一种多功能机械手的工作场景示意图。
图2为实施例1中一种多功能机械手的结构示意图。
图3为图1的局部俯视图。
图4为实施例1中摆动组件和手爪组件的装配结构示意图。
图5为实施例1中手爪组件的结构示意图。
图6为实施例1中手爪组件的结构示意图。
图7为图6中A处的结构放大图。
图8为实施例1中多功能机械手进行立根抓取、拆接、移运、排放的步骤一示意图。
图9为实施例1中多功能机械手进行立根抓取、拆接、移运、排放的步骤二示意图。
图10为实施例1中多功能机械手进行立根抓取、拆接、移运、排放的步骤三示意图。
图11为实施例1中多功能机械手进行立根抓取、拆接、移运、排放的步骤四示意图。
图12为实施例1中多功能机械手进行立根抓取、拆接、移运、排放的步骤五示意图。
图13为为实施例1中多功能机械手进行管具推扶作业的操作示意图。
图14为图13中B处的结构放大图。
图15为实施例2中一种多功能机械手的工作场景示意图。
图16为实施例2中一种多功能机械手的结构示意图。
附图标记为：1-竖直运动组件，11-底座，12-竖向轨道，2-横向运动组件，21-驱动部，22-桁架，23-平移车，3-回转组件，31-回转座，32-回转减速机，4-摆动组件，41-摆动臂，42-上关节，43-下关节，5-手爪组件，51-滑动座，52-转动支架，53-导向钳，531-滚轮式手爪，54-夹紧钳，55-推扶钳，56-缓冲机构，6-绞车钢丝绳系统，61-钢丝绳，7-指梁区，8-管具，81-立根，9-井架，91-前大腿，92-井架前平面，93-钻井平台，94-猫道，951-鼠洞一，952-鼠洞二。
 本发明的实施方式
下面结合试验例及具体实施方式对本发明作进一步的详细描述。但不应将此理解为本发明上述主题的范围仅限于以下的实施例，凡基于本发明内容所实现的技术均属于本发明的范围。
实施例1
为了更好地展示本实施例，对应附图中隐去了部分井架结构或其他辅助设备结构。
如图1所示，一种多功能机械手，包括连接在井架9上并能够相对井架9竖向运动的竖直运动组件1，竖直运动组件1上设有能够相对于竖直运动组件1横向运动的横向运动组件2，横向运动组件2上设有能够相对于横向运动组件2转动的回转组件3，回转组件3上设有能够相对于回转组件3摆动的摆动组件4，摆动组件4上设有能够相对于摆动组件4转动的手爪组件5；
其中，竖直运动组件1的行程L大于立根81的长度L1；竖直运动组件1通过钢丝绳61连接绞车钢丝绳系统6，以实现竖直运动组件1的上下滑动；
竖直运动组件1、横向运动组件2、回转组件3、摆动组件4和手爪组件5能够在控制系统控制下相互配合并共同用于抓取或拆接或推扶管具8或管具立根81；
如图2-3所示、结合图1，竖直运动组件1包括底座11，底座11通过两根竖向轨道12连接在井架9的前大腿91上；
横向运动组件2为平行四边形结构，其一端固定连接在底座11的中部，另一端连接转动组件3；平行四边形结构在驱动部21带动下能够在垂直于井架前平面92的竖直平面内摆动，以实现转动组件3的横向移动；从而使手爪组件5的作业范围覆盖指梁区7的X轴区域，其中驱动部21为液压缸；
回转组件3包括回转座31，回转座31的上端通过回转减速机32连接横向运动组件2，回转座31的下端用于连接摆动组件4，回转减速机32用于带动回转座31绕自身轴线实现正负180°转动；
如图2-4所示，摆动组件4包括摆动臂41，摆动臂41的上端通过上关节42可转动地连接回转座31的下端，摆动臂41的下端通过下关节43连接手爪组件5，从而使手爪组件5的作业范围覆盖指梁区7的Y轴区域；
如图4-6所示，结合图1，手爪组件5包括滑动座51，滑动座51通过转动支架52可转动地连接下关节43，滑动座51上设有导向钳53、夹紧钳54和推扶钳55；导向钳53和夹紧钳54同轴安装，用于共同抓取管具8或立根81，推扶钳55用于推扶管具8或管具立根82；导向钳53和夹紧钳54同轴设于滑动座51的上下端，推扶钳55设于滑动座51顶部并与导向钳53和夹紧钳54的轴线成90°布置；
滑动座51通过缓冲机构56连接转动支架52；缓冲机构56用于在手爪组件5接触管具8或手爪组件5夹持的管具8接触固定物时消减机械冲击，以及用于补偿管具8丝扣连接的行程差；
其中缓冲机构56为油缸，滑动座51和转动支架52相对套接并能够相对滑动；油缸的两端分别连接滑动座51和转动支架52，从而沿相对滑动方向提供缓冲保护；
如图7所示，导向钳53采用滚轮式手爪531，以保证管具8或立根81被抓取后仍能沿自身轴线转动。
图8-12为本实施例中一种多功能机械手进行立根抓取、拆接、移运、排放的作业步骤图：
步骤一：如图8所示，当钻机采用猫道94移运管具8时，需配置两个鼠洞，即鼠洞一951和鼠洞二952，其中鼠洞二952作为临时储存管具8使用；
当猫道94将管具8移运至钻台93时，管具8成倾斜姿态，多功能机械手的横向运动组件2在驱动部21的收回驱动作用下将回转组件3移动到钻具8抓取位置；摆动组件4保持竖直姿态，手爪组件5转动，使导向钳53和夹紧钳54对准管具8；控制绞车钢丝绳系统6下放钢丝61，使导向钳53和夹紧钳54下移接触管具8，并完成抓取管具8的动作；
步骤二：如图9所示，手爪组件5夹持管具8后，绞车钢丝绳系统6提升竖直运动组件1，竖直运动组件1沿竖向轨道12向上移动；同时横向运动组件2随管具8的姿态变化调整手爪组件5的旋转角度，最终使管具8脱离猫道94并调整管具8为竖直姿态。
步骤三：如图10所示，管具8被调整为竖直姿态后，继续微调管具8位置，使之与鼠洞二952对齐，操控绞车钢丝绳系统6下放竖向运动组件1，将管具8放置到鼠洞二952中临时储存，管具8在接触鼠洞二952底部时触发缓冲机构56动作后，控制系统指令绞车钢丝绳系统6减速并停止，起到保护作用；鼠洞二952将管具8下降到合适高度，让出操作空间；与此同时，猫道94将第二根管具8移运至钻台93。
步骤四：如图11所示，鼠洞二952中的管具8放置到位后，手爪组件5的导向钳53和夹紧钳54释放管具8，将多功能机械手调整到步骤一的抓取姿态，抓取第二根管具8，并将第二根管具8放置到鼠洞一951临时储存；与此同时，猫道94将第三根管具8移运至钻台93；
步骤五：如图12所示，鼠洞一951中的第二根管具8放置到位后，手爪组件5的导向钳53和夹紧钳54释放第二根管具8，将多功能机械手调整到步骤一的抓取姿态，抓取第三根管具8，并依次对接鼠洞一951中的第二根管具8和鼠洞二952中的管具8，形成图1所示姿态，此时即完成对接立根81的作业；
在连接立根81的过程中，管具8之间相互接触会触发缓冲机构56动作，控制系统指令绞车钢丝绳系统6减速或停止，起到保护作用。
立根拆卸流程与上述流程相反。
图13-14为本实施例中一种多功能机械手进行管具推扶作业的示意图：
多功能机械手在进行推扶作业前，先将竖直运动组件下移到合适高度，在通过摆动组件4的下关节43调整手爪组件5到推扶作业姿态，即使推扶钳55正对管具8；从而将管具8推扶到井口或者指梁区7的目标位置。
本实施例中，竖直运动组件1合理利用井架9结构，在前大腿91上设置两条相互平行的竖向轨道12，从而实现本发明的竖直移动；在实际使用中，由于需要经常对立根81进行拆接操作，因此需要整个设备的竖直行程L大于立根长度L1(即三根管具8的长度之和)；在不需要拆接立根81的特殊工况下，竖直运动组件1的行程L的长度可根据实际情况设定；
绞车钢丝绳系统6是竖直运动机构1的驱动装置优选方案，绞车钢丝绳系统6是钻机常用的牵引系统，其优势在于操作简单、性能可靠、检修维护方便、成本低廉；可以根据具体工况和操作精度要求的不同更换为其他形式的驱动装置；
在实现竖直运动的基础上，需要选择合适的机构实现转动组件3的横向运动，此处所述横向运动的具体方向一般是指垂直于井架前平面92的方向，以简化设计和安装、降低成本；
本实施例优选平行四边形结构作为横向运动组件2的主体结构；平行四边形结构能够在垂直于井架前平面92的竖直平面内摆动，从而实现转动组件3的横向运动；平行四边形结构的优势在于，机构可折叠、占据空间小；由于其向下摆动时等同于增加了摆动组件4的长度，因此可实现更大范围的作业；
在回转减速机32驱动下，回转座31能够根据工况需要，通过摆动组件4带动手爪组件5转向井口、鼠洞、指梁等不同区域，从而实现多方向、多自由度动作，以及水平或倾斜抓取，大幅提高本发明的适用范围；
由导向钳53对管具8或立根81进行夹持，在拆接管具8或立根81过程中为其提供沿轴线旋转的自由度，保护其不受损坏；夹紧钳54夹持管具8或立根81后能提供足够的夹紧力以承受管具8或立根81的重力；推扶钳55可将管具8或立根81限位在钳体内，并提供足够空间以适应不同尺寸的管具8或立根81在倾斜推扶时的空间需求；
导向钳53和夹紧钳54用于共同抓取管具8，推扶钳55用于推扶管具8；将实现两种功能的两组结构呈90°布置，保证手爪组件5的两种功能相互不干涉，让手爪组件5在不更换部件的情况下实现更多功能；
在导向钳53抓取管具8时，由滚轮式手爪531接触管具8并进行夹持，在管具8拆卸或连接管具立根82过程中，滚轮随管具8转动而转动，为管具8提供沿轴线选装的自由度，保护管具不受损坏；
导向钳53和夹紧钳54静止时，缓冲机构56处于收缩状态，当夹持管具8后，缓冲机构56因管具8重力作用被拉长/压缩；当导向钳53和夹紧钳54将管具8下放至钻台或者与另一根管具8对接时，但由于控制系统的延迟，无法立即停止导向钳53和夹紧钳54的运动趋势，即被夹持的管具8接触支撑物后，导向钳53和夹紧钳会54继续下放动作，此时如果没有缓冲装置56，将容易产生机械冲击并造成设备损坏；
该情况下，缓冲装置56被拉长，其被拉长的行程补偿给手爪组件5，使得手爪组件5能够在缓冲行程内继续下行，在此过程中，控制系统检测到缓冲装置56动作，立即停止下放动作，从而起到管具8接触保护和设备冲击保护的作用；同时管具8拆接过程中缓冲装置56的缓冲行程还能够补偿管具丝扣81连接的行程差；
滑动座51、缓冲机构56和转动支架52三者之间的连接方式有多种，本实施例优选油缸作为缓冲机构56，并将滑动座51和转动支架52相互套接，以匹配油缸的单自由度缓冲方向；该方案结构简单可靠、维护方便、成本低廉，可适用于大多数常规钻机。
本发明能够独立完成立根离线拆接、将立根从鼠洞移运到井口或二层台指梁等动作；通过竖直运动组件1、横向运动组件2、回转组件3和摆动组件4，为实施抓取、拆接、排放的手爪组件5实现多方向、多自由度动作，设备适配性高，能够大幅减少立根在高位的交接作业，降低作业安全风险，提供设备利用率，降低钻机成本；使用本发明后，二层台无需井架工辅助操作，减少工人高空危险作业，提高工作效率。
实施例2
如图15-16所示，本实施例与实施例1的不同之处在于，横向运动组件2为桁架组件，桁架组件包括相互连接的桁架22和平移车23，桁架22的一端垂直连接在底座11的中部，平移车23的上端可滑动地连接桁架22，平移车23的下端连接转动组件3；
其中，平移车23能够在桁架22长度范围内往复运动，以实现转动组件3的横向移动，从而使手爪组件5的作业范围覆盖指梁区7的X轴区域。
在实现竖直运动的基础上，需要选择合适的机构实现转动组件的横向运动，此处所述横向运动的具体方向一般是指垂直于井架前平面92的方向，以简化设计和安装、降低成本；
本实施例优选桁架组件作为横向运动组件2的主体结构；与实施例1采用的平行四边形结构为非固定结构不同，桁架组件为固定结构，其中桁架22垂直于并固定连接在竖直运动组件1上，通过在桁架22长度范围内运动的平移车23实现转动组件3的横向移动；
桁架组件能够直接实现转动组件3横向运动，无需其他运动组件进行配合；该结构的优势在于，结构简单可靠、性能稳定、操作更方便、维护检修成本更低；但由于桁架是固定结构，形成的作业范围也固定，不能形成更大的作业范围。
以上公开的所有特征，或公开的所有方法或过程中的步骤，除了互相排斥 的特征和/或步骤以外，均可以以任何方式组合。
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 (13)

  1. 一种多功能机械手，其特征在于，包括连接在井架(9)上并能够相对所述井架(9)竖向运动的竖直运动组件(1)，所述竖直运动组件(1)上设有能够相对于所述竖直运动组件(1)横向运动的横向运动组件(2)，所述横向运动组件(2)上设有能够相对于所述横向运动组件(2)转动的回转组件(3)，所述回转组件(3)上设有能够相对于所述回转组件(3)摆动的摆动组件(4)，所述摆动组件(4)上设有能够相对于所述摆动组件(4)转动的手爪组件(5)；
    所述竖直运动组件(1)、横向运动组件(2)、回转组件(3)、摆动组件(4)和手爪组件(5)能够在控制系统控制下相互配合并共同用于抓取或拆接或推扶管具(8)。
  2. 根据权利要求1所述的一种多功能机械手，其特征在于，所述竖直运动组件(1)包括底座(11)，所述底座(11)通过两根竖向轨道(12)连接在所述井架(9)的前大腿(91)上，所述竖直运动组件(1)的行程L大于立根(81)的长度L1。
  3. 根据权利要求2所述的一种多功能机械手，其特征在于，所述底座(11)通过钢丝绳(61)连接绞车钢丝绳系统(6)，以实现所述竖直运动组件(1)的上下滑动。
  4. 根据权利要求1所述的一种多功能机械手，其特征在于，所述横向运动组件(2)为平行四边形结构并配套有驱动部(21)，所述横向运动组件(2)的一端固定连接在所述竖直运动组件(1)的中部，另一端连接所述转动组件(3)；
    所述横向运动组件(2)的平行四边形结构在所述驱动部(21)带动下能够在垂直于井架前平面(92)的竖直平面内摆动，以实现所述转动组件(3)的横向移动，从而使所述手爪组件(5)的作业范围覆盖指梁区(7)的X轴区域。
  5. 根据权利要求4所述的一种多功能机械手，其特征在于，所述驱动部(21)为液压缸。
  6. 根据权利要求1所述的一种多功能机械手，其特征在于，所述横向运动组件(2)为桁架组件，所述桁架组件包括相互连接的桁架(22)和平移车(23)，所述桁架(22)的一端垂直连接在所述竖直运动组件(1)的中部，所述平移车(23)的上端可滑动地连接所述桁架(22)，所述平移车(23)的下端连接所述转动组件(3)；
    所述平移车(22)能够在所述桁架(21)长度范围内往复运动，以实现所述转动组件(3)的横向移动，从而使所述手爪组件(5)的作业范围覆盖指梁区(7)的X轴区域。
  7. 根据权利要求1所述的一种多功能机械手，其特征在于，所述回转组件(3)包括回转座(31)，所述回转座(31)的上端通过回转减速机(32)连接所述横向运动组件(2)，所述回转座(31)的下端用于连接所述摆动组件(4)，所述回转减速机(32)用于带动所述回转座(31)绕自身轴线实现正负180°转动。
  8. 根据权利要求1所述的一种多功能机械手，其特征在于，所述摆动组件(4)包括摆动臂(41)，所述摆动臂(41)的上端通过上关节(42)可转动地连接所述回转组件(3)，所述摆动臂(41)的下端通过下关节(43)连接所述手爪组件(5)，所述摆动组件(4)用于使所述手爪组件(5)的作业范围覆盖所述指梁区(7)的Y轴区域。
  9. 根据权利要求1所述的一种多功能机械手，其特征在于，所述手爪组件(5)包括滑动座(51)，所述滑动座(51)通过转动支架(52)可转动地连接所述摆动组件(4)，所述滑动座(51)上设有导向钳(53)、夹紧钳(54)和推扶钳(55)；所述导向钳(53)和夹紧钳(54)同轴安装，用于共同抓取所述管具(8)，所述推扶钳(55)用于推扶所述管具(8)。
  10. 根据权利要求9所述的一种多功能机械手，其特征在于，所述导向钳(53)和夹紧钳(54)同轴设于所述滑动座(51)的上下端，所述推扶钳(55)设于所述滑动座(51)顶部并与所述导向钳(53)和夹紧钳(54)的轴线成90°布置。
  11. 根据权利要求9所述的一种多功能机械手，其特征在于，所述导向钳(53)采用滚轮式手爪(531)，以保证所述管具(8)被抓取后仍能沿自身轴线转动。
  12. 根据权利要求9所述的一种多功能机械手，其特征在于，所述滑动座(51)通过缓冲机构(56)连接所述转动支架(52)；所述缓冲机构(56)用于在所述手爪组件(5)接触所述管具(8)或所述手爪组件(5)夹持的所述管具(8)接触固定物时消减机械冲击，以及用于补偿所述管具(8)丝扣连接的行程差。
  13. 根据权利要求12所述的一种多功能机械手，其特征在于，所述缓冲机构(56)为油缸，所述滑动座(51)和转动支架(52)相互套接并能够相对滑动；所述油缸的两端分别连接所述滑动座(51)和转动支架(52)，从而沿所述相对滑动方向提供缓冲保护。
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