WO2022033533A1 - 一种高效作业钻机及方法 - Google Patents

一种高效作业钻机及方法 Download PDF

Info

Publication number
WO2022033533A1
WO2022033533A1 PCT/CN2021/112135 CN2021112135W WO2022033533A1 WO 2022033533 A1 WO2022033533 A1 WO 2022033533A1 CN 2021112135 W CN2021112135 W CN 2021112135W WO 2022033533 A1 WO2022033533 A1 WO 2022033533A1
Authority
WO
WIPO (PCT)
Prior art keywords
pipe
manipulator
stand
wellhead
drill floor
Prior art date
Application number
PCT/CN2021/112135
Other languages
English (en)
French (fr)
Inventor
田雨
唐爱民
陈崇
吕岩
李玺
杨淑娟
李晓虎
何波
田力
吴正华
欧小武
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
Priority claimed from CN202010803987.6A external-priority patent/CN112096274B/zh
Priority claimed from CN202010803445.9A external-priority patent/CN112096273B/zh
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 WO2022033533A1 publication Critical patent/WO2022033533A1/zh

Links

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
    • E21B3/00—Rotary drilling
    • E21B3/02—Surface drives for rotary drilling

Definitions

  • the invention relates to the field of oil and natural gas drilling and production equipment and technology, in particular to a high-efficiency, off-line operation drilling rig and method, which is especially suitable for equipment for onshore oil and natural gas production.
  • land drilling rigs mainly use the following drilling operations and pipe string handling procedures: first, special vehicles transport the drilling tools to the well site, and on-site cranes are used to hoist the pipe tools to the pipe rack; then, workers operate the power catwalk to remove the pipe rack from the pipe rack. Grab the pipe on the rack and move the pipe to the drill floor through the power catwalk; then, the driller operates the hydraulic spreader to grab the pipe on the drill floor and lift it up through the top drive.
  • the top drive lifts the wellhead column to a high position, and the wellhead column sits on the slips; then, the iron driller reaches the wellhead position to remove the wellhead column; Or the drilling floor manipulator is arranged to the stand box area; finally, the upper end of the stand is handed over by the top drive to the derrick worker or the second-floor pipe arranging machine, and the derrick worker or the second-floor pipe arranging machine will discharge the stand to the stand box area.
  • the stand When the lower end of the stand is discharged from the wellhead to the stand box area, the stand always occupies the position of the wellhead, which greatly reduces the efficiency of tripping and increases the probability of underground safety accidents.
  • the run-in process is the opposite of the trip-out process, and there are similar problems.
  • a drill pipe is a single drill pipe
  • a stand is a long rod formed by several drill pipes (usually 2 to 4) joined together
  • a column is connected by a plurality of drill pipes.
  • the pipe or a combination of drill pipe and drill collar, or multiple casings placed in the downhole (depending on the number of connected drill pipes, the length can range from tens of meters to thousands of meters).
  • several connected drill pipes separated from the column after tripping are the vertical roots.
  • the purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art, and to provide a high-efficiency, working drilling rig, which can realize the efficient vertical movement of the vertical root at the wellhead and the root box area, improve the efficiency of tripping and reduce the safety accident in the well. It also provides a corresponding method to realize off-line unloading and unloading of the stand during the drilling operation, reduce the preparation time during the drilling process, improve the drilling operation efficiency, and reduce the cost of oilfield development.
  • a high-efficiency drilling rig comprising a base, a derrick mounted on the base, an iron driller and a pipe tool transfer device, further comprising:
  • Drill floor manipulator installed on the base
  • Top drive mounted on the derrick, power finger beam, and a multifunctional manipulator configured to support/hold the upper part of the stand and drive the movement of the stand and/or a second layer configured to support/hold the upper part of the stand Taiwan pipe arrangement machine;
  • a turning manipulator installed on the ground and a ground pipe storage and transportation device for placing drill pipes, wherein,
  • the top drive is configured to be movable in a horizontal direction to leave the wellhead position, and the top drive is also movable in a vertical direction;
  • a vertical box area is provided on the upper surface of the base and the area vertically corresponding to the power finger beam;
  • the drill floor manipulator is configured for clamping/supporting the lower part of the stand, and cooperates with the second-floor pipe arranging machine/the multifunctional manipulator to drive the stand to move between the wellhead position and the stand box area;
  • One of the two-layer pipe arranging machine/the multifunctional manipulator and the drill floor manipulator clamps the vertical root, and the other supports the vertical root.
  • the present invention also provides a drilling method, comprising:
  • Step 1 Move the top drive horizontally to the wellhead position, and lift the wellhead column up with a spreader;
  • Step 2 After the top drive reaches the high position, turn off the power slip, and the column sits on the slip;
  • Step 3 The upper part of the stand is matched by a spreader, and the iron driller extends to the wellhead to shackle. After the shackle is completed, the multi-functional manipulator and the drill floor manipulator are extended to the wellhead, and the multi-functional manipulator clamp head clamps/supports the upper part of the stand and drills. A manipulator clamp head supports/clamps the lower part of the stand;
  • Step 4 The spreader is disengaged from the upright column, the multi-functional manipulator and the drill floor manipulator retract, rotate, and walk synchronously, move the stand to the stand box area, place the stand stand in the stand stand area, and keep the stand stand upright during the transfer process. Then the multi-functional manipulator and the drill floor manipulator walk, rotate, and extend to the vicinity of the wellhead synchronously, waiting to grab the next stand;
  • the top drive is translated away from the wellhead and down.
  • the fifth step can also be combined with the first step and/or the second step.
  • the steps are performed synchronously.
  • the present invention also provides a drilling method, comprising:
  • Step 1 Hold the stand by one of the drill floor manipulator and the multi-functional manipulator, while the other supports the stand, and moves the stand to the wellhead position. During the move, the stand is kept vertical, and the wire is used in the process of moving the stand.
  • the deduction oil applicator applies thread oil;
  • Step 2 The multi-functional manipulator and the drill floor manipulator place the vertical root on the top of the lower column, the spreader lifts the vertical root, and the multi-functional manipulator and the drill floor manipulator are released;
  • the third step the iron driller stretches out to the wellhead to make up the buckle, after the completion of the iron driller reset, the drill floor manipulator and the second-floor pipe arranging machine move to the root box area to prepare for the first step;
  • Step 4 The spreader lowers the column. After the spreader is lowered to a low position, the power slips are closed, the spreader is opened, and the top drive moves up from the wellhead position.
  • the fourth step can be executed simultaneously with the first and second steps.
  • applying thread oil with a thread oil applicator device is to apply thread oil to the lower part of the standing root or to apply thread oil to the top of the column during the process of moving the standing root.
  • the present invention further provides a drilling method, comprising:
  • Step 1 Move the top drive to the wellhead position, and lift the wellhead column up with a spreader
  • Step 2 After the top drive reaches the high position, turn off the power slip, and the column sits on the slip;
  • the third step the multi-functional manipulator extends to the wellhead, the multi-functional manipulator clamps the upper part of the stand, the top drive opens the spreader, and the top drive translates to leave the wellhead position; the iron driller extends to the wellhead position, and the multi-functional manipulator cooperates with the iron drill shackle;
  • the iron driller retracts, and the plier head of the drill floor manipulator extends to the wellhead to support the lower part of the stand;
  • Step 4 The multi-functional manipulator lifts the wellhead stand to a certain height, retracts, rotates, and walks synchronously with the drill floor manipulator, and moves the stand to the stand box area, and the stand remains vertical during the transfer process;
  • Step 5 Put the multi-functional manipulator down on the vertical root box area, open the clamp head of the multi-functional manipulator and the drill floor manipulator synchronously and retract, and then the multi-functional manipulator and the drill floor manipulator synchronously walk, rotate, and extend to the vicinity of the wellhead. Waiting to grab the next root;
  • the top drive is translated away from the wellhead and down.
  • the fifth step can also be combined with the first step and/or the second step.
  • the steps are performed synchronously.
  • the present invention further provides a matching drilling method, comprising:
  • Step 1 Move the stand from the stand box to the wellhead position, grab the stand by the multi-functional manipulator and the drill floor manipulator, move the stand to the wellhead position, and place it on the top of the wellhead column. During the move, the stand remains vertical. And in the process of moving the stand, use the thread oil applicator to apply thread oil;
  • Step 2 The drill floor manipulator is released, the iron driller is stretched out to the wellhead and the upper part of the stand is supported by the multi-functional manipulator. After completion, the iron driller is reset, and the drill floor manipulator and the second-floor pipe arranging machine are moved to the stand box area. prepare for the first step;
  • Step 3 The spreader lifts the column, the multi-functional manipulator is released, and the column is lowered; after it is lowered to a low position, the power slips are closed, the spreader is opened, and the top drive is moved to move upward from the wellhead.
  • the first step is repeated, and when the third step is performed, the third step may be performed simultaneously with the first and/or second step.
  • the present invention also provides a kind of method for off-line connection of root, comprising the following steps:
  • the first step The pipe (drill pipe, drill collar, casing, etc.) is vertically moved by the pipe transfer device (for example, a power rat hole or a flipping manipulator) to the position of the off-line connection stand (the position is near the wellhead). With the joint higher than the drill floor;
  • the pipe transfer device for example, a power rat hole or a flipping manipulator
  • Step 2 The clamp head of the multi-functional manipulator opens the upper part of the clamping pipe, and the multi-functional manipulator takes the pipe up;
  • Step 3 Before the lower joint of the pipe tool leaves the drill floor, the clamp head of the drill floor manipulator closes and supports the pipe tool, and the pipe tool can move up and down in the clamp head;
  • Step 4 When the lower joint of the first pipe leaves a certain height from the drill floor, the multi-functional manipulator stops moving upward, and the pipe transfer device vertically moves the second pipe to the position of the off-line connection stand, and the pipe joint is higher than drill floor;
  • Step 5 The multi-functional manipulator clamps the first pipe and lowers it to the second pipe joint, and the drill floor manipulator makes the axis of the first pipe and the second pipe concentric;
  • Step 6 Open the pliers head of the drill floor manipulator and leave the position of the vertical root;
  • the seventh step the iron driller stretches out to the position of the vertical root and makes a buckle, and the iron driller resets after finishing the buckle;
  • Step 8 The pipe transfer device loosens the pipe, and the multi-functional manipulator grips the first pipe and goes up. Before the lower joint of the second pipe leaves the drill floor, the drill head manipulator extends out and closes and supports the second pipe. the lower part of the root canal;
  • Step 9 After the lower joint of the second pipe leaves a certain height from the drilling floor, the multi-functional manipulator stops moving upward, and the pipe transfer device vertically moves the third pipe to the position of the off-line connection stand, and the pipe joint is higher than the drill. mesa;
  • Step 10 The multi-functional manipulator clamps the first pipe and lowers it, so that the second pipe joint is on the third pipe joint, and the drill floor manipulator makes the second pipe and the third pipe axis concentric;
  • Step 11 Open the gripper head of the drill floor manipulator and leave the position of connecting the vertical root
  • the twelfth step the iron driller stretches out to the position of the vertical root, and then resets after finishing the buckle;
  • the thirteenth step The pipe transfer device loosens the pipe, the multi-functional manipulator grips the first pipe and goes up, the drill floor manipulator extends out and closes and supports the lower part of the bottom pipe to the lower joint of the bottom pipe After a certain height above the drill floor, the multi-functional manipulator stops ascending;
  • the thirteenth step the multi-functional manipulator clamps the stand and the drill floor manipulator supports the stand synchronously and vertically moves the stand to the finger beam area;
  • Step 14 The multi-functional manipulator lowers the vertical root to the vertical root box area, and the multi-functional manipulator and the drill floor manipulator are simultaneously opened and returned.
  • the above steps are repeated, and the next standing pipe is connected offline in a cycle.
  • the off-line standoff method is carried out concurrently with the drilling operation of the rig.
  • the present invention also provides a drilling method, comprising:
  • Step 1 Move the top drive horizontally to the wellhead position, and lift the wellhead column up with a spreader;
  • Step 2 After the top drive reaches the high position, turn off the power slip, and the column sits on the slip;
  • the third step the multi-functional manipulator clamp head swings to the wellhead position, supports the upper end of the column, and the top drive opens the spreader;
  • Step 4 The iron driller stretches out to the wellhead to shackle. After the shackle is completed, the second-floor pipe arranging machine and the drill floor manipulator simultaneously extend to the wellhead position. At the lower part of the vertical root, the multi-functional manipulator clamp head is loosened and moved upward away from the wellhead position;
  • Step 5 The second-floor pipe arranging machine and the drilling floor manipulator retract, rotate, and walk synchronously, move the standing roots to the standing root box area, and place the standing roots in the standing root box area.
  • the pipe-arranging machine and the drill-floor manipulator walk, rotate, and extend synchronously to the vicinity of the wellhead, waiting to grab the next stand;
  • the top drive is translated away from the wellhead and down.
  • the fifth step can be combined with the first step and/or the second step. Steps are synchronized
  • the present invention also provides a drilling method, comprising:
  • the first step one of the drill floor manipulator and the second-floor pipe arranging machine holds the stand, while the other supports the stand, and moves the stand to the wellhead position. Use the thread oil applicator to apply thread oil;
  • Step 2 The drill floor manipulator clamps/supports the lower part of the stand, the second-floor pipe arranging machine supports/clamps the upper part of the stand, and places the stand in the joint of the lower column;
  • Step 3 The multi-functional manipulator extends to support the upper part of the wellhead stand, the drill floor manipulator and the clamp head of the second-floor pipe arranging machine are opened, and the iron driller extends to the wellhead to make a buckle.
  • the floor tube arrangement machine is moved to the root box area to prepare for the first step;
  • Step 4 The spreader hangs the top of the column, the multi-functional manipulator clamp head is opened and away from the wellhead position, the top drive hangs the wellhead column and lowers it. Wellhead position up
  • the fourth step can be executed simultaneously with the first and second steps.
  • the present invention further provides a drilling method, comprising:
  • Step 1 Move the top drive horizontally to the wellhead position, and use a spreader to lift the wellhead column up;
  • Step 2 After the top drive reaches the high position, turn off the power slip, and the column sits on the slip;
  • Step 3 The iron driller extends to the wellhead to shackle, and the upper part of the column is supported by the spreader. After the shackle is completed, the iron driller returns to the original position; the second-floor pipe arranging machine and the clamp head of the drill floor manipulator are extended to the wellhead position, the upper part of the vertical root is supported by the second-floor pipe arranging machine, and the lower part of the vertical root is clamped by the drill floor manipulator; the spreader is opened to release the vertical column, and the top drive is moved away from the wellhead position in translation;
  • Step 4 The drill floor manipulator or the second-floor pipe arranging machine lifts the wellhead stand to a certain height, the second-floor pipe arranging machine and the drill floor manipulator retract, rotate, and walk synchronously, and move the stand to the stand box area. keep upright;
  • Step 5 The drill floor manipulator or the second-floor pipe arranging machine lowers the standing root to the plane of the stand box area, and simultaneously opens the second-floor pipe arranging machine and the drill floor manipulator clamp head and retracts; the second-floor pipe arranging machine and the drilling floor manipulator are synchronized Walk, rotate, and extend to the vicinity of the wellhead, waiting to grab the next stand;
  • the top drives down to low in steps four and/or five.
  • the fifth step can be combined with the first step and/or the second step.
  • the steps are performed synchronously.
  • the present invention also provides a drilling method, comprising the following steps:
  • Step 1 Move the stand from the stand box to the wellhead position, grab the stand by the drill floor manipulator, and move the stand synchronously to the wellhead position by the second-layer pipe arranging machine and the drill floor manipulator, and place it in the upper joint of the wellhead column , the vertical root is kept vertical during the transfer process, and the screw oil smearing device is used to apply the screw oil during the transfer of the vertical root;
  • Step 2 The top drive spreader lifts the column, the drill floor manipulator and the clamp head of the second-floor pipe arranging machine are released and retracted, the iron driller extends to the wellhead to make a buckle, after completion, the iron driller resets, the drill floor manipulator and the second The floor tube arrangement machine is moved to the root box area to prepare for the first step;
  • the third step the top drive spreader lifts the column and lowers the column; after it is lowered to a low position, the power slips are closed, the spreader is opened, and the top drive is translated to move up from the wellhead position;
  • the third step may be executed simultaneously with the first step.
  • the present invention also provides a kind of method for off-line connection of root, comprising the following steps:
  • Step 1 The first pipe (drill pipe, drill collar, casing, etc.) is vertically moved by the pipe transfer device to the off-line standing position (the position is near the wellhead), and the pipe joint is higher than the drilling floor;
  • Step 2 The plier head of the multifunctional manipulator opens the upper part of the grabbing pipe, and the multifunctional manipulator drives the pipe upwards;
  • Step 3 Before the lower joint of the pipe tool leaves the drill floor, the plier head of the drill floor manipulator closes and supports the pipe tool, and the pipe tool can move vertically up and down in the plier head;
  • Step 4 When the lower joint of the first pipe is at a certain height from the drilling floor, the multi-functional manipulator stops moving upward, and the pipe transfer device vertically moves the second pipe to the stand-off position, and the pipe joint is higher than drill floor;
  • Step 5 The multifunctional manipulator clamps the first pipe and lowers it to the second pipe joint, and the drill floor manipulator makes the axis of the first pipe and the second pipe concentric;
  • Step 6 Open the pliers head of the drill floor manipulator and leave the position of the vertical root;
  • Step 7 The iron driller stretches out to the position of the vertical root, and then retracts away from the position of the vertical root after finishing the hooking;
  • Step 8 The pipe transfer device (for example, a power rat hole or a flipping manipulator) releases the pipe, and the multi-functional manipulator grips the first pipe and ascends until the lower joint of the second pipe leaves the drill floor.
  • the gripper head of the manipulator extends to close and supports the lower part of the second pipe;
  • Step 9 After the lower joint of the second pipe leaves a certain height from the drill floor, the multi-functional manipulator stops moving upward, and the pipe transfer device vertically moves the third pipe to the stand-off position, and the pipe joint is higher than the drill. mesa;
  • Step 10 The multi-functional manipulator clamps the first pipe and lowers it, so that the second pipe joint is on the third pipe joint, and the drill floor manipulator makes the second pipe and the third pipe axis concentric;
  • Step 11 Open the gripper head of the drill floor manipulator and leave the position of connecting the vertical root
  • the twelfth step the iron driller stretches out to the position of the vertical root, and then resets after finishing the buckle;
  • the thirteenth step The pipe transfer device releases the pipe, the multi-functional manipulator holds the first pipe and goes up. Before the lower joint of the lower pipe leaves the drill floor, the clamp head of the drill floor manipulator extends and closes and supports the lower pipe The lower part, when the lower joint of the lower pipe is higher than a certain height of the drilling floor, the multi-functional manipulator stops ascending;
  • the fourteenth step The drill floor manipulator clamps/supports the lower part of the vertical pipe string to bear the vertical root load, and the pliers of the second-floor pipe arrangement machine extend out to support the upper part of the vertical pipe string;
  • Step 15 Open the clamp head of the multi-functional manipulator and move up, so that the bottom of the clamp head of the multi-functional manipulator is higher than the upper end of the stand joint by a distance;
  • Step 16 The second-floor pipe arranging machine and the drill floor manipulator move the vertical root to the finger beam area synchronously, and the multi-functional manipulator goes down to prepare for the next vertical root;
  • Step 17 The drill floor manipulator lowers the vertical root to the plane of the vertical root box area, and the second-floor pipe arranging machine and the drill floor manipulator clamp head are simultaneously opened and returned.
  • the above steps are repeated, and the next standing pipe is connected offline in a cycle.
  • the off-line standoff method is carried out concurrently with the drilling operation of the rig.
  • the device and method of the present invention use a multi-functional manipulator and a drill floor manipulator to synchronously and vertically move the root pipe tool between the wellhead and the root box during the tripping process.
  • the top drive can Translate away from or move to the wellhead for upward or downward movement, reducing the time the stand takes up the wellhead, improving the efficiency of tripping and reducing the risk of downhole accidents; the top drive increases the horizontal translation kinetic energy, and during the tripping process, the top drive can let out the wellhead
  • the position line makes the top drive go down (or up) in parallel with the vertical movement, so as to improve the efficiency of tripping.
  • the present invention utilizes a multifunctional manipulator, a drill floor manipulator, an iron driller, and a pipe tool transfer device to connect the root off-line at the mouse hole during the drilling process, thereby reducing the preparation time of the drilling tool during the drilling operation.
  • Improve drilling efficiency and reduce oilfield development costs integrate a thread oil smearing device on the drill floor manipulator (or multi-functional manipulator) to realize thread oil smear during the movement of the stand, improve the efficiency of the move of the stand, and reduce the wellhead on the drilling floor.
  • the number of operators can improve drilling efficiency, reduce personnel costs, and improve operator safety.
  • the position of the pipe is controllable, which improves the automation and reliability of the pipe transfer and reduces the safety risk of the pipe transfer.
  • Fig. 1 is the drilling rig of the embodiment of the present invention
  • Figure 2 is a side view of the drilling rig shown in Figure 1;
  • Figure 3 is a schematic view of the base of the drilling rig embodiment shown in Figure 1;
  • Fig. 4 is a schematic diagram of the drill floor manipulator of the embodiment of the drilling rig shown in Fig. 1;
  • Fig. 5 is a schematic diagram of the pipe transfer device (power rat hole) of the embodiment of the drilling rig shown in Fig. 1;
  • Figure 6 is a schematic diagram of the top drive of the drilling rig embodiment shown in Figure 1;
  • Fig. 7 is a schematic diagram of the multifunctional manipulator of the embodiment of the drilling rig shown in Fig. 1;
  • FIG. 16 to Figure 29 are the flow charts of off-line connection stand
  • Fig. 30 is the drilling rig of the embodiment of the present invention.
  • 31 to 40 are schematic diagrams of the tripping process
  • Figures 41 to 56 are flowcharts of off-line connection root.
  • an efficient drilling rig as shown in Figures 1 to 7, mainly includes a base 1, a derrick 2 installed on the base, a drawworks 3, a driller's room 4, an iron driller 5, a drill A manipulator 6, a power rat hole 7; a top drive 8, a multifunctional manipulator 9, a power finger beam 10 installed on the derrick 2, a turning manipulator 11, a crane 12, and a ground pipe storage and transportation device 13 installed on the ground.
  • the base 1 includes an upper seat 1-1, a lower seat 1-2, a middle support leg 1-3, a support 1-4, and a connecting support 1-5.
  • the upper seat 1-1 (that is, the upper platform) and the lower seat 1-2 are connected by the middle leg 1-3, and the lower seat 1-2 is connected by the connecting support 1-5.
  • a notch is made (the notch is to allow the stand or drill pipe to move in it, for example, a U-shaped notch or slot).
  • the lower part of the derrick 2 is hinged with the supports 1-4 on the base 1, and the load on the derrick acts on the base through the supports.
  • the base of the winch 3 is installed on the plane of the base through pins or bolts, and the position is in the direction in which the top drive 8 is retracted.
  • the driller's room 4 is installed on the upper plane of the base, fixed on the upper plane of the base by bolts or pins, and is located on the side of the derrick.
  • the iron driller 5 is installed on the upper plane of the base, on the side of the derrick and on the opposite side of the driller's house 4 .
  • the iron driller 5 can be extended and retracted horizontally, and the working range covers the wellhead and the position of the off-line connection stand.
  • the drill floor manipulator 6 mainly includes a track 6-1, a slewing mechanism 6-2, a column 6-3, a telescopic mechanism 6-4, and a guide tong 6-5. It is installed in front of the wellhead and opposite to the winch 3.
  • the base 1 has a U-shaped notch from the position of the off-line connection stand to the edge of the drilling floor near the turning manipulator 11, which runs through the entire upper platform of the base.
  • the drill floor manipulator 6 is orbitally installed on or below the drill floor surface, and is arranged on both sides of the U-shaped gap of the base (in some embodiments, it can be adjusted to be set to one side of the U-shaped gap according to the stroke of the drill floor manipulator), and the two The rails on the sides can be connected by circular arcs or straight lines, so that the drill floor manipulator 6 can walk on the rails on both sides of the U-shaped notch. Or the drill floor manipulator 6 is arranged on one side of the U-shaped gap, and works to cover the pipe stand of the entire stand box area.
  • the pipe transfer device (for example, the power rat hole 7 in this embodiment) includes an upper module guide rail 7-1, an upper module centering device 7-2, a lower module guide rail 7-3, and a lower module lifting mechanism 7-4.
  • the upper module guide rail 7-1 is installed on both sides of the U-shaped gap and is lower than the upper plane of the base 1.
  • the upper module centering device 7-2 can move forward and backward along the U-shaped gap; the lower module guide rail 7-3 is installed on the lower platform of the base , can move back and forth along the U-shaped notch.
  • the top drive 8 includes a power spreader 8-1, a top drive main body 8-2, a horizontal telescopic mechanism 8-3, and a top drive guide rail 8-4.
  • the top drive guide rail 8-4 is vertically installed on the back or side of the derrick 2, and the top drive 8 can move up and down along the top drive guide rail 8-4.
  • the top drive 8 has a horizontal telescopic mechanism 8-3, and the horizontal telescopic mechanism 8-3 extends , the top drive 8 is located at the wellhead position, retracted, and the top drive 8 is far from the wellhead position.
  • a power spreader 8-1 is installed at the lower end of the top drive 8, and the power spreader 8-1 can be opened and closed by a hydraulic source.
  • the power spreader 8-1 of the top drive can also be replaced by a lifter device integrated with the top drive, such as a threaded structure integrated with the top drive for mating with the upright.
  • the multifunctional manipulator 9 includes a sliding mechanism 9-1, a first luffing mechanism 9-2, a rotary reducer 9-3, a rotary support 9-4, a second luffing mechanism 9-5, a plier head 9-6, Slip track 9-7.
  • the sliding guide rail 9-7 is installed on the front (or side) of the derrick thigh 2-1, and the sliding mechanism 9-1 can move vertically up and down along the sliding guide rail 9-7.
  • the platform of the power finger beam 10 is installed on the front of the derrick thigh 2-1, connected by pins or bolts, and the platform is hinged with the derrick thigh 2-1 by the diagonal brace 10-2.
  • the turning manipulator 11 is installed on the ground, in front of the base, and the center line coincides with the longitudinal center line of the base.
  • the crane 12 and the ground pipe storage and transportation device 13 are installed on the ground and on the side of the turning manipulator 11 .
  • FIG. 30 Another embodiment of the present invention, a drilling rig for efficient operation, as shown in FIG. 30 , is further provided with a two-layer pipe arranging machine 14 on the basis of the foregoing embodiment.
  • a multi-function manipulator or a drill floor manipulator or a second-floor pipe arranging machine 14 or an iron driller is integrated with a thread oil application device for applying thread during the process of moving the stand or during the process of unloading the stand Withhold oil.
  • the first step the top drive telescopic mechanism extends to the wellhead position line, the spreader is opened to block the wellhead column, and the wellhead column is lifted up after the spreader is closed;
  • Step 2 After the top drive reaches the high position, turn off the power slip, and the column sits on the slip;
  • the third step the iron driller extends to the wellhead shackle, and the top drive spreader on the upper part of the column cooperates;
  • Step 4 The iron driller retracts, the multifunctional manipulator and the drill floor manipulator reach the wellhead simultaneously, the multifunctional manipulator clamp head opens the upper part of the clamping stand, and the drill floor manipulator clamp head opens the lower part of the low support stand;
  • Step 5 The top drive spreader is opened, the top drive telescopic mechanism is retracted, and the top drive goes down;
  • Step 6 The multi-functional manipulator and the drill floor manipulator retract, rotate, and walk synchronously, and move the stand to the stand box area, and the stand remains vertical during the transfer;
  • Step 7 The multi-functional manipulator lowers the vertical root to the vertical root box area, and simultaneously opens the multi-functional manipulator and the clamping head of the drill floor manipulator and retracts;
  • Step 8 The multi-functional manipulator and the drill floor manipulator walk, rotate, and stretch out to the vicinity of the wellhead synchronously, waiting to grab the next stand;
  • Step 9 After the top drive goes down to the low position, the telescopic arm is extended, the top drive is moved to the wellhead position, and returns to the first step.
  • 8 to 15 are schematic diagrams of the state of the drilling rig in the first to eighth steps, respectively.
  • the column may be a pipe to which the drill bit is attached, such as drill pipe, stand, or the like.
  • the first step the top drive telescopic mechanism extends to the wellhead position, the spreader is opened and the wellhead column is stuck, and the wellhead column is lifted up after the spreader is closed;
  • Step 2 After the top drive reaches the high position, turn off the power slip, and the column sits on the slip;
  • the third step the multi-functional manipulator clamp head swings to the wellhead position, supports the upper end of the stand, the top drive opens the spreader, the telescopic mechanism retracts, and the top drive leaves the wellhead position and descends;
  • Step 4 The iron driller extends to the wellhead to shackle, the upper part of the shackle column is matched by a multi-functional manipulator, and the column can rotate along the vertical axis in the multi-functional manipulator clamp head;
  • Step 5 After the shackle is completed, the iron driller retracts, the second-floor pipe arranging machine 14 and the drill floor manipulator synchronously extend to the wellhead, the second-floor pipe arranging machine 14 supports the upper part of the stand, and the drill floor manipulator clamps the lower part of the stand;
  • Step 6 The multi-functional manipulator opens the clamp head, the clamp head is far away from the wellhead position, the multi-functional manipulator moves up, and stops when the clamp head is higher than the upper end of the stand;
  • Step 7 The plier head of the drill floor manipulator lifts the stand, so that the lower joint of the stand is separated from the upper part of the wellhead column and then stops, and then the second-floor pipe arranging machine 14 and the drill stand manipulator retract, rotate, and walk synchronously, and move the stand to the stand In the box area, the vertical roots remain vertical during the transfer process;
  • Step 8 The drill floor manipulator lowers the vertical root to the vertical root box area, and simultaneously turns on the second-floor pipe arranging machine 14 and the drill floor manipulator clamp head, and then retracts;
  • the ninth step the second-floor pipe arranging machine 14 and the drilling floor manipulator synchronously walk, rotate, and extend to the vicinity of the wellhead, waiting for the next stand;
  • Step 10 After the top drive goes down to the low position, the telescopic arm is extended, the top drive is moved to the wellhead position, and returns to the first step.
  • 31 to 40 are schematic diagrams of the drilling rig in the middle of the first step to the tenth step, respectively.
  • the drilling process is opposite to the drilling process.
  • the multi-functional manipulator or the drilling floor manipulator or the second-floor pipe arranging machine 14 or the iron driller is integrated with a thread oil coating device, and the thread is coated during the process of moving the stand or during the process of unloading the stand. Deduction of oil has been described in detail in the section of the content of the invention, and will not be repeated here.
  • the height of the two-tier pipe racker 14 can be adjusted with the length of the stand.
  • the jaws of the two-stage pipe laying machine 14 can be clamped/supported at a position close to the upper end of the stand.
  • the pliers of the two-story pipe-arranging machine 14 can be clamped/supported at a position where the upper part of the stand is 0.2 to 1 meter away from the upper end.
  • the drill floor manipulator is mounted on the base, and the guide jaws of the drill floor manipulator can be clamped/supported at a position close to the lower end of the stand.
  • the guide tongs of the drill floor manipulator can be clamped/supported at a position of 0.2 to 1 meter from the lower end of the stand.
  • the first step the top drive telescopic mechanism extends to the wellhead position line, the spreader is opened to block the wellhead column, and the wellhead column is lifted up after the spreader is closed;
  • Step 2 After the top drive reaches the high position, turn off the power slip, and the column sits on the slip;
  • Step 3 The multi-functional manipulator extends to the wellhead, the roller clamp of the multi-functional manipulator clamps the upper part of the stand, the top drive opens the spreader, and the top drive telescopic mechanism retracts to allow the wellhead position line;
  • Step 4 The iron driller and the multifunctional manipulator are simultaneously extended to the wellhead position, and the multifunctional manipulator cooperates with the iron driller to shackle;
  • Step 5 After the shackle is completed, the iron driller retracts, and the plier head of the drill floor manipulator extends to the wellhead to support the lower part of the stand;
  • Step 6 The multi-functional manipulator lifts the wellhead stand to a certain height, retracts, rotates, and walks synchronously with the drill floor manipulator, and moves the stand to the stand box area, and the stand remains vertical during the transfer process;
  • Step 7 Put the multi-functional manipulator down on the vertical root box area, and simultaneously open the multi-functional manipulator and the drill head manipulator and retract it;
  • Step 8 The multi-functional manipulator and the drill floor manipulator walk, rotate, and extend to the vicinity of the wellhead synchronously, and the multi-functional manipulator waits to grab the next stand.
  • Step 9 After the top drive goes down to the low position, return to the first step.
  • An embodiment of an offline takeover tool of the present invention can realize offline operation by the above equipment drilling rig during the drilling process, reduce the preparation time of the drilling tool, and improve the drilling efficiency.
  • the detailed steps of offline job are as follows:
  • Step 1 The first pipe (drill pipe, drill collar, casing, etc.) is vertically moved by the pipe transfer device to the off-line standing position (the position is near the wellhead), and the pipe joint is higher than the drilling floor;
  • Step 2 The clamp head of the multi-functional manipulator opens the upper part of the clamping pipe, and the multi-functional manipulator takes the pipe up;
  • Step 3 Before the lower joint of the pipe tool leaves the drill floor, the clamp head of the drill floor manipulator closes and supports the pipe tool, and the pipe tool can move up and down in the clamp head;
  • Step 4 When the lower joint of the first pipe leaves a certain height from the drill floor, the multi-functional manipulator stops moving upward, and the pipe transfer device vertically moves the second pipe to the position of the off-line connection stand, and the pipe joint is higher than drill floor;
  • Step 5 The multi-functional manipulator clamps the first pipe and lowers it to the second pipe joint, and the drill floor manipulator makes the axis of the first pipe and the second pipe concentric;
  • Step 6 Open the pliers head of the drill floor manipulator and leave the position of the vertical root;
  • Step 7 The iron driller stretches out to the position of the vertical root, and then retracts away from the position of the vertical root after finishing the hooking;
  • Step 8 The pipe transfer device loosens the pipe, and the multi-functional manipulator grips the first pipe and goes up. Before the lower joint of the second pipe leaves the drill floor, the drill head manipulator extends out and closes and supports the second pipe. the lower part of the root canal;
  • Step 9 After the lower joint of the second pipe leaves a certain height from the drilling floor, the multi-functional manipulator stops moving upward, and the pipe transfer device vertically moves the third pipe to the position of the off-line connection stand, and the pipe joint is higher than the drill. mesa;
  • Step 10 The multi-functional manipulator clamps the first pipe and lowers it, so that the second pipe joint is on the third pipe joint, and the drill floor manipulator makes the second pipe and the third pipe axis concentric;
  • Step 11 Open the gripper head of the drill floor manipulator and leave the position of connecting the vertical root
  • the pipe transfer device releases the pipe, the multi-functional manipulator holds the first pipe and goes up. Before the lower joint of the third pipe leaves the drill floor, the drill head manipulator extends out and closes and supports the first pipe. The lower part of the three pipes, when the lower joint of the third pipe is higher than the drill floor by a certain height, the multi-functional manipulator stops ascending;
  • the thirteenth step the multi-functional manipulator clamps the stand and the drill floor manipulator supports the stand synchronously and vertically moves the stand to the finger beam area;
  • Step 14 The multi-functional manipulator lowers the vertical root to the vertical root box area, and the multi-functional manipulator and the drill floor manipulator clamp head are simultaneously opened and returned;
  • Figures 16 to 29 respectively show the different states of the drilling rig in the first to the fourteenth steps of the above-mentioned off-line connecting tool.
  • the first step the top drive telescopic mechanism extends to the wellhead position, the spreader is opened to block the wellhead column, and the wellhead column is lifted up after the spreader is closed;
  • Step 2 After the top drive reaches the high position, turn off the power slip, and the column sits on the slip;
  • the third step the iron driller extends to the wellhead shackle, and the upper part is matched by the top drive spreader;
  • Step 4 After the shackle is completed, the iron driller retracts, the second-floor pipe arranging machine 14 and the drill floor manipulator synchronously extend to the wellhead, the second-floor pipe arranging machine 14 supports the upper part of the stand, and the drill floor manipulator holds the lower part of the stand, and the top Drive open the spreader and retract the telescopic mechanism;
  • Step 5 The clamp head of the drill floor manipulator lifts the stand, so that the lower joint of the stand is separated from the upper part of the column and then stops, and then the second-floor pipe arranging machine 14 and the drill stand manipulator retract, rotate, and walk synchronously, and move the stand to the stand box area, the standing root remains vertical during the transfer;
  • Step 6 The drill floor manipulator lowers the vertical root to the vertical root box area, and simultaneously turns on the second-floor pipe arranging machine 14 and the drill floor manipulator clamp head, and then retracts;
  • Step 7 The second-floor pipe arranging machine 14 and the drilling floor manipulator synchronously walk, rotate, and extend to the vicinity of the wellhead, waiting for the next stand;
  • Step 8 After the top drive goes down to the low position, the telescopic arm extends, the top drive reaches the wellhead position, and returns to the first step.
  • the drilling process is opposite to the drilling process.
  • the multi-functional manipulator or the drilling floor manipulator or the second-floor pipe arranging machine 14 or the iron driller is integrated with a thread oil coating device, and the thread is coated during the process of moving the stand or during the process of unloading the stand. Withholding oil, I won't go into details here.
  • An embodiment of an offline takeover tool of the present invention can realize offline operation by the above equipment drilling rig during the drilling process, reduce the preparation time of the drilling tool, and improve the drilling efficiency.
  • the detailed steps of offline job are as follows:
  • the first step The first pipe (drill pipe, drill collar, casing, etc.) is vertically moved by the power mouse hole (or flipping manipulator) to the off-line standing position (the position is near the wellhead), and the pipe joint is high. out of the drilling table;
  • Step 2 The clamp head of the multi-functional manipulator opens the upper part of the clamping pipe, and the multi-functional manipulator takes the pipe up;
  • Step 3 Before the lower joint of the pipe tool leaves the drill floor, the plier head of the drill floor manipulator closes and supports the pipe tool, and the pipe tool can move vertically up and down in the plier head;
  • Step 4 When the lower joint of the first pipe is at a certain height from the drill floor, the multi-functional manipulator stops moving upward, and the power mouse hole (or flipping manipulator) vertically moves the second pipe to the stand-off position. With the joint higher than the drill floor;
  • Step 5 The multi-functional manipulator clamps the first pipe and lowers it to the second pipe joint, and the drill floor manipulator makes the axis of the first pipe and the second pipe concentric;
  • Step 6 Open the pliers head of the drill floor manipulator and leave the position of the vertical root;
  • Step 7 The iron driller stretches out to the position of the vertical root, and then retracts away from the position of the vertical root after finishing the hooking;
  • Step 8 The power rat hole (or flip manipulator) loosens the pipe, the multi-functional manipulator clamps the first pipe and goes up, and before the lower joint of the second pipe leaves the drill floor, the drill head manipulator extends out and closes And support the lower part of the second pipe;
  • the ninth step After the lower joint of the second pipe leaves a certain height from the drilling floor, the multi-functional manipulator stops moving upward, and the power mouse hole (or flip manipulator) vertically moves the third pipe to the off-line connection stand position.
  • the joint is higher than the drill floor;
  • Step 10 The multi-functional manipulator clamps the first pipe and lowers it, so that the second pipe joint is on the third pipe joint, and the drill floor manipulator makes the second pipe and the third pipe axis concentric;
  • Step 11 Open the gripper head of the drill floor manipulator and leave the position of connecting the vertical root
  • Step 12 The power rat hole (or flip manipulator) loosens the pipe, the multi-functional manipulator holds the first pipe and goes up. Before the lower joint of the third pipe leaves the drill floor, the drill head manipulator extends out Close and support the lower part of the third pipe, when the lower joint of the third pipe is higher than the drill floor by a certain height, the multi-functional manipulator stops ascending;
  • the thirteenth step the drill floor manipulator clamps the lower part of the vertical pipe string to bear the vertical root load, and the 14 pliers of the second-layer pipe arrangement machine extend out to support the upper part of the vertical pipe string;
  • Step 14 Open the pliers head of the multi-functional manipulator and move up, and the bottom of the pliers head is higher than the upper end of the stand joint by a distance;
  • Step 15 The second-floor pipe arranging machine 14 and the drill floor manipulator synchronously and vertically move the standing root to the standing root box area, and at the same time the multi-functional manipulator goes down and prepares to pick up the next standing root;
  • Step 16 The manipulator on the drill floor puts the stand on the plane of the stand box area, and the pipe-arranging machine 14 on the second floor and the clamp head of the manipulator on the drill floor are simultaneously opened and returned;
  • Figures 41 to 56 show different states of the drilling rig in the first to sixteenth steps, respectively.

Landscapes

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

Abstract

一种高效作业钻机，其主要包括底座（1）、安装在底座上的井架（2）、铁钻工（5）、钻台机械手（6）、管具转运装置（7）；安装在井架上的顶驱（8）、多功能机械手（9）、二层台排管机（14）、动力指梁（10），安装在地面的翻转机械手（11）、地面管具储运装置（13），安装在顶驱上的吊具（8-1）。该钻机和配套的起钻、下钻方法在井口和立根盒区实现立根的高效竖直移运，提高起下钻的效率，降低井下安全事故发生的风险；并且提供对应的方法在钻井作业过程中，实现离线接卸立根，减少钻井过程中的准备时间，提高钻井作业效率，降低油田开发成本。

Description

一种高效作业钻机及方法 技术领域
本发明涉及石油和天然气钻采设备和技术领域，具体是一种高效、离线作业钻机及方法，特别适用于陆地石油和天然气开采的装备。
 背景技术
随着钻机技术的进步，钻机领域的设计和制造技术提到了很大的提高，研发速度也得到了提升，并朝系列化、标准化、多样化发展，钻机性能也有了长足的进步，同时，随着现场作业工艺、作业流程的复杂化，以及对于安全、效率越来越重视，钻井作业对于自动化的要求越来越高，如何保证整个钻井系统的安全、可靠和高效成为关键。
现在陆地钻机主要采用下面的钻井作业和管柱处理过程：首先，专用车辆将钻具运输至井场，采用现场吊车将管具吊至管排架上；然后，工人操作动力猫道从管排架上抓取管具，通过动力猫道将管具移运至钻台面上；接着，司钻操作液压吊具抓取钻台面上的管具并通过顶驱提起，当管具下部接头离开动力猫道时，由钻工通过辅助工具或钻台扶正臂使管具下放至井口中，并在井口由钻工扶正；最后，通过钻台面上的铁钻工将新的管柱与井口的管柱连接。上述操作需要2-3名工人配合操作，同时在接卸管柱立根时占用井口，钻井作业效率低、安全性差。
在井口起钻作业时，首先，由顶驱提起井口立柱至高位，将井口立柱坐在卡瓦上；接着，铁钻工伸至至井口位置将井口立柱卸开；然后，立根下端由钻工或钻台机械手排至立根盒区；最后，立根上端由顶驱交接给井架工或二层台排管机，井架工或二层台排管机将立根排到立根盒区。在立根下端从井口排至立根盒区时，立根一直占用井口位置，大大降低起下钻的效率，增加井下安全事故的发生概率。下钻过程与起钻过程相反，也存在类似的问题。
在本领域的惯用术语中钻杆是单根钻杆，立根是若干个钻杆（通常为2至4根）接合在一形成的较长的杆件，立柱是由多根钻杆连接在一起放入井下的管具（或钻杆和钻铤的组合，也可能是多跟套管）（依据连接钻杆的数量，其长度可以从数十米直至数千米）。其中，立柱在脱扣后分离下来的数根连接的钻杆即为立根。
 技术问题
本发明的目的在于克服现有技术中所存在的上述不足，提供一种高效、作业钻机，在井口和立根盒区实现立根的高效竖直移运，提高起下钻的效率，降低井下安全事故发生的风险；并且还提供对应的方法在钻井作业过程中，实现离线接卸立根，减少钻井过程中的准备时间，提高钻井作业效率，降低油田开发成本。
 技术解决方案
本发明的技术方案如下：
一种高效作业钻机，包括底座、安装在底座上的井架、铁钻工和管具转运装置，其特征在于，还包括，
安装在底座上的钻台机械手；
安装在井架上的顶驱、动力指梁、以及配置为用于扶持/夹持立根的上部，并带动立根运动的多功能机械手和/或配置为用于扶持/夹持立根的上部的二层台排管机；
安装在所述顶驱上的吊具；
安装在地面的翻转机械手和用于放置钻杆的地面管具储运装置，其中，
所述顶驱配置为能够沿水平方向运动从而离开井口位置，且所述顶驱还能够沿竖直方向运动；
所述底座上表面与动力指梁垂直对应的区域设置有立根盒区；
所述钻台机械手配置为用于夹持/扶持立根的下部，并与所述二层台排管机/所述多功能机械手配合带动立根在井口位置和立根盒区之间运动；
所述二层台排管机/所述多功能机械手和所述钻台机械手之一对立根进行夹持，而另一个对该立根扶持。
本发明还提供了一种起钻方法，包括：
第一步：将顶驱水平移动至井口位置，用吊具提井口立柱上行；
第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
第三步：立根上部由吊具配合，铁钻工伸出至井口卸扣，完成卸扣后，多功能机械手和钻台机械手伸至井口，多功能机械手钳头夹持/扶持立根上部，钻台机械手钳头扶持/夹持立根下部；
第四步：吊具脱开立柱，多功能机械手和钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，将立根放至立根盒区，移运过程中立根保持竖直，然后多功能机械手和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
在上述第四步中，顶驱平移离开井口，并下行。
优选地，在上述方法中在第四步完成后，需要起钻下一根立根的情况下，在重复第一步时，所述第五步还能够与第一步和/或第二步的步骤同步进行。
本发明还提供了一种下钻方法，包括：
第一步：由钻台机械手和多功能机械手之一夹持立根，而另一个扶持立根,将立根移运至井口位置，移运过程中立根保持竖直，并且在移运立根过程中使用丝扣油涂抹装置涂抹丝扣油；
第二步：多功能机械手和钻台机械手将立根放置在下方立柱的顶端，吊具提立根，多功能机械手和钻台机械手松开；
第三步：，铁钻工伸出至井口上扣，完成后铁钻工复位，钻台机械手和二层台排管机移动至立根盒区为第一步做准备；
第四步：吊具将立柱下放，下放到低位后，动力卡瓦关闭，吊具打开，顶驱平移让出井口位置上行
在继续下钻时，从第一步开始重复，且在执行第四步时，第四步可与第一、第二步同步执行。
优选地，在上述方法中，第一步中使用丝扣油涂抹装置涂抹丝扣油是在移运立根过程中对立根下部涂抹丝扣油或对立柱顶部涂抹丝扣油。
本发明进一步的还提供了一种起钻方法，包括：
第一步：将顶驱移动至井口位置，用吊具提井口立柱上行；
第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
第三步：多功能机械手伸出至井口，多功能机械手夹持立根上部，顶驱打开吊具，顶驱平移，让出井口位置；铁钻工伸出至井口位置，多功能机械手配合铁钻工卸扣；
卸扣完成后，铁钻工缩回，钻台机械手钳头伸出至井口，扶持立根下部；
第四步：多功能机械手提起井口立根一定高度，与钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，移运过程中立根保持竖直；
第五步：多功能机械手下放立根至立根盒区平面上，同步打开多功能机械手和钻台机械手钳头并缩回，然后多功能机械手和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
在第四步和/或第五步中顶驱平移离开井口，并下行。
优选地，在上述方法中在第四步完成后，需要起钻下一根立根的情况下，在重复第一步时，所述第五步还能够与第一步和/或第二步的步骤同步进行。
本发明进一步的提供了配套的一种下钻方法，包括：
第一步：将立根从立根盒中移至井口位置，由多功能机械手和钻台机械手抓取立根并移运立根至井口位置，放置在井口立柱的顶端，移运过程中立根保持竖直，并且在移运立根过程中使用丝扣油涂抹装置涂抹丝扣油；
第二步：钻台机械手松开，铁钻工伸出至井口上扣，立根上部由多功能机械手扶持，完成后铁钻工复位，钻台机械手和二层台排管机移动至立根盒区为第一步做准备；
第三步：吊具提立柱，多功能机械手松开，并将立柱下放；下放到低位后，动力卡瓦关闭，吊具打开，顶驱平移让出井口位置上行
在继续下钻时，从第一步开始重复，且在执行第三步时，第三步可与第一和/或第二步同步执行。
本发明还提供了一种离线接立根的方法，包括以下步骤：
第一步：由管具转运装置（例如，动力鼠洞或翻转机械手）将管具（钻杆、钻铤、套管等）竖直移运离线接立根位置（该位置在井口附近），管具接头高出钻台面；
第二步：多功能机械手钳头打开夹持管具上部，多功能机械手带着管具上行；
第三步：在管具下部接头离开钻台面之前，钻台机械手钳头关闭并扶持管具，管具在钳头内可上下移动；
第四步：当第一根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具转运装置将第二根管具竖直移运至离线接立根位置，管具接头高出钻台面；
第五步：多功能机械手夹持第一根管具下放至第二根管具接头上，钻台机械手使第一根管具与第二根管具轴线同心；
第六步：钻台机械手钳头打开，离开接立根位置；
第七步：铁钻工伸出至接立根位置上扣，在完成上扣之后所述铁钻工复位；
如果需要连接第三根管具则进行第八步至第十二步，如果不需要连接第三根管具，则进行第十三步；
第八步：管具转运装置松开管具，多功能机械手夹持第一根管具上行，至第二根管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持第二根管具下部；
第九步：第二根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具转运装置将第三根管具竖直移运至离线接立根位置，管具接头高出钻台面；
第十步：多功能机械手夹持第一根管具下放，使第二根管具接头在第三根管具接头上，钻台机械手使第二根管具与第三根管具轴线同心；
第十一步：钻台机械手钳头打开，离开接立根位置；
第十二步：铁钻工伸出至接立根位置上扣，完成上扣后复位；
第十三步: 管具转运装置松开管具，多功能机械手夹持第一根管具上行，钻台机械手钳头伸出关闭并扶持最下方管具的下部，至最下方管具下部接头高出钻台面一定高度后，多功能机械手停止上行；
第十三步：多功能机械手夹持立根和钻台机械手扶持立根同步竖直移运立根至指梁区；
第十四步：多功能机械手下放立根至立根盒区，多功能机械手和钻台机械手钳头同步打开并返回。
优选地，如果需要连接多根管具，则重复上述步骤，循环离线接下一立根。
优选地，该离线接立根方法是在钻机钻井作业的同时进行。
本发明还提供了一种起钻方法，包括：
第一步：将顶驱水平移动至井口位置，用吊具提井口立柱上行；
第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
第三步：多功能机械手钳头摆至井口位置，扶持立柱上端，顶驱打开吊具；
第四步：铁钻工伸出至井口卸扣，卸扣完成后，二层台排管机和钻台机械手同步伸至井口位置，二层台排管机扶持立根上部，钻台机械手夹持立根下部，多功能机械手钳头松开并远离井口位置上行；
第五步：二层台排管机和钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，将立根放至立根盒区，移运过程中立根保持竖直，然后二层台排管机和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
在上述第四步和/或第五步中，顶驱平移离开井口，并下行。
优选地，在上述方法中，在第五步完成后，需要起钻下一根立根的情况下，在重复第一步时，所述第五步能够与第一步和/或第二步的步骤同步进行
本发明还提供了一种下钻方法，包括：
第一步：由钻台机械手和二层台排管机之一夹持立根，而另一个扶持立根，将立根移运至井口位置，移运过程中立根保持竖直，并且在移运立根过程中使用丝扣油涂抹装置涂抹丝扣油；
第二步：钻台机械手夹持/扶持立根下部，二层台排管机扶持/夹持立根上部，将立根放置在下方立柱的接头内；
第三步：多功能机械手伸出扶持井口立根上部，钻台机械手和二层台排管机钳头打开，铁钻工伸出至井口上扣，完成后铁钻工复位，钻台机械手和二层台排管机移动至立根盒区为第一步做准备；
第四步：吊具吊住立柱顶端，多功能机械手钳头打开，并远离井口位置，顶驱吊住井口立柱下放，下放到低位后，动力卡瓦关闭，吊具打开，顶驱平移让出井口位置上行
在继续下钻时，从第一步开始重复，且在执行第四步时，第四步可与第一、第二步同步执行。
优选地，在上述方法中，第一步中使用丝扣油涂抹装置涂抹丝扣油是在移运立根过程中对立本发明进一步的还提供了一种起钻方法，包括：
第一步：将顶驱水平移动至井井口位置，用吊具提井口立柱上行；
第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
第三步：铁钻工伸出至井口位置卸扣，立柱上部由吊具扶持，完成卸扣后铁钻工回到原位；二层台排管机和钻台机械手钳头伸出至井口位置，二层台排管机扶持立根上部，钻台机械手夹持立根下部；吊具打开松开立柱，顶驱平移离开井口位置；
第四步：钻台机械手或二层台排管机提起井口立根一定高度，二层排管机与钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，移运过程中立根保持竖直；
第五步：钻台机械手或二层台排管机下放立根至立根盒区平面上，同步打开二层排管机和钻台机械手钳头并缩回；二层排管机和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
在第四步和/或第五步中顶驱下行至低位。
优选地，在上述方法中，在第五步完成后，需要起钻下一根立根的情况下，在重复第一步时，所述第五步能够与第一步和/或第二步的步骤同步进行。
本发明还提供了一种下钻方法，包括如下步骤：
第一步：将立根从立根盒中移至井口位置，由钻台机械手抓取立根，并由二层排管机和钻台机械手同步移运立根至井口位置，放置在井口立柱的上部接头内，移运过程中立根保持竖直，并且在移运立根过程中使用丝扣油涂抹装置涂抹丝扣油；
第二步：顶驱吊具提立柱，钻台机械手和二层台排管机钳头松开并收回，铁钻工伸出至井口上扣，完成后铁钻工复位，钻台机械手和二层台排管机移动至立根盒区为第一步做准备；
第三步：顶驱吊具提立柱，并将立柱下放；下放到低位后，动力卡瓦关闭，吊具打开，顶驱平移让出井口位置上行；
在继续下钻时，从第一步开始重复，且在执行第三步时，第三步可与第一步同步执行。
本发明还提供了一种离线接立根的方法，包括以下步骤：
第一步：由管具转运装置将第一根管具（钻杆、钻铤、套管等）竖直移运离线接立根位置（该位置在井口附近），管具接头高出钻台面；
第二步：多功能机械手钳头打开抓取管具上部，多功能机械手带动管具上行；
第三步：在管具下部接头离开钻台面之前，钻台机械手钳头关闭并扶持管具，管具在钳头内可竖直上下移动；
第四步：当第一根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具转运装置将第二根管具竖直移运至离线接立根位置，管具接头高出钻台面；
第五步：多功能机械手夹持第一根管具下放至第二根管具接头上，钻台机械手使第一根管具与第二根管具轴线同心；
第六步：钻台机械手钳头打开，离开接立根位置；
第七步：铁钻工伸出至接立根位置上扣，完成上扣后缩回远离接立根位置；
如果需要连接第三根管具则进行第八步至第十二步，如果不需要连接第三根管具，则进行第十三步；
第八步：管具转运装置（例如，动力鼠洞或翻转机械手）松开管具，多功能机械手夹持第一根管具上行，至第二根管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持第二根管具下部；
第九步：第二根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具转运装置将第三根管具竖直移运至离线接立根位置，管具接头高出钻台面；
第十步：多功能机械手夹持第一根管具下放，使第二根管具接头在第三根管具接头上，钻台机械手使第二根管具与第三根管具轴线同心；
第十一步：钻台机械手钳头打开，离开接立根位置；
第十二步：铁钻工伸出至接立根位置上扣，完成上扣后复位；
第十三步: 管具转运装置松开管具，多功能机械手夹持第一根管具上行，在下方管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持下方管具下部，至下方管具下部接头高出钻台面一定高度后，多功能机械手停止上行；
第十四步：钻台机械手夹持\扶持立根管柱下部，承受立根载荷，二层台排管机钳头伸出，扶持立根管柱上部；
第十五步：多功能机械手钳头打开，并上行，使多功能机械手钳头底部高出立根接头上端部一段距离；
第十六步：二层台排管机和钻台机械手同步竖直移运立根至指梁区，同时多功能机械手下行准备接下一立根；
第十七步：钻台机械手下放立根至立根盒区平面上，二层台排管机和钻台机械手钳头同步打开并返回。
优选地，如果需要连接多根管具，则重复上述步骤，循环离线接下一立根。
优选地，该离线接立根方法是在钻机钻井作业的同时进行。
 有益效果
与现有技术相比，本发明的有益效果：
本发明的设备和方法在起下钻过程中，在井口和立根盒之间采用多功能机械手和钻台机械手同步竖直移运立根管具，在移运管具的过程中，顶驱可以平移离开或移至井口进行上行或下行运动，减少立根占用井口时间，提高起下钻效率，降低发生井下事故风险；顶驱增加水平平移动能，在起下钻过程，顶驱可让出井口位置线，使顶驱下行（或上行）与立根移运并行，提高起下钻的效率。在一些实施例中，本发明在钻进过程中，利用多功能机械手、钻台机械手、铁钻工和管具转运装置在鼠洞位置离线接立根，减少钻井作业过程中钻具的准备时间，提高钻井效率，降低油田开发成本；在钻台机械手（或多功能机械手）上集成丝扣油涂抹装置，在立根移运过程中实现丝扣油的涂抹，提高立根移运效率，减少钻台面井口作业人员数量，提高钻井作业效率，降低人员成本，提高作业人员安全性。本发明的一些实施例中，立根在移运过程中，管具位置可控，提高管具移运的自动化程度和可靠性，降低管具移运的安全风险。
 附图说明
图1是本发明实施例的钻机；
图2是图1所示钻机的侧视图；
图3是图1所示钻机实施例的底座的示意图；
图4 是图1所示钻机实施例的钻台机械手的示意图；
图5 是图1所示钻机实施例的管具转运装置（动力鼠洞）的示意图；
图6 是图1所示钻机实施例的顶驱的示意图；
图7 是图1所示钻机实施例的多功能机械手的示意图；
图8至图15是起钻流程的示意图；
图16至图29是离线接立根的流程图；
图30是本发明实施例的钻机；
图31至图40是起钻流程的示意图；
图41至图56是离线接立根的流程图。
 本发明的实施方式
下面结合实施例及具体实施方式对本发明作进一步的详细描述。但不应将此理解为本发明上述主题的范围仅限于以下的实施例，凡基于本发明内容所实现的技术均属于本发明的范围。
本发明的具体实施例，一种高效作业的钻机，如图1至7所示，其主要包括底座1、安装在底座上的井架2、绞车3、司钻房4、铁钻工5、钻台机械手6、动力鼠洞7；安装在井架2上的顶驱8、多功能机械手9、动力指梁10，安装在地面的翻转机械手11、吊机12、地面管具储运装置13。
底座1包括上座1-1、下座1-2、中间支腿1-3、支座1-4、连接支撑1-5组成。上座1-1（即上层平台）和下座1-2通过中间支腿1-3连接，下座1-2之间通过连接支撑1-5相连。在底座上座1-1平面正前面，开了缺口（该缺口为了使立根或钻杆能够在其中移动，例如，U形缺口或槽）。
井架2下部与底座1上的支座1-4铰接，井架上的载荷通过支座作用到底座上。绞车3的底座通过销轴或螺栓安装底座的平面上，位置在顶驱8缩回的方向上。司钻房4安装在底座的上平面上，通过螺栓或销轴固定在底座的上平面上，位置在井架的侧面。铁钻工5安装在底座的上平面上，位置在井架的侧面，在司钻房4对侧。铁钻工5可沿水平伸缩，工作范围覆盖井口和离线接立根的位置。
钻台机械手6主要包括轨道6-1、回转机构6-2、立柱6-3、伸缩机构6-4、导向钳6-5组成，安装在井口的前面，绞车3对面。底座1从离线接立根位置至靠近翻转机械手11钻台边缘有U形缺口，贯穿整个底座上层平台。钻台机械手6轨道安装在钻台面上或钻台面以下，布置在底座的U形缺口两边（在一些实施例中，可以依据钻台机械手的行程调整成设置与U形缺口的单边），两侧的轨道可通过圆弧形或直线相连，使钻台机械手6在U形缺口两侧的轨道上行走。或者钻台机械手6轨道布置在U形缺口一侧，工作覆盖整个立根盒区的管具立根。
管具转运装置（例如本实施例中的动力鼠洞7）包括上部模块导轨7-1、上部模块对中装置7-2、下部模块导轨7-3、下部模块举升机构7-4。上部模块导轨7-1安装在U形缺口两侧，并低于底座1上平面，上部模块对中装置7-2可沿U形缺口前后移动；下部模块导轨7-3安装在底座下层平台上，可沿U形缺口前后移动。
顶驱8包括动力吊具8-1、顶驱主体8-2、水平伸缩机构8-3、顶驱导轨8-4。顶驱导轨8-4竖直安装在井架2背面或侧面，顶驱8可沿顶驱导轨8-4上下移动，顶驱8带有水平伸缩机构8-3，水平伸缩机构8-3伸出，顶驱8位于井口位置，缩回，顶驱8远离井口位置。顶驱8下端安装有动力吊具8-1，动力吊具8-1可通过液压源打开和关闭。在不同实施例中，顶驱的动力吊具8-1也可以由集成至顶驱的起到吊具装置替换，例如与顶驱集成的用于与立柱配合的螺纹结构。
多功能机械手9包括滑移机构9-1、第一变幅机构9-2、回转减速机9-3、回转支座9-4、第二变幅机构9-5、钳头9-6、滑移轨道9-7。滑移导轨9-7安装在井架大腿2-1正面（或侧面），滑移机构9-1可沿滑移导轨9-7竖直上下移动。
动力指梁10平台安装在井架大腿2-1正面，通过销轴或螺栓连接，平台下面由斜撑10-2与井架大腿2-1铰接。
翻转机械手11安装在地面上，位置在底座的前面，中心线与底座的纵向中心线重合。吊机12和地面管具储运装置13安装在地面上，并在翻转机械手11侧面。
本发明的另一实施例，高效作业的钻机，如图30所示，在前述实施例的基础上，还设置有二层台排管机14。
在一些实施例中，在多功能机械手或钻台机械手或二层台排管机14或铁钻工上集成丝扣油涂抹装置，用于在移运立根过程中或接卸立根过程中涂抹丝扣油。
结合上述实施例，将给出本发明一个通过以上设备实现钻机的高效起下钻方法的实施例。该实施例中的起钻整个流程详细步骤如下：
第一步:顶驱伸缩机构伸出至井口位置线，吊具打开卡住井口立柱，吊具关闭后提井口立柱上行；
第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
第三步：铁钻工伸出至井口卸扣，立柱上部顶驱吊具配合；
第四步：铁钻工缩回，多功能机械手和钻台机械手同步伸至井口，多功能机械手钳头打开夹持立根上部，钻台机械手钳头打开低位扶持立根下部；
第五步：顶驱吊具打开，顶驱伸缩机构缩回，顶驱下行；
第六步：多功能机械手和钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，移运过程中立根保持竖直；
第七步：多功能机械手下放立根至立根盒区，同步打开多功能机械手和钻台机械手钳头并缩回；
第八步：多功能机械手和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
第九步：顶驱下行至低位后，伸缩臂伸出，顶驱至井口位置，返回至第一步。
整个流程过程中，从第九步至第三步，与第六步至第八步并行运行。下钻与起钻流程相反，在多功能机械手或钻台机械手集成丝扣油涂抹装置，在移运立根过程中涂抹丝扣油，在此不再赘述。图8至图15分别是第一步至第八步的钻机状态示意图。
在一些实施例中，立柱可以是连接钻头的管具，如钻杆、立根等。
对于具有二层台排管机14的上述实施例，将给出本发明一个通过以上设备实现钻机的高效起下钻方法的实施例。该实施例中的起钻整个流程详细步骤如下：
第一步:顶驱伸缩机构伸出至井口位置，吊具打开并卡住井口立柱，吊具关闭后提井口立柱上行；
第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
第三步：多功能机械手钳头摆至井口位置，扶持立根上端，顶驱打开吊具，伸缩机构缩回，顶驱让出井口位置并下行；
第四步：铁钻工伸出至井口卸扣，所卸扣立柱上部由多功能机械手配合，立柱能够在多功能机械手钳头内沿竖直轴线旋转；
第五步：卸扣完成后铁钻工缩回，二层台排管机14和钻台机械手同步伸至井口，二层台排管机14扶持立根上部，钻台机械手夹持立根下部；
第六步：多功能机械手打开钳头，钳头远离井口位置，多功能机械手上行，当钳头高出立根上端后停止；
第七步：钻台机械手钳头提起立根，使立根下部接头与井口立柱上部接头脱离后停止，然后二层台排管机14和钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，移运过程中立根保持竖直；
第八步：钻台机械手下放立根至立根盒区，同步打开二层台排管机14和钻台机械手钳头后缩回；
第九步：二层台排管机14和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
第十步：顶驱下行至低位后，伸缩臂伸出，顶驱至井口位置，返回至第一步。
图31至图40分别为第一步至第十步过中，钻机的示意图。
整个流程过程中，从第十步至第三步，与第七步至第九步并行运行。下钻与起钻流程相反，在多功能机械手或钻台机械手或二层台排管机14或铁钻工上集成丝扣油涂抹装置，在移运立根过程中或接卸立根过程中涂抹丝扣油，在发明内容部分已经有详细描述，在此不再赘述。
在一些实施例中，二层台排管机14的高度可以随立根的长度调整。在一些实施例中，二层台排管机14的钳头可以夹持/扶持在接近立根上端部的位置。在一些实施例中，二层台排管机14的钳头可以夹持/扶持在立根上部距离上端部0.2~1米的位置。在一些实施例中，钻台机械手安装在底座上，钻台机械手的导向钳可以夹持/扶持在接近立根下端部的位置。在一些实施例中，钻台机械手的导向钳可以夹持/扶持在立根下部距离下端部0.2~1米的位置。通过钻机上两个不同的机械手对立根的上部和下部进行夹持或扶持，不仅可以实现竖直移运立根，还能适配不同长度的立根以及选择合适的夹持/扶持位置，使移运过程中避免立根产生不必要的晃动，提高操作的稳定性和可靠性。
本发明另一种起钻方法实施例的详细步骤如下：
第一步:顶驱伸缩机构伸出至井口位置线，吊具打开卡住井口立柱，吊具关闭后提井口立柱上行；
第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
第三步：多功能机械手伸出至井口，多功能机械手滚子钳夹持立根上部，顶驱打开吊具，顶驱伸缩机构缩回，让出井口位置线；
第四步：铁钻工和多功能机械手同步伸出至井口位置，多功能机械手配合铁钻工卸扣；
第五步：卸扣完成后，铁钻工缩回，钻台机械手钳头伸出至井口，扶持立根下部；
第六步：多功能机械手提起井口立根一定高度，与钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，移运过程中立根保持竖直；
第七步：多功能机械手下放立根至立根盒区平面上，同步打开多功能机械手和钻台机械手钳头并缩回；
第八步：多功能机械手和钻台机械手同步行走、旋转、伸出至井口附近，多功能机械手等待抓取下一立根。
第九步：顶驱下行至低位后，返回至第一步。
整个流程过程中，从第九步至第二步，与第四步至第八步并行运行。下钻与起钻流程相反，在此不再赘述。
本发明的一种离线接管具的实施例，能够通过以上设备钻机在钻进过程中，实现离线作业，减少钻具的准备时间，提高钻井的效率。离线作业的详细步骤如下：
第一步：由管具转运装置将第一根管具（钻杆、钻铤、套管等）竖直移运离线接立根位置（该位置在井口附近），管具接头高出钻台面；
第二步：多功能机械手钳头打开夹持管具上部，多功能机械手带着管具上行；
第三步：在管具下部接头离开钻台面之前，钻台机械手钳头关闭并扶持管具，管具在钳头内可上下移动；
第四步：当第一根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具转运装置将第二根管具竖直移运至离线接立根位置，管具接头高出钻台面；
第五步：多功能机械手夹持第一根管具下放至第二根管具接头上，钻台机械手使第一根管具与第二根管具轴线同心；
第六步：钻台机械手钳头打开，离开接立根位置；
第七步：铁钻工伸出至接立根位置上扣，完成上扣后缩回远离接立根位置；
第八步：管具转运装置松开管具，多功能机械手夹持第一根管具上行，至第二根管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持第二根管具下部；
第九步：第二根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具转运装置将第三根管具竖直移运至离线接立根位置，管具接头高出钻台面；
第十步：多功能机械手夹持第一根管具下放，使第二根管具接头在第三根管具接头上，钻台机械手使第二根管具与第三根管具轴线同心；
第十一步：钻台机械手钳头打开，离开接立根位置；
重复第七步；
第十二步: 管具转运装置松开管具，多功能机械手夹持第一根管具上行，在第三根管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持第三根管具下部，至第三根管具下部接头高出钻台面一定高度后，多功能机械手停止上行；
第十三步：多功能机械手夹持立根和钻台机械手扶持立根同步竖直移运立根至指梁区；
第十四步：多功能机械手下放立根至立根盒区，多功能机械手和钻台机械手钳头同步打开并返回；
重复第一步，循环离线接下一立根。若离线接双根，取消第十步至第十二步。
附图16至附图29分别显示了上述离线接管具的第一步至第十四步中，钻机所处的不同状态。
本发明另一种起钻方法实施例的详细步骤如下：
第一步:顶驱伸缩机构伸出至井口位置，吊具打开卡住井口立柱，吊具关闭后提井口立柱上行；
第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
第三步：铁钻工伸出至井口卸扣,上部由顶驱吊具配合；
第四步：卸扣完成后铁钻工缩回，二层台排管机14和钻台机械手同步伸至井口，二层台排管机14扶持立根上部，钻台机械手夹持立根下部，顶驱打开吊具，伸缩机构缩回；
第五步：钻台机械手钳头提起立根，使立根下部接头与立柱上部接头脱离后停止，然后二层台排管机14和钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，移运过程中立根保持竖直；
第六步：钻台机械手下放立根至立根盒区，同步打开二层台排管机14和钻台机械手钳头后缩回；
第七步：二层台排管机14和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
第八步：顶驱下行至低位后，伸缩臂伸出，顶驱至井口位置，返回至第一步。
整个流程过程中，从第八步至第三步，与第五步至第七步并行。下钻与起钻流程相反，在多功能机械手或钻台机械手或二层台排管机14或铁钻工上集成丝扣油涂抹装置，在移运立根过程中或接卸立根过程中涂抹丝扣油，在此不再赘述。
本发明的一种离线接管具的实施例，能够通过以上设备钻机在钻进过程中，实现离线作业，减少钻具的准备时间，提高钻井的效率。离线作业的详细步骤如下：
第一步：由动力鼠洞（或翻转机械手）将第一根管具（钻杆、钻铤、套管等）竖直移运离线接立根位置（该位置在井口附近），管具接头高出钻台面；
第二步：多功能机械手钳头打开夹持管具上部，多功能机械手带着管具上行；
第三步：在管具下部接头离开钻台面之前，钻台机械手钳头关闭并扶持管具，管具在钳头内可竖直上下移动；
第四步：当第一根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，动力鼠洞（或翻转机械手）将第二根管具竖直移运至离线接立根位置，管具接头高出钻台面；
第五步：多功能机械手夹持第一根管具下放至第二根管具接头上，钻台机械手使第一根管具与第二根管具轴线同心；
第六步：钻台机械手钳头打开，离开接立根位置；
第七步：铁钻工伸出至接立根位置上扣，完成上扣后缩回远离接立根位置；
第八步：动力鼠洞（或翻转机械手）松开管具，多功能机械手夹持第一根管具上行，至第二根管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持第二根管具下部；
第九步：第二根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，动力鼠洞（或翻转机械手）将第三根管具竖直移运至离线接立根位置，管具接头高出钻台面；
第十步：多功能机械手夹持第一根管具下放，使第二根管具接头在第三根管具接头上，钻台机械手使第二根管具与第三根管具轴线同心；
第十一步：钻台机械手钳头打开，离开接立根位置；
重复第七步；
第十二步: 动力鼠洞（或翻转机械手）松开管具，多功能机械手夹持第一根管具上行，在第三根管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持第三根管具下部，至第三根管具下部接头高出钻台面一定高度后，多功能机械手停止上行；
第十三步：钻台机械手夹持立根管柱下部，承受立根载荷，二层台排管机14钳头伸出，扶持立根管柱上部；
第十四步：多功能机械手钳头打开，并上行，钳头底部高出立根接头上端部一段距离；
第十五步：二层台排管机14和钻台机械手同步竖直移运立根至立根盒区，同时多功能机械手下行准备接下一立根；
第十六步：钻台机械手下放立根至立根盒区平面上，二层台排管机14和钻台机械手钳头同步打开并返回；
重复第一步，循环离线接下一立根。若离线接双根，取消第十步至第十二步。
图41至图56分别显示了第一步至第十六步中钻机的不同状态。

Claims (25)

  1. 一种高效作业钻机，包括底座、安装在底座上的井架、铁钻工（5）和管具转运装置（7），其特征在于，还包括，
    安装在底座上的钻台机械手（6）；
    安装在井架（2）上的顶驱（8）、动力指梁（10）、以及配置为用于扶持/夹持立根的上部，并带动立根运动的多功能机械手（9）和/或配置为用于扶持/夹持立根的上部的二层台排管机；
    安装在所述顶驱（8）上的吊具（8-1）；
    安装在地面的翻转机械手（11）和用于放置钻杆的地面管具储运装置（13），其中，
    所述顶驱（8）配置为能够沿水平方向运动从而离开井口位置，且所述顶驱还能够沿竖直方向运动；
    所述底座上表面与动力指梁（10）垂直对应的区域设置有立根盒区；
    所述钻台机械手（6）配置为用于夹持/扶持立根的下部，并与所述二层台排管机/所述多功能机械手（9）配合带动立根在井口位置和立根盒区之间运动；
    所述二层台排管机/所述多功能机械手（9）和所述钻台机械手（6）之一对立根进行夹持，而另一个对该立根扶持。
  2. 根据权利要求1所述的高效作业钻机，其特征在于，所述吊具（8-1）包括安装在顶驱上的吊卡，或与顶驱集成一体的吊装部件。
  3. 根据权利要求1所述的高效作业钻机，其特征在于，在井架（2）上安装有顶驱导轨（8-4），所述顶驱（8）能够沿所述顶驱导轨（8-4）上下移动，在所述顶驱（8）上安装有用于驱动顶驱沿水平方向运动的水平伸缩机构（8-3）；在所述钻机上还安装有丝扣油涂抹装置。
  4. 根据权利要求1所述的高效作业钻机，其特征在于，底座（1）上靠近翻转机械手（11）的边缘开有缺口，该缺口沿竖直方向贯穿整个底座上层平台（22）。
  5. 根据权利要求4所述的高效作业钻机，其特征在于，所述钻台机械手（6）的运行轨道布置在所述缺口两边或一边，所述钻台机械手（6）能够沿所述运行轨道行走。
  6. 一种使用权利要求1-5之一所述钻机的起钻方法，其特征在于，包括以下步骤：
    第一步：将顶驱水平移动至井口位置，用吊具提井口立柱上行；
    第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
    第三步：多功能机械手钳头摆至井口位置，扶持立柱上端，顶驱打开吊具；
    第四步：铁钻工伸出至井口卸扣，卸扣完成后，二层台排管机和钻台机械手同步伸至井口位置，二层台排管机扶持/夹持立根上部，钻台机械手夹持/扶持立根下部，多功能机械手钳头松开并远离井口位置上行；
    第五步：二层台排管机和钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，将立根放至立根盒区，移运过程中立根保持竖直，然后二层台排管机和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
    在上述第四步和/或第五步中，顶驱平移离开井口，并下行。
  7. 根据权利要求6所述的起钻方法，其特征在于，包括以下步骤：
    在第五步完成后，需要起钻下一根立根的情况下，在重复第一步时，所述第五步还能够与第一步和/或第二步的步骤同步进行。
  8. 一种使用权利要求1-5之一所述钻机的下钻方法，其特征在于，包括以下步骤：
    第一步：由钻台机械手和二层台排管机之一夹持立根，而另一个扶持立根，将立根移运至井口位置，移运过程中立根保持竖直，并且在移运立根过程中使用丝扣油涂抹装置涂抹丝扣油；
    第二步：钻台机械手夹持/扶持立根下部，二层台排管机扶持/夹持立根上部，将立根放置在下方立柱的接头内；
    第三步：多功能机械手伸出扶持井口立根上部，钻台机械手和二层台排管机钳头打开，铁钻工伸出至井口上扣，完成后铁钻工复位，钻台机械手和二层台排管机移动至立根盒区为第一步做准备；
    第四步：吊具吊住立柱顶端，多功能机械手钳头打开，并远离井口位置，顶驱吊住井口立柱下放，下放到低位后，动力卡瓦关闭，吊具打开，顶驱平移让出井口位置上行；
    在继续下钻时，从第一步开始重复，且在执行第四步时，第四步可与第一、第二步同步执行。
  9. 根据权利要求8所述钻机的下钻方法，其特征在于，第一步中使用丝扣油涂抹装置涂抹丝扣油是在移运立根过程中对立根下部涂抹丝扣油。
  10. 根据权利要求8所述钻机的下钻方法，其特征在于，第一步中使用丝扣油涂抹装置涂抹丝扣油是在移运立根过程中对，立柱顶部涂抹丝扣油。
  11. 一种使用权利要求1-5之一所述钻机的起钻方法，其特征在于，包括以下步骤：
    第一步：将顶驱水平移动至井口位置，用吊具提井口立柱上行；
    第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
    第三步：铁钻工伸出至井口位置卸扣，立柱上部由吊具扶持，完成卸扣后铁钻工回到原位；二层台排管机和钻台机械手钳头伸出至井口位置，二层台排管机扶持/夹持立根上部，钻台机械手夹持/扶持立根下部；吊具打开松开立柱，顶驱平移离开井口位置；
    第四步：钻台机械手或二层台排管机提起井口立根一定高度，二层台排管机与钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，移运过程中立根保持竖直；
    第五步：钻台机械手或二层台排管机下放立根至立根盒区平面上，同步打开二层排管机和钻台机械手钳头并缩回；二层排管机和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
    在第四步和/或第五步中顶驱下行至低位。
  12. 根据权利要求11所述钻机的起钻方法，其特征在于，包括以下步骤：在第五步完成后，需要起钻下一根立根的情况下，在重复第一步时，所述第五步能够与第一步和/或第二步的步骤同步进行。
  13. 一种使用权利要求1-5之一所述钻机的下钻方法，其特征在于，包括以下步骤：
    第一步：将立根从立根盒中移至井口位置，由钻台机械手抓取立根，并由二层排管机和钻台机械手同步移运立根至井口位置，放置在井口立柱的上部接头内，移运过程中立根保持竖直，并且在移运立根过程中使用丝扣油涂抹装置涂抹丝扣油；
    第二步：吊具提立柱，钻台机械手和二层台排管机钳头松开并收回，铁钻工伸出至井口上扣，完成后铁钻工复位，钻台机械手和二层台排管机移动至立根盒区为第一步做准备；
    第三步：吊具提立柱，并将立柱下放；下放到低位后，动力卡瓦关闭，吊具打开，顶驱平移让出井口位置上行；
    在继续下钻时，从第一步开始重复，且在执行第三步时，第三步可与第一同步执行。
  14. 一种使用权利要求1-5之一所述钻机的离线接立根方法，其特征在于，包括以下步骤：
    第一步：由管具转运装置将第一根管具竖直移运离线接立根位置，管具接头高出钻台面；
    第二步：多功能机械手抓取管具上部带动管具上行；
    第三步：在管具下部接头离开钻台面之前，钻台机械手钳头关闭并扶持管具，管具在钳头内可竖直上下移动；
    第四步：当第一根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具装运装置将第二根管具竖直移运至离线接立根位置，管具接头高出钻台面；
    第五步：多功能机械手夹持第一根管具下放至第二根管具接头上，钻台机械手使第一根管具与第二根管具轴线同心；
    第六步：钻台机械手钳头打开，离开接立根位置；
    第七步：铁钻工伸出至接立根位置上扣，在完成上扣之后所述铁钻工复位；
    如果需要连接第三根管具则进行第八步至第十二步，如果不需要连接第三根管具，则进行第十三步；
    第八步：管具转运装置松开管具，多功能机械手带动第一根管具上行，至第二根管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持第二根管具下部；
    第九步：第二根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具转运装置将第三根管具竖直移运至离线接立根位置，管具接头高出钻台面；
    第十步：多功能机械手带动第一根管具下放，使第二根管具接头在第三根管具接头上，钻台机械手使第二根管具与第三根管具轴线同心；
    第十一步：钻台机械手钳头打开，离开接立根位置；
    第十二步：铁钻工伸出至接立根位置上扣，完成上扣后复位；
    第十三步: 管具转运装置松开管具，多功能机械手夹持第一根管具上行，在下方管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持下方管具下部，至下方管具下部接头高出钻台面一定高度后，多功能机械手停止上行；
    第十四步：钻台机械手夹持立根管柱下部，承受立根载荷，二层台排管机钳头伸出，扶持立根管柱上部；
    第十五步：多功能机械手钳头打开，并上行，使多功能机械手钳头底部高出立根接头上部一段距离；
    第十六步：二层台排管机和钻台机械手同步竖直移运立根至立根盒区，同时多功能机械手下行准备接下一立根；
    第十七步：钻台机械手下放立根至立根盒区平面上，二层台排管机和钻台机械手钳头同步打开并返回。
  15. 根据权利要求14所述的离线接立根方法，其特征在于，包括以下步骤：需要连接多根管具时，重复权利要求9所述的步骤，循环离线接下一立根管具。
  16. 根据权利要求14或15所述的离线接立根方法，其特征在于，该离线接立根方法是在钻机钻井作业的同时进行。
  17. 一种使用权利要求1-5之一所述钻机的起钻方法，其特征在于，包括以下步骤：
    第一步：将顶驱水平移动至井口位置，用吊具提井口立柱上行；
    第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
    第三步：立根上部由吊具配合，铁钻工伸出至井口卸扣，完成卸扣后，多功能机械手和钻台机械手伸至井口，多功能机械手钳头夹持/扶持立根上部，钻台机械手钳头扶持/夹持立根下部，吊具脱开立柱；
    第四步：多功能机械手和钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，将立根放至立根盒区，移运过程中立根保持竖直，然后多功能机械手和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
    在上述第四步中，顶驱平移离开井口，并下行。
  18. 根据权利要求17所述的起钻方法，其特征在于，包括以下步骤：
    在第四步完成后，需要起钻下一根立根的情况下，在重复第一步时，所述第四步还能够与第一步和/或第二步的步骤同步进行。
  19. 一种使用权利要求1-5之一所述钻机的下钻方法，其特征在于，包括以下步骤：
    第一步：由钻台机械手和多功能机械手之一夹持立根，而另一个扶持立根,将立根移运至井口位置，移运过程中立根保持竖直，并且在移运立根过程中使用丝扣油涂抹装置涂抹丝扣油；
    第二步：多功能机械手和钻台机械手将立根放置在下方立柱的顶端，吊具提立根，多功能机械手和钻台机械手松开；
    第三步：铁钻工伸出至井口上扣，完成后铁钻工复位，钻台机械手和二层台排管机移动至立根盒区为第一步做准备；
    第四步：吊具将立柱下放，下放到低位后，动力卡瓦关闭，吊具打开，顶驱平移让出井口位置上行；
    在继续下钻时，从第一步开始重复，且在执行第四步时，第四步可与第一、第二步同步执行。
  20. 一种使用权利要求1-5之一所述钻机的起钻方法，其特征在于，包括以下步骤：
    第一步：将顶驱移动至井口位置，用吊具提井口立柱上行；
    第二步：顶驱到达高位后，关闭动力卡瓦，立柱坐在卡瓦上；
    第三步：多功能机械手伸出至井口，多功能机械手夹持立根上部，顶驱打开吊具，顶驱平移，让出井口位置；铁钻工伸出至井口位置，多功能机械手配合铁钻工卸扣；
    卸扣完成后，铁钻工缩回，钻台机械手钳头伸出至井口，扶持立根下部；
    第四步：多功能机械手提起井口立根一定高度，与钻台机械手同步缩回、旋转、行走，移运立根至立根盒区，移运过程中立根保持竖直；
    第五步：多功能机械手下放立根至立根盒区平面上，同步打开多功能机械手和钻台机械手钳头并缩回，然后多功能机械手和钻台机械手同步行走、旋转、伸出至井口附近，等待抓取下一立根；
    在第四步和/或第五步中顶驱平移离开井口，并下行。
  21. 根据权利要求20所述钻机的起钻方法，其特征在于，包括以下步骤：在第五步完成后，需要起钻下一根立根的情况下，在重复第一步时，所述第五步能够与第一步和/或第二步的步骤同步进行。
  22. 一种使用权利要求1-5之一所述钻机的下钻方法，其特征在于，包括以下步骤：
    第一步：将立根从立根盒中移至井口位置，由多功能机械手和钻台机械手抓取立根并移运立根至井口位置，放置在井口立柱的顶端，移运过程中立根保持竖直，并且在移运立根过程中使用丝扣油涂抹装置涂抹丝扣油；
    第二步：钻台机械手松开，铁钻工伸出至井口上扣，立根上部由多功能机械手扶持，完成后铁钻工复位，钻台机械手和二层台排管机移动至立根盒区为第一步做准备；
    第三步：吊具提立柱，多功能机械手松开，并将立柱下放；下放到低位后，动力卡瓦关闭，吊具打开，顶驱平移让出井口位置上行；
    在继续下钻时，从第一步开始重复，且在执行第三步时，第三步可与第一和/或第二步同步执行。
  23. 一种使用权利要求1-5之一所述钻机的离线接立根方法，其特征在于，包括以下步骤：
    第一步：由管具转运装置将管具竖直移运离线接立根位置，管具接头高出钻台面；
    第二步：多功能机械手抓取管具上部带动管具上行；
    第三步：在管具下部接头离开钻台面之前，钻台机械手钳头关闭并扶持管具，管具在钳头内可上下移动；
    第四步：当第一根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具转运装置将第二根管具竖直移运至离线接立根位置，管具接头高出钻台面；
    第五步：多功能机械手夹持第一根管具下放至第二根管具接头上，钻台机械手使第一根管具与第二根管具轴线同心；
    第六步：钻台机械手钳头打开，离开接立根位置；
    第七步：铁钻工伸出至接立根位置上扣，在完成上扣之后所述铁钻工复位；
    如果需要连接第三根管具则进行第八步至第十二步，如果不需要连接第三根管具，则进行第十三步；
    第八步：管具转运装置松开管具，多功能机械手夹持第一根管具上行，至第二根管具下部接头离开钻台面之前，钻台机械手钳头伸出关闭并扶持第二根管具下部；
    第九步：第二根管具下部接头离开钻台面一定高度后，多功能机械手停止上行，管具转运装置将第三根管具竖直移运至离线接立根位置，管具接头高出钻台面；
    第十步：多功能机械手夹持第一根管具下放，使第二根管具接头在第三根管具接头上，钻台机械手使第二根管具与第三根管具轴线同心；
    第十一步：钻台机械手钳头打开，离开接立根位置；
    第十二步：铁钻工伸出至接立根位置上扣，完成上扣后复位；
    第十三步: 管具转运装置松开管具，多功能机械手夹持第一根管具上行，钻台机械手钳头伸出关闭并扶持最下方管具的下部，至最下方管具下部接头高出钻台面一定高度后，多功能机械手停止上行；
    第十三步：多功能机械手夹持立根和钻台机械手扶持立根同步竖直移运立根至立根盒区；
    第十四步：多功能机械手下放立根至立根盒区平面上，多功能机械手和钻台机械手钳头同步打开并返回。
  24. 根据权利要求23所述钻机的离线接立根方法，其特征在于，包括以下步骤：需要连接多跟管具时，重复权利要求9所述的步骤，循环离线接下一立根管具。
  25. 根据权利要求23或24所述的离线接立根方法，其特征在于，该离线接立根方法是在钻机钻井作业的同时进行。
PCT/CN2021/112135 2020-08-11 2021-08-11 一种高效作业钻机及方法 WO2022033533A1 (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202010803445.9 2020-08-11
CN202010803987.6A CN112096274B (zh) 2020-08-11 2020-08-11 一种高效作业钻机及方法
CN202010803987.6 2020-08-11
CN202010803445.9A CN112096273B (zh) 2020-08-11 2020-08-11 高效作业钻机及方法

Publications (1)

Publication Number Publication Date
WO2022033533A1 true WO2022033533A1 (zh) 2022-02-17

Family

ID=80246987

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/112135 WO2022033533A1 (zh) 2020-08-11 2021-08-11 一种高效作业钻机及方法

Country Status (1)

Country Link
WO (1) WO2022033533A1 (zh)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104563912A (zh) * 2013-10-27 2015-04-29 中国石油化工集团公司 一种钻井管柱自动化操作系统
CN105484683A (zh) * 2016-01-22 2016-04-13 中石化石油工程机械有限公司第四机械厂 一种钻柱自动排放装置
CN105569566A (zh) * 2016-03-08 2016-05-11 四川宏华石油设备有限公司 一种自动化钻机
US20180023346A1 (en) * 2013-12-19 2018-01-25 Prostar Manufacturing Inc. Automated drilling/service rig apparatus
CN110043203A (zh) * 2019-04-25 2019-07-23 四川宏华石油设备有限公司 一种自动化钻机及使用该自动化钻机进行管柱移运的方法
CN112096274A (zh) * 2020-08-11 2020-12-18 四川宏华石油设备有限公司 一种高效作业钻机及方法
CN112096273A (zh) * 2020-08-11 2020-12-18 四川宏华石油设备有限公司 高效作业钻机及方法
CN112343524A (zh) * 2020-09-27 2021-02-09 四川宏华石油设备有限公司 一种紧凑型高效作业钻机及方法
CN112343525A (zh) * 2020-09-27 2021-02-09 四川宏华石油设备有限公司 一种紧凑型高效作业钻机及方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104563912A (zh) * 2013-10-27 2015-04-29 中国石油化工集团公司 一种钻井管柱自动化操作系统
US20180023346A1 (en) * 2013-12-19 2018-01-25 Prostar Manufacturing Inc. Automated drilling/service rig apparatus
CN105484683A (zh) * 2016-01-22 2016-04-13 中石化石油工程机械有限公司第四机械厂 一种钻柱自动排放装置
CN105569566A (zh) * 2016-03-08 2016-05-11 四川宏华石油设备有限公司 一种自动化钻机
CN110043203A (zh) * 2019-04-25 2019-07-23 四川宏华石油设备有限公司 一种自动化钻机及使用该自动化钻机进行管柱移运的方法
CN112096274A (zh) * 2020-08-11 2020-12-18 四川宏华石油设备有限公司 一种高效作业钻机及方法
CN112096273A (zh) * 2020-08-11 2020-12-18 四川宏华石油设备有限公司 高效作业钻机及方法
CN112343524A (zh) * 2020-09-27 2021-02-09 四川宏华石油设备有限公司 一种紧凑型高效作业钻机及方法
CN112343525A (zh) * 2020-09-27 2021-02-09 四川宏华石油设备有限公司 一种紧凑型高效作业钻机及方法

Similar Documents

Publication Publication Date Title
US10612323B2 (en) Simultaneous tubular handling system
US20200240219A1 (en) Automated tubular racking system
US7967540B2 (en) Vertical offline stand building and manipulating system
CN112343525B (zh) 一种紧凑型高效作业钻机及方法
CN110454100A (zh) 一种钻修井超级单根作业工业机器人装置和方法
CN112096273B (zh) 高效作业钻机及方法
CN111594074B (zh) 一种石油钻机钻杆提升机及其钻具装载方法
CN212389281U (zh) 带压作业机
CN112343524B (zh) 一种高效作业钻机及方法
CN113073948B (zh) 一种网电驱动自动化修井机
CN112096274B (zh) 一种高效作业钻机及方法
CN112031681A (zh) 一种液压修井机
WO2022033533A1 (zh) 一种高效作业钻机及方法
CN211201811U (zh) 起下油管装置及系统
CN212337196U (zh) 一种液压修井机
CN214365933U (zh) 一种紧凑型高效作业钻机
WO2022062749A1 (zh) 一种紧凑型高效作业钻机及方法
CN214365932U (zh) 一种紧凑型高效作业钻机
CN102199996B (zh) 一种立根连接方法及其装置
AU2014201872B2 (en) Simultaneous tubular handling system
CA2640111C (en) Vertical offline stand building and manipulating system
CN210598866U (zh) 一种在修井机井架上捆绑机械臂的自动液压钳
CN112761554A (zh) 起下油管装置及系统
CN116181253A (zh) 高效自动化同步钻机
WO2023217991A1 (en) Modular well tubular handling system and method of use

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21855584

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21855584

Country of ref document: EP

Kind code of ref document: A1