WO2022033400A1 - 一种用于管具的输送装置及输送方法 - Google Patents

一种用于管具的输送装置及输送方法 Download PDF

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Publication number
WO2022033400A1
WO2022033400A1 PCT/CN2021/111133 CN2021111133W WO2022033400A1 WO 2022033400 A1 WO2022033400 A1 WO 2022033400A1 CN 2021111133 W CN2021111133 W CN 2021111133W WO 2022033400 A1 WO2022033400 A1 WO 2022033400A1
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WO
WIPO (PCT)
Prior art keywords
pipe
arm
main beam
storage rack
turning
Prior art date
Application number
PCT/CN2021/111133
Other languages
English (en)
French (fr)
Inventor
吕岩
陈崇
唐爱民
吴正华
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 WO2022033400A1 publication Critical patent/WO2022033400A1/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
    • 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
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness

Definitions

  • the invention relates to an automatic pipe processing equipment, in particular to a conveying device and a conveying method for pipes.
  • drilling pipes are the most frequently used tools with a wide variety and a large number of tools, which are used for more than 90% of drilling operations. All pipes are transported separately according to the type, and when they arrive at the well site for use, they are transported to the drilling floor with special equipment. After completion of the well, when it is necessary to move, special equipment is used to transport the pipes to the ground for storage and transportation.
  • the professional equipment widely used in the industry to transport pipes from the ground to the drilling floor is the power catwalk.
  • the whole process usually adopts the power catwalk, drill pipe rack, rat hole, righting manipulator, iron driller, elevator and other equipment to cooperate Work to complete the transportation of pipes from the ground to the drilling floor.
  • the core equipment is the power catwalk, which completes the process of transporting the pipes from the low level of the ground to the high level of the drilling floor.
  • the catwalk transportation pipe needs to be handed over with the elevator, and the pipe must be in an inclined state when transported to the drill floor.
  • the purpose of the present invention is: according to the prior art, the pipes transported by catwalks to the drilling floor are in an inclined state, because the lengths, diameters and wall thicknesses of different types of pipes are different, resulting in the inclined positions and angles of the pipes. . Therefore, the inclined state of the pipe tool brings great difficulties to the rapid and accurate processing of the pipe tool. Therefore, a conveying device and conveying method for pipes are provided, which can transport pipes from a predetermined horizontal position on the ground to a predetermined vertical position, and realize the controllable trajectory, so that the pipes can be quickly and accurately conveyed.
  • a conveying device for pipes comprising a base and an overturned main beam for fixing pipes, one end of the base and one end of the overturned main beam are hinged through a first hinge shaft, and the overturned main beam is connected to the A first telescopic member is also hinged between the bases.
  • the initial state is a predetermined horizontal position, and one end of the base and one end of the turning main beam are hinged through a first hinge shaft.
  • the first telescopic member Running and extending, pushing the inversion main beam to rotate around the first hinge axis, the inversion main beam drives the pipe in the clamp body assembly to rotate at the same time, and reaches the vertical predetermined position, the pipe is fixed on the inversion main beam in the whole process,
  • the trajectory is controllable so that the pipe can be delivered quickly and accurately.
  • At least one clamp body assembly is provided on the inverting main beam, and the clamp body assembly can limit the radial movement of the pipe tool.
  • the clamp body assembly is provided with corresponding clamping arms, and a clamping space for clamping the pipe is provided between the corresponding clamping arms. Therefore, the clamp body assembly can not only limit the radial movement of the pipe, but also limit the axial movement of the pipe.
  • a first support structure is provided on the end of the turning main beam close to the first hinge shaft, and the first support structure is used for positioning one end of the pipe tool.
  • the positioning in this solution refers to: the first support structure abuts one end of the pipe for axial positioning, or the first support structure can both axially position the pipe and radially limit the pipe.
  • the positioning in this solution includes: the first support structure can not only locate the radial displacement of the pipe, but also limit the axial displacement of the pipe toward the side of the first support structure;
  • the first support structure is configured to match the shape of the interface device such that at least a portion of the interface device can be passed through the first support structure to take away the pipe.
  • a conveying device for pipes according to the present invention
  • the positioning mechanism can push the pipe tool from the end of the pipe tool away from the first hinge shaft.
  • the pipe can be pushed to a horizontal predetermined position.
  • the positioning mechanism includes a relatively movable chassis and a trolley, and the trolley is used to push the pipe tool.
  • the trolley can reciprocate relative to the bottom frame to push the pipe and reset it.
  • a first driving component is provided on the bottom frame, the first driving component is drivingly connected with the trolley, and an encoder for recording the displacement of the trolley is provided on the first driving component.
  • the length of the pipe can be measured and recorded by the encoder, thereby preparing for the subsequent processing of the pipe.
  • the conveying device for pipes according to the present invention further comprises a first storage rack and/or a second storage rack, wherein,
  • the first storage rack is used to transport the pipe to the overturned main beam
  • the second storage rack is used to transport the pipe to the overturned main beam.
  • the first storage rack includes a storage rack for placing the pipe and a turnover assembly for transporting the pipe from the storage rack to the storage rack. on the overturned girder as described above.
  • the end of the storage rack close to the turning main beam is hinged with the base through a second hinge shaft, and a first lifting cylinder is also hinged between the storage rack and the base, so The second hinge shaft is located between the first jacking cylinder and the turning main beam.
  • the inversion assembly includes a correspondingly arranged material distribution arm and a first inversion arm, and there is a placement space for placing the pipe tool between the material distribution arm and the first inversion arm.
  • the distributing arm and the first flipping arm are arranged correspondingly, that is, the distributing arm and the first flipping arm are arranged opposite to each other, and there is a certain matching relationship between them, so that they can jointly form a placement space for placing the pipe. .
  • the distributing arm and the first storage rack are hinged through a third hinge shaft, and a second driving part is further connected between the distributing arm and the storage rack, and the second driving part is connected.
  • the second driving part drives the distributing arm to rotate around the third hinge shaft.
  • the first inversion arm and the first storage rack are hinged through a fourth hinge shaft, and a fourth driving component is further connected between the first inversion arm and the storage rack, and the fourth The driving part drives the first turning arm to rotate around the fourth hinge shaft.
  • a blocking block and a placement surface for placing the pipe are provided on the storage rack, the upper part of the blocking block is exposed from the placing surface, and the blocking block can be relative to the placing surface along the placing surface.
  • the placing surface moves back and forth, and the blocking block moves in a direction close to or away from the turning main beam.
  • the distance between the pipe and the distributing arm is adjusted by the material block to ensure that the distributing arm can only move one pipe at a time when handling pipes of different diameters.
  • an adjustment telescopic cylinder is further provided on the storage rack, the adjustment telescopic cylinder is drivingly connected with the block, and a displacement sensor is provided on the adjustment telescopic cylinder, and the displacement sensor is used to adjust the diameter to change the position of the stopper.
  • Adjust the telescopic cylinder to drive the stopper to run and stop at different positions in order to adapt to different pipes.
  • Different pipe diameters can change the position of the stopper by changing the value of the displacement sensor set in the adjustment telescopic cylinder.
  • the second storage rack includes a bottom rack and an inclined arm, the bottom rack and the inclined arm are hinged through a fifth hinge shaft, and a second top is hinged between the bottom rack and the inclined arm A lift cylinder, the fifth hinge shaft is located between the second lift cylinder and the turning main beam.
  • the tilting arm By extending the second jacking cylinder, the tilting arm can be rotated around the fifth hinge axis and tilted toward the side of the overturned main beam.
  • the second storage rack further includes a second inversion arm and a driving cylinder that are drivingly connected, the second inversion arm is hinged with the bottom frame through a sixth hinge shaft, and the sixth hinge shaft is located in the Between the fifth hinge shaft and the turning main beam, the driving cylinder can drive the second turning arm to rotate around the fifth hinge shaft.
  • a transition arm is disposed between the inclined arm and the second turning arm, and an end of the transition arm close to the inclined arm is hinged with the chassis through the fifth hinge shaft.
  • the structure is more compact.
  • the first storage rack is arranged on one side of the overturned main beam, and the second storage rack is arranged at the other side of the overturned main beam.
  • the first storage rack and the second storage rack are arranged to meet the pipes of different specifications, and the pipes of different specifications can be quickly switched back and forth, which further increases the conveying efficiency.
  • the present invention also discloses a conveying method, based on the conveying device for pipes described in the present application, which comprises the following steps:
  • the trolley pushes the pipe tool, makes the pipe tool reach a horizontal predetermined position on the overturned main beam, and fixes the pipe tool to the overturned main beam, and the trolley retreats and detached from the pipe;
  • the first telescopic member shrinks, and the overturned main beam drives the clamp body assembly to rotate around the first hinge shaft to return to the horizontal predetermined position.
  • the conveying method of the present invention based on the conveying device described in the present application, can effectively convey the pipe in the horizontal predetermined position to the vertical predetermined position. This enables quick and precise delivery of the pipe.
  • step S1 includes the following steps:
  • the fourth driving component drives the first turning arm to rotate, and after the pipe tool rolls into the first turning arm, it is driven by the first turning arm into the clamp body assembly;
  • step S1 includes the following steps:
  • the second lifting cylinder on the second storage rack drives the tilting arm to rotate and tilt, the tilting arm drives the pipe on the second storage rack to move, and the pipe is rolled until the tilting arm is close to the flipping
  • One end of the main beam is in contact with the second turning arm;
  • the driving cylinder drives the second inversion arm to rotate, and the transition arm rotates downward by its own weight, until the transition arm tilts toward the side of the main inversion beam and rolls with the second inversion arm. touch;
  • the driving cylinder continues to drive the second turning arm to rotate and swing, and the pipe tool rotates with the second turning arm and enters the clamp body assembly.
  • a conveying device for pipes is a predetermined horizontal position, and one end of the base and one end of the turning main beam are hinged through a first hinge shaft.
  • the first The telescopic member runs out and pushes the inverting main beam to rotate around the first hinge axis.
  • the inverting main beam drives the pipe in the clamp body assembly to rotate at the same time to reach the vertical predetermined position, and the pipe is fixed on the inverting main beam in the whole process.
  • the trajectory is controllable, so that the pipe can be transported quickly and accurately.
  • a conveying device for pipes according to the present invention, a first driving part is provided on the bottom frame, the first driving part is drivingly connected with the trolley, and the first driving part is An encoder for recording the displacement of the trolley is provided, and the length of the pipe can be measured and recorded by the encoder and the displacement of the trolley, thereby preparing for the subsequent processing of the pipe.
  • a first storage rack and a second storage rack can be set at the same time to meet different specifications of pipes, and can quickly switch back and forth between different specifications of pipes, which further increases the conveying efficiency.
  • the conveying method of the present invention based on the conveying device described in the present application, can effectively convey the pipe in the horizontal predetermined position to the vertical predetermined position. control, so that the pipe can be delivered quickly and accurately.
  • FIG. 1 is a schematic structural diagram of a conveying device for pipes according to the present invention.
  • FIG. 2 is a schematic structural diagram of the first storage rack of the present invention (front three-dimensional isometric view).
  • FIG. 3 is a schematic structural diagram of the first storage rack of the present invention (rearward three-dimensional isometric view).
  • FIG. 4 is a schematic structural diagram of an overturned main beam of the present invention.
  • FIG. 5 is a front view of the inverted main beam of the present invention (the clamp body assembly is unfolded).
  • FIG. 6 is a front view of the inverted main beam of the present invention (the clamp body assembly is closed).
  • FIG. 7 is a schematic structural diagram of a second storage rack of the present invention.
  • FIG. 8 is a schematic structural diagram of the positioning mechanism of the present invention.
  • FIG. 9 is a schematic structural diagram of Step 2 in Embodiment 2 of the present invention.
  • FIG. 10 is a schematic structural diagram of Step 3 in Embodiment 2 of the present invention.
  • FIG. 11 is a schematic structural diagram of Step 4 in Embodiment 2 of the present invention.
  • FIG. 12 is a schematic structural diagram of Step 3 in Embodiment 3 of the present invention.
  • FIG. 13 is a schematic structural diagram of Step 4 in Embodiment 3 of the present invention.
  • Figure 14 is a schematic structural diagram of a conveying system of the present invention.
  • Figure 15 is a schematic diagram of the fitting of the pipe tool of the present invention placed on the overturned main beam (before the trolley pushes against the pipe tool).
  • Figure 16 is a schematic diagram of the fitting of the pipe of the present invention placed on the overturned main beam (when the trolley pushes against the pipe).
  • Fig. 17 is a schematic diagram of the fitting of the pipe of the present invention placed on the overturned main beam (the pipe is at a predetermined horizontal position).
  • Fig. 18 is a schematic diagram of the fitting of the pipe fitting of the present invention placed on the overturned main beam (the pipe fitting is at a predetermined vertical position).
  • FIG. 19 is a schematic diagram of the cooperation between the overturned main beam and the power rat hole of the present invention (the pipe tool is in a vertical predetermined position).
  • FIG. 20 is a schematic diagram of the structure of the bottom structure of the powered rat hole of the present invention rising to a high position.
  • Icons 1-first storage rack; 10-turnover assembly; 100-pipe fittings; 11-storage rack; 111-placement surface; 112-second hinge shaft; 12-first lifting cylinder; 13-blocking block ; 14- Adjusting telescopic cylinder; 15- Distributing arm; 151- The third hinge shaft; 16- The second drive part; 17- The first turning arm; 171- The fourth hinge shaft; 18- The fourth drive part; 2- Power mouse hole; 3-turning manipulator; 30-turning main beam; 31-base; 32-clamp body assembly; 321-clamping arm; 322-clamping space; 33-first hinge shaft; 34-first support structure; 35-first telescopic member; 36-positioning mechanism; 361-underframe; 362-trolley; 363-first drive part; 5-second storage rack; 51-second turning arm; 52-drive cylinder; 53-tilt Arm; 54-Second Lifting Cylinder; 55-Transition Arm; 56-Bottom Frame; 57-Fifth Articulating Shaft; 58
  • a conveying device for pipes described in this embodiment includes:
  • the base 31 is used for fixing the inverting main beam 30 of the pipe tool 100 , one end of the base 31 and one end of the inverting main beam 30 are hinged through the first hinge shaft 33 , and the inverting main beam 30 and the base 31 are hinged.
  • a first telescopic member 35 is also hingedly connected therebetween, and at least one clamp body assembly 32 is provided on the flip main beam 30 , and the clamp body assembly 32 can restrict the pipe tool 100 from moving along its radial direction.
  • the forceps body assembly 32 preferably has two solutions:
  • clamping method the clamp body assembly 32 is provided with clamping arms 321 correspondingly, and a clamping space 322 for clamping the pipe 100 is provided between the corresponding clamping arms 321 .
  • a first support structure 34 is provided on the end of the turning main beam 30 close to the first hinge shaft 33 , and the first support structure 34 is used for positioning one end of the pipe tool 100 , so One end of the pipe tool 100 abuts the first support structure 34, and at the same time, the first support structure 34 can realize the handover of the pipe tool 100 with other equipment, and the first support structure 34 is set to match the handover equipment. Shaped to allow at least a portion of the interface device to pass through the first support structure 34, thereby entraining the plumbing 100.
  • the positioning mechanism 36 is located at the end of the turning main beam 30 away from the first hinge shaft 33,
  • the positioning mechanism 36 can push the pipe tool 100 from the end of the pipe tool 100 away from the first hinge shaft 33 .
  • the positioning mechanism 36 includes a relatively movable bottom frame 361 and a trolley 362 , and the trolley 362 is used to push the pipe tool 100 .
  • the first driving part 363 of the positioning mechanism 36 operates, and drives the trolley 362 to walk through the sprocket and the chain. And push the pipe 100;
  • the trolley 362 can also be driven to move relative to the bottom frame 361 through a wire rope, a pulley, a rack and pinion, or an oil cylinder.
  • a first driving member 363 is provided on the bottom frame 361 , and the first driving member 363 is drivingly connected with the trolley 362 .
  • the driving part 363 is provided with an encoder for recording the displacement of the trolley 362 , and the length of the pipe 100 can be measured and recorded by the encoder and the displacement of the trolley 362 , thereby preparing for the subsequent processing of the pipe 100 .
  • the first storage rack 1 is used to transport the pipe tool 100 to the overturned main beam 30 , and at this time, the pipe tool 100 is usually a drill pipe and a drill collar.
  • the first storage rack 1 includes a storage rack 11 and a turning assembly 10, the storage rack 11 is used for placing the pipe 100, and the turning assembly 10 is used for removing the pipe 100 from all The storage rack 11 is transported to the turning main beam 30 .
  • the end of the storage rack 11 close to the turning main beam 30 is hinged with the base 31 through a second hinge shaft 112 , and a first lift is also hinged between the storage rack 11 and the base 31 .
  • Cylinder 12 , the second hinge shaft 112 is located between the first lifting cylinder 12 and the turning main beam 30 .
  • the turning assembly 10 includes a corresponding distributing arm 15 and a first turning arm 17, and there is a placing space for placing the pipe 100 between the distributing arm 15 and the first turning arm 17, wherein , the distributing arm 15 is hinged with the first storage rack 1 through a third hinge shaft 151, and a second driving member 16 is also connected between the distributing arm 15 and the storage rack 11 for a second drive Part 16, the second driving part 16
  • the second driving part 16 drives the distributing arm 15 to rotate around the third hinge shaft 151; the first turning arm 17 and the first storage rack 1 pass through the fourth
  • the hinge shaft 171 is hinged, and a fourth driving part 18 is connected between the first turning arm 17 and the storage rack 11 , and the fourth driving part 18 drives the first turning arm 17 to rotate around the first turning arm 17 .
  • the four hinge shafts 171 rotate.
  • the storage rack 11 is provided with a stopper block 13 and a placement surface 111 for placing the pipe 100.
  • the stopper block 13 can move back and forth relative to the placement surface 111 along the placement surface 111.
  • the moving direction of the blocking block 13 is close to or away from the turning main beam 30 .
  • the second storage rack 5 is used to transport the pipe tool 100 to the overturned main beam 30.
  • the pipe tool 100 is often a casing
  • the second storage rack 5 includes a second turning arm 51 , a bottom rack 56 and a tilting arm 53 .
  • the bottom rack 56 and the tilting arm 53 are hinged through a fifth hinge shaft 57
  • the bottom rack 56 A second lifting cylinder 54 is also hinged between the tilting arm 53 and the fifth hinge shaft 57
  • the fifth hinge shaft 57 is located between the second lifting cylinder 54 and the turning main beam 30.
  • the second turning arm 51 is hinged with the bottom frame 56 through a sixth hinge shaft 58
  • the sixth hinge shaft 58 is located between the fifth hinge shaft 57 and the turning main beam 30 .
  • the second storage rack 5 further includes a second turning arm 51, the second turning arm 51 is hinged with the bottom frame 56 through a sixth hinge shaft 58, and the sixth hinge shaft 58 is located at the fifth hinge. between the shaft 57 and the reversing main beam 30 .
  • a transition arm 55 is disposed between the inclined arm 53 and the second turning arm 51 , and the end of the transition arm 55 close to the inclined arm 53 is connected to the bottom frame 56 through the fifth hinge shaft 57 . Hinged.
  • the first storage rack 1 and the second storage rack 5 can be set independently or at the same time. When they are set at the same time, the first storage rack 1 is located on the side of the turning main beam 30, and the second storage rack 5 On the other side of the inverted main beam 30 to form the conveying system described in this application.
  • the stopper 13 on the first storage rack 1 is to ensure that when the distributing arm 15 handles pipes 100 of different diameters, only one pipe 100 is moved at a time, and the telescopic cylinder 14 is adjusted to drive the stopper 13 to run. And stop at different positions in order to adapt to different pipes 100 .
  • Different diameters of the pipe 100 can change the position of the block 13 by changing the value of the displacement sensor arranged in the adjusting telescopic cylinder 14 .
  • a delivery method described in this embodiment is based on the delivery device for pipes described in Embodiment 1, and is provided with a first storage Implemented in the case of rack 1, which consists of the following steps:
  • Step 1 The pipe hoist grabs the pipe 100, walks, and puts the pipe 100 into the first storage rack 1 of the automated pipe handling equipment.
  • Step 2 Run the first lifting cylinder 12, adjust the position of the stopper block 13, and adapt to the size of the pipe 100 currently being processed.
  • the first lifting cylinder 12 on the first storage rack 1 operates to tilt the storage rack 11 .
  • the pipe tool 100 is rolled on the placing surface 111 of the storage rack 11 so that the pipe tool 100 is close to the stopper block 13 .
  • Figure 9 As shown in Figure 9;
  • Step 3 The distributing cylinder 16 operates, driving the distributing arm 15 to rotate, and the distributing arm 15 drives the pipe 100 on the storage rack 11 to move and contact the first turning arm 17 .
  • Figure 10 As shown in Figure 10;
  • Step 4 The operation of the fourth driving part 18 drives the first turning arm 17 to rotate. After the pipe tool 100 rolls into the first turning arm 17, it is driven by the first turning arm 17 into the clamp body assembly 32 on the turning main beam 30.
  • the second driving part 16 runs, drives the distributing arm 15 to rotate, and the distributing arm 15 runs to the low position. At this time, the trolley 362 on the positioning mechanism 36 is away from the pipe 100 .
  • Figure 11 As shown in Figure 11;
  • Step 5 The first driving component 363 of the positioning mechanism 36 operates, and drives the trolley 362 to walk through the sprocket and the chain. After the trolley 362 travels a certain distance, it contacts the end of the pipe 100. The trolley 362 continues to walk and pushes the pipe 100. Until the other end of the pipe tool 100 contacts the first support structure 34 on the overturned main beam 30, the first driving component 363 stops driving, and the trolley 362 stops running. As shown in Figures 15 and 16, in this solution, the trolley 362 can also be driven to walk by a wire rope and a pulley, or an oil cylinder, wherein the first driving part 363 is preferably a motor or a motor;
  • Step 6 The encoder of the first driving part 363 records the data, and calculates the length of the pipe 100 through the stroke. After recording the data, the first driving part 363 drives in reverse, and drives the trolley 362 to travel in reverse through the sprocket and chain. The fixed position stops, and the clamp body assembly 32 on the flip main beam 30 is in an open state at this time. As shown in Figures 17 and 18;
  • Step 7 Run the oil cylinder on the clamp body assembly 32 to push the clamp body assembly 32 to operate the clamping tool 100 .
  • the turning main beam 30 is in a horizontal predetermined position.
  • Step 8 The first telescopic member 35 runs and extends, pushes the turning main beam 30 to run, the turning main beam 30 drives the pipe tool 100 in the clamp body assembly 32 to rotate at the same time, and is adjusted from the horizontal predetermined position to the vertical predetermined position, and the pipe tool 100 into the working range of Power Mouse Hole 2. As shown in Figure 19;
  • Step 9 The power mouse hole 2 is operated, and the bottom of the mouse hole is raised to contact the lower end of the pipe 100 .
  • the centering device operates to center the pipe 100 . As shown in Figure 20;
  • Step 10 Turn on the clamp body assembly 32 on the main beam 30 of the automatic pipe handling equipment. At this time, the overturned main beam 30 is in a vertical predetermined position;
  • Step 11 Continue to lift the pipe tool 100 at the bottom of the mouse hole until the top of the pipe tool 100 exceeds a certain distance from the drill floor so that the elevator can lift the pipe tool 100 or other equipment to grab the pipe tool 100, the jacking mechanism stops running, and the top of the mouse hole The centering device is running, and the pipe 100 is centering. At this time, the first turning arm 17 on the first storage rack 1 is in a low position.
  • Step 12 The fourth driving component 18 on the first storage rack 1 operates to drive the sprocket, which in turn drives the first turning arm 17 to rotate, until the first turning arm 17 runs to a high position and stops, ready to process the next pipe 100.
  • Step 13 The first telescopic member 35 drives the turning main beam 30 to rotate. After the turning main beam 30 is adjusted from the vertical predetermined position to the horizontal predetermined position, the operation is stopped. In this state, the equipment is the same as that of step 2, and repeating steps 2 to 13 can continuously cycle operations.
  • step 1 the whole process of the pipe hoist grabbing the pipe 100, walking, and putting the pipe 100 into the first storage rack 1 can be replaced by a power drill pipe box or a device that achieves the same function.
  • the sprockets can also be replaced by wire ropes and pulleys, racks and pinions, and cylinders of jacking devices, synchronous pulleys or V-belt pulleys and other equipment with the same functions.
  • the process of recycling the pipe 100 is opposite to the above process, and the inclination angles and positions of the various mechanisms are also different.
  • the rollers 37 can be set at the corresponding positions of the overturning main beam 3, and at least one roller 37 A driving mechanism is connected to the top, and the driving mechanism drives the roller 37 to rotate, so as to achieve the purpose of driving the pipe tool 100 to move in the reverse axial direction.
  • the conveying method described in this embodiment based on the conveying device described in this application, can effectively convey the pipe tool 100 at a predetermined horizontal position to a predetermined vertical position.
  • the trajectory is controllable, enabling fast and precise delivery of the pipe.
  • a conveying method described in this embodiment is based on the conveying device for pipes described in Embodiment 1, and is provided with a second storage rack 5
  • the pipe tool 100 is often a casing, which includes the following steps:
  • Step 1 The pipes 100 on the casing rack enter above the second storage rack 5 of the automated pipe handling equipment.
  • Step 2 The second jacking cylinder 54 on the second storage rack 5 operates to drive the tilting arm 53 to rotate and tilt toward the side of the overturned main beam 30, and the tilting arm 53 drives the pipe tool 100 on the casing rack to move and enter the tilting
  • the arm 53 ranges, and rolls to the lower end of the inclined arm 53 , and contacts the second turning arm 51 . As shown in Figure 12.
  • Step 3 The driving cylinder 52 drives the second turning arm 51 to rotate and swing, the transition arm 55 rotates downwards by its own weight, and the angle changes until the transition arm 55 contacts the lower support structure, the transition arm 55 stops rotating, and the angle is adjusted to be inclined downward,
  • the pipe tool 100 rolls down due to its own weight, enters the upper surface of the transition arm 55 and contacts the second turning arm 51 .
  • Figure 12 As shown in Figure 12;
  • Step 4 The driving cylinder 52 continues to run, driving the second turning arm 51 to continue to rotate and swing, and the pipe 100 enters the range of the second turning arm 51 until the rotating arm of the second turning arm 51 rotates to a low position, and the pipe 100 enters the turning main beam 30 in the pliers body assembly 32. At this time, the clamp body assembly 32 is in an open state, and the positioning mechanism 36 is the principle of the pipe tool 100 . As shown in Figure 13;
  • Step 5 The first driving part 363 of the positioning mechanism 36 operates, and drives the trolley 362 to walk through the sprocket and the chain.
  • the trolley 362 travels a certain distance 1 and then touches the end of the pipe 100.
  • the trolley 362 continues to walk and pushes the pipe 100. , until the other end of the pipe tool 100 contacts the first support structure 34 on the overturned main beam 30 , the first driving component 363 stops driving, and the trolley 362 stops running.
  • the trolley 362 can also be driven by wire ropes and pulleys, or oil cylinders, wherein the first driving component 363 is preferably a motor or a motor; as shown in FIGS. 15 and 16 .
  • Step 6 The encoder of the first driving part 363 records the data, and calculates the length of the pipe 100 through the stroke. After recording the data, the first driving part 363 drives in reverse, and drives the trolley 362 to travel in reverse through the sprocket and chain. The fixed position stops, and the clamp body assembly 32 on the flip main beam 30 is in an open state at this time. As shown in Figures 17 and 18.
  • Step 7 Operate the oil cylinder 36 on the clamp body assembly 32 to push the clamp body assembly 32 to operate the clamping tool 100 .
  • the turning main beam 30 is in a horizontal predetermined position.
  • Step 8 The first telescopic member 35 runs out, pushes the turning main beam 30 to run, the turning main beam 30 drives the pipe tool 100 in the clamp body assembly 32 to rotate at the same time, and adjusts from the horizontal predetermined position to the vertical predetermined position, and then the pipe tool 100 into the working range of Power Mouse Hole 2.
  • Figure 19 As shown in Figure 19;
  • Step 9 The power mouse hole 2 is operated, and the bottom of the mouse hole is raised to contact the lower end of the pipe 100 .
  • the centering device operates to center the pipe 100 .
  • Step 10 Open the clamp body assembly 32 on the overturned main beam 30. At this time, the turning main beam 30 is in a vertical predetermined position.
  • Step 11 Continue to lift the pipe tool 100 at the bottom of the mouse hole until the top of the pipe tool 100 exceeds a certain distance from the drill floor so that the elevator can lift the pipe tool 100 or other equipment to grab the pipe tool 100, the jacking mechanism stops running, and the top of the mouse hole The device is running. At this time, the second turning arm 51 on the second storage rack 5 is in a low position. As shown in Figure 20;
  • Step 12 The second lifting cylinder 54 on the second storage rack 5 operates to drive the tilting arm 53 to rotate to a low position.
  • the driving cylinder 52 operates to drive the second turning arm 51 to rotate, and the second turning arm 51 drives the transition arm 55 to rotate until the second turning arm 51 rotates to a high position and stops.
  • the next pipe 100 is ready to be processed.
  • Step 13 The first telescopic member 35 drives the inverting main beam 30 to rotate in the reverse direction. After the inverting main beam 30 is adjusted from the vertical predetermined position to the horizontal predetermined position, the operation is stopped. In this state, the equipment is the same as in step 1, and repeating steps 1 to 13 can continuously cycle operations.
  • the method for recovering the pipe 100 is opposite to the above process, and the inclination angles and positions of the various mechanisms are also different.
  • the rollers 37 can be set at the corresponding positions of the overturning main beam 3, and at least one roller 37 A driving mechanism is connected to the top, and the driving mechanism drives the roller 37 to rotate, so as to achieve the purpose of driving the pipe tool 100 to move in the reverse axial direction.
  • the conveying method described in this embodiment based on the conveying device described in this application, can effectively convey the pipe tool 100 at a predetermined horizontal position to a predetermined vertical position.
  • the trajectory is controllable, enabling fast and precise delivery of the pipe.

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Abstract

公开了一种用于管具的输送装置及输送方法。该输送装置包括底座（31）和用于固定管具（100）的翻转主梁（30），底座的一端和翻转主梁的一端通过第一铰接轴（33）相铰接，翻转主梁与底座之间还铰接有第一伸缩构件（35）。该输送装置初始状态为水平预定位置，工作时，第一伸缩构件运行伸出，推动翻转主梁绕第一铰接轴旋转，翻转主梁带动钳体组件（32）内的管具同时旋转，到达竖直预定位置，整个过程管具固定在翻转主梁上，实现轨迹可控，从而能够快速、精准地输送管具。

Description

一种用于管具的输送装置及输送方法 技术领域
本发明涉及一种自动化管具处理设备，特别是一种用于管具的输送装置及输送方法。
 背景技术
石油天然气钻采领域中，钻井管具（钻杆，钻铤，套管）作为使用最为频繁，种类繁多，数量庞大的工具，在钻井作业中使用时间超过90%。所有管具根据类型单独运输，到达井场使用时，采用专用设备运送至钻台面。完井后，需要搬家时，采用专用设备将管具运送至地面存储运输。
目前行业中广泛采用的将管具从地面运送至钻台面的专业设备为动力猫道，整个过程通常采用动力猫道，钻杆架，鼠洞，扶正机械手，铁钻工，吊卡等设备配合工作，完成管具由地面至钻台面运送作业。其中核心设备为动力猫道，由动力猫道完成将管具由地面低位运送至钻台高位的过程。但由于设备的特殊性，猫道运送管具需要与吊卡交接，管具运送至钻台面必须处于倾斜状态。
由于行业对于自动化，智能化的发展。需要快速，精准的将管具运送至台面，将管具由水平预定位置运送至竖直预定位置，并完成后续接立根操作。而猫道运送至钻台的管具处于倾斜状态，由于不同种类的管具长度、直径、壁厚均不同，造成管具倾斜的位置，角度也不相同。因此的管具的倾斜状态对于快速、精准处理管具带来很大困难。
 技术问题
本发明的目的在于：针对现有技术存在猫道运送至钻台的管具处于倾斜状态，由于不同种类的管具长度、直径、壁厚均不同，造成管具倾斜的位置，角度也不相同。因此的管具的倾斜状态对于快速、精准处理管具带来很大困难。的问题，提供一种用于管具的输送装置及输送方法，能够将管具由地面水平预定位置运送至竖直预定位置，实现轨迹可控，从而能够快速、精准地输送管具。
 技术解决方案
为了实现上述目的，本发明采用的技术方案为：
一种用于管具的输送装置，包括底座和用于固定管具的翻转主梁，所述底座的一端和所述翻转主梁的一端通过第一铰接轴相铰接，所述翻转主梁与所述底座之间还铰接有第一伸缩构件。
本发明所述的一种用于管具的输送装置，初始状态为水平预定位置，所述底座的一端和所述翻转主梁的一端通过第一铰接轴相铰接，工作时，第一伸缩构件运行伸长，推动所述翻转主梁绕所述第一铰接轴旋转，翻转主梁带动钳体组件内的管具同时旋转，到达竖直预定位置，整个过程管具固定在翻转主梁上，实现轨迹可控，从而能够快速、精准地输送管具。
优选地，所述翻转主梁上设置有至少一个钳体组件，所述钳体组件能够限制所述管具径向移动。
优选地，所述钳体组件上对应设置有夹臂，对应设置的所述夹臂之间具有用于夹持所述管具的夹持空间。使得钳体组件既能够限制管具径向移动，又能够限制管具轴向移动。
优选地，所述翻转主梁上靠近所述第一铰接轴的端部设置有第一支承结构，所述第一支承结构用于定位所述管具的一端。
本方案中的定位指：第一支承结构抵接管具的一端，以进行轴向定位，或者第一支承结构即能对管具进行轴向定位，也能对管具进行径向限位。本方案中的定位包括：所述第一支承结构可以既定位所述管具径向位移，又限制所述管具朝向第一支承结构一侧的轴向位移；
或者，
仅限制所述管具朝向第一支承结构一侧的轴向位移，所述管具径向位移均由钳体组件来限制。
优选地，所述第一支承结构被设置成与交接设备匹配的形状，使交接设备中的至少一部分能够从第一支承结构中穿过，从而带走管具。
优选地，本发明所述的一种用于管具的输送装置，
还包括定位机构，所述定位机构位于所述翻转主梁远离所述第一铰接轴的端部，
且被配置为：
当所述管具位于所述翻转主梁上时，所述定位机构能够从所述管具远离所述第一铰接轴的端部顶推所述管具。
通过定位机构，能够将管具推送至水平预定位置。
优选地，所述定位机构包括相对移动设置的底架和小车，所述小车用于顶推所述管具。小车能够相对于底架往复运动，来进行顶推管具及复位的目的。
优选地，所述底架上设置有第一驱动部件，所述第一驱动部件与所述小车驱动连接，所述第一驱动部件上设置有用于记录所述小车位移的编码器。
通过编码器及小车位移能够测算出管具的长度，并通过编码器记录，进而为管具的后续处理做准备。
优选地，本发明所述的一种用于管具的输送装置，还包括第一存储架和/或第二存储架，其中，
所述第一存储架用于将所述管具输送至所述翻转主梁上；
所述第二存储架用于将所述管具输送至所述翻转主梁上。
优选地，所述第一存储架包括存储机架和翻转组件，所述存储机架用于放置所述管具，所述翻转组件用于将所述管具从所述存储机架输送至所述翻转主梁上。
优选地，所述存储机架靠近所述翻转主梁的端部与所述底座通过第二铰接轴相铰接，所述存储机架与所述底座之间还铰接有第一顶升缸，所述第二铰接轴位于所述第一顶升缸和所述翻转主梁之间。
通过伸长第一顶升缸来实现存储机架绕第二铰接轴旋转，并朝向翻转主梁一侧倾斜的目的。
优选地，所述翻转组件包括对应设置的分料臂和第一翻转臂，所述分料臂和所述第一翻转臂之间具有用于放置所述管具的放置空间。
分料臂和第一翻转臂对应设置，即所述分料臂和第一翻转臂相对设置，且其之间存在一定的配合关系，使其能够共同形成用于放置所述管具的放置空间。
优选地，所述分料臂与所述第一存储架通过第三铰接轴相铰接，所述分料臂与所述存储机架之间还连接有第二驱动部件第二驱动部件，所述第二驱动部件第二驱动部件驱动所述分料臂绕所述第三铰接轴转动。
优选地，所述第一翻转臂与所述第一存储架通过第四铰接轴相铰接，所述第一翻转臂与所述存储机架之间还连接有第四驱动部件，所述第四驱动部件驱动所述第一翻转臂绕所述第四铰接轴转动。
优选地，所述存储机架上设置有挡料块和用于放置所述管具的放置面，所述挡料块的上部露出所述放置面，所述挡料块能够沿放置面相对于所述放置面往复移动，所述挡料块沿靠近或远离所述翻转主梁的方向移动。
通过挡料块调节管具与分料臂之间的距离，来保证分料臂在处理不同直径的管具时，确保每次只移运一根管具。
优选地，所述存储机架上还设置有调整伸缩缸，所述调整伸缩缸与所述挡料块驱动连接，所述调整伸缩缸上设置有位移传感器，所述位移传感器用于根据管具直径来改变所述挡料块的位置。
调整伸缩缸带动挡料块运行并停止在不同的位置，以便适应不同的管具，不同管具直径通过改变设置在调整伸缩缸内的位移传感器的数值，来改变挡料块的位置。
优选地，所述第二存储架包括底架和倾斜臂，所述底架和所述倾斜臂通过第五铰接轴相铰接，所述底架和所述倾斜臂之间还铰接有第二顶升缸，所述第五铰接轴位于所述第二顶升缸和所述翻转主梁之间。
通过伸长第二顶升缸来实现倾斜臂绕第五铰接轴旋转，并朝向翻转主梁一侧倾斜的目的。
优选地，所述第二存储架还包括驱动连接的第二翻转臂和驱动缸，所述第二翻转臂与所述底架通过第六铰接轴相铰接，所述第六铰接轴位于所述第五铰接轴和所述翻转主梁之间，所述驱动缸能够驱动所述第二翻转臂绕所述第五铰接轴转动。
优选地，所述倾斜臂与所述第二翻转臂之间设置有过渡臂，所述过渡臂靠近所述倾斜臂的端部与所述底架通过所述第五铰接轴相铰接。以实现过渡臂和第二翻转臂同轴设置，从而使结构更紧凑。
优选地，所述翻转主梁的一侧设置所述第一存储架，所述翻转主梁的另一侧设置所述第二存储架。
同时设置第一存储架和第二存储架，来满足不同规格的管具，可快速地在不同规格的管具之间来回切换，进一步增加了输送效率。
本发明还公开了一种输送方法，基于本申请所述的一种用于管具的输送装置，其包含以下步骤：
S1.将所述管具输送至所述翻转主梁上；
S2.所述小车抵推所述管具，并使所述管具到达所述翻转主梁上的水平预定位置，并将所述管具固定至所述翻转主梁上，所述小车回退并与所述管具脱离；
S3.利用所述第一伸缩构件推动所述翻转主梁绕所述第一铰接轴旋转，翻转主梁带动钳体组件内的管具同时旋转，使所述管具到达竖直预定位置；
S4.所述翻转主梁松开所述管具；
S5.所述第一伸缩构件收缩，所述翻转主梁带动所述钳体组件绕所述第一铰接轴回转，回到所述水平预定位置。
本发明所述的输送方法，基于本申请所述的输送装置，能够有效地将水平预定位置的管具输送至竖直预定位置，整个过程管具固定在翻转主梁上，实现轨迹可控，从而能够快速、精准地输送管具。
优选地，所述输送装置的一侧设置有如本申请所述的第一存储架，所述步骤S1包含以下步骤：
S1A1.将所述管具输送至所述第一存储架上；
S1A2.运行所述第一顶升缸，使所述存储机架朝向所述翻转主梁一侧倾斜，使管具抵住所述挡料块；
S1A3.驱动所述分料臂旋转，所述分料臂带动所述存储机架上的管具移动，并与所述第一翻转臂接触；
S1A4.所述第四驱动部件带动所述第一翻转臂转动，所述管具滚动进入所述第一翻转臂后，由所述第一翻转臂带动进入所述钳体组件内；
优选地，所述输送装置的一侧设置有如本申请所述的第二存储架，所述步骤S1包含以下步骤：
S1B1.将所述管具输送至所述第二存储架上；
S1B2.第二存储架上的第二顶升缸驱动所述倾斜臂旋转倾斜，所述倾斜臂带动所述第二存储架上的管具移动，所述管具滚动至倾斜臂靠近所述翻转主梁的一端，并与所述第二翻转臂接触；
S1B3.所述驱动缸带动所述第二翻转臂旋转，所述过渡臂依靠自重向下旋转，直至所述过渡臂朝向所述翻转主梁一侧倾斜管具滚动并与所述第二翻转臂接触；
S1B4.所述驱动缸继续带动第二翻转臂旋转摆动，所述管具随第二翻转臂旋转并进入所述钳体组件内。
 有益效果
综上所述，由于采用了上述技术方案，本发明的有益效果是：
1、本发明所述的一种用于管具的输送装置，初始状态为水平预定位置，所述底座的一端和所述翻转主梁的一端通过第一铰接轴相铰接，工作时，第一伸缩构件运行伸出，推动所述翻转主梁绕所述第一铰接轴旋转，翻转主梁带动钳体组件内的管具同时旋转，到达竖直预定位置，整个过程管具固定在翻转主梁上，实现轨迹可控，从而能够快速、精准地输送管具。
2、本发明所述的一种用于管具的输送装置，在所述底架上设置有第一驱动部件，所述第一驱动部件与所述小车驱动连接，所述第一驱动部件上设置有用于记录所述小车位移的编码器，通过编码器及小车位移能够测算出管具的长度，并通过编码器记录，进而为管具的后续处理做准备。
3、本发明所述的输送系统，可同时设置第一存储架和第二存储架，来满足不同规格的管具，可快速地在不同规格的管具之间来回切换，进一步增加了输送效率。
4、本发明所述的输送方法，基于本申请所述的输送装置，能够有效地将水平预定位置的管具输送至竖直预定位置，整个过程管具固定在翻转主梁上，实现轨迹可控，从而能够快速、精准地输送管具。
 附图说明
图1是本发明的一种用于管具的输送装置的结构示意图。
图2是本发明的第一存储架的结构示意图（正向三维轴侧图）。
图3是本发明的第一存储架的结构示意图（后向三维轴侧图）。
图4是本发明的翻转主梁的结构示意图。
图5是本发明的翻转主梁的主视图（钳体组件张开）。
图6是本发明的翻转主梁的主视图（钳体组件闭合）。
图7是本发明的第二存储架的结构示意图。
图8是本发明的定位机构的结构示意图。
图9是本发明的实施例2中步骤2的结构示意图。
图10是本发明的实施例2中步骤3的结构示意图。
图11是本发明的实施例2中步骤4的结构示意图。
图12是本发明的实施例3中步骤3的结构示意图。
图13是本发明的实施例3中步骤4的结构示意图。
图14是本发明的一种输送系统的结构示意图。
图15是本发明的管具放置在翻转主梁上配合示意图（小车抵推管具前）。
图16是本发明的管具放置在翻转主梁上配合示意图（小车抵推管具时）。
图17是本发明的管具放置在翻转主梁上配合示意图（管具到水平预定位置）。
图18是本发明的管具放置在翻转主梁上配合示意图（管具到竖直预定位置）。
图19是本发明的翻转主梁与动力鼠洞的配合示意图（管具到竖直预定位置）。
图20是本发明的动力鼠洞底部结构上升至高位的结构示意图。
图标：1-第一存储架；10-翻转组件；100-管具；11-存储机架；111-放置面；112-第二铰接轴；12-第一顶升缸；13-挡料块；14-调整伸缩缸；15-分料臂；151-第三铰接轴； 16-第二驱动部件；17-第一翻转臂；171-第四铰接轴；18-第四驱动部件；2-动力鼠洞；3-翻转机械手；30-翻转主梁；31-底座；32-钳体组件；321-夹臂；322-夹持空间；33-第一铰接轴；34-第一支承结构；35-第一伸缩构件；36-定位机构；361-底架；362-小车；363-第一驱动部件；5-第二存储架；51-第二翻转臂；52-驱动缸；53-倾斜臂；54-第二顶升缸；55-过渡臂；56-底架；57-第五铰接轴；58-第六铰接轴。
 本发明的实施方式
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
如图1-8所示，本实施例所述的一种用于管具的输送装置，包括，
底座31，用于固定管具100的翻转主梁30，所述底座31的一端和所述翻转主梁30的一端通过第一铰接轴33相铰接，所述翻转主梁30与所述底座31之间还铰接有伸缩构件第一伸缩构件35，所述翻转主梁30上设置有至少一个钳体组件32，所述钳体组件32能够限制所述管具100沿其径向移动。
钳体组件32具体优选两种方案：
a.夹持方式：所述钳体组件32上对应设置有夹臂321，对应设置的所述夹臂321之间具有用于夹持所述管具100的夹持空间322。
b.扶持方式：所述翻转主梁30上靠近所述第一铰接轴33的端部设置有第一支承结构34，所述第一支承结构34用于定位所述管具100的一端，所述管具100的一端抵接所述第一支承结构34，同时，第一支承结构34能够实现与其他设备进行管具100的交接，所述第一支承结构34被设置成与交接设备匹配的形状，使交接设备中的至少一部分能够从第一支承结构34中穿过，从而带走管具100。
定位机构36，所述定位机构36位于所述翻转主梁30远离所述第一铰接轴33的端部，
且被配置为：
所述管具100位于所述翻转主梁30时，所述定位机构36能够从所述管具100远离所述第一铰接轴33的端部顶推所述管具100。
具体地，所述定位机构36包括相对移动设置的底架361和小车362，所述小车362用于顶推所述管具100。
如图8所示，更具体地，定位机构36的第一驱动部件363运行，通过链轮及链条带动小车362行走，小车362行走一定距离后接触管具100的端部，小车362继续行走，并顶推管具100；
在上述方案中，也可以通过钢丝绳及滑轮或齿轮齿条，或油缸来带动小车362相对底架361移动。
由于不同种类的管具长度、直径、壁厚均不同，故在所述底架361上设置有第一驱动部件363，所述第一驱动部件363与所述小车362驱动连接，所述第一驱动部件363上设置有用于记录所述小车362位移的编码器，通过编码器及小车362位移能够测算出管具100的长度，并通过编码器记录，进而为管具100的后续处理做准备。
第一存储架1，用于将所述管具100输送至所述翻转主梁30上，此时管具100常常为钻杆、钻铤。
具体地，所述第一存储架1包括存储机架11和翻转组件10，所述存储机架11用于放置所述管具100，所述翻转组件10用于将所述管具100从所述存储机架11输送至所述翻转主梁30上。
所述存储机架11靠近所述翻转主梁30的端部与所述底座31通过第二铰接轴112相铰接，所述存储机架11与所述底座31之间还铰接有第一顶升缸12，所述第二铰接轴112位于所述第一顶升缸12和所述翻转主梁30之间。
所述翻转组件10包括对应设置的分料臂15和第一翻转臂17，所述分料臂15和所述第一翻转臂17之间具有用于放置所述管具100的放置空间，其中，所述分料臂15与所述第一存储架1通过第三铰接轴151相铰接，所述分料臂15与所述存储机架11之间还连接有第二驱动部件16第二驱动部件16，所述第二驱动部件16第二驱动部件16驱动所述分料臂15绕所述第三铰接轴151转动；所述第一翻转臂17与所述第一存储架1通过第四铰接轴171相铰接，所述第一翻转臂17与所述存储机架11之间还连接有第四驱动部件18，所述第四驱动部件18驱动所述第一翻转臂17绕所述第四铰接轴171转动。
所述存储机架11上设置有挡料块13和用于放置所述管具100的放置面111，所述挡料块13能够沿放置面111相对于所述放置面111往复移动，所述挡料块13的移动方向靠近或远离所述翻转主梁30。
第二存储架5，用于将所述管具100输送至所述翻转主梁30上，此时管具100常常为套管，
具体地，所述第二存储架5包括第二翻转臂51、底架56和倾斜臂53，所述底架56和所述倾斜臂53通过第五铰接轴57相铰接，所述底架56和所述倾斜臂53之间还铰接有第二顶升缸54，所述第五铰接轴57位于所述第二顶升缸54和所述翻转主梁30之间，所述第二翻转臂51与所述底架56通过第六铰接轴58相铰接，所述第六铰接轴58位于所述第五铰接轴57和所述翻转主梁30之间。
所述第二存储架5还包括第二翻转臂51，所述第二翻转臂51与所述底架56通过第六铰接轴58相铰接，所述第六铰接轴58位于所述第五铰接轴57和所述翻转主梁30之间。
所述倾斜臂53与所述第二翻转臂51之间设置有过渡臂55，所述过渡臂55靠近所述倾斜臂53的端部与所述底架56通过所述第五铰接轴57相铰接。
在上述方案中，第一存储架1和第二存储架5可单独设置，也可同时设置，其同时设置时，第一存储架1位于所述翻转主梁30一侧，第二存储架5位于所述翻转主梁30另一侧，以形成本申请所述的输送系统。
第一存储架1上的挡料块13是为了保证分料臂15在处理不同直径的管具100时，确保每次只移运一根管具100，调整伸缩缸14带动挡料块13运行并停止在不同的位置，以便适应不同的管具100。不同管具100直径通改变过设置在调整伸缩缸14内的位移传感器的数值，来改变挡料块13的位置。
实施例 2
如图1-6、8-11和15-20所示，本实施例所述的一种输送方法，基于实施例1中所述的用于管具的输送装置，并在设置有第一存储架1的情况下实施，其包含以下步骤：
初始状态：管具吊机，具有第一存储架1的自动化管具处理设备，动力鼠洞2均处于等待工位。
步骤1：管具吊机抓取管具100，行走，并将管具100放入自动化管具处理设备的第一存储架1。步骤2：运行第一顶升缸12，调整挡料块13位置，适应目前处理的管具100尺寸。同时第一存储架1上的第一顶升缸12运行，将存储机架11倾斜。使管具100在存储机架11的放置面111上滚动，使管具100靠近挡料块13。如图9所示；
步骤3：分料缸16运行，驱动分料臂15旋转，分料臂15带动存储机架11上的管具100移运与第一翻转臂17接触。如图10所示；
步骤4：第四驱动部件18运行带动第一翻转臂17转动，管具100滚动进入第一翻转臂17后，由第一翻转臂17带动进入翻转主梁30上的钳体组件32内，第二驱动部件16运行，带动分料臂15旋转运行，分料臂15运行至低位。此时定位机构36上的小车362远离管具100。如图11所示；
步骤5：定位机构36的第一驱动部件363运行，通过链轮及链条带动小车362行走，小车362行走一定距离后接触管具100的端部，小车362继续行走，并顶推管具100，直至管具100的另外一端接触至翻转主梁30上的第一支承结构34，第一驱动部件363停止驱动，小车362停止运行。如图15和16所示，在本方案中，也可以通过钢丝绳及滑轮，或油缸来带动小车362行走，其中，第一驱动部件363优选为马达或电机所示；
步骤6：第一驱动部件363自带的编码器记录数据，通过行程计算出管具100长度，记录数据后，第一驱动部件363反向驱动，通过链轮及链条带动小车362反向行走至固定位置停止，此时翻转主梁30上的钳体组件32处于打开状态。如图17和18所示；
步骤7：运行钳体组件32上的油缸，推动钳体组件32运行夹紧管具100。此时翻转主梁30处于水平预定位置。
步骤8：第一伸缩构件35运行伸出，推动翻转主梁30运行，翻转主梁30带动钳体组件32内的管具100同时旋转，由水平预定位置调整至竖直预定位置，且管具100进入动力鼠洞2工作范围内。如图19所示；
步骤9：动力鼠洞2运行，鼠洞底部顶升至接触管具100下端部。对中装置运行，对管具100进行扶正。如图20所示；
步骤10：将自动化管具处理设备翻转主梁30上的钳体组件32打开。此时翻转主梁30处于竖直预定位置；
步骤11：鼠洞底部继续顶升管具100，直至管具100顶部超过钻台一定距离以便吊卡吊取管具100或其他设备抓取管具100，顶升机构停止运行，鼠洞顶部对中装置运行，对中管具100。此时，第一存储架1上的第一翻转臂17处于低位。
步骤12：第一存储架1上的第四驱动部件18运行，带动链轮，进而带动第一翻转臂17旋转，至第一翻转臂17运行至高位停止.准备处理下一根管具100。
步骤13：第一伸缩构件35带动翻转主梁30旋转，翻转主梁30由竖直预定位置调整为水平预定位置后，停止运行。设备在该状态下与步骤2状态相同，重复步骤2至步骤13可以连续循环作业。
在上述方案中
在步骤1中：管具吊机抓取管具100，行走，并将管具100放入第一存储架1的整个过程，可被动力钻杆盒或实现同等功能的设备替代。
在步骤12中，链轮也可以通过钢丝绳及滑轮、齿轮齿条、顶升装置油缸来，同步带轮或V型带轮等具有同等功能的同等功能的设备替代。
回收管具100的流程与上述流程相反各个机构的倾斜角度和位置也会有所不同。其中，管具100跟随翻转主梁30由竖直预定位置调整为水平预定位置后，由于无法采用小车362进行轴向拉动，可在翻转主梁3对应位置设置滚轮37，并在至少一个滚轮37上连接驱动机构，驱动机构驱动滚轮37转动，从而实现带动管具100反向轴向移动的目的。
本实施例所述的输送方法，基于本申请所述的输送装置，能够有效地将水平预定位置的管具100输送至竖直预定位置，整个过程管具100固定在翻转主梁30上，实现轨迹可控，从而能够快速、精准地输送管具。
实施例 3
如图1、4-8和12-20所示，本实施例所述的一种输送方法，基于实施例1中所述的用于管具的输送装置，并在设置有第二存储架5的情况下实施，此时，管具100常常为套管，其包含以下步骤：
初始状态：第二存储架5，动力鼠洞2均处于等待工位。
步骤1：套管架上的管具100进入自动化管具处理设备第二存储架5上方。
步骤2：第二存储架5上的第二顶升缸54运行，驱动倾斜臂53朝向所述翻转主梁30一侧旋转倾斜，倾斜臂53带动套管架上的管具100移动，进入倾斜臂53范围，并滚动至与倾斜臂53低端，与第二翻转臂51接触。如图12所示。
步骤3：驱动缸52带动第二翻转臂51旋转摆动，过渡臂55依靠自重向下旋转，角度改变，直至过渡臂55与下部支承结构接触，过渡臂55停止旋转，角度调整为向下倾斜，管具100依靠因为自重向下滚轮，进入过渡臂55上表面并与第二翻转臂51接触。如图12所示；
步骤4：驱动缸52继续运行，带动第二翻转臂51继续旋转摆动，管具100进入第二翻转臂51范围内，直至第二翻转臂51旋转臂旋转至低位，管具100进入翻转主梁30上的钳体组件32内。此时钳体组件32处于打开状态，定位机构36原理管具100。如图13所示；
步骤5：定位机构36的第一驱动部件363运行，通过链轮及链条带动小车362行走，小车362行走一定距离1后接触管具100的端部，小车362继续行走，并顶推管具100，直至管具100的另外一端接触至翻转主梁30上的第一支承结构34，第一驱动部件363停止驱动，小车362停止运行。在本方案中，也可以通过钢丝绳及滑轮，或油缸来带动小车362行走，其中，第一驱动部件363优选为马达或电机；如图15和16所示。
步骤6：第一驱动部件363自带的编码器记录数据，通过行程计算出管具100长度，记录数据后，第一驱动部件363反向驱动，通过链轮及链条带动小车362反向行走至固定位置停止，此时翻转主梁30上的钳体组件32处于打开状态。如图17和18所述。
步骤7：运行钳体组件32上的油缸36，推动钳体组件32运行夹紧管具100。此时翻转主梁30处于水平预定位置。
步骤8：第一伸缩构件35运行伸出，推动翻转主梁30运行，翻转主梁30带动钳体组件32内的管具100同时旋转，由水平预定位置调整至竖直预定位置，之后管具100进入动力鼠洞2工作范围内。如图19所示；
步骤9：动力鼠洞2运行，鼠洞底部顶升至接触管具100下端部。对中装置运行，对管具100进行扶正。
步骤10：将翻转主梁30上的钳体组件32打开。此时翻转主梁30处于竖直预定位置。
步骤11：鼠洞底部继续顶升管具100，直至管具100顶部超过钻台一定距离以便吊卡吊取管具100或其他设备抓取管具100，顶升机构停止运行，鼠洞顶部对中装置运行。此时，第二存储架5上的第二翻转臂51处于低位。如图20所示；
步骤12：第二存储架5上的第二顶升缸54运行，带动倾斜臂53旋转至低位。驱动缸52运行，带动第二翻转臂51旋转，第二翻转臂51带动过渡臂55旋转，至第二翻转臂51旋转至高位停止.准备处理下一根管具100。
步骤13：第一伸缩构件35带动翻转主梁30反向旋转，翻转主梁30由竖直预定位置调整为水平预定位置后，停止运行。设备在该状态下与步骤1状态相同，重复步骤1至步骤13可以连续循环作业。
回收管具100的方法与上述流程相反各个机构的倾斜角度和位置也会有所不同。其中，管具100跟随翻转主梁30由竖直预定位置调整为水平预定位置后，由于无法采用小车362进行轴向拉动，可在翻转主梁3对应位置设置滚轮37，并在至少一个滚轮37上连接驱动机构，驱动机构驱动滚轮37转动，从而实现带动管具100反向轴向移动的目的。
本实施例所述的输送方法，基于本申请所述的输送装置，能够有效地将水平预定位置的管具100输送至竖直预定位置，整个过程管具100固定在翻转主梁30上，实现轨迹可控，从而能够快速、精准地输送管具。
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 (22)

  1. 一种用于管具的输送装置，其特征在于，包括底座（31）和用于固定管具（100）的翻转主梁（30），所述底座（31）的一端和所述翻转主梁（30）的一端通过第一铰接轴（33）相铰接，所述翻转主梁（30）与所述底座（31）之间还铰接有第一伸缩构件（35）。
  2. 根据权利要求1所述的一种用于管具的输送装置，其特征在于，所述翻转主梁（30）上设置有至少一个钳体组件（32），所述钳体组件（32）能够限制所述管具（100）径向移动。
  3. 根据权利要求2所述的一种用于管具的输送装置，其特征在于，所述钳体组件（32）上对应设置有夹臂（321），对应设置的所述夹臂（321）之间具有用于夹持所述管具（100）的夹持空间（322）。
  4. 根据权利要求2所述的一种用于管具的输送装置，其特征在于，所述翻转主梁（30）上靠近所述第一铰接轴（33）的端部设置有第一支承结构（34），所述第一支承结构（34）用于定位所述管具（100）的一端。
  5. 根据权利要求4所述的一种用于管具的输送装置，其特征在于，还包括定位机构（36），所述定位机构（36）位于所述翻转主梁（30）远离所述第一铰接轴（33）的端部，
    且被配置为：
    当所述管具（100）位于所述翻转主梁（30）上时，所述定位机构（36）能够从所述管具（100）远离所述第一铰接轴（33）的端部顶推所述管具（100）。
  6. 根据权利要求5所述的一种用于管具的输送装置，其特征在于，所述定位机构（36）包括相对移动设置的底架（361）和小车（362），所述小车（362）用于顶推所述管具（100）。
  7. 根据权利要求6所述的一种用于管具的输送装置，其特征在于，所述底架（361）上设置有第一驱动部件（363），所述第一驱动部件（363）与所述小车（362）驱动连接，所述第一驱动部件（363）上设置有用于记录所述小车（362）位移的编码器。
  8. 根据权利要求1-7任意一项所述的一种用于管具的输送装置，其特征在于，还包括第一存储架和/或第二存储架（5），其中，
    所述第一存储架用于将所述管具（100）输送至所述翻转主梁（30）上；
    所述第二存储架（5）用于将所述管具（100）输送至所述翻转主梁（30）上。
  9. 根据权利要求8所述的一种用于管具的输送装置，其特征在于，所述第一存储架（1）包括存储机架（11）和翻转组件（10），所述存储机架（11）用于放置所述管具（100），所述翻转组件（10）用于将所述管具（100）从所述存储机架（11）输送至所述翻转主梁（30）上。
  10. 根据权利要求9所述的一种用于管具的输送装置，其特征在于，所述存储机架（11）靠近所述翻转主梁（30）的端部与所述底座（31）通过第二铰接轴（112）相铰接，所述存储机架（11）与所述底座（31）之间还铰接有第一顶升缸（12），所述第二铰接轴（112）位于所述第一顶升缸（12）和所述翻转主梁（30）之间。
  11. 根据权利要求10所述的一种用于管具的输送装置，其特征在于，所述翻转组件（10）包括对应设置的分料臂（15）和第一翻转臂（17），所述分料臂（15）和所述第一翻转臂（17）之间具有用于放置所述管具（100）的放置空间。
  12. 根据权利要求11所述的一种用于管具的输送装置，其特征在于，所述分料臂（15）与所述存储机架（11）通过第三铰接轴（151）相铰接，所述分料臂（15）与所述存储机架（11）之间还连接有第二驱动部件（16），所述第二驱动部件（16）驱动所述分料臂（15）绕所述第三铰接轴（151）转动。
  13. 根据权利要求11所述的一种用于管具的输送装置，其特征在于，所述第一翻转臂（17）与所述存储机架（11）通过第四铰接轴（171）相铰接，所述第一翻转臂（17）与所述存储机架（11）之间还连接有第四驱动部件（18），所述第四驱动部件（18）驱动所述第一翻转臂（17）绕所述第四铰接轴（171）转动。
  14. 根据权利要求13所述的一种用于管具的输送装置，其特征在于，所述存储机架（11）上设置有挡料块（13）和用于放置所述管具（100）的放置面（111），所述挡料块（13）的上部露出所述放置面（111），所述挡料块（13）能够沿放置面（111）相对于所述放置面（111）往复移动，所述挡料块（13）沿靠近或远离所述翻转主梁（30）的方向移动。
  15. 根据权利要求14所述的一种用于管具的输送装置，其特征在于，所述存储机架（11）上还设置有调整伸缩缸（14），所述调整伸缩缸（14）与所述挡料块（13）驱动连接，所述调整伸缩缸（14）上设置有位移传感器，所述位移传感器用于根据管具（100）直径来改变所述挡料块（13）的位置。
  16. 根据权利要求8所述的一种用于管具的输送装置，其特征在于，所述第二存储架（5）包括底架（56）和倾斜臂（53），所述底架（56）和所述倾斜臂（53）通过第五铰接轴（57）相铰接，所述底架（56）和所述倾斜臂（53）之间还铰接有第二顶升缸（54），所述第五铰接轴（57）位于所述第二顶升缸（54）和所述翻转主梁（30）之间。
  17. 根据权利要求16所述的一种用于管具的输送装置，其特征在于，所述第二存储架（5）还包括驱动连接的第二翻转臂（51）和驱动缸（52），所述第二翻转臂（51）与所述底架（56）通过第六铰接轴（58）相铰接，所述第六铰接轴（58）位于所述第五铰接轴（57）和所述翻转主梁（30）之间，所述驱动缸（52）能够驱动所述第二翻转臂（51）绕所述第五铰接轴（57）转动。
  18. 根据权利要求17所述的一种用于管具的输送装置，其特征在于，所述倾斜臂（53）与所述第二翻转臂（51）之间设置有过渡臂（55），所述过渡臂（55）靠近所述倾斜臂（53）的端部与所述底架（56）通过所述第五铰接轴（57）相铰接。
  19. 根据权利要求8所述的一种用于管具的输送装置，其特征在于，所述翻转主梁（30）的一侧设置所述第一存储架（1），所述翻转主梁（30）的另一侧设置所述第二存储架（5）。
  20. 一种输送方法，其特征在于，基于如权利要求6或7所述的一种用于管具的输送装置，其包含以下步骤：
    S1.将所述管具（100）输送至所述翻转主梁（30）上；
    S2.所述小车（362）抵推所述管具（100），并使所述管具（100）到达所述翻转主梁（30）上的水平预定位置，并将所述管具（100）固定至所述翻转主梁（30）上，所述小车（362）回退并与所述管具（100）脱离；
    S3.利用所述第一伸缩构件（35）推动所述翻转主梁（30）绕所述第一铰接轴（33）旋转，翻转主梁（30）带动钳体组件（32）内的管具（100）同时旋转，使所述管具（100）到达竖直预定位置；
    S4.所述翻转主梁（30）松开所述管具（100）；
    S5.所述第一伸缩构件（35）收缩，所述翻转主梁（30）带动所述钳体组件（32）绕所述第一铰接轴（33）回转，回到所述水平预定位置。
  21. 根据权利要求20所述的一种输送方法，其特征在于，所述输送装置的一侧设置有权利要求14中所述的第一存储架（1），所述步骤S1包含以下步骤：
    S1A1.将所述管具（100）输送至所述第一存储架（1）上；
    S1A2.运行所述第一顶升缸（12），使所述存储机架（11）朝向所述翻转主梁（30）一侧倾斜，使管具（100）抵住所述挡料块（13）；
    S1A3.驱动所述分料臂（15）旋转，所述分料臂（15）带动所述存储机架（11）上的管具（100）移动，并与所述第一翻转臂（17）接触；
    S1A4.所述第四驱动部件（18）带动所述第一翻转臂（17）转动，所述管具（100）滚动进入所述第一翻转臂（17）后，由所述第一翻转臂（17）带动进入所述钳体组件（32）内。
  22. 根据权利要求20所述的一种输送方法，其特征在于，所述输送装置的一侧设置有权利要求18所述的第二存储架（5），所述步骤S1包含以下步骤：
    S1B1.将所述管具（100）输送至所述第二存储架（5）上；
    S1B2.第二存储架（5）上的第二顶升缸（54）驱动所述倾斜臂（53）旋转倾斜，所述倾斜臂（53）带动所述第二存储架（5）上的管具（100）移动，所述管具（100）滚动至倾斜臂（53）靠近所述翻转主梁（30）的一端，并与所述第二翻转臂（51）接触；
    S1B3.所述驱动缸（52）带动所述第二翻转臂（51）旋转，所述过渡臂（55）依靠自重向下旋转，直至所述过渡臂（55）朝向所述翻转主梁（30）一侧倾斜管具（100）滚动并与所述第二翻转臂（51）接触；
    S1B4.所述驱动缸（52）继续带动第二翻转臂（51）旋转摆动，所述管具（100）随第二翻转臂（51）旋转并进入所述钳体组件（32）内。
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