WO2022033401A1 - 一种管具移运系统及输送方法 - Google Patents

一种管具移运系统及输送方法 Download PDF

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Publication number
WO2022033401A1
WO2022033401A1 PCT/CN2021/111134 CN2021111134W WO2022033401A1 WO 2022033401 A1 WO2022033401 A1 WO 2022033401A1 CN 2021111134 W CN2021111134 W CN 2021111134W WO 2022033401 A1 WO2022033401 A1 WO 2022033401A1
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WO
WIPO (PCT)
Prior art keywords
pipe
tool
turning
main beam
storage compartment
Prior art date
Application number
PCT/CN2021/111134
Other languages
English (en)
French (fr)
Inventor
吴正华
吕岩
陈崇
唐爱民
田雨
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
Publication date
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 WO2022033401A1 publication Critical patent/WO2022033401A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/02—Rod or cable suspensions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/146—Carousel systems, i.e. rotating rack systems
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155—Handling between horizontal and vertical position

Definitions

  • the invention relates to the technical field of oil drilling and workover rigs, in particular to a pipe tool moving system and a conveying method.
  • the first method send the drill pipe to the ramp under manual operation through the mechanical catwalk and the pneumatic winch, and then lift the drill pipe by the auxiliary winch of the drill floor, and transport it to the mouse hole with the assistance of manual operation, and wait for the subsequent operation.
  • the use of traditional mechanical catwalks, pneumatic winches, drilling floor auxiliary winches and manual operation methods often involves a lot of manual operations and heavy labor, and the pipes sometimes collide, deviate or fall off. Operator assistance, so work efficiency is low, labor intensity is high, and safety risks are high;
  • the second method send the pipe to the gate of the drill floor through the power catwalk, then use the lifting ring and elevator on the top drive system to lift the drill pipe, and then move it to the mouse hole, waiting for the next operation, its use
  • the power catwalk conveying pipe can reduce the labor intensity, keep the staff away from the drill pipe and equipment, and reduce the safety risk to a large extent, but in the process of using the power catwalk conveying pipe, the pipe is uncontrollable. Unpredictable rolling, the trajectory of the pipe movement cannot be controlled in operation, often deviates from the safe and operable path, and requires human adjustment intervention, which makes the automation level of the entire pipe operation process low and cannot be fully automated.
  • the purpose of the present invention is to provide a pipe transfer system and a conveying method in view of the problems of low work efficiency, high labor intensity and high safety risk that the entire processing process is assisted by operators in the prior art.
  • a pipe transfer system includes pipe storage equipment, a turning manipulator, a transmission equipment and a power mouse hole, wherein,
  • the pipe storage device is used for placing horizontally arranged pipes, and one end of the pipe storage device is open;
  • the transfer device is used for transferring the pipe in the pipe storage device to the turning manipulator;
  • the turning manipulator is used to rotate the pipe tool from a horizontal state to a vertical state, and transmit the pipe tool in the vertical state to the power mouse hole;
  • the powered rathole is used to deliver the pipe to the standoff location.
  • the pipes in the pipe storage equipment are transported to a turning manipulator through a transmission device, and then the pipes are moved from a horizontal state by the turning manipulator. Rotate to a vertical state, and transmit the pipe in the vertical state to the power mouse hole, and the power mouse hole transports the pipe to the vertical position.
  • the whole process can accurately control the trajectory of the pipe without artificial Intervention, reduce labor intensity and safety risks, and it can cooperate with electronic control system to realize the automation of the whole process.
  • the conveying device includes a hoist for hoisting the pipe and placing the pipe on the turning manipulator.
  • the purpose of laterally moving the pipe is achieved by using the protruding portion.
  • the conveying device includes a pipe feeding mechanism, and at least one storage compartment for placing the pipe is provided in the pipe storage device, one end of the storage compartment is open, and the other end of the storage compartment is open.
  • One end is provided with the pipe feeding mechanism, and the pipe feeding mechanism can push the pipe tool out of the storage compartment from the open end of the storage compartment.
  • the conveying device further comprises a conveying mechanism, the conveying mechanism is arranged above the storage compartment, and the pipe tool ejected from the open end of the storage compartment can be conveyed to the storage compartment by the conveying mechanism Flip on the manipulator.
  • the storage compartments are arranged vertically.
  • the conveying mechanism includes a driving wheel, a driven wheel and a transmission belt
  • the transmission belt is matched with the driving wheel and the driven wheel respectively
  • the outer side of the transmission belt is provided with a transmission belt for moving along the transmission belt. pushes against the protruding part of the pipe.
  • a bridging device is provided on the top of the storage compartment, and the bridging device has a closed state and an open state,
  • the bridging device When the bridging device is in the closed state, the bridging device is located on the top of the storage compartment, and the top surface of the bridging device is flush with the top surface of the storage compartment;
  • the bridging device When the bridging device is in the open state, the bridging device is located on one side of the storage compartment.
  • the storage compartments are arranged laterally.
  • All the pipes are arranged horizontally, including the horizontal arrangement of the storage compartment, or there is a certain included angle between the storage compartment and the horizontal (no more than 45 degrees).
  • a lift assembly for lifting and lowering the pipe is provided, and the lift assembly is located at a position corresponding to the storage device. open side of the grid.
  • the turning manipulator includes a base and a turning main beam for fixing pipes, one end of the base and one end of the turning main beam are hinged through a first hinge shaft, and the turning main beam and the base are hinged.
  • a first telescopic member is also hinged therebetween.
  • 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;
  • the end of the inverting main beam close to the first hinge shaft is provided with A support structure, which is used for positioning one end of the pipe;
  • a positioning mechanism is provided at one end of the overturned main beam away from the first hinge shaft, and the positioning mechanism is located at the end of the overturned main beam away from the first hinge.
  • the end of a hinge shaft is configured such that when the pipe tool is located on the turning main beam, the positioning mechanism can push the pipe tool from the end of the pipe tool away from the first hinge shaft .
  • the turning manipulator further comprises a lifting device, the lifting device is arranged on a side of the pipe storage device close to the turning main beam, and the transmission device is used for transferring the pipe to the lifting device
  • the lifting equipment is used to lift the pipe to a height corresponding to the inverting main beam, and transmit it to the inverting main beam.
  • the power rat hole includes a centering device and a lifting mechanism, the centering device and the lifting mechanism are correspondingly arranged in the vertical direction, and the centering device can limit the radial movement of the pipe, The centering device is used to limit the bottom of the pipe.
  • the lifting mechanism includes a scissor lifting mechanism and a support plate group arranged on the upper part of the scissor lift mechanism, and a positioning groove for positioning the end of the pipe is provided on the upper end of the support plate group, In the vertical direction, the centering and centering area of the centering and centering device corresponds to the positioning groove.
  • the supporting plate group includes a plurality of supporting plates arranged at intervals, each supporting plate is vertically arranged, the positioning grooves are formed on the upper ends of all the supporting plates, and there is a space between the adjacent supporting plates that can make all the supporting plates The gap through which the support structure passes.
  • the set of support plates is configured to match the shape of the support structure so that at least a portion of the set of support plates can pass through the support structure, thereby entraining the pipe.
  • the invention also discloses a conveying method for pipes, comprising the following steps.
  • the pipes in the pipe storage equipment are transported to a turning manipulator through a conveying device, and then the pipes are rotated from a horizontal state to a vertical state by the turning manipulator. , and transmit the pipe in the vertical state to the power mouse hole, and the power mouse hole transports the pipe to the position of the vertical root.
  • the whole process can accurately control the trajectory of the pipe movement without human intervention, reducing labor intensity and safety risks, and it can cooperate with the electronic control system to realize the automation of the whole process.
  • the support structure can move relative to the overturned main beam along the length direction of the overturned main beam, and step S2 specifically includes the following steps :
  • S21 the turning manipulator grips the pipe and rotates from a horizontal state to a vertical state
  • S22 lowering the support structure or raising the scissor lift mechanism, so that the support structure penetrates the scissor lift mechanism, and the supporting structure is lower than the positioning groove, and the centering device clamps the pipe to limit the radial movement of the pipe;
  • a conveying device for moving pipes to a rat hole according to the present invention, the pipes in the pipe storage equipment are transported to the turning manipulator through the transmission equipment, and then the pipes are transferred from the turning manipulator by the turning manipulator.
  • the horizontal state is rotated to the vertical state, and the pipe in the vertical state is transmitted to the power rat hole, and the power rat hole transports the pipe to the position of the vertical root.
  • the whole process can accurately control the trajectory of the pipe movement, Without human intervention, labor intensity and safety risks are reduced.
  • the support plate group is set to a shape matching the support structure, so that at least a part of the support plate group can interact with the support structure. Pass through, thereby taking away the pipe.
  • a method for conveying pipes according to the present invention the pipes in the pipe storage equipment are transported to the turning manipulator through the transmission equipment, and then the turning manipulator rotates the pipes from a horizontal state to a vertical state.
  • the pipe in the vertical state is transmitted to the power rat hole, and the power rat hole transports the pipe to the vertical position.
  • the whole process can precisely control the trajectory of the pipe movement without human intervention, reducing the Labor intensity and safety risks, and it can cooperate with the electronic control system to realize the automation of the whole process.
  • FIG. 1 is a schematic structural diagram (plan view) of a pipe transporting system according to the present invention.
  • Fig. 2 is a schematic structural diagram of a pipe transporting system according to the present invention (right side view, with a hoist, with the drill floor removed).
  • FIG. 3 is a schematic diagram of the process flow of the crane taking pipe according to the present invention.
  • FIG. 4 is a schematic diagram of the pipeline releasing process of the crane according to the present invention.
  • FIG. 5 is a schematic structural diagram of a pipe tool moving system according to the present invention (right view, the storage compartment is arranged vertically, and the drill floor is removed).
  • FIG. 6 is a schematic structural diagram of the conveying mechanism of the present invention.
  • Fig. 7 is a schematic flow chart of the pipe feeding mechanism of the present invention for lifting the pipe (the storage compartment is arranged vertically).
  • FIG. 8 is a schematic flow chart of the conveying mechanism of the present invention for pushing the pipe tool (the storage compartment is arranged vertically).
  • FIG. 9 is a schematic flow chart of the lifting device of the present invention (the storage compartment is arranged vertically).
  • Fig. 10 is a schematic structural diagram of a pipe tool moving system according to the present invention (right side view, the storage compartment is arranged laterally, and the drill floor is removed).
  • FIG. 11 is a schematic diagram of the flow of the pipe feeding mechanism of the present invention for pushing the pipe tool to the lifting device (the storage compartment is arranged horizontally).
  • Fig. 12 is a schematic flow chart of the lifting device of the present invention driving the pipe to descend (the storage compartment is arranged horizontally).
  • FIG. 13 is a schematic flow chart of the pipe feeding mechanism of the present invention for pushing the pipe tool to the lifting assembly (the storage compartment is arranged horizontally).
  • FIG. 14 is a schematic flowchart of the lifting assembly of the present invention from lifting the pipe to the conveying mechanism (the storage compartment is arranged laterally).
  • FIG. 15 is a schematic flowchart of the lifting assembly of the present invention from lifting the pipe to the conveying mechanism (the storage compartment is arranged laterally).
  • FIG. 16 is a schematic diagram of the process of pushing the conveying mechanism of the present invention to the pipe lifting device (the storage compartment is arranged horizontally).
  • FIG. 17 is a schematic structural diagram of the turning robot of the present invention.
  • FIG. 18 is a schematic structural diagram of the first storage rack of the present invention (front three-dimensional isometric view).
  • FIG. 19 is a schematic structural diagram of the first storage rack of the present invention (rearward three-dimensional isometric view).
  • FIG. 20 is a schematic structural diagram of an overturned main beam of the present invention.
  • FIG. 21 is a front view of the inverted main beam of the present invention (the clamp body assembly is unfolded).
  • Figure 22 is a front view of the inverted main beam of the present invention (clamp body assembly closed).
  • FIG. 23 is a schematic structural diagram of the second storage shelf of the present invention.
  • FIG. 24 is a schematic structural diagram of the positioning mechanism of the present invention.
  • FIG. 25 is a schematic flow chart of the tilting of the first storage rack of the present invention.
  • Fig. 26 is a schematic flow chart of the present invention for clamping the pipe with the distributing arm and the first turning arm.
  • FIG. 27 is a schematic flow chart of the first inversion arm of the present invention rotating and driving the pipe tool to the inversion main beam.
  • FIG. 28 is a schematic flow chart of the tilting of the second storage rack of the present invention.
  • FIG. 29 is a schematic flow chart of the second inversion arm of the present invention rotating and driving the pipe tool to the inversion main beam.
  • FIG. 30 is a schematic structural diagram of the turning robot of the present invention having both a first storage rack and a second storage rack.
  • Figure 31 is a schematic diagram of the fitting of the pipe of the present invention placed on the overturned main beam (before the trolley pushes against the pipe).
  • Figure 32 is a schematic diagram of the fitting of the pipe tool of the present invention placed on the overturned main beam (when the trolley pushes the pipe tool).
  • Figure 33 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. 34 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. 35 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. 36 is a schematic diagram of the structure of the bottom structure of the power mouse hole of the present invention rising to a high position.
  • Figure 37 is a schematic diagram of the cooperation of the traction assembly and the chain bridge assembly of the present invention.
  • Fig. 38 is a schematic view of the structure of the traction assembly of the present invention.
  • FIG. 39 is a schematic structural diagram of the chain bridge assembly of the present invention.
  • FIG. 40 is a schematic structural diagram of the bridging mechanism of the present invention.
  • FIG. 41 is a schematic structural diagram of the lifting mechanism of the present invention.
  • Figure 42 is a schematic diagram of the three-dimensional structure of the centering device.
  • FIG. 43 is a schematic structural diagram of the centering mechanism in a closed state.
  • FIG. 44 is a top view of FIG. 43 .
  • FIG. 45 is a schematic structural diagram of the centering mechanism in an open state.
  • FIG. 46 is a top view of FIG. 45 .
  • Icons 1-first storage rack; 10-turnover assembly; 100-pipe; 101-drill pipe; 102-casing; 11-storage rack; 111-placement surface; 112-second hinge shaft; 12-th 1-lifting cylinder; 13-blocking block; 14-adjusting telescopic cylinder; 15-distributing arm; 151-third hinge shaft; 152-placement space; 16-second driving part; 17-first turning arm; 171 - Fourth hinge shaft; 18 - Fourth drive part; 2 - Power rat hole; 21 - Centering device; 22 - Lifting mechanism; 221 - Scissor lifting mechanism; ;224-support plate;23-installation seat;24-protection clamp;25-protection clamp;251-drive assembly;252-transmission rod;253-fixed plate;254-transmission arm;255-base plate;256-rocker arm card plate; 257-rocker arm; 3-turning manipulator; 30-turning main beam; 31-base; 32-clamp body assembly; 321-clamping part; 322-
  • a pipe transfer system includes a pipe storage device 4, a turning manipulator 3, a transmission device 6 and a power mouse hole 2, wherein,
  • the pipe storage device 4 is used for placing the horizontal pipe 100, and the top of the pipe storage device 4 is open;
  • the transfer device 6 is used to transfer the pipe tool 100 in the pipe tool storage device 4 to the turning robot 3;
  • the turning manipulator 3 is used to rotate the pipe tool 100 from a horizontal state to a vertical state, and transmit the pipe tool 100 in the vertical state to the power mouse hole 2;
  • the power rat hole 2 is used to transport the pipe 100 to the standoff position.
  • the transmission device 6 has four preferred solutions,
  • the conveying device 6 includes a hoist 61 , and the hoist 61 is used to hoist the pipe 100 and place the pipe 100 on the turning manipulator 3 .
  • the hanger 611 can move the pipe 100 to the top of the turning robot 3 .
  • the pipe storage device 4 is provided with at least one row of storage compartments 41 for placing the pipes 100 , and all the pipes in the same storage compartment 41 100 are arranged vertically and parallel to the length direction of the turning manipulator 3, the bottom of the storage compartment 41 is provided with a pipe feeding mechanism 62 for pushing the pipe tool 100 upward, and a conveying mechanism is arranged above the storage compartment 41 63.
  • the outer side of the conveyor belt 631 of the conveying mechanism 63 is provided with a protrusion 632 for pushing the pipe tool 100 along the moving direction of the conveyor belt 631.
  • the pipe feeding mechanism 62 can be lifted and lowered horizontally.
  • the movement can be realized by the combination of the jacking cylinder, the linear module, the lateral guide rail or the electric cylinder, and the conveying mechanism 63 can be a sprocket assembly, a synchronous pulley assembly, a V-shaped pulley assembly and other equipment with the same functions.
  • Hydraulic telescopic cylinders, pneumatic telescopic cylinders, linear modules, lateral guides or electric cylinders and their combinations are available.
  • the storage grid 41 is arranged horizontally, which includes the horizontal setting of the storage grid 41, or there is a certain angle between the storage grid 41 and the horizontal that does not exceed 45 degrees
  • the pipe storage There are at least two devices 4 , and a lift assembly 45 for raising and lowering the pipe tool 100 is provided between the adjacent pipe storage devices 4 , and the lift assembly 45 is located at a position corresponding to the opening of the storage compartment 41 .
  • the pipe feeding mechanism 62 pushes the pipe tool 100 out of the storage compartment 41 from the open end of the storage compartment 41, it falls on the corresponding lifting assembly 45, and passes through the lifting assembly 45 and conveys
  • the mechanism 63 performs relay transmission and finally reaches the turning robot 3 .
  • a lifting device 37 is provided on the side of the pipe storage device 4 close to the turning robot 3 , and the protruding portion 632 pushes the pipe 100 to the lifting device 37 .
  • the lifting device 37 is used for The pipe tool 100 is transported to the turning robot 3 .
  • a bridging device 42 is provided on the top of the storage compartment 41, and the bridging device 42 has a closed state and an open state,
  • the bridging device 42 When the bridging device 42 is in the closed state, the bridging device 42 is located on the top of the storage compartment 41 , and the top surface of the bridging device 42 is flush with the storage compartment 41 ;
  • the bridging device 42 When the bridging device 42 is in the open state, the bridging device 42 is located on one side of the storage compartment 41 .
  • the pipe can pass laterally above the storage compartment 41 without falling into the storage compartment 41 .
  • the bridging device 42 is preferably the following scheme:
  • the bridging device 42 includes a traction assembly 420 and a chain bridge assembly 43, wherein,
  • the traction assembly 420 includes a traction guide member 422 and a bottom frame 421 connected to the storage rack 11.
  • a telescopic member 423 is connected between the traction guide member 422 and the bottom frame 421.
  • Telescopic component one 423 is preferably a scissor-type telescopic mechanism or an electric cylinder jacking mechanism;
  • the chain bridge assembly 43 includes a sprocket part 431 connected to the storage rack 11, a chain 432 is matched with the sprocket part 431, one end of the chain 432 is provided with a suspension weight 434, and the other end is connected to the other end.
  • the traction guide member 422 is connected.
  • the side of the chain 432 away from the sprocket member 431 is connected with a plurality of bridge plate units 433 arranged independently of each other.
  • the bridge unit 433 between them is located on the same plane.
  • the bridge plate unit forms a plane channel for the pipe to pass through, which can improve the smoothness of the pipe to pass.
  • the telescopic part 1 423 pushes the traction guide part to move back and forth, and drives the chain 432 to move back and forth, so as to realize the "bridging" operation between the vertical finger beams and provide a channel for the movement of the pipe.
  • the bridging device 42 of this solution is preferably used when the storage rack has a certain storage capacity, and its size is not too large.
  • the chain can be stored on the side of the storage rack, and the whole structure is compact, which can save space. As shown in FIG.
  • the second telescopic part 444 pushes the bridge assembly 442 so that the bridge assembly can move back and forth, and covers between the vertical finger beams to realize the "bridge" operation, providing a passage for the movement of the pipe, the overall structure is simple, and the manufacturing cost is low.
  • the turning manipulator 3 includes a base 31 and a turning main beam 30 for fixing the pipe 100, wherein,
  • One end of the base 31 and one end of the turning main beam 30 are hinged through a first hinge shaft 33, and a first telescopic member 35 is hinged between the turning main beam 30 and the base 31, and the turning main beam 30 is hinged.
  • At least one clamp body assembly 32 is disposed on the beam 30 , and the clamp body assembly 32 can restrict the pipe tool 100 from moving in its radial direction.
  • the forceps body assembly 32 preferably has two solutions:
  • clamping method the clamp body assembly 32 is provided with clamping portions 321 correspondingly, and a clamping space 322 for clamping the pipe 100 is provided between the corresponding clamping portions 321 .
  • a support structure 34 is provided on the end of the turning main beam 30 close to the first hinge shaft 33 , and the support structure 34 is used for positioning one end of the pipe 100 , and the pipe 100 One end abuts the support structure 34 .
  • 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 by a wire rope and a pulley, 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 drive part 363 is provided with an encoder for recording the displacement of the trolley 362, the length of the pipe 100 can be measured through the encoder and the displacement of the trolley 362, and recorded by the encoder, so as to prepare for the subsequent processing of the pipe 100,
  • the encoder is used to record, and the recorded signal is transmitted to the control system, and the control system controls the lifting mechanism 22 to be lifted to the corresponding height according to the recorded signal.
  • the first storage rack 1 is used to transport the pipe tools 100 to the overturned main beam 30 , and the pipe tools 100 are usually drill pipes, drill collars or oil pipes at this time.
  • 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 152 for placing the pipe 100 between the distributing arm 15 and the first turning arm 17,
  • the distributing arm 15 is hinged with the first storage rack 1 through a third hinge shaft 151
  • a second driving member 16 is also connected between the distributing arm 15 and the storage rack 11 .
  • Driving part 16, the second driving part 16 and the second driving part 16 drive 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 first Four hinge shafts 171 are 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 The fourth hinge shaft 171 rotates.
  • 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 100 to the overturned main beam 30.
  • the pipe 100 is usually 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 It is located on the other side of the overturned main beam 30 .
  • 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 .
  • the power rat hole 2 includes a centering device 21 and a lifting mechanism 22, the centering device 21 and the lifting mechanism 22 are correspondingly arranged in the vertical direction, and the centering device 21 and the lifting mechanism 22
  • the centering device 21 can limit the movement of the pipe 100 along its radial direction, and the centering and centering device 21 is used to limit the bottom of the pipe 100,
  • the lift mechanism 22 includes a scissor lift mechanism 221 and a support plate group 222 arranged on the upper part of the scissor lift mechanism 221 .
  • the upper end of the support plate group 222 is provided with a positioning recess with a pointed angle downward.
  • the center line of the centering and centering device 21 is aligned with the axis of the centering area and the axis of the groove. They are arranged vertically, the positioning grooves 223 are formed at the upper ends of all the support plates, and there is a gap between the adjacent support plates 224 for the support structure 34 to pass.
  • the centering and centering device 21 includes a mounting seat 23, a protection pliers 24 and a centering mechanism 25;
  • the mounting seat 23 can be set to a hollow structure of a rectangular parallelepiped, and a U-shaped opening is provided on one side of the mounting seat 23, and two sides of the U-shaped opening are provided.
  • the straight side is arranged in parallel with a guiding mechanism, and both the protection clamp 24 and the centering mechanism 25 are installed inside the mounting seat 23 .
  • the centering mechanism 25 includes a drive assembly 251, a fixing plate 253 and a base plate 255.
  • the number of the fixing plates 253 in the centering mechanism 25 is two, and they are respectively fixed on opposite sides of the base plate 255.
  • the transmission rod 252 can be selected as a common connecting rod.
  • the transmission arm 254 can be selected as a plate-like structure, and a rotating shaft is fixed on the plate surface of one end of the transmission arm 254 . After passing through the through hole, it is hinged with one end of the rocker arm 257 , and the other end of the transmission arm 254 is hinged with one end of the transmission rod 252 .
  • the rocker arm clips 256 can be selected as rectangular plates, and a gap is formed on the opposite sides of the two rocker arm clips 256, and the gap between the two rocker arm clips 256 can form a diamond-shaped structure and make the The side of the rocker arm clip 256 away from the notch is fixedly connected with the rocker arm 257.
  • a reinforcing piece can also be arranged below the rocker arm clip 256. plate.
  • the rocker arm 257 can be selected as a combined structure formed by two mutually perpendicular rectangular plates, and one end of the rocker arm 257 is fixedly connected to the rocker arm clamping plate 256 , and the other end is hinged to the transmission arm 254 .
  • the specific selection method of the driving component is not limited. For the convenience of implementation, a hydraulic driving method or an electric driving method can be selected.
  • the number of centering mechanisms 25 in the present invention can be at least two, and They are arranged at intervals up and down in the mounting seat 23 . In order to simplify the structure, as shown in FIG. 5 , two centering mechanisms 25 may be provided.
  • the pipe 100 in the pipe storage device 4 is transported to the turning manipulator 3 through the conveying device 6 , and then the turning manipulator 3 transfers the pipe 100 to the turning manipulator 3 .
  • the pipe tool 100 is rotated from a horizontal state to a vertical state, and the pipe tool 100 in the vertical state is transmitted to the power rat hole 2, and the power rat hole 2 transports the pipe tool 100 to the vertical position.
  • the whole process The trajectory of the movement of the pipe 100 can be precisely controlled without human intervention, thereby reducing labor intensity and safety risks.
  • the transportation method for pipes described in this embodiment can realize rapid transportation and precise positioning of pipe string movement. trajectories, so that the full automation of the string processing process can be realized. It includes the following steps:
  • step S2 is specifically:
  • S21 the turning manipulator 3 grips the pipe 100 and rotates from a horizontal state to a vertical state
  • S22 lowering the support structure 34 or raising the scissor lift mechanism 221 so that the support structure 34 penetrates the The scissor lift mechanism 221, and the support structure 34 is lower than the positioning groove 223, the centering device 21 clamps the pipe 100 to limit the radial movement of the pipe 100;
  • the first step the crane 61 is positioned above the pipe 100 to be moved;
  • the second step the crane 61 grabs a plurality of pipes 100;
  • the third step the crane 61 places the pipe 100 on the first storage rack 1 of the turning robot 3;
  • the fourth step tilt the first storage rack 1 toward the side of the turning manipulator 3, so that the drill rod 101 is rolled to the side close to the turning manipulator 3;
  • the fifth step the turning assembly 10 sends the drill pipe 101 to the turning main beam 30;
  • Step 6 The positioning mechanism 36 pushes the drill rod 101 so that one end of the drill rod 101 abuts against the support structure 34;
  • the seventh step under the action of the first telescopic member 35, the overturning main beam 30 clamps the drill rod 101 and rotates from the horizontal predetermined position to the vertical predetermined position;
  • Step 8 Lower the support structure 34 or lift the scissor lift mechanism 221, so that the support structure 34 is lower than the positioning groove 223, and the centering device 21 of the power rat hole 2 hugs the drill pipe 101 to Restricting the radial movement of the drill pipe 101;
  • the ninth step the scissor lift mechanism 221 of the power mouse hole 2 continues to push up the drill rod 101, and flips the clamp body assembly 32 of the main beam 30 to release the drill rod 101;
  • the tenth step the first telescopic member 35 of the overturning manipulator 3 is reset, and the whole is reset to a horizontal state, waiting for the next operation;
  • the eleventh step the power mouse hole 2 moves horizontally, and the drill pipe 101 is sent to the position of connecting the vertical root. After the pipe column in the mouse hole is transferred away, the power mouse hole is reset.
  • the twelfth step Repeat the fourth to eleventh steps until all the drill rods 101 on the first storage rack 1 are removed.
  • the thirteenth step Repeat the first to the twelfth steps until all the drill pipes 101 are sent to the drill floor.
  • the process of feeding the drill pipe 101 to the drilling floor is basically the reverse process of the process of feeding the pipe tool 100 to the drilling floor.
  • the first step the second storage rack 5 is inclined toward the side of the overturned main beam 30, so that the sleeve 102 is rolled to the side close to the overturned main beam 30;
  • the second step the second turning arm 51 separates a sleeve 102 so that it rolls into the transition arm 55 and waits for subsequent actions;
  • the third step the second inversion arm 51 continues to send the sleeve 102 to the inversion manipulator 3, and the clamp body assembly 32 hugs the sleeve 102 to limit the radial movement of the sleeve 102;
  • Step 4 Adjust the positioning mechanism 36 at the tail of the flipping manipulator 3 so that the trolley 362 on it is against the casing 102;
  • Step 5 under the action of the first telescopic member 35, the turning manipulator 3 rotates the clamping sleeve 102 from a horizontal position to a vertical position;
  • Step 6 Lower the support structure 34 or lift the scissor lift mechanism 221, so that the support structure 34 is lower than the positioning groove 223, and the centering device 21 of the power rat hole 2 hugs the sleeve 102 to restricting the radial movement of the sleeve 102;
  • Step 7 The scissor lift mechanism 221 of the power mouse hole 2 continues to push up the casing 102 upwards, and the clamp body assembly 32 of the main beam 30 is turned over to loosen the casing 102;
  • the eighth step the first telescopic member 35 of the overturning manipulator 3 is reset, and the whole is reset to a horizontal state, waiting for the next operation, and the second storage rack (5) is reset to a low position;
  • the ninth step the power mouse hole 2 is moved horizontally, and the casing 102 is sent to the position of the vertical root. After the casing in the mouse hole is moved away, the power mouse hole is reset.
  • Step 10 Repeat steps 1 to 9 until all casings 102 are sent to the drill floor.
  • the pipe storage device 4 can be replaced by a vertical drill pipe box 46, and the pipe equipment 100 in the vertical drill pipe box 46 is vertically in and out, and passes through the finger beam.
  • Each column of pipe tools 100 is separated, and the stored pipe tools 100 transport the pipe strings stored in the vertical drill pipe box 46 to the first storage rack 1 or the second storage rack 5 through the conveying mechanism 63 and the lifting device 37, and then transport to the root position.
  • the operation process of sending the pipe tool 100 from the vertical drill pipe box 46 to the first storage rack 1 or the second storage rack 5 is as follows:
  • the first step the pipe feeding mechanism 62, the bridging device 42, the conveying mechanism 63 and the lifting equipment 37 are ready to be in place;
  • the second step the pipe feeding mechanism 62 lifts the pipe tool 100, so that one pipe tool 100 protrudes from the vertical drill pipe box 46;
  • the third step the conveying mechanism 63 sends the pipe string to the lifting device 37;
  • the fourth step the lifting device 37 lowers the pipe 100 to a suitable height
  • the fifth step the lifting device 37 sends the pipe 100 to the first storage rack 1 or the second storage rack 5;
  • the sixth step reset the lifting device 37;
  • Step 7 Repeat steps 1 to 5 to process all the pipe strings in the first row; drive the bridging device 42 to seal the space above the pipe string row, which is used as a support bridge for subsequent pipe string rolling.
  • Step 8 Repeat steps 1 to 7 until all the pipe strings in the first drill pipe 101 box have been taken; Step 9: Repeat steps 1 to 8 until all pipe strings in all the drill pipe 101 boxes have been taken;
  • the operation flow is the reverse process of the pipe taking operation flow.
  • the present invention can take any row in a vertical drill pipe box 46 as required. That is to say, during the retrieval and storage process of the tubular string, any column in the vertical drill pipe box 46 can be selected, instead of accessing and placing the tubular string from one end to the other end.
  • the pipe storage device 4 can be replaced by a horizontal drill pipe box 47 for horizontal pipe outlet. angle, and separate each layer of pipe strings by finger beams, the pipe strings stored in the power drill pipe 101 box are transported to the first on the storage rack 1 or the second storage rack 5, and then transported to the stand-up position.
  • the operation process of sending the power drill pipe 101 horizontally out of the pipe to the first storage rack 1 or the second storage rack 5 is as follows:
  • the first step the pipe feeding mechanism 62, the conveying mechanism 63 and the lifting device 37 are ready to be in place;
  • the second step the pipe feeding mechanism 62 pushes the pipe tool 100, so that a pipe tool 100 protrudes out of the pipe string box, so that it rolls into the lifting device 37;
  • the third step the lifting device 37 lowers the pipe 100 to a suitable height
  • the fourth step the lifting device 37 sends the pipe 100 to the first storage rack 1 or the second storage rack 5;
  • the fifth step reset the lifting device 37;
  • Step 6 Repeat Step 1 to Step 5 to complete all the pipes 100 of the first horizontal drill pipe box 47;
  • the first step the pipe feeding mechanism 62, the conveying mechanism 63 and the lifting device 37 are ready to be in place;
  • the second step the pipe feeding mechanism 62 of the drill pipe 101 is pushed against the pipe tool 100, so that a pipe tool 100 protrudes out of the horizontal drill pipe box 47 and rolls into the lifting device 37;
  • the third step the lifting device 37 sends the taken pipe 100 to a suitable height
  • the fourth step the lifting device 37 sends the pipe 100 to the conveying mechanism 63 and conveys it;
  • the fifth step the conveying mechanism 63 conveys the pipe string to the lifting device 37;
  • the sixth step the lifting device 37 sends the pipe 100 to the conveying mechanism 63 and conveys it;
  • the seventh step the conveying mechanism 63 conveys the pipe 100 to the lifting device 37
  • the eighth step the lifting device 37 lowers the pipe 100 to a suitable height
  • the ninth step the lifting device 37 sends the pipe 100 to the drill pipe turntable 31
  • the tenth step the lifting device 37 is reset
  • the operation process of depositing is basically the opposite of the operation process of taking out, and only needs to be adjusted locally.
  • any row of the horizontal drill pipe box 47 can be selected, instead of picking and placing the pipe 100 from one end to the other end, from top to bottom, or from bottom to top.

Abstract

公开了一种管具移运系统及输送方法。该管具移运系统包括管具储存设备（4）、翻转机械手（3）、传输设备（6）和动力鼠洞（2），管具储存设备用于放置水平设置的管具（100），管具储存设备的一端敞口设置；传输设备用于将管具储存设备中的管具传输至翻转机械手上；翻转机械手用于将管具由水平状态旋转为竖直状态，并将处于竖直状态的管具传输至动力鼠洞；动力鼠洞用于将管具输送至接立根位置。该管具移运系统，整个过程能够精确控制管具运动的轨迹，不用人为干预，降低劳动强度和安全风险，且其能够配合电控系统，以实现整个过程的自动化。

Description

一种管具移运系统及输送方法 技术领域
本发明涉及石油钻修井机技术领域，特别是一种管具移运系统及输送方法。
 背景技术
在油气开发过程中，地面钻杆架上水平放置的管具（钻杆、钻铤、套管、油管以及钻杆立根、钻铤立根、套管立根、油管立根等钻修井用管类管具）转移至接立根位置，通常有两种方法：
第一种方法：通过机械猫道与气动绞车，在人工操作下送至坡道，再由钻台辅助绞车将钻杆吊起，在人工协助下移运至鼠洞中，等待后续操作，其使用传统的机械猫道、气动绞车、钻台辅助绞车及结合人工的操作方法，往往涉及到大量的人工操作以及繁重的劳动，且管具时有撞击、偏离或脱落，由于整个处理过程全部靠操作员协助，所以工作效率低下、劳动强度高且安全风险高；
第二种方法：通过动力猫道将管具送至钻台面大门口，然后使用顶部驱动系统上的吊环和吊卡，将钻杆提起，然后移至鼠洞中，等待下一步操作，其使用动力猫道输送管具，虽然可以减轻劳动强度，并使工作人员远离钻杆以及设备，较大程度的降低了安全风险，但是在使用动力猫道输送管具的过程中，管具存在不可控制不可预知的滚动，操作上无法控制管具运动的轨迹，经常偏离安全可操作路径，需要人为调节干预，从而使得整个管具操作流程的自动化水平低，无法实现全自动化。另外，当管具偏离要求状态且未被发现而继续执行后续操作流程时，极可能导致管具在操作过程中从高空坠落而导致人员伤亡或设备损坏。
 技术问题
本发明的目的在于：针对现有技术存在整个处理过程全部靠操作员协助，所以工作效率低下、劳动强度高且安全风险高的问题，提供一种管具移运系统及输送方法。
 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：
一种管具移运系统，包括管具储存设备、翻转机械手、传输设备和动力鼠洞，其中，
所述管具储存设备用于放置水平设置的管具，所述管具储存设备的一端敞口设置；
所述传输设备用于将管具储存设备中的管具传输至所述翻转机械手上；
所述翻转机械手用于将所述管具由水平状态旋转为竖直状态，并将处于竖直状态的所述管具传输至所述动力鼠洞；
所述动力鼠洞用于将所述管具输送至接立根位置。
本发明所述的一种用于将管具移至鼠洞的输送装置，通过传输设备将管具储存设备中的管具运送至翻转机械手上，再通过翻转机械手将所述管具由水平状态旋转为竖直状态，并将处于竖直状态的所述管具传输至动力鼠洞，动力鼠洞将所述管具输送至接立根位置，整个过程能够精确控制管具运动的轨迹，不用人为干预，降低劳动强度和安全风险，且其能够配合电控系统，以实现整个过程的自动化。
优选地，所述传输设备包括吊机，所述吊机用于吊装所述管具，并将所述管具放置于所述翻转机械手上。利用凸出部来实现横向移动所述管具的目的。
优选地，所述传输设备包括送管机构，所述管具储存设备内设置有至少一个用于放置所述管具的存储格，所述存储格的一端敞口设置，所述存储格的另一端设置所述送管机构，所述送管机构能够将所述管具从所述存储格的敞口端顶出所述存储格。
优选地，所述传输设备还包括输送机构，所述输送机构设置于所述存储格上方，从所述存储格的敞口端顶出的所述管具能够由所述输送机构输送至所述翻转机械手上。
优选地，所述存储格竖向设置。
优选地，所述输送机构包括驱动轮、从动轮和传输带，所述传输带分别与所述驱动轮和所述从动轮相配合，所述传输带外侧设置有用于沿所述传输带移动方向抵推所述管具的凸出部。
优选地，所述存储格顶部设置有架桥装置，所述架桥装置具有关闭状态和打开状态，
当所述架桥装置处于所述关闭状态时，所述架桥装置位于所述存储格顶部，且所述架桥装置顶面与所述存储格顶面相齐平；
当所述架桥装置处于所述打开状态时，所述架桥装置位于所述存储格的一侧。
优选地，所述存储格横向设置。
所有所述管具横向设置，其包括存储格水平设置，或者存储格与水平之间具有一定夹角（不超过45度）。
优选地，所述管具储存设备为至少两个，至少两个相邻所述管具储存设备之间设置有用于升降所述管具的举升组件，所述举升组件位于对应所述存储格敞口的一侧。
优选地，所述翻转机械手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。
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；所述翻转主梁上靠近所述第一铰接轴的端部设置有支承结构，所述支承结构用于定位所述管具的一端；所述翻转主梁远离所述第一铰接轴的一端设置有定位机构，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：所述管具位于所述翻转主梁时，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。
优选地，所述翻转机械手还包括升降设备，所述升降设备设置于所述管具储存设备靠近所述翻转主梁的一侧，所述传输设备用于将所述管具传输至所述升降设备上，所述升降设备用于将所述管具升降至与所述翻转主梁对应的高度，并传输至所述翻转主梁上。
优选地，所述动力鼠洞包括扶正对中装置和举升机构，所述扶正对中装置和举升机构在竖向上对应设置，所述扶正对中装置能够限制所述管具径向移动，所述扶正对中装置用于限位所述管具的底部。
优选地，所述举升机构包括剪叉升降机构和设置于所述剪叉升降机构上部的支撑板组，所述支撑板组的上端设置有用于定位所述管具端部的定位凹槽，在竖直方向上，所述扶正对中装置扶正对中区域与所述定位凹槽相对应。
优选地，所述支撑板组包括多块间隔布置的支撑板，每块支撑板均竖直布置，所有支撑板的上端形成所述定位凹槽，相邻所述支撑板之间具有能够使所述支承结构通过的间隙。
所述支撑板组与被设置成支承结构匹配的形状，使支撑板组中的至少一部分能够与支承结构相互穿过，从而带走管具。
本发明还公开了一种用于管具的输送方法，包含以下步骤。
S1：利用所述传输设备将所述管具放置在翻转机械手上；
S2：所述翻转机械手夹持所述管具由水平状态旋转为竖直状态，并将处于竖直状态的所述管具传输至所述动力鼠洞；
S3：所述动力鼠洞将所述管具输送至接立根位置。
本发明所述的一种用于管具的输送方法，通过传输设备将管具储存设备中的管具运送至翻转机械手上，再通过翻转机械手将所述管具由水平状态旋转为竖直状态，并将处于竖直状态的所述管具传输至动力鼠洞，动力鼠洞将所述管具输送至接立根位置，整个过程能够精确控制管具运动的轨迹，不用人为干预，降低劳动强度和安全风险，且其能够配合电控系统，以实现整个过程的自动化。
优选地，基于如本申请所述的翻转主梁和如本申请所述的支撑板组，所述支承结构能够沿所述翻转主梁长度方向与所述翻转主梁相对移动，步骤S2具体包含如下步骤：
S21：所述翻转机械手夹持所述管具由水平状态旋转为竖直状态；S22：下降所述支承结构或上升所述剪叉升降机构，使所述支承结构贯穿所述剪叉升降机构，且所述支承结构低于所述定位凹槽，所述扶正对中装置夹持所述管具，以限制所述管具径向移动；
S23：所述剪叉升降机构顶升所述管具所述钳体组件松开所述管具。
 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将管具移至鼠洞的输送装置，通过传输设备将管具储存设备中的管具运送至翻转机械手上，再通过翻转机械手将所述管具由水平状态旋转为竖直状态，并将处于竖直状态的所述管具传输至动力鼠洞，动力鼠洞将所述管具输送至接立根位置，整个过程能够精确控制管具运动的轨迹，不用人为干预，降低劳动强度和安全风险。
2、本发明所述的一种用于将管具移至鼠洞的输送装置，所述支撑板组与被设置成支承结构匹配的形状，使支撑板组中的至少一部分能够与支承结构相互穿过，从而带走管具。
3、本发明所述的一种用于管具的输送方法，通过传输设备将管具储存设备中的管具运送至翻转机械手上，再通过翻转机械手将所述管具由水平状态旋转为竖直状态，并将处于竖直状态的所述管具传输至动力鼠洞，动力鼠洞将所述管具输送至接立根位置，整个过程能够精确控制管具运动的轨迹，不用人为干预，降低劳动强度和安全风险，且其能够配合电控系统，以实现整个过程的自动化。
 附图说明
图1是本发明的一种管具移运系统的结构示意图(俯视)。
图2是本发明的一种管具移运系统的结构示意图(右视，具有吊机，去掉钻台)。
图3是本发明的吊机取管流程示意图。
图4是本发明的吊机放管流程示意图。
图5是本发明的一种管具移运系统的结构示意图(右视，存储格竖向设置，去掉钻台)。
图6是本发明的输送机构的结构示意图。
图7是本发明的送管机构举升管具的流程示意图（存储格竖向设置）。
图8是本发明的输送机构推动管具的流程示意图（存储格竖向设置）。
图9是本发明的升降设备升降管具的流程示意图（存储格竖向设置）。
图10是本发明的一种管具移运系统的结构示意图(右视，存储格横向设置，去掉钻台)。
图11是本发明的送管机构顶推管具至升降设备的流程示意图（存储格横向设置）。
图12是本发明的升降设备带动管具下降的流程示意图（存储格横向设置）。
图13是本发明的送管机构顶推管具至举升组件的流程示意图（存储格横向设置）。
图14是本发明的举升组件举升管具至输送机构的流程示意图（存储格横向设置）。
图15是本发明的举升组件举升管具至输送机构的流程示意图（存储格横向设置）。
图16是本发明的输送机构抵推至管具升降设备的流程示意图（存储格横向设置）。
图17是本发明的翻转机械手的结构示意图。
图18是本发明的第一存储架的结构示意图（正向三维轴侧图）。
图19是本发明的第一存储架的结构示意图（后向三维轴侧图）。
图20是本发明的翻转主梁的结构示意图。
图21是本发明的翻转主梁的主视图（钳体组件张开）。
图22是本发明的翻转主梁的主视图（钳体组件闭合）。
图23是本发明的第二存储架的结构示意图。
图24是本发明的定位机构的结构示意图。
图25是本发明的第一存储架倾斜的流程示意图。
图26是本发明的分料臂和第一翻转臂夹持管具的流程示意图。
图27是本发明的第一翻转臂旋转带动管具至翻转主梁的流程示意图。
图28是本发明的第二存储架倾斜的流程示意图。
图29是本发明的第二翻转臂旋转带动管具至翻转主梁的流程示意图。
图30是本发明的翻转机械手同时具有第一存储架和第二存储架的结构示意图。
图31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32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33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34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35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36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37是本发明的牵引组件与链桥组件的配合示意图。
图38是本发明的牵引组件的结构示意图。
图39是本发明的链桥组件的结构示意图。
图40是本发明的架桥机构的结构示意图。
图41是本发明的举升机构的结构示意图。
图42为扶正对中装置的三维结构示意图。
图43为闭合状态下的对中机构的结构示意图。
图44为图43的俯视图。
图45为开启状态下的对中机构的结构示意图。
图46为图45的俯视图。
图标：1-第一存储架；10-翻转组件；100-管具；101-钻杆；102-套管；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；152-放置空间；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；21-扶正对中装置；22-举升机构；221-剪叉升降机构；222-支撑板组；223-定位凹槽；224-支撑板；23-安装座；24-保护钳；25-保护钳；251-驱动组件；252-传动杆；253-固定板；254-传动臂；255-底板；256-摇臂卡板；257-摇臂；3-翻转机械手；30-翻转主梁；31-底座；32-钳体组件；321-夹持部；322-夹持空间；33-第一铰接轴；34-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；37-升降设备；4-管具储存设备；41-存储格；42-架桥装置；420-牵引组件；421-底架一；422-牵引导向部件；423-伸缩部件一；43-链桥组件；431-链轮部件；432-链条；433-桥板单元；434-悬重；44-架桥机构；441-底架二；442桥梁组件；444-伸缩部件二；45-举升组件；46-竖直钻杆盒；47-水平钻杆盒；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；6 -传输设备；61-吊机；611-吊具；62-送管机构；63-输送机构；631-传输带；632-凸出部；633-从动轮；634-驱动轮。
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1-36所示，一种管具移运系统，包括管具储存设备4、翻转机械手3、传输设备6和动力鼠洞2，其中，
所述管具储存设备4用于放置水平设置的管具100，所述管具储存设备4顶部敞口设置；
所述传输设备6用于将管具储存设备4中的管具100传输至所述翻转机械手3上；
所述翻转机械手3用于将所述管具100由水平状态旋转为竖直状态，并将处于竖直状态的所述管具100传输至所述动力鼠洞2；
所述动力鼠洞2用于将所述管具100输送至接立根位置。
具体地，所述传输设备6有四种优选方案，
第一种，如图2-4所示，所述传输设备6包括吊机61，所述吊机61用于吊装所述管具100，并将所述管具100放置于所述翻转机械手3上，所述吊具611能够将所述管具100移动至所述翻转机械手3的上方。
第二种，如图5-9所示，所述管具储存设备4内设置有至少一列用于放置所述管具100的存储格41，同一所述存储格41中的所有所述管具100沿竖向排列并与所述翻转机械手3长度方向平行，所述存储格41的底部设置有用于向上抵推所述管具100的送管机构62，所述存储格41上方设置有输送机构63，所述输送机构63的传输带631外侧设置有用于沿传输带631移动方向抵推所述管具100的凸出部632,该方案中，送管机构62既可以升降，有能水平移动，通过顶升缸，直线模组，横向导轨或者电动缸的组合都能实现其运动,而输送机构63可以为链轮组件、同步带轮组件、V形带轮组件等同等功能的设备，也可用液压伸缩缸、气压伸缩缸、直线模组、横向导轨或者电动缸及其组合。
第三种，如图10-12所示，同一所述存储格41中的所有所述管具100横向排列，且与水平之间具有一定角度，送管机构62顶推所述管具100从所述存储格41的敞口端顶出所述存储格41后，直接落在所述翻转机械手3上。
第四种，如图13-16所示，所述存储格41横向设置，其包括存储格41水平设置，或者存储格41与水平之间具有一定夹角不超过45度，所述管具储存设备4为至少两个，相邻所述管具储存设备4之间设置有用于升降所述管具100的举升组件45，所述举升组件45位于对应所述存储格41敞口的一侧，送管机构62顶推所述管具100从所述存储格41的敞口端顶出所述存储格41后，落在对应的举升组件45上，并通过举升组件45和输送机构63进行接力传送，最终到达翻转机械手3。
所述管具储存设备4靠近所述翻转机械手3的一侧设置有升降设备37，所述凸出部632抵推所述管具100至所述升降设备37上，所述升降设备37用于将所述管具100输送至所述翻转机械手3。
如图5和7所示，所述存储格41顶部设置有架桥装置42，所述架桥装置42具有关闭状态和打开状态，
当所述架桥装置42处于所述关闭状态时，所述架桥装置42位于所述存储格41顶部，且所述架桥装置42顶面与所述存储格41相齐平；
当所述架桥装置42处于所述打开状态时，所述架桥装置42位于所述存储格41的一侧。
通过架桥装置42，管具可以从存储格41上方横向通过，而不会掉进存储格41内。
所述架桥装置42具体优选以下方案，
如图37-39所示，第一种方案：架桥装置42包括牵引组件420和链桥组件43，其中，
所述牵引组件420包括牵引导向部件422和连接于所述存储机架11上的底架一421，所述牵引导向部件422与所述底架一421之间连接有伸缩部件一423，所述伸缩部件一423优选剪叉式伸缩机构或电动缸顶升机构；
所述链桥组件43包括连接于所述存储机架11上的链轮部件431，所述链轮部件431上配合有链条432，所述链条432的一端设置有悬重434，另一端与所述牵引导向部件422相连接。
所述链条432远离所述链轮部件431的一侧连接有若干相互独立设置的桥板单元433，同一所述架桥装置42上的所有位于所述链轮部件431与所述存储格110之间的所述桥板单元433位于同一平面上。通过桥板单元形成一个用于管具通过的平面通道，能提高管具通过的顺畅程度。
伸缩部件一423推动牵引导向部件前后移动，带动链条432前后移动，从而在竖直指梁之间实现“架桥”作业，为管具移动提供通道。
该方案的架桥装置42优选在存储架具有一定存储量时使用，其尺寸不至于过大。在伸缩部件一完全收缩时，链条可以存储在存储架的侧边，整个结构紧凑，从而可以节省占用空间，此种设计用于管具层数较小列数较多的管具存储方案。如图40所示，第二种方案：所述架桥装置42包括架桥机构44，所述架桥机构44包括底架二441和桥梁组件442，所述底架二441连接于所述存储机架11上，所述桥梁组件442位于对应的所述存储机架11顶部，所述桥梁组件442与所述底架二441之间通过伸缩部件二444相连接, 所述伸缩部件二444优选剪叉式伸缩机构或电动缸顶升机构。
伸缩部件二444推动桥梁组件442，使桥梁组件可以前后移动，覆盖在竖直指梁之间实现“架桥”作业，为管具移动提供通道，整体结构简单，制作成本低。
如图17-30所示，所述翻转机械手3包括底座31和用于固定管具100的翻转主梁30，其中，
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，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上对应设置有夹持部321，对应设置的所述夹持部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的端部设置有支承结构34，所述支承结构34用于定位所述管具100的一端，所述管具100的一端抵接所述支承结构34。
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24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，例如，通过编码器记录，并将记录信号传输至控制系统，控制系统根据所述记录信号来控制举升机构22的举升至相应高度。
如图18-19所示，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、钻铤或油管。
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152，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。
如图23、28-29所示，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。
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。
如图35、36和41所示，所述动力鼠洞2包括扶正对中装置21和举升机构22，所述扶正对中装置21和举升机构22在竖向上对应设置，所述扶正对中装置21能够限制所述管具100沿其径向移动，所述扶正对中装置21用于限位所述管具100的底部，
如图41所示，举升机构22包括剪叉升降机构221和设置于所述剪叉升降机构221上部的支撑板组222，所述支撑板组222的上端设置有尖角向下的定位凹槽223，在竖直方向上，扶正对中装置21扶正对中区域的中心线与凹槽的轴线的重合，所述支撑板组222包括多块间隔布置的支撑板224，每块支撑板224均竖直布置，所有支撑板的上端形成所述定位凹槽223，相邻所述支撑板224之间具有能够使所述支承结构34通过的间隙。
扶正对中装置21包括安装座23、保护钳24和对中机构25；安装座23可以设置为长方体的中空结构，并在安装座23的一侧开设有U型开口，并且U型开口的两侧直边与一导向机构平行布置，并将保护钳24和对中机构25都安装在安装座23的内部，保护钳24的具体结构不限，只要能够将管具100限制在安装座23的U型开口内即可。
如图42-46所示，对中机构25包括驱动组件251、固定板253和底板255，对中机构25中固定板253的数量为2块，并且分别固设在底板255相对的两侧，在2块固定板253上均开设有通孔；并且在每一块固定板253的通孔处，均设置有传动臂254、摇臂257、摇臂卡板256和传动杆252，并且传动臂254的一端穿过通孔后与摇臂257的一端铰接，传动臂254的另一端与传动杆252的一端铰接，摇臂257的另一端与摇臂卡板256固定连接，传动杆252的另一端与驱动组件251的一端铰接，驱动组件251的另一端固设在底板255上，并且驱动组件251布置在两块固定板253上通孔之间的中间位置；摇臂卡板256所在的平面可以与摇臂257之间垂直布置，并且在2块摇臂卡板256相对的侧边上设置有缺口，并且对中机构25在驱动组件251的作用下关闭时，2块摇臂卡板256上的缺口组成菱形状结构，并且菱形状结构的中心位于安装座23U型开口的对称线上，2块摇臂卡板256上的缺口之间形成管具100预定的对中扶正区域。
具体地，为便于实施，传动杆252可以选择为普通的连杆。传动臂254可以选择为板状结构，并且在传动臂254的一端的板面上固设有转动轴，转动轴与传动臂254的板面垂直布置，并使转动轴的一端从固定板253上的通孔穿过后与摇臂257的一端铰接在一起，传动臂254的另一端与传动杆252的一端铰接在一起。摇臂卡板256的可以选择为矩形板，并在2块摇臂卡板256相对的侧边上开设一个缺口，2块摇臂卡板256之间的缺口能够形成一个菱形状结构，并使摇臂卡板256远离缺口的侧边与摇臂257之间固定连接，为便于增加摇臂卡板256与摇臂257之间的连接强度，还可以在摇臂卡板256的下方设置一块加强板。摇臂257可以选择为由2块相互垂直的矩形板形成的组合结构，并使摇臂257的一端与摇臂卡板256固定连接，另一端与传动臂254之间铰接。驱动组件的具体选择方式不限，为便于实施，可以选择为液压驱动或者电力驱动的方式。
进一步的，为了进一步提高扶正对中装置5对管具100位置控制的效果，进而可以进一步提高管具100在本发明中的位置精度，本发明中的对中机构25可以至少为2个，并且在安装座23内上下间隔布置。为便于结构简化，如图5所示，可以将对中机构25设置为2个。
本发明所述的一种用于将管具100移至鼠洞的输送装置，通过传输设备6将管具储存设备4中的管具100运送至翻转机械手3上，再通过翻转机械手3将所述管具100由水平状态旋转为竖直状态，并将处于竖直状态的所述管具100传输至动力鼠洞2，动力鼠洞2将所述管具100输送至接立根位置，整个过程能够精确控制管具100运动的轨迹，不用人为干预，降低劳动强度和安全风险。
实施例 2
如图1-26所示，本实施例所述的一种用于管具的输送方法，基于如实施例1所示的一种管具移运系统，可实现快速的运输精准定位管柱运动的轨迹，从而可实现管柱处理过程的全自动化。其包含以下步骤：
S1：利用所述传输设备6将所述管具100放置在翻转机械手3上；
S2：所述翻转机械手3夹持所述管具100由水平状态旋转为竖直状态，并将处于竖直状态的所述管具100传输至所述动力鼠洞2；
S3：所述动力鼠洞2将所述管具100输送至接立根位置。
其中步骤S2具体为：
S21：所述翻转机械手3夹持所述管具100由水平状态旋转为竖直状态；S22：下降所述支承结构34或上升所述剪叉升降机构221，使所述支承结构34贯穿所述剪叉升降机构221，且所述支承结构34低于所述定位凹槽223，所述扶正对中装置21夹持所述管具100，以限制所述管具100径向移动；
S23：所述剪叉升降机构221顶升所述管具100所述钳体组件32松开所述管具100。
下面以钻杆101为例（钻杆101可以替换为钻铤、油管等管具，均适用），简要概述管子处理系统送钻杆101上钻台的流程。
初始状态：吊机61位于等待位，翻转机械手3位于低位，动力鼠洞2位于等待位。
第一步：吊机61定位至待移运管具100的上方；
第二步：吊机61抓取多根管具100；
第三步：吊机61将管具100放置在翻转机械手3的第一存储架1上；
第四步：将所述第一存储架1朝向翻转机械手3一侧倾斜，使钻杆101滚动至靠近翻转机械手3的一侧；
第五步：翻转组件10将钻杆101送至翻转主梁30中；
第六步：定位机构36顶推钻杆101，使钻杆101的一端抵接支承结构34；
第七步：翻转主梁30在第一伸缩构件35的作用下，夹持钻杆101从水平预定位置旋转至竖直预定位置；
第八步：下降支承结构34或上升所述剪叉升降机构221，使所述支承结构34低于所述定位凹槽223，动力鼠洞2的扶正对中装置21抱住钻杆101，以限制钻杆101径向移动；
第九步：动力鼠洞2的剪叉升降机构221继续向上顶起钻杆101，翻转主梁30的钳体组件32松开钻杆101；
第十步：翻转机械手3的第一伸缩构件35复位，并整体复位至水平状态，等待下步操作；
第十一步：动力鼠洞2水平移动，将钻杆101送至接立根位置。待鼠洞中管柱转移走后，动力鼠洞复位。
第十二步：重复第四步至第十一步，直至将第一存储架1上的钻杆101全部移走。
第十三步：重复第一步至第十二步，直至所有钻杆101全部送至钻台。
送钻杆101下钻台的流程基本上与送管具100上钻台流程的逆过程。
下面以套管102为例送套管102上钻台的操作流程如下：
初始状态：翻转机械手3位于低位，第二存储架5位于等待位。
第一步：第二存储架5朝向翻转主梁30一侧倾斜，使套管102滚动至靠近翻转主梁30的一侧；
第二步：第二翻转臂51将一根套管102分离，使其滚入过渡臂55中，等待后续动作；
第三步：第二翻转臂51继续将套管102送至翻转机械手3中，钳体组件32抱住套管102，以限制套管102径向移动；
第四步：调节翻转机械手3尾部的定位机构36，使其上的小车362抵住套管102；
第五步：翻转机械手3在第一伸缩构件35作用下，夹持套管102从水平位置旋转至竖直位置；
第六步：下降支承结构34或上升所述剪叉升降机构221，使所述支承结构34低于所述定位凹槽223，动力鼠洞2的扶正对中装置21抱住套管102，以限制套管102径向移动；
第七步：动力鼠洞2的剪叉升降机构221继续向上顶起套管102，翻转主梁30的钳体组件32松开套管102；
第八步：翻转机械手3的第一伸缩构件35复位，并整体复位至水平状态，等待下步操作，第二存储架（5）复位至低位；
第九步：动力鼠洞2水平移动，将套管102送至接立根位置，待鼠洞中套管被移运走后，动力鼠洞复位。
第十步：重复第一步至第九步，直至所有套管102全部送至钻台。
作为可选的一种方案：如图2-9所示，可将管具储存设备4替代为竖直钻杆盒46，竖直钻杆盒46中管具100竖直进出，并通过指梁隔开每列管具100，存储的管具100通过输送机构63和升降设备37将存储在竖直钻杆盒46中的管柱输送至第一存储架1或第二存储架5，然后输送至接立根位置处。
竖直钻杆盒46送管具100至第一存储架1或第二存储架5的操作流程如下：
第一步： 送管机构62、架桥装置42、输送机构63和升降设备37准备到位；
第二步：送管机构62顶升管具100，使一根管具100凸出竖直钻杆盒46；
第三步：输送机构63将管柱送至升降设备37；
第四步：升降设备37将管具100下降至合适高度；
第五步：升降设备37将管具100送至第一存储架1或第二存储架5；
第六步：升降设备37复位；
第七步：重复步骤一至步骤五，处理完第一列所有管柱；驱动架桥装置42将已取管柱列上方的空间封住，作为后续管柱滚动的支撑桥梁。
第八步：重复步骤一至步骤七，直至取完第一钻杆101盒中所有管柱；第九步：重复步骤一至步骤八，直至取完所有钻杆101盒中所有管柱；存管的操作流程为取管操作流程的逆过程。
上述仅为取管的一种流程操作，本发明可以根据需要任取一个竖直钻杆盒46中的任一列。也就是说，管柱在取存的过程中，可以任选一个竖直钻杆盒46中任何一列，而不是从一端至另外一端取放管柱。
作为可选的一种方案：如图10-16所示，可将管具储存设备4替代为水平出管的水平钻杆盒47，水平钻杆盒47中管柱水平进出容许与水平面有一些角度，并通过指梁隔开每层管柱，存储的管柱通过送管机构62送管机构62、输送机构63和升降设备37将存储在动力钻杆101盒中的管柱输送至第一存储架1或第二存储架5上，然后输送至接立根位置处。
水平出管的动力钻杆101盒送管至第一存储架1或第二存储架5的操作流程如下：
取第一个管具100的操作流程
第一步：送管机构62、输送机构63和升降设备37准备到位；
第二步：送管机构62顶推管具100，使一根管具100凸出管柱盒，使其滚入升降设备37；；
第三步：升降设备37将管具100下降至合适高度；
第四步：升降设备37将管具100送至第一存储架1或第二存储架5；
第五步：升降设备37复位；
第六步：重复步骤一至步骤五，可取完第一个水平钻杆盒47的所有管具100；
取其它水平钻杆盒47中管具100的操作流程：
第一步：送管机构62、输送机构63和升降设备37准备到位；
第二步：所取钻杆101的送管机构62抵推管具100，使一根管具100凸出水平钻杆盒47，使其滚入升降设备37；
第三步：升降设备37将所取管具100送至合适高度；
第四步：升降设备37将管具100送至输送机构63，并进行输送；
第五步：输送机构63输送管柱至升降设备37；
第六步：升降设备37将管具100送至输送机构63，并进行输送；
第七步：输送机构63输送管具100至升降设备37
第八步：升降设备37将管具100下降至合适高度；
第九步：升降设备37将管具100送至钻杆中转台31
第十步：升降设备37复位；
重复上述流程，可以将其它管柱全部输送至第一存储架1或第二存储架5，
存管的操作流程基本上与取管操作流程相逆，只需要进行局部调整即可满足
上述取管流程只是为了便于理解而选择其中的一种操作方法进行说明，实际上本发明可以根据需要任取一个水平钻杆盒47中的任一排。也就是说，管具100在取存的过程中，可以任选一个水平钻杆盒47中任何一排，而不是从一端至另外一端、从上至下或从下至上取放管具100。
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 (17)

  1. 一种管具移运系统，其特征在于，包括管具储存设备（4）、翻转机械手（3）、传输设备（6）和动力鼠洞（2），其中，
    所述管具储存设备（4）用于放置水平设置的管具（100），所述管具储存设备（4）的一端敞口设置；
    所述传输设备（6）用于将所述管具储存设备（4）中的管具（100）传输至所述翻转机械手（3）上；
    所述翻转机械手（3）用于将所述管具（100）由水平状态旋转为竖直状态，并将处于竖直状态的所述管具（100）传输至所述动力鼠洞（2）；
    所述动力鼠洞（2）用于将所述管具（100）输送至接立根位置。
  2. 根据权利要求1所述的一种管具移运系统，其特征在于，所述传输设备（6）包括吊机（61），所述吊机（61）用于吊装所述管具（100），并将所述管具（100）放置于所述翻转机械手（3）上。
  3. 根据权利要求1所述的一种管具移运系统，其特征在于，所述传输设备（6）包括送管机构（62），所述管具储存设备（4）内设置有至少一个用于放置所述管具（100）的存储格（41），所述存储格（41）的一端敞口设置，所述存储格（41）的另一端设置所述送管机构（62），所述送管机构（62）能够将所述管具（100）从所述存储格（41）的敞口端顶出所述存储格（41）。
  4. 根据权利要求3所述的一种管具移运系统，其特征在于，所述传输设备（6）还包括输送机构（63），所述输送机构（63）设置于所述存储格（41）上方，从所述存储格（41）的敞口端顶出的所述管具（100）能够由所述输送机构（63）输送至所述翻转机械手（3）上。
  5. 根据权利要求4所述的一种管具移运系统，其特征在于，所述输送机构（63）包括驱动轮（634）、从动轮（633）和传输带（631），所述传输带（631）分别与所述驱动轮（634）和所述从动轮（633）相配合，所述传输带（631）外侧设置有用于沿所述传输带（631）移动方向抵推所述管具（100）的凸出部（632）。
  6. 根据权利要求5所述的一种管具移运系统，其特征在于，所述存储格（41）竖向设置。
  7. 根据权利要求6所述的一种管具移运系统，其特征在于，所述存储格（41）顶部设置有架桥装置（42），所述架桥装置（42）具有关闭状态和打开状态，
    当所述架桥装置（42）处于所述关闭状态时，所述架桥装置（42）位于所述存储格（41）顶部，且所述架桥装置（42）顶面与所述存储格（41）顶面相齐平；
    当所述架桥装置（42）处于所述打开状态时，所述架桥装置（42）位于所述存储格（41）的一侧。
  8. 根据权利要求5所述的一种管具移运系统，其特征在于，所述存储格（41）横向设置。
  9. 根据权利要求8所述的一种管具移运系统，其特征在于，所述管具储存设备（4）为至少两个，至少两个相邻所述管具储存设备（4）之间设置有用于升降所述管具（100）的举升组件（45），所述举升组件（45）位于对应所述存储格（41）敞口的一侧。
  10. 根据权利要求1-9任意一项所述的一种管具移运系统，其特征在于，所述翻转机械手（3）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）。
  11. 根据权利要求10所述的一种管具移运系统，其特征在于，所述翻转机械手（3）还包括升降设备（37），
    所述升降设备（37）设置于所述管具储存设备（4）靠近所述翻转主梁（30）的一侧，所述传输设备（6）用于将所述管具（100）传输至所述升降设备（37）上，所述升降设备（37）用于将所述管具（100）升降至与所述翻转主梁（30）对应的高度，并传输至所述翻转主梁（30）上。
  12. 根据权利要求10所述的一种管具移运系统，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；所述翻转主梁（30）上靠近所述第一铰接轴（33）的端部设置有支承结构（34），所述支承结构（34）用于定位所述管具（100）的一端；所述翻转主梁（30）远离所述第一铰接轴（33）的一端设置有定位机构（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）。
  13. 根据权利要求12所述的管具移运系统，其特征在于，所述动力鼠洞（2）包括扶正对中装置（21）和举升机构（22），所述扶正对中装置（21）和举升机构（22）在竖向上对应设置，所述扶正对中装置（21）能够限制所述管具（100）径向移动，所述扶正对中装置（21）用于限位所述管具（100）的底部。
  14. 根据权利要求13所述的一种管具移运系统，其特征在于，所述举升机构（22）包括剪叉升降机构（221）和设置于所述剪叉升降机构（221）上部的支撑板组（222），所述支撑板组（222）的上端设置有用于定位所述管具（100）端部的定位凹槽（223），在竖直方向上，所述扶正对中装置（21）扶正对中区域与所述定位凹槽（223）相对应。
  15. 根据权利要求14所述的一种管具移运系统，其特征在于，所述支撑板组（222）包括多块间隔布置的支撑板（224），每块支撑板（224）均竖直布置，所有支撑板的上端形成所述定位凹槽（223），相邻所述支撑板（224）之间具有能够使支承结构（34）通过的间隙。
  16. 一种用于管具的输送方法，其特征在于，基于权利要求15所述的管具移运系统，包含以下步骤：
    S1：利用所述传输设备（6）将所述管具（100）放置在翻转机械手（3）上；
    S2：所述翻转机械手（3）夹持所述管具（100）由水平状态旋转为竖直状态，并将处于竖直状态的所述管具（100）传输至所述动力鼠洞（2）；
    S3：所述动力鼠洞（2）将所述管具（100）输送至接立根位置。
  17. 根据权利要求16所述的一种用于管具的输送方法，其特征在于，步骤S2具体包含如下步骤：
    S21：所述翻转机械手（3）夹持所述管具（100）由水平状态旋转为竖直状态；
    S22：下降所述支承结构（34）或上升所述剪叉升降机构（221），使所述支承结构（34）贯穿所述剪叉升降机构（221），且所述支承结构（34）低于所述定位凹槽（223），所述扶正对中装置（21）夹持所述管具（100），以限制所述管具（100）径向移动；
    S23：所述剪叉升降机构（221）顶升所述管具（100）所述钳体组件（32）松开所述管具（100）。
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