WO2022062749A1 - 一种紧凑型高效作业钻机及方法 - Google Patents

一种紧凑型高效作业钻机及方法 Download PDF

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Publication number
WO2022062749A1
WO2022062749A1 PCT/CN2021/112145 CN2021112145W WO2022062749A1 WO 2022062749 A1 WO2022062749 A1 WO 2022062749A1 CN 2021112145 W CN2021112145 W CN 2021112145W WO 2022062749 A1 WO2022062749 A1 WO 2022062749A1
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WIPO (PCT)
Prior art keywords
manipulator
pipe
stand
vertical
drill floor
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2021/112145
Other languages
English (en)
French (fr)
Inventor
唐爱民
田雨
陈崇
吕岩
李玺
杨淑娟
李晓虎
何波
田力
吴正华
欧小武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sichuan Honghua Petroleum Equipment Co Ltd
Original Assignee
Sichuan Honghua Petroleum Equipment Co Ltd
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 CN202011034814.9A external-priority patent/CN112343525B/zh
Priority claimed from CN202011033200.9A external-priority patent/CN112343524B/zh
Application filed by Sichuan Honghua Petroleum Equipment Co Ltd filed Critical Sichuan Honghua Petroleum Equipment Co Ltd
Publication of WO2022062749A1 publication Critical patent/WO2022062749A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables

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 elevator 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 will be arranged to the stand box area; finally, the top end of the stand will be handed over by the top drive to the derrick worker or the multifunctional manipulator, and the derrick worker or the multifunctional manipulator will arrange the stand root 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 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.
  • An efficient working drilling rig comprising a base, a derrick mounted on the base, an iron driller and a power slip, further comprising,
  • Drill floor manipulator installed on the base
  • the elevator is configured to be able to tilt 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 multifunctional manipulator includes a pincer head and a transmission mechanism driving the pincer head to move, and the pincer head is configured to clamp/support the upper part of the stand;
  • the drill floor manipulator is configured to clamp/support the lower part of the stand, and cooperate with the pliers to drive the stand to move between the wellhead position and the stand box area;
  • One of the tong head and the drill floor manipulator clamps the stand, and the other supports the stand.
  • the present invention also provides a drilling method, comprising:
  • the first step the top drive is at a low position, the elevator is opened to block the wellhead column, and the elevator is closed to lift the wellhead column upward;
  • 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 of the column is matched by the top drive elevator;
  • Step 4 The iron driller retracts, the multi-functional manipulator and the drill floor manipulator simultaneously extend to the wellhead, the multi-functional manipulator clamp head opens the upper part of the clamping/supporting stand, and the drill floor manipulator clamp head opens the lower support/clamping stand;
  • Step 5 The top drive elevator is opened, and the elevator is tilted backward;
  • 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 Put the multi-functional manipulator/drill floor manipulator down to the vertical root box area, and simultaneously open the multi-functional manipulator and the drill floor manipulator and retract it;
  • 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.
  • next stand needs to be tripped after the fourth step is completed
  • in the sixth to eighth steps after the stand leaves the wellhead, after the top drive goes down to a low position, it returns to The first step, continue to the next cycle.
  • the present invention also provides a drilling method, comprising:
  • Step 1 The multi-functional manipulator holds/supports the stand, while the drill floor manipulator supports/holds the stand, and moves the stand to the wellhead position. During the transfer, 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 multifunctional manipulator and the drill floor manipulator place the stand on the top of the lower column, the elevator lifts the stand, the drill floor manipulator and the multifunctional manipulator are released at the same time, and the drill floor manipulator and the multifunctional manipulator move to the stand box area for the first step.
  • the third step the iron driller stretches out to the wellhead to make up the buckle, and the iron driller resets after completion;
  • Step 4 The elevator lowers the column, and after lowering it to a low position, the power slip is turned off, the elevator is turned on, and the top drive is upward;
  • the fourth step can be executed simultaneously with the first and second steps.
  • applying thread oil with a thread oil application device is to apply thread oil to the lower part of the standing root during the process of moving the standing root.
  • the present invention also provides a kind of method for off-line connection of sanligen, comprising the following steps:
  • Step 1 Move a pipe to the drill floor obliquely from the power catwalk, hold the front of the pipe with the pliers of the multi-functional manipulator, and the multi-functional manipulator takes the pipe up and adjusts the pipe to be vertical. Put the pipe into the mouse hole A;
  • Step 2 The second pipe is tilted and moved to the drill floor by the power catwalk, and the front of the pipe is held by the pliers of the multi-functional manipulator.
  • the multi-functional manipulator takes the pipe up and adjusts the pipe to the vertical , and put the pipe into the mouse hole B;
  • Step 3 The third pipe is tilted and moved to the drill floor by the power catwalk, and the front part of the pipe is held by the pliers of the multi-functional manipulator.
  • the multi-functional manipulator takes the pipe up and adjusts the pipe to the vertical , move the pliers head of the multi-functional manipulator to the top of one of the mouse hole A or mouse hole B, go down with the third pipe, and put the lower joint of the third pipe into the first pipe or the second pipe in the upper joint of the tool;
  • Step 4 The iron driller stretches out to the mouse hole where the two pipes are placed, and the two pipes are buckled to form a double stand. After the buckle is completed, the iron driller retracts;
  • Step 5 The multi-functional manipulator grips the double-stand and goes up. Before the lower joint of the double-stand leaves the drill floor, the clamp head of the drill-floor manipulator supports the lower part of the double-stand, and the multi-functional manipulator continues to move up, so that the lower end of the double-stand is higher than the drill floor by a certain height Then stop, and synchronously swing to the top of the pipe in the other rat hole and lower the double vertical root to the lower pipe joint to stop;
  • Step 6 The iron driller extends to the top of the mouse hole where the three pipes are placed, and the double vertical root and the second pipe or the first pipe are buckled to form three vertical roots. After the buckle is completed, the iron driller shrinks. back;
  • Step 7 The multi-functional manipulator grips the Sanligen pipe and goes up. Before the lower joint of the Sanligen leaves the drill floor, the clamp head of the drill floor manipulator supports the lower part of the Sanligen. The lower joint is lifted off the drill floor to a certain height and then stops;
  • Step 8 The multi-functional manipulator clamps/supports the upper part of the three vertical roots, the multi-functional manipulator clamp head opens and moves upward, and the drill floor manipulator supports/holds the lower end of the three vertical roots;
  • the ninth step the multi-functional manipulator and the drill floor manipulator move the stand vertically synchronously to the stand box area;
  • Step 10 The multi-functional manipulator/drill floor manipulator lowers three vertical roots to the vertical root box area, the multi-functional manipulator and the drill floor manipulator head are simultaneously opened and returned, and the drill floor manipulator returns to the storage area.
  • the above steps are repeated, and the next standing pipe is connected offline in a cycle.
  • a screw oil applicator is also installed on the drilling rig.
  • the screw oil applicator is integrated into an iron driller or a drill floor manipulator to apply screw oil.
  • the present invention also provides a kind of method for off-line connection of double stand, the concrete steps are as follows:
  • Step 1 Move a pipe to the drill floor obliquely by the power catwalk, hold the front of the pipe with the pliers of the multi-functional manipulator, and the multi-functional manipulator takes the pipe up and adjusts the pipe to a vertical position. , put the pipe into the mouse hole A;
  • Step 2 The second pipe is tilted and moved to the drill floor by the power catwalk, and the front of the pipe is clamped by the pliers of the multi-functional manipulator.
  • the multi-functional manipulator takes the pipe up and adjusts the pipe to the vertical position Straight, the multi-functional manipulator pliers move to the top of the mouse hole A, go down with the second pipe, and put the lower joint of the second pipe into the upper joint of the first pipe;
  • Step 4 The iron driller extends to the mouse hole A where the two pipes are placed, and the two pipes are buckled to form a double stand. After the buckle is completed, the iron driller retracts;
  • Step 5 The multi-functional manipulator grips the double-root pipe and moves upward. Before the lower joint of the double-root leaves the drill floor, the clamp head of the drill-floor manipulator supports the lower part of the double-root pipe. The multi-functional manipulator continues to move up to make the double-root Stop when the lower end of the pipe is higher than the drill floor;
  • Step 6 The multi-functional manipulator clamps/supports the upper part of the double vertical root, the multi-functional manipulator clamp head opens and moves upward, and the drill floor manipulator supports/holds the lower end of the double vertical root;
  • Step 7 The multi-functional manipulator and the drill floor manipulator move the double stand vertically synchronously to the stand box area;
  • Step 8 The multi-functional manipulator/drill floor manipulator lowers the double stand to the stand box area, the multi-functional manipulator and the drill floor manipulator open and return synchronously, and the drill floor manipulator returns to the storage area.
  • the present invention also provides a high-efficiency drilling rig, comprising a base, a derrick mounted on the base, an iron driller and a power slip, and further comprising:
  • Drill floor manipulator installed on the base
  • the top drive installed on the derrick, the power finger beam platform, and the two-story pipe arranging machine installed on the power finger beam;
  • the elevator is configured to tilt 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 two-layer table pipe arranging machine includes a plier head and a transmission mechanism for driving the plier head to move, and the plier head is configured to clamp/support the upper part of the stand;
  • the drill floor manipulator is configured to clamp/support the lower part of the stand, and cooperate with the pliers to drive the stand to move between the wellhead position and the stand box area;
  • One of the tong head and the drill floor manipulator clamps the stand, and the other supports the stand.
  • a vertical root manipulator is also installed on the derrick, which is configured to be able to move up and down along the derrick, and to clamp and drive the pipe to move;
  • the drilling rig also includes a power catwalk installed on the ground, arranged on the base
  • the rat hole A and the rat hole on the top, the rat hole A and the rat hole B are distributed between the stand box and the wellhead.
  • the present invention also provides a drilling method, comprising:
  • the first step the top drive is at a low position, the elevator is opened to block the wellhead column, and the elevator is closed to lift the wellhead column upward;
  • 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 of the column is matched by the top drive elevator;
  • Step 4 The iron driller retracts, the second-floor pipe arranging machine and the drill floor manipulator simultaneously extend to the wellhead, the clamp head of the second-floor pipe arranging machine opens to clamp/support the upper part of the stand, and the clamp head of the drill floor manipulator opens the low-level support/ Clamp the lower part of the stand;
  • Step 5 The top drive elevator is opened, and the elevator is tilted backward;
  • Step 6 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, and the stand remains vertical during the transfer;
  • Step 7 The second-floor pipe arranging machine/drill floor manipulator lowers the stand to the stand box area, and simultaneously opens the second-floor pipe arranging machine and the drill floor manipulator clamp head and retracts;
  • Step 8 The second-floor pipe arranging machine and the drilling floor manipulator walk, rotate, and extend to the vicinity of the wellhead synchronously, waiting to grab the next stand.
  • next stand needs to be tripped after the fourth step is completed
  • in the sixth to eighth steps after the stand leaves the wellhead, after the top drive goes down to a low position, it returns to The first step, continue to the next cycle.
  • 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;
  • the second step the second-floor pipe arranging machine and the drill floor manipulator place the stand on the top of the column below, the elevator lifts the stand, the drill floor manipulator and the second-floor pipe arranging machine are loosened, and the drill floor manipulator and the second-floor pipe arranging Move the machine to the stand box area to prepare for the first step
  • the third step the iron driller stretches out to the wellhead to make up the buckle, and the iron driller resets after completion;
  • Step 4 The elevator lowers the column, and after lowering it to a low position, the power slip is turned off, the elevator is turned on, and the top drive is upward;
  • the fourth step can be executed simultaneously with the first and second steps.
  • applying thread oil with a thread oil application device is to apply thread oil to the lower part of the standing root during the process of moving the standing root.
  • the present invention also provides a kind of method for off-line connection of root, comprising the following steps:
  • Step 1 Move a pipe to the drill floor obliquely by the power catwalk, hold the front of the pipe with the clamp head connected to the vertical manipulator, and then adjust the pipe to a vertical position with the vertical manipulator. , move the clamp head of Ligen Manipulator to just above mouse hole A, go down with the pipe, and put the pipe into mouse hole A;
  • Step 2 The second pipe is tilted and moved to the drill floor by the power catwalk, and the front of the pipe is clamped by the clamp head of the vertical manipulator. Directly, move the clamp head of the vertical manipulator to the top of the mouse hole B, take the second pipe down, and put the pipe into the mouse hole B;
  • Step 4 The third pipe is tilted and moved to the drill floor by the power catwalk, and the front of the pipe is clamped by the clamp head of the vertical manipulator. Directly, move the pliers head of the vertical manipulator to the top of the mouse hole A or mouse hole B, go down with the third pipe, and put the lower joint of the third pipe into the first pipe or the upper part of the second pipe in the connector;
  • Step 5 The iron driller extends to the mouse hole where two pipes are placed, and the two pipes are buckled to form a double stand. After the buckle is completed, the iron driller retracts;
  • Step 6 Connect the vertical root manipulator to hold the double vertical root and go up. Before the lower joint of the double vertical root leaves the drill floor, the clamp head of the drill floor manipulator supports the lower part of the double vertical root. , and synchronously swing it to the top of the pipe in the other rat hole, and then lower it to the lower pipe joint to stop
  • Step 7 The iron driller stretches out to the top of the mouse hole where the three pipes are placed, and the double vertical roots and the pipe tools are buckled to form three vertical roots. After the buckle is completed, the iron driller retracts;
  • Step 8 The connecting manipulator grips the three vertical roots and goes up. Before the lower joint of the three vertical roots leaves the drill floor, the clamp head of the drilling floor manipulator supports the lower part of the three vertical roots. Stop after drilling the floor;
  • the ninth step the second-floor pipe arranging machine clamps/supports the upper part of the three vertical roots, opens the clamp head of the vertical root manipulator and moves up, and the drill floor manipulator supports/holds the lower end of the three vertical roots;
  • Step 10 The second-floor pipe arranging machine and the drilling floor manipulator move the vertical roots to the vertical box area synchronously;
  • Step 11 The second-floor pipe arranging machine/drill floor manipulator lowers three standing roots to the stand box area, the second-floor pipe arranging machine and the drill floor manipulator clamp head are simultaneously turned on and returned, and the drilling floor manipulator returns to the storage area.
  • the above steps are repeated, and the next standing pipe is connected offline in a cycle.
  • a screw oil application device is also installed on the drilling rig.
  • the screw oil application device is integrated into the iron driller or the drill floor manipulator to realize the application of the screw oil.
  • the present invention also provides a kind of method for off-line connection of double stand, the concrete steps are as follows:
  • Step 1 Move a pipe to the drill floor obliquely by the power catwalk, hold the front of the pipe with the clamp head connected to the vertical manipulator, and then adjust the pipe to a vertical position with the vertical manipulator. , move the clamp head of Ligen Manipulator to just above mouse hole A, go down with the pipe, and put the pipe into mouse hole A;
  • Step 2 The second pipe is tilted and moved to the drill floor by the power catwalk, and the front of the pipe is clamped by the clamp head of the vertical manipulator. Directly, move the clamp head of the vertical manipulator to the top of the mouse hole A, take the second pipe to go down, and put the lower joint of the second pipe into the upper joint of the first pipe;
  • the third step the iron driller extends to the mouse hole A where two pipes are placed, and the two pipes are buckled to form a double stand. After the buckle is completed, the iron driller retracts;
  • Step 4 The connecting stand manipulator grips the double stand and goes up. Before the lower joint of the double stand leaves the drill floor, the clamp head of the drill floor manipulator supports the lower part of the double stand, and the stand manipulator carries the double stand and continues to ascend until the lower joint of the double stand is lifted off. The drill floor stops after a certain height;
  • Step 5 The second-floor pipe arranging machine clamps/supports the upper part of the double stand, opens the clamp head of the stand manipulator and moves up, and the drill floor manipulator supports/holds the lower end of the double stand;
  • Step 6 The second-floor pipe arranging machine and the drilling floor manipulator synchronously and vertically move the stand to the stand box area;
  • Step 7 The second-floor pipe arrangement machine/drill floor manipulator lowers the double stand to the stand box area, the second-floor pipe arrangement machine and the drill floor manipulator are simultaneously opened and returned, and the drill floor manipulator returns to the storage area.
  • the advantages of the present invention and its embodiments are as follows: during the tripping process, a multifunctional manipulator and a drill floor manipulator are used to synchronously and vertically move the root pipe tool between the wellhead and the root box, which reduces the occupation of the original root when it moves and tilts. Wellhead time, on the premise of the original drilling rig structure and size, the vertical movement of the stand can be realized, the tripping efficiency is improved, and the risk of downhole accidents is reduced; 2.
  • the top drive of the present invention does not have a horizontal telescopic mechanism, and the size of the derrick and the base is the same as the current one. The difference between the drilling rigs is not large, and it is applicable to both the modified drilling rig and the newly built drilling rig.
  • the present invention utilizes the multi-functional manipulator/vertical manipulator, the drilling floor manipulator, the iron driller, the power catwalk and the double rat hole in the drilling process to realize offline Connecting the root function, reducing the preparation time of drilling tools during drilling operations, improving drilling efficiency, and reducing oilfield development costs.
  • 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;
  • Figure 5 is a schematic view of the top drive of the drilling rig embodiment shown in Figure 1;
  • FIG. 6 is a schematic diagram of the multifunctional manipulator of the embodiment of the drilling rig shown in FIG. 1;
  • Fig. 7 is the schematic diagram that the pliers head part is extended in the drill floor manipulator shown in Fig. 4;
  • Figure 16 is a top view of the rat hole A (7-1), the rat hole B (7-2) and the track of the drill floor manipulator;
  • Fig. 17 to Fig. 27 are the flow charts of off-line connection of standing roots of the drilling rig of Fig. 1;
  • Drilling rig according to an embodiment of the present invention
  • Figure 29 is a side view of the embodiment of the drilling rig shown in Figure 28;
  • FIG. 30 is a schematic diagram of a vertical root manipulator according to an embodiment of the present invention.
  • Fig. 31 is a schematic diagram of the two-story pipe arranging machine of the embodiment of the drilling rig shown in Fig. 28;
  • 32 to 40 are schematic diagrams of tripping
  • Figure 41 is a top view of the rat hole A (7-1), the rat hole B (7-2) and the track of the drill floor manipulator;
  • Figures 42-53 are flow charts of the rig of Figure 28 taking off-line standoffs.
  • the present invention is a compact and high-efficiency drilling rig, as shown in Figures 1 to 7, which mainly includes a base 1, a derrick 2 mounted on the base, a drawworks 3, a driller's room 4, an iron driller 5, and a drilling floor manipulator 6.
  • the base 1 includes an upper seat 1-1, a lower seat 1-2, an intermediate leg 1-3 located between the upper seat 1-1 and the lower seat 1-2, a support 1-4 on the upper seat 1-1, a connecting support composition.
  • the upper seat 1-1 and the lower seat 1-2 are connected by the middle legs 1-3, and the lower seat 1-2 are connected by connecting supports.
  • 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 traveling 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 track 6-1 is arranged on the base 1 and is located between the stand boxes and is L-shaped.
  • the traveling mechanism 6-2 is installed on the track 6-1 and can move along the track 6-1.
  • the telescopic mechanism 6-4 is installed on the column 6-3, which can move up and down along the column 6-3, and extend or retract.
  • the guide pliers 6-5 are installed on the end of the telescopic mechanism 6-4 for For holding or supporting pipes.
  • the drill floor manipulator 6 When the power catwalk 12 transports the pipe to the drill floor, the drill floor manipulator 6 is located at the front end of the storage stand box, giving way to the area of the drill pipe.
  • a lifting mechanism such as a hydraulic cylinder, a gear rack and the like can be added to the column 6-3.
  • the rat hole A7-1 and the rat hole B7-2 are arranged on the base 1, distributed between the vertical box and the wellhead, symmetrically arranged with the center line of the drill floor manipulator track 6-1, and seated under the base
  • the lower supports 7-3 and 4 of the rat holes A and B are arranged on the 1-2, which are used to support the drill pipes in the rat holes A7-1 and B7-2.
  • the top drive 8 includes a power elevator 8-1, a top drive main body 8-2, and a top drive guide rail 8-3.
  • the top drive guide rail 8-3 is vertically installed on the back of the derrick 2, the top drive 8 can move up and down along the top drive guide rail 8-3, and a power elevator 8-1 is installed at the lower end of the top drive 8, and the power elevator 8-1 can be hydraulic
  • the source opens and closes and can be tilted to clear the top of the pipe.
  • the multifunctional manipulator 9a includes a sliding mechanism 9a-1, a first luffing mechanism 9a-2, a rotary reducer 9a-3, a rotary support 9a-4, a second luffing mechanism 9a-5, a pliers head 9a-6, Sliding track 9a-7.
  • the sliding guide rail 9a-7 is installed on the front or side of the derrick thigh 2-1, and the sliding mechanism 9a-1 can move vertically up and down along the sliding guide rail 9-7.
  • the first luffing mechanism 9a-2 is installed on the sliding mechanism 9a-1, can move up and down with the sliding mechanism 9a-1, and can be expanded outward, the rotary reducer 9a-3 and the rotary support 9a-4 are installed on the first
  • the end of a luffing mechanism 9a-2 and the second luffing mechanism 9a-5 are mounted on the rotary support 9a-4 and can be driven to rotate by the rotary reducer 9a-3
  • the pliers 9a-6 are mounted on the second variable
  • the end of the amplitude mechanism 9a-5, the first amplitude luffing mechanism 9a-2, the rotary reducer 9a-3, the rotary support 9a-4, the second amplitude luffing mechanism 9a-5 and other connection and transmission components realize the pincer head 9a-6 Movement in space.
  • 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.
  • Step 1 The top drive is at a low position, the elevator is opened to block the wellhead column, and the elevator is closed to lift the wellhead column upward;
  • the column may be a pipe to which the drill bit is attached, such as drill pipe, stand, or the like.
  • 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 elevator 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 elevator is opened, and the elevator is tilted backwards (as shown in Figure 12).
  • 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.
  • the drilling process is opposite to the drilling process.
  • the multi-functional manipulator or the drill floor manipulator or the iron driller is integrated with a screw oil application device, and the screw oil is applied during the process of moving the stand, which will not be repeated here.
  • the method for connecting three vertical roots in an offline operation reduces the preparation time of the drilling tool and improves the drilling efficiency.
  • the detailed steps of the offline operation are as follows:
  • the first step a pipe (drill pipe, drill collar, casing, etc.) is tilted and moved to the drill floor by the power catwalk, and the pipe joint is outside the main body of the catwalk;
  • Step 2 The multi-functional manipulator is in a low position, the clamp head is tilted to be parallel to the axis of the pipe string, the clamp head is opened and the front part of the pipe is clamped, and the multi-functional manipulator takes the pipe up.
  • the pipe is inclined from horizontal to vertical;
  • Step 3 The multi-functional manipulator pliers rotate clockwise around the vertical axis by a certain angle, take the pipe down, and put the pipe into the mouse hole A;
  • Step 4 Rotate the multi-function pliers counterclockwise around the vertical axis at a certain angle to the top of the mouse hole, go down with the second pipe, and put the pipe into the mouse hole B;
  • Step 5 Rotate the multi-function pliers clockwise or counterclockwise around the vertical axis at a certain angle to the top of the mouse hole, go down with the third pipe, and put the lower joint of the third pipe into the first pipe in the upper joint of the appliance or second pipe;
  • Step 6 The iron driller extends to the mouse hole where the two pipes are placed, and the two pipes are buckled to form a double stand. After the buckle is completed, the iron driller retracts;
  • Step 7 The multi-functional manipulator grips the double-root pipe and moves upwards. Before the lower joint leaves the drill floor, the drill-floor manipulator clamp head supports the lower part of the double-root pipe. Stop after a certain height above the drill floor, and synchronously swing it to the top of the pipe in another rat hole, and lower the double-root pipe to stop in the lower pipe joint;
  • Step 8 The iron driller stretches out to the top of the mouse hole where the three pipes are placed, and the two lower pipes are buckled. After the buckle is completed, the iron driller retracts;
  • Step 9 The multi-functional manipulator grips the three pipes to go up. Before the lower joint of the bottom pipe leaves the drill floor, the clamp head of the drill floor manipulator supports the lower part of the vertical root, and the multi-functional manipulator continues to move up with the three pipes. Stop when the joint at the bottom of the stand is lifted from the drill floor to a certain height;
  • Step 10 The multi-functional manipulator clamps the stand and the drill floor manipulator supports the stand synchronously and vertically moves the stand to the stand box area;
  • Step 11 The multi-functional manipulator lowers the stand to the stand box area, the multi-functional manipulator and the drill floor manipulator open and return synchronously, and the drill floor manipulator returns to the storage area;
  • the method for connecting a double stand in an offline operation reduces the preparation time of the drilling tool and improves the drilling efficiency.
  • the detailed steps of offline job are as follows:
  • Step 1 Move a pipe to the drill floor obliquely by the power catwalk, hold the front of the pipe with the pliers of the multi-functional manipulator, and the multi-functional manipulator takes the pipe up and adjusts the pipe to a vertical position. , put the pipe into the mouse hole A;
  • Step 2 The second pipe is tilted and moved to the drill floor by the power catwalk, and the front of the pipe is clamped by the pliers of the multi-functional manipulator.
  • the multi-functional manipulator takes the pipe up and adjusts the pipe to the vertical position Straight, the multi-functional manipulator pliers move to the top of the mouse hole A, go down with the second pipe, and put the lower joint of the second pipe into the upper joint of the first pipe;
  • Step 4 The iron driller extends to the mouse hole A where the two pipes are placed, and the two pipes are buckled to form a double stand. After the buckle is completed, the iron driller retracts;
  • Step 5 The multi-functional manipulator grips the double-root pipe and moves upward. Before the lower joint of the double-root leaves the drill floor, the clamp head of the drill-floor manipulator supports the lower part of the double-root pipe. The multi-functional manipulator continues to move up to make the double-root Stop when the lower end of the pipe is higher than the drill floor;
  • Step 6 The multi-functional manipulator clamps/supports the upper part of the double vertical root, the multi-functional manipulator clamp head opens and moves upward, and the drill floor manipulator supports/holds the lower end of the double vertical root;
  • Step 7 The multi-functional manipulator and the drill floor manipulator move the double stand vertically synchronously to the stand box area;
  • Step 8 The multi-functional manipulator/drill floor manipulator lowers the double stand to the stand box area, the multi-functional manipulator and the drill floor manipulator open and return synchronously, and the drill floor manipulator returns to the storage area.
  • a compact high-efficiency drilling rig as shown in Figure 28, Figure 29, Figure 30 and Figure 31, is similar to the previous embodiment, and mainly includes a base 1, a derrick 2 installed on the base, a drawworks 3, and a driller's room 4. , iron driller 5, drilling floor manipulator 6, rat hole A7-1 rat hole B7-2; top drive 8 installed on derrick 2, connecting stand manipulator 9, power finger beam 10, power catwalk installed on the ground 12 .
  • a two-layer table pipe arranging machine 11 and a vertical root manipulator 9 are used instead of the multifunctional manipulator 9 in the embodiment.
  • the two-layer table pipe arranging machine 11 in this embodiment is installed on the power finger beam, and includes a clamp head 11-1, a luffing mechanism 11-2, a slewing mechanism 11-3, and a traveling mechanism 11-4 .
  • the luffing mechanism 11-2, the slewing mechanism 11-3 and the running mechanism 11-4 are used as the connecting parts between the pincer head 11-1 and the power finger beam, which can drive the pincer head 11-1 to perform a specified movement in space .
  • a hydraulic cylinder, a rack and pinion or a ball screw and other mechanisms are installed between the luffing mechanism 11-2 and the slewing mechanism 11-3, and the pliers 11-1 can be Ascend and descend vertically.
  • the stand-up manipulator 9 includes a sliding mechanism 9-1, a rotary reducer 9-2, a rotary support 9-3, a luffing mechanism 9-4, a clamp head 9-5, and a sliding track 9- 6.
  • the sliding guide 9-6 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 9-6.
  • the slewing reducer 9-2 is installed on the sliding mechanism 9-1, the slewing support 9-3 is connected with the slewing reducer 9-2, the luffing mechanism 9-4 is installed on the slewing support 9-3, and the clamp head 9 -5 is installed on the luffing mechanism 9-4, and the connection and cooperation of the above components can realize the movement of the pliers 9-5 to the designated position.
  • the height of the two-tier pipe racker can be adjusted with the length of the stand.
  • the jaws of the two-stage pipe racking machine can be clamped/supported at a position close to the upper end of the stand.
  • the pliers of the two-story pipe-arranging machine can be clamped/supported at a position of 0.2 to 1 meter from the upper part of the vertical root and 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.
  • Step 1 The top drive is at a low position, the elevator is opened to block the wellhead column, and the elevator is closed to lift the wellhead column upward;
  • 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 elevator on the upper part of the column cooperates.
  • Step 4 The iron driller retracts, the second-floor pipe arranging machine and the drill floor manipulator simultaneously extend to the wellhead, the clamp head of the second-floor pipe arranging machine opens to clamp/support the upper part of the stand, and the clamp head of the drill floor manipulator opens the low-level support/ Clamp the lower part of the stand.
  • Step 5 The top drive elevator is opened, and the elevator is tilted backward.
  • Step 6 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, and the stand remains vertical during the transfer;
  • Step 7 The second-floor pipe arranging machine/drill floor manipulator lowers the stand to the stand box area, and simultaneously opens the second-floor pipe arranging machine and the drill floor manipulator clamp head and retracts;
  • Step 8 The second-floor pipe arranging machine and the drilling floor manipulator walk, rotate, and extend to the vicinity of the wellhead synchronously, waiting to grab the next stand.
  • the drilling process is opposite to the drilling process.
  • the threaded oil smearing device is integrated on the drill floor manipulator or the iron driller, and the threaded oil is applied during the descending process of the top drive, which will not be repeated here.
  • Step 1 A pipe (drill pipe, drill collar, casing, etc.) is tilted and moved to the drill floor by the power catwalk, and the pipe joint is connected to the main body of the catwalk. Parallel to the axis of the pipe string, open the pliers and clamp the front of the pipe;
  • the second step connect the vertical manipulator to take the pipe up, and adjust the clamp head and the luffing mechanism to make the pipe tilt from horizontal to vertical;
  • Step 3 Connect the clamp head of the Ligen manipulator and rotate it clockwise around the vertical axis at a certain angle to just above the mouse hole A, go down with the pipe, and put the pipe into the mouse hole A;
  • Step 4 Connect the pliers of the standing manipulator and rotate counterclockwise around the vertical axis at a certain angle to just above the mouse hole B, take the second pipe down, and put the pipe into the mouse hole B;
  • Step 5 Connect the pliers of the standing root manipulator and rotate clockwise or counterclockwise around the vertical axis at a certain angle to the top of the mouse hole A/B, go down with the third pipe, and put the lower joint of the third pipe into the In the upper joint of the first pipe or the second pipe;
  • Step 6 The iron driller extends to the mouse hole A/B where the two pipes are placed, and the two pipes are buckled to form a double stand. After the buckle is completed, the iron driller retracts;
  • Step 7 Connect the vertical root manipulator to hold the double vertical root and go up. Before the lower joint of the double vertical root leaves the drill floor, the clamp head of the drill floor manipulator supports the lower part of the double vertical root. Then stop, and synchronously swing to the top of the pipe in the other rat hole and lower it to the lower pipe joint to stop;
  • Step 8 The iron driller stretches out to the top of the mouse hole where the three pipes are placed, and the lower two pipes are buckled to form three vertical roots. After the buckle is completed, the iron driller retracts;
  • the ninth step The connecting manipulator holds the three vertical roots and goes up. Before the lower joint of the three vertical roots leaves the drill floor, the clamp head of the drilling floor manipulator supports the lower part of the three vertical roots, and the connecting vertical manipulator carries the three vertical roots and continues to ascend until the lower joint of the three vertical roots is lifted off. The drill floor stops after a certain height;
  • Step 10 The second-floor pipe arranging machine clamps/supports the upper part of the three vertical roots, opens the clamp head of the vertical root manipulator and moves up, and the drill floor manipulator supports/holds the lower end of the three vertical roots;
  • Step 11 The second-floor pipe arranging machine and the drilling floor manipulator synchronously and vertically move the three vertical roots to the vertical root box area;
  • the twelfth step the second-floor pipe arranging machine/drill floor manipulator lowers three vertical roots to the stand box area, the second-floor pipe arranging machine and the drill floor manipulator clamp head are simultaneously opened and returned, and the drill floor manipulator returns to the storage area;
  • the thread oil applicator is integrated into the iron driller or drill floor manipulator to realize the application of thread oil.
  • Some embodiments of the present specification also include a method of using two mouse holes to connect 4 vertical roots through the vertical root manipulator 9, and the corresponding process steps are as follows:
  • a pipe (drill pipe, drill collar, casing, etc.) is tilted and moved to the drill floor (the upper plane of the upper seat 1-1) by the power catwalk 12, and the pipe joint is outside the main body of the power catwalk 12.
  • the clamp head 9-5 is tilted to be parallel to the axis of the pipe, open the clamp head 9-5 and clamp the front part of the pipe;
  • the second step connect the vertical manipulator 9 with the pipe tool upward, and make the pipe tool tilt from horizontal to vertical by adjusting the clamp head 9-5 and the luffing mechanism 9-4;
  • the pipe fitting can be directly carried up by the pick-up manipulator 9, so that the pipe fitting can be adjusted to a vertical state.
  • the drill floor manipulator 6 in order to avoid shaking during the movement of the pipe, can also support the pipe during the upward movement of the root-connecting manipulator 9, so that the pipe can be adjusted to a vertical position. condition.
  • Step 3 Connect the 9 clamp head of Ligen Manipulator and rotate a certain angle clockwise around the vertical axis to just above the mouse hole A7-1, go down with the pipe, and put the pipe into the mouse hole A7-1;
  • Step 4 Connect the clamp head 9-5 of the standing manipulator 9 and rotate it counterclockwise around the vertical axis to a certain angle to the top of the mouse hole B7-2, take the second pipe down, and put the pipe into the mouse hole B7 -2;
  • Step 5 Connect the clamp head 9-5 of the Ligen manipulator 9 and rotate it clockwise or counterclockwise around the vertical axis to a certain angle above the mouse hole A/B, take the third pipe down, and put the third pipe The lower joint is put into the upper joint of the first pipe or the second pipe;
  • Step 6 The iron driller 5 extends to the mouse hole A/B where the two pipes are placed, and the two pipes are fastened. After the fastening is completed, the two pipes form the first double vertical root, and the iron drill retraction;
  • Step 7 Connect the vertical root manipulator 9 to grip the first double vertical root in the mouse hole A/B and continue to descend, put the first double vertical root into the mouse hole A/B, and expose the upper joint of the first double vertical root to the mouse hole A /B;
  • Step 8 Connect the clamp head 9-5 of Ligen Manipulator 9 and rotate clockwise or counterclockwise around the vertical axis by a certain angle to the top of the mouse hole B/A where the single pipe is placed, and go down with the fourth pipe. Put the lower joint of the fourth pipe into the upper joint of the single pipe;
  • the ninth step the iron drill 5 extends to the mouse hole B/A where the two pipes are placed, and the two pipes are fastened. After the fastening is completed, the two pipes form the second double vertical root, and the iron drill retraction;
  • Step 10 Connect the vertical root manipulator 9 to grip the second double vertical root and go up.
  • the drill floor manipulator 6 clamp head 6-5 supports the lower part of the second double vertical root, and the vertical root manipulator 9 continues to move up, so that the second The lower end of the double vertical root is higher than the drill floor by a certain height and then stops, and synchronously swings to the top of the first double vertical root of the other rat hole, and lowers it to the upper joint of the first double vertical root to stop;
  • the eleventh step the iron driller 5 stretches out to the top of the mouse hole where the first double vertical root and the second double vertical root are placed, and buckles the first double vertical root and the second double vertical root.
  • the vertical root and the second double vertical root form four vertical roots, and the iron driller 5 retracts;
  • the twelfth step Connect the vertical root manipulator 9 to hold the four vertical roots and go up. Before the lower joint of the lowermost pipe leaves the drill floor, the drill floor manipulator 6 clamp head 6-5 supports the lower part of the vertical root, and the connecting vertical root manipulator 9 carries the four vertical roots. The vertical roots continue to ascend until the lower joints of the four vertical roots are lifted off a certain height from the drilling floor and then stop;
  • the thirteenth step The second-floor pipe arranging machine 11 clamps/supports the upper section of the four vertical roots;
  • the fourteenth step the second-floor pipe arranging machine 11 and the drilling floor manipulator 6 synchronously and vertically move the four vertical roots to the vertical root box area;
  • the fifteenth step the second-floor pipe arranging machine 11 and the drill floor manipulator 6 lower the four vertical roots to the stand box area, the second-floor pipe arranging machine 11 and the drill floor manipulator 6 clamp heads (clamp head 11-1 and guide clamp 6-5 ) synchronously turns on and returns, and the drill floor manipulator 6 returns to the storage area.
  • the thread oil application device is integrated in the iron driller 5 or the drill floor manipulator 6 to realize the application of thread oil.
  • Some embodiments of this specification also include another method for connecting four vertical roots offline by using two mouse holes through the vertical root manipulator 9, and the corresponding process steps are as follows:
  • a pipe (drill pipe, drill collar, casing, etc.) is tilted and moved to the drill floor (the upper plane of the upper seat (1-1)) by the power catway (12), and the pipe joint is in the power cat.
  • the external vertical manipulator (9) Outside the main body of the channel (12), the external vertical manipulator (9) is in a low position, the clamp head (9-5) is tilted to be parallel to the axis of the pipe, open the clamp head (9-5) and clamp the front part of the pipe;
  • Step 2 Connect the vertical manipulator (9) with the pipe up, and adjust the clamp head (9-5) and the luffing mechanism (9-4) to tilt the pipe from horizontal to vertical;
  • the pipe fitting can be directly carried up by the root pick-up manipulator (9), so that the pipe fitting can be adjusted to a vertical state.
  • the drill floor manipulator (6) in order to avoid shaking during the movement of the pipe, can also be used to support the pipe during the process of ascending the pipe with the root pick-up manipulator (9), so that the pipe Adjust to vertical position.
  • Step 3 Connect the stand manipulator (9) and rotate the pliers clockwise around the vertical axis at a certain angle to just above the mouse hole A (7-1), go down with the pipe, and put the pipe into the mouse hole A (7-1). -1);
  • Step 4 Connect the stand manipulator (9) and the pliers head (9-5) around the vertical axis and rotate counterclockwise at a certain angle to just above the mouse hole B (7-2), go down with the second pipe, and place the Put the pipe into the mouse hole B (7-2);
  • Step 5 Connect the stand manipulator (9) and the pliers head (9-5) around the vertical axis and rotate clockwise or counterclockwise to a certain angle above the mouse hole A/B, take the third pipe down, and place the first pipe. Put the lower joint of the three pipes into the upper joint of the first pipe or the second pipe;
  • Step 6 The iron driller (5) stretches out to the mouse hole A/B where the two pipes are placed, and buckles the two pipes. After the buckle is completed, the two pipes form the first double vertical root. The iron driller retracts;
  • Step 7 Connect the vertical root manipulator (9) to hold the first double vertical root in the mouse hole A/B and continue to descend, put the first double vertical root into the mouse hole A/B, and expose the upper joint of the first double vertical root to the mouse hole A/B;
  • Step 8 Connect the stand manipulator (9) and the pliers (9-5) around the vertical axis and rotate clockwise or counterclockwise to a certain angle to the top of the mouse hole A/B where the double stand is placed, with the fourth pipe Go down, and put the lower joint of the fourth pipe into the upper joint of the double stand;
  • the ninth step The iron driller (5) stretches out to the mouse hole A/B where the double vertical root and the fourth pipe are placed, and the double vertical root and the fourth pipe are buckled. After the buckle is completed, the two The pipe is composed of three vertical roots, and the iron driller is retracted;
  • Step 10 Connect the vertical manipulator (9) to hold the three vertical roots and go up.
  • the drill floor manipulator (6) clamp head (6-5) supports the lower part of the three vertical roots, and then connects to the vertical root manipulator (9) and continues to ascend. , make the lower end of the three vertical roots higher than the drill floor by a certain height and then stop, and synchronously swing to the top of the single pipe in another rat hole and lower it to the upper joint of the single pipe to stop;
  • Step 11 The iron driller (5) stretches out to the top of the mouse hole where the three vertical pipes and the single pipe are placed, and the three vertical roots and the single pipe are buckled. After the buckle is completed, the three vertical roots and the single pipe The tool consists of four vertical roots, and the iron drill (5) is retracted;
  • the twelfth step Connect the vertical root manipulator (9) to hold the four vertical roots and go up. Before the lower joint of the bottom pipe leaves the drill floor, the drill floor manipulator (6) clamp head (6-5) supports the lower part of the vertical root and connects The vertical manipulator 9 continues to ascend with the four vertical roots until the lower joint of the four vertical roots is lifted off a certain height from the drilling floor and then stops;
  • the second-floor pipe arranging machine (11) clamps/supports the upper section of the four vertical roots, opens the clamp head of the vertical root manipulator 9 and moves up, and the drill floor manipulator (6) supports/holds the lower end of the vertical root;
  • the fourteenth step the second-floor pipe arranging machine (11) and the drilling floor manipulator (6) synchronously and vertically move the four vertical roots to the vertical root box area;
  • Step 15 The second-floor pipe arranging machine (11) the drill floor manipulator (6) lowers four vertical roots to the root box area, the second-floor pipe arranging machine (11) and the drill floor manipulator (6) clamp head (clamp head ( 11-1) and the guide pliers (6-5)) are opened and returned synchronously, and the drill floor manipulator (6) returns to the storage area.
  • the drilling rig can use two rat holes to complete the operation of the stub of any length through the two stub manipulators, and the length of the stub can be set according to the task requirements of the drill pipe.
  • the length of the connecting vertical root is five vertical roots, and the specific steps of connecting five vertical roots can refer to the exemplary process 100 .
  • the process 100 may include the following steps:
  • Step S110 the power catwalk moves the first pipe and the second pipe, the connecting manipulator clamps the first pipe and the second pipe, and adjusts the first pipe and the second pipe to be vertical.
  • the first pipe eg, drill pipe, drill collar, casing, etc.
  • the second pipe are moved obliquely to the drill floor by the power catwalk (12), and the first pipe is clamped by the stand manipulator. Pipe and second pipe.
  • the power catwalk (12) can move the first pipe tool and the second pipe tool at the same time, and the first vertical root manipulator and the second vertical root manipulator respectively clamp one pipe tool.
  • the power catwalk (12) can also move one pipe at a time, and either of the two standoff robots can hold the pipe and perform subsequent operations. After the pipe is removed, the power catwalk (12) moves another pipe to the drill floor, and the other one of the two connecting manipulators clamps the pipe currently in the power catwalk (12) to perform subsequent operations .
  • the pipe fitting is outside the main body of the power catwalk (12) when the pipe is moved to the drill floor.
  • the connecting manipulator When any one of the connecting manipulators clamps the pipe, the connecting manipulator is in a low position. After the clamp head of the connecting manipulator is tilted to be parallel to the axis of the pipe, the clamp head is opened and the front part of the pipe is clamped.
  • the root picker manipulator can go up with the pipe tool, and adjust the pipe tool from a horizontal or inclined state to a vertical state by adjusting the clamp head and the luffing mechanism.
  • the drill floor manipulator (6) in order to avoid shaking during the movement of the pipe, can also be used to support the pipe during the process of ascending the pipe with the root pick-up manipulator (9), so that the pipe Adjust to vertical position.
  • the first stand manipulator and the second stand manipulator can respectively adjust the pipe clamped by them to a vertical state.
  • Step S121 the first vertical manipulator puts the first pipe into the mouse hole A.
  • the forceps head of the first vertical manipulator rotates clockwise around the vertical axis at a certain angle to just above the mouse hole A, and descends with the first pipe tool to put the first pipe tool into the mouse hole A.
  • Step S122 the second vertical manipulator puts the second pipe into the mouse hole B.
  • the clamp head of the second vertical manipulator rotates counterclockwise around the vertical axis at a certain angle to just above the mouse hole B, descends with the second pipe tool, and puts the second pipe tool into the mouse hole B.
  • step S121 and step S122 may be performed simultaneously. In some embodiments, step S121 and step S122 may also be performed in different order.
  • Step S130 the power catwalk moves the third pipe, the first connecting manipulator clamps the third pipe, and adjusts the third pipe to be vertical.
  • the power catwalk (12) can move the third pipe tool to the drilling floor, and the first vertical manipulator can move to the power catwalk (12) after placing the first pipe tool in the mouse hole A ) to clamp the third pipe.
  • the first vertical manipulator can carry the third pipe up, and the pipe can be adjusted from a horizontal or inclined state to a vertical state by adjusting the clamp head and the luffing mechanism.
  • the drill floor manipulator (6) may also be used to carry out the third pipe tool. Support, so that the third pipe is adjusted to a vertical state.
  • step S140 the first stand manipulator transfers the third pipe to the mouse hole A or the mouse hole B, and connects the third pipe with the first pipe or the second pipe to form a double stand.
  • the first vertical manipulator forceps head is rotated clockwise or counterclockwise by a certain angle around the vertical axis to the top of mouse hole A or mouse hole B, and the third pipe is descended with the third pipe.
  • the lower fitting of the pipe is placed into the upper fitting of the first pipe or the second pipe.
  • the iron drill (5) is extended to the mouse hole A or mouse hole B where two pipes are placed, and the two pipes are fastened. After the fastening is completed, the third pipe is connected with the first pipe The pipe tool or the second pipe tool is butted as a double stand, and the iron drill 5 is retracted.
  • Step S150 the power catwalk moves the fourth pipe, the second vertical manipulator clamps the fourth pipe, and adjusts the fourth pipe to be vertical.
  • the power catwalk (12) can move the fourth pipe tool to the drilling floor, and the second vertical manipulator can move to the power catwalk (12) after placing the second pipe tool in the mouse hole B ) to clamp the fourth pipe.
  • the second manipulator can carry the fourth pipe up, and adjust the clamp head and the luffing mechanism to adjust the pipe from a horizontal or inclined state to a vertical state.
  • the drill floor manipulator (6) may also be used to perform the operation on the fourth pipe. Support, so that the fourth pipe is adjusted to a vertical state.
  • step S150 may be performed synchronously with step S140. In some embodiments, step S150 and step S140 may also be performed sequentially.
  • Step S161 the first stand manipulator transfers the double stand to the mouse hole B or the mouse hole A, and connects the double stand with the first pipe or the second pipe to form a triple stand.
  • the first stand manipulator grips the double stand and ascends, and before the lower joint leaves the drill floor, the clamp head of the drill stand manipulator supports the lower part of the double stand, and the stand manipulator continues to ascend so that the lower end of the double stand is higher than the drill floor by a certain amount. Stop after the height, and synchronously swing to the top of the pipe in the other mouse hole and lower it to the lower pipe joint to stop.
  • the iron drill (5) extends above the mouse hole where the three pipes are placed, and the lower two pipes are buckled to connect the double vertical root with the first pipe or the second pipe into three Stand up, the iron driller (5) retracts after the button-up is completed.
  • Step S162 the second vertical manipulator puts the fourth pipe into the mouse hole A or the mouse hole B.
  • the second stand manipulator can place the fourth pipe into the free mouse hole A or mouse hole B.
  • step S171 the first vertical root manipulator transfers the three vertical roots to the mouse hole A or the mouse hole B, and connects the three vertical roots with the fourth pipe tool to form four vertical roots.
  • the second vertical manipulator after the second vertical manipulator puts the fourth pipe into the idle mouse hole A or mouse hole B, the second vertical manipulator is removed from the mouse hole area, and then the first vertical manipulator moves Transport Sanli root to the mouse hole.
  • the first stand manipulator grips the three stand and goes up.
  • the clamp head of the drill stand manipulator supports the lower part of the three stand, and the stand manipulator continues to move up, so that the lower end of the three stand is higher than the drill floor by a certain height. Then stop, and synchronously swing to the top of the pipe in the mouse hole where the fourth pipe is located, and lower it to the lower pipe joint to stop.
  • the iron driller (5) stretches out to the top of the rat hole where the four pipes are placed, and makes up the two pipes at the lower part to connect the double vertical roots with the first pipe or the second pipe to form four vertical roots, and the fastening is completed.
  • the rear iron driller (5) retracts.
  • Step S172 the power catwalk moves the fifth pipe, the second vertical manipulator clamps the fifth pipe, and puts the fifth pipe into the mouse hole B or the mouse hole A.
  • the second vertical manipulator moves from the mouse hole area to the power catwalk (12).
  • the second vertical manipulator clamps the fifth pipe, adjusts the fifth pipe to a vertical state, and then moves it to the mouse that is currently in an idle state.
  • hole B or mouse hole A put the fifth pipe into the mouse hole.
  • step S180 the first connecting rod manipulator transfers the four vertical rods to the mouse hole B or the mouse hole A, and connects the four vertical rods with the fifth pipe tool to form five vertical rods.
  • step S171 the operation of this step may be similar to that of step S171, which is not repeated here.
  • the first stub manipulator or the second stub manipulator can move the connected five stubs to a stub box for storage.
  • the transfer process of the five-legged root is similar to that of the double-legged root and the three-legged heel. Reference may be made to the description elsewhere in this specification, which will not be repeated here.
  • step S121 and step S122 may be combined into one step.
  • step S150 may be performed after step S140, and step S150 and step S140 may also be performed simultaneously.
  • two rat holes can be used to complete the stand-up operation of any length.
  • multiple stand-up machines need to be connected, there is no need to open more mouse holes on the base (1), which effectively saves the available space on the base (1).
  • Operating space makes the drilling rig more compact.
  • the next tool to be connected can be moved while the stand-connecting operation is performed, which can effectively improve the operation efficiency of multiple stand-connecting.

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Abstract

一种高效作业钻机，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)；安装在井架(2)上的顶驱(8)、多功能机械手(9a)或二层台排管机、动力指梁(10)，安装在地面的动力猫道(12)，安装在顶驱(8)上的吊卡(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

一种紧凑型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，司钻操作液压吊卡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多功能机械手，井架工或多功能机械手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，也可能是多根套管）（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、铁钻工和动力卡瓦，还包括，
安装在底座上的钻台机械手；
安装在井架上的顶驱、动力指梁平台和多功能机械手；
安装在所述顶驱上的吊卡；
所述吊卡配置为能够在竖着方向上倾摆；
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；
所述多功能机械手包括钳头和带动所述钳头运动的传动机构，所述钳头配置为用于夹持/扶持立根的上部；
所述钻台机械手配置为用于夹持/扶持立根的下部，并与所述钳头配合带动立根在井口位置和立根盒区之间运动；
所述钳头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：顶驱在低位，吊卡打开卡住井口立柱，吊卡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，立柱上部由顶驱吊卡配合；
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/扶持立根上部，钻台机械手钳头打开低位扶持/夹持立根下部；
第五步：顶驱吊卡打开，吊卡向后倾摆；
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/钻台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。
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，在在第六步到第八步中，立根离开井口后，顶驱下行至低位后，返回至第一步，继续下一循环。
本发明还提供了一种下钻方法，包括：
第一步：由多功能机械手夹持/扶持立根，而钻台机械手扶持/夹持立根,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，吊卡提立根，钻台机械手和多功能机械手同时松开，钻台机械手和多功能机械手移动至立根盒区为第一步做准备；
第三步：铁钻工伸出至井口上扣，完成后铁钻工复位；
第四步：吊卡将立柱下放，下放到低位后，动力卡瓦关闭，吊卡打开，顶驱上行；
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。
本发明还提供了一种离线接三立根的方法，包括以下步骤：
第一步：由动力猫道将一根管具倾斜移运至钻台面，用多功能机械手的钳头持管具前部，多功能机械手带着管具上行，并调整管具至竖直，将管具放入鼠洞A；
第二步：由动力猫道将第二根管具倾斜移运至钻台面，用多功能机械手的钳头持管具前部，多功能机械手带着管具上行，并调整管具至竖直，并将管具放入鼠洞B；
第三步：由动力猫道将第三根管具倾斜移运至钻台面，用多功能机械手的钳头持管具前部，多功能机械手带着管具上行，并调整管具至竖直，多功能机械手钳头移动至鼠洞A或鼠洞B之一的上方，带着第三根管具下行，并将第三根管具下部接头放入第一根管具或第二根管具的上部接头里；
第四步：铁钻工伸出至放有两根管具的鼠洞，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
第五步：多功能机械手夹持双立根上行，在双立根下部接头离开钻台面之前，钻台机械手钳头扶持双立根的下部，多功能机械手继续上行，使双立根下端高出钻台面一定高度后停止,并同步摆至另一鼠洞的管具上方并下放双立根至下部管具接头内停止；
第六步：铁钻工伸出至放有三根管具的鼠洞上方，对双立根和第二根管具或第一根管具进行上扣形成三立根，上扣完成后铁钻工缩回；
第七步：多功能机械手夹持三立根管具上行，当三立根的下部接头离开钻台面之前，钻台机械手钳头扶持三立根下部，多功能机械手带着三立根管具继续上行至三立根下部接头提离钻台面一定高度后停止；
第八步：多功能机械手夹持/扶持三立根上段，多功能机械手钳头打开并上行，钻台机械手扶持/夹持三立根下端；
第九步：多功能机械手和钻台机械手同步竖直移运立根至立根盒区；
第十步：多功能机械手/钻台机械手下放三立根至立根盒区，多功能机械手和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区。
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，在所述钻机上还安装有丝扣油涂抹装置，在接立根过程，丝扣油涂抹装置集成在铁钻工或钻台机械手，实现丝扣油的涂抹。
本发明还提供了一种离线接双立根的方法，具体步骤如下：
第一步：由动力猫道将一根管具倾斜移运至钻台面，用多功能机械手的钳头夹持管具前部，多功能机械手带着管具上行，并调整管具至竖直，将管具放入鼠洞A；
第二步：由动力猫道将第二根管具倾斜移运至钻台面，用多功能机械手的钳头夹持管具前部，多功能机械手带着管具上行，并调整管具至竖直，多功能机械手钳头移动至鼠洞A上方，带着第二根管具下行，并将第二根管具下部接头放入第一根管具的上部接头里；
第四步：铁钻工伸出至放有两根管具的鼠洞A，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
第五步：多功能机械手夹持双立根管具上行，在双立根下部接头离开钻台面之前，钻台机械手钳头扶持双立根管具的下部，多功能机械手继续上行，使双立根管具下端高出钻台面后停止；
第六步：多功能机械手夹持/扶持双立根上段，多功能机械手钳头打开并上行，钻台机械手扶持/夹持双立根下端；
第七步：多功能机械手和钻台机械手同步竖直移运双立根至立根盒区；
第八步：多功能机械手/钻台机械手下放双立根至立根盒区，多功能机械手和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区。
基于基本相同的原理，本发明还提供了一种高效作业钻机，包括底座、安装在底座上的井架、铁钻工和动力卡瓦，还包括，
安装在底座上的钻台机械手；
安装在井架上的顶驱、动力指梁平台和安装在所述动力指梁上的二层台排管机；
安装在所述顶驱上的吊卡；
所述吊卡配置为能够在竖直方向上倾摆；
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；
所述二层台排管机包括钳头和带动所述钳头运动的传动机构，所述钳头配置为用于夹持/扶持立根的上部；
所述钻台机械手配置为用于夹持/扶持立根的下部，并与所述钳头配合带动立根在井口位置和立根盒区区之间运动；
所述钳头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。
优选地，在所述井架上还安装有接立根机械手，其配置为能够沿井架上下移动，并且能够夹持和带动管具运动；所述钻机还包括安装在地面的动力猫道，布置在底座上的鼠洞A、鼠洞，所述鼠洞A和鼠洞B分布在立根盒和井口之间。
本发明还提供了一种起钻方法，包括：
第一步：顶驱在低位，吊卡打开卡住井口立柱，吊卡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，立柱上部由顶驱吊卡配合；
第四步：铁钻工缩回，二层台排管机和钻台机械手同步伸至井口，二层台排管机钳头打开夹持/扶持立根上部，钻台机械手钳头打开低位扶持/夹持立根下部；
第五步：顶驱吊卡打开，吊卡向后倾摆；
第六步：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，移运过程中立根保持竖直；
第七步：二层台排管机/钻台机械手下放立根至立根盒区，同步打开二层台排管机和钻台机械手钳头并缩回；
第八步：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。
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，在在第六步到第八步中，立根离开井口后，顶驱下行至低位后，返回至第一步，继续下一循环。
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：二层台排管机和钻台机械手将立根放置在下方立柱的顶端，吊卡提立根，钻台机械手和二层台排管机松开，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：铁钻工伸出至井口上扣，完成后铁钻工复位；
第四步：吊卡将立柱下放，下放到低位后，动力卡瓦关闭，吊卡打开，顶驱上行；
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。
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：由动力猫道将一根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至至鼠洞A正上方，带着管具下行，将管具放入鼠洞A；
第二步：由动力猫道将第二根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至鼠洞B正上方，带着第二根管具下行，并将管具放入鼠洞B；
第四步：由动力猫道将第三根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至鼠洞A或鼠洞B上方，带着第三根管具下行，并将第三根管具下部接头放入第一根管具或第二根管具上部接头里；
第五步：铁钻工伸出至放有两根管具的鼠洞，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
第六步：接立根机械手夹持双立根上行，在双立根下部接头离开钻台面之前，钻台机械手钳头扶持双立根的下部，接立根机械手继续上行，使双立根下端高出钻台面后停止,并同步摆至另一鼠洞的管具上方后下放至下部管具接头内停止
第七步：铁钻工伸出至放有三根管具的鼠洞上方，对双立根和管具进行上扣形成三立根，上扣完成后铁钻工缩回；
第八步：接立根机械手夹持三立根上行，当三立根的下部接头离开钻台面之前，钻台机械手钳头扶持三立根下部，接立根机械手带着三立根继续上行至三立根下部接头提离钻台面后停止；
第九步：二层台排管机夹持/扶持三立根上段，接立根机械手钳头打开并上行，钻台机械手扶持/夹持三立根下端；
第十步：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；
第十一步：二层台排管机/钻台机械手下放三立根至立根盒区，二层台排管机和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区。
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，在所述钻机上还安装有丝扣油涂抹装置，在接立根过程，丝扣油涂抹装置集成在铁钻工或钻台机械手，实现丝扣油的涂抹。
本发明还提供了一种离线接双立根的方法，具体步骤如下：
第一步：由动力猫道将一根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至至鼠洞A正上方，带着管具下行，将管具放入鼠洞A；
第二步：由动力猫道将第二根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至鼠洞A上方，带着第二根管具下行，并将第二根管具下部接头放入第一根管具上部接头里；
第三步：铁钻工伸出至放有两根管具的鼠洞A，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
第四步：接立根机械手夹持双立根上行，当双立根的下部接头离开钻台面之前，钻台机械手钳头扶持双立根下部，接立根机械手带着双立根继续上行至双立根下部接头提离钻台面一定高度后停止；
第五步：二层台排管机夹持/扶持双立根上段，接立根机械手钳头打开并上行，钻台机械手扶持/夹持双立根下端；
第六步：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；
第七步：二层台排管机/钻台机械手下放双立根至立根盒区，二层台排管机和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区。
 有益效果
与现有技术相比，本发明的有益效果：
本发明及其实施例的优点如下：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，减少原立根移运倾斜时占用井口时间，在原有钻机结构尺寸的前提下，实现立根的竖直移运，提高起下钻效率，降低发生井下事故风险；二、本发明顶驱不带水平伸缩机构，井架和底座尺寸与现钻机差别不大，对改造钻机和新造钻机都适用；三、本发明在钻进过程中，利用多功能机械手/接立根机械手、钻台机械手、铁钻工、动力猫道和双鼠洞实现离线接立根功能，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。
 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所示钻机实施例的顶驱的示意图；
图6 是图1所示钻机实施例的多功能机械手的示意图；
图7是图4所示钻台机械手中钳头部分伸出的示意图；
图8至图15是起钻流程的示意图；
图16是鼠洞A（7-1）、鼠洞B（7-2）与钻台机械手轨道的俯视图；
图17至图27是图1钻机离线接立根的流程图；
图28本发明实施例的钻机；
图29是图28所示钻机实施例的侧视图；
图30是本发明实施例接立根机械手的示意图；
图31是图28所示钻机实施例的二层台排管机的示意图；
图32至图40是起钻的示意图；
图41是鼠洞A（7-1）、鼠洞B（7-2）与钻台机械手轨道的俯视图；
图42至图53是图28钻机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，
实施例一
本发明为一种紧凑型的高效作业钻机，如图1至图7所示，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、鼠洞A7-1鼠洞B7-2；安装在井架2上的顶驱8、多功能机械手9a、动力指梁10，安装在地面的动力猫道12。
底座1包括上座1-1、下座1-2、位于上座1-1和下座1-2之间的中间支腿1-3，在上座1-1上的支座1-4、连接支撑组成。上座1-1和下座1-2通过中间支腿1-3连接，下座1-2之间通过连接支撑相连。
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、行走机构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。轨道6-1布置在底座1上，并位于立根盒之间，并成L形，行走机构6-2安装在轨道6-1上，能够沿轨道6-1移动，立柱6-3安装在行走机构6-2上，伸缩机构6-4安装在立柱6-3上，能够沿立柱6-3上下移动，并伸出或缩回，导向钳6-5安装在伸缩机构6-4端部用于夹持或扶持管具。当动力猫道12向钻台面运送管具时，钻台机械手6位于存储立根盒的前端，让出钻杆的区域。当钻台机械手6需要具有举升功能时，可以在立柱6-3上增加举升机构如液缸、齿轮齿条等。
如图16所示的，鼠洞A7-1、鼠洞B7-2布置在底座1上，分布在立根盒和井口之间，以钻台机械手轨道6-1中心线对称布置，在底座下座1-2上布置有鼠洞A和B的下部支撑7-3、4，用于支撑鼠洞A7-1、鼠洞B7-2中的钻杆。
如图5所示，顶驱8包括动力吊卡8-1、顶驱主体8-2、顶驱导轨8-3。顶驱导轨8-3竖直安装在井架2背面，顶驱8可沿顶驱导轨8-3上下移动，顶驱8下端安装有动力吊卡8-1，动力吊卡8-1可通过液压源打开和关闭，并且可以做出倾摆，以让出管具的顶端。
多功能机械手9a包括滑移机构9a-1、第一变幅机构9a-2、回转减速机9a-3、回转支座9a-4、第二变幅机构9a-5、钳头9a-6、滑移轨道9a-7。滑移导轨9a-7安装在井架大腿2-1正面或侧面，滑移机构9a-1可沿滑移导轨9-7竖直上下移动。第一变幅机构9a-2安装在滑移机构9a-1上能够随滑移机构9a-1上下移动，并且能够向外展开、回转减速机9a-3和回转支座9a-4安装在第一变幅机构9a-2的端部、第二变幅机构9a-5安装在回转支座9a-4上，能够由回转减速机9a-3带动旋转，钳头9a-6安装在第二变幅机构9a-5的端部，、第一变幅机构9a-2、回转减速机9a-3、回转支座9a-4、第二变幅机构9a-5等连接和传动部件实现了钳头9a-6在空间内的运动。
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。
实施例二
如图8至15依次所示，本发明实施例的起钻整个流程详细步骤如下：
第一步: 顶驱在低位，吊卡打开卡住井口立柱，吊卡关闭后提井口立柱上行；
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。
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，立柱上部顶驱吊卡配合。
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：顶驱吊卡打开，吊卡向后倾摆（如图12所示）。
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。
在第六步到第八步中，立根离开井口后，顶驱下行至低位后，返回至第一步，继续下一循环。
下钻与起钻流程相反，在多功能机械手或钻台机械手或铁钻工上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。
实施例三
本发明实施例的离线作业接三立根的方法，减少钻具的准备时间，提高钻井的效率。如图17至22依次所示，离线作业的详细步骤如下：
第一步：由动力猫道将一根管具（钻杆、钻铤、套管等）倾斜移运至钻台面，管具接头在猫道主体以外；
第二步：多功能机械手在低位，钳头倾摆至与管柱轴线平行，打开钳头并夹持管具前部，多功能机械手带着管具上行，通过调整钳头和变幅机构使管具由水平倾斜至竖直；
第三步：多功能机械手钳头绕着竖直轴顺时针旋转一定角度，带着管具下行，将管具放入鼠洞A；
重复第一步和第二步，
第四步：多功能钳头绕着竖直轴线逆时针旋转一定角度至鼠洞上方，带着第二根管具下行，并将管具放入鼠洞B；
重复第一步和第二步，
第五步：多功能钳头绕着竖直轴线顺时针或逆时针旋转一定角度至鼠洞上方，带着第三根管具下行，并将第三根管具下部接头放入第一根管具或第二根管具的上部接头里；
第六步：铁钻工伸出至放有两根管具的鼠洞，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
第七步：多功能机械手夹持双立根管具上行，下部接头离开钻台面之前，钻台机械手钳头扶持双立根管具的下部，多功能机械手继续上行，使双立根管具下端高出钻台面一定高度后停止,并同步摆至另一鼠洞的管具上方，并下放双立根管具至下部管具接头内停止；
如图23至27所示的如下步骤：
第八步：铁钻工伸出至放有三根管具的鼠洞上方，对下部两根管具进行上扣，上扣完成后铁钻工缩回；
第九步：多功能机械手夹持三根管具上行，当最下面一根管具的下部接头离开钻台面之前，钻台机械手钳头扶持立根下部，多功能机械手带着三根管具继续上行至立根下部接头提离钻台面一定高度后停止；
第十步：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；
第十一步：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，钻台机械手退回到存储区；
重复第一步到第十一步，循环离线接下一立根。
实施例四
本发明实施例的离线作业接双立根的方法，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：由动力猫道将一根管具倾斜移运至钻台面，用多功能机械手的钳头夹持管具前部，多功能机械手带着管具上行，并调整管具至竖直，将管具放入鼠洞A；
第二步：由动力猫道将第二根管具倾斜移运至钻台面，用多功能机械手的钳头夹持管具前部，多功能机械手带着管具上行，并调整管具至竖直，多功能机械手钳头移动至鼠洞A上方，带着第二根管具下行，并将第二根管具下部接头放入第一根管具的上部接头里；
第四步：铁钻工伸出至放有两根管具的鼠洞A，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
第五步：多功能机械手夹持双立根管具上行，在双立根下部接头离开钻台面之前，钻台机械手钳头扶持双立根管具的下部，多功能机械手继续上行，使双立根管具下端高出钻台面后停止；
第六步：多功能机械手夹持/扶持双立根上段，多功能机械手钳头打开并上行，钻台机械手扶持/夹持双立根下端；
第七步：多功能机械手和钻台机械手同步竖直移运双立根至立根盒区；
第八步：多功能机械手/钻台机械手下放双立根至立根盒区，多功能机械手和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区。
实施例五
一种紧凑型的高效作业钻机，如图28、图29、图30和图31所示，与前述实施例类似，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、鼠洞A7-1鼠洞B7-2；安装在井架2上的顶驱8、接立根机械手9、动力指梁10，安装在地面的动力猫道12。不同之处在于本实施例中是使用二层台排管机11与接立根机械手9代替了实施例中的多功能机械手9。
如图31所示，本实施例中的二层台排管机11安装在动力指梁上，包括钳头11-1、变幅机构11-2、回转机构11-3、走行机构11-4。其中，变幅机构11-2、回转机构11-3和走行机构11-4作为钳头11-1和动力指梁之间的连接部件，能够带动钳头11-1在空间能做指定的运动。当二层台排管机11具有夹持功能时，在变幅机构11-2和回转机构11-3之间安装有液缸或齿轮齿条或滚珠丝杠等机构，钳头11-1可沿竖直方向上升和下降。
如图30所示，接立根机械手9包括滑移机构9-1、回转减速机9-2、回转支座9-3、变幅机构9-4、钳头9-5、滑移轨道9-6。滑移导轨9-6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9-6竖直上下移动。回转减速机9-2安装在滑移机构9-1上，回转支座9-3与回转减速机9-2连接，变幅机构9-4安装在回转支座9-3上，钳头9-5安装在变幅机构9-4上，上述部件的连接和配合能够实现钳头9-5向指定位置的运动。
在一些实施例中，二层台排管机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。
基于使用前述使用二层台排管机的钻机实施例，一种起钻和下钻方法，如图32至40所示，其中起钻的整个流程详细步骤如下：
第一步: 顶驱在低位，吊卡打开卡住井口立柱，吊卡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，立柱上部顶驱吊卡配合。
第四步：铁钻工缩回，二层台排管机和钻台机械手同步伸至井口，二层台排管机钳头打开夹持/扶持立根上部，钻台机械手钳头打开低位扶持/夹持立根下部。
第五步：顶驱吊卡打开，吊卡向后倾摆。
第六步：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，移运过程中立根保持竖直；
第七步：二层台排管机/钻台机械手下放立根至立根盒区，同步打开二层台排管机和钻台机械手钳头并缩回；
第八步：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。
在第六步到第八步中，立根离开井口后，顶驱下行至低位后，返回至第一步，继续下一循环。
下钻与起钻流程相反，在钻台机械手或铁钻工上集成丝扣油涂抹装置，在顶驱下行过程中涂抹丝扣油，在此不再赘述。
本发明的离线接钻具的实施例，如图42至53所示整个流程详细步骤如下：
第一步：由动力猫道将一根管具（钻杆、钻铤、套管等）倾斜移运至钻台面，管具接头在猫道主体以外接立根机械手在低位，钳头倾摆至与管柱轴线平行，打开钳头并夹持管具前部；
第二步：接立根机械手带着管具上行，通过调整钳头和变幅机构使管具由水平倾斜至竖直；
第三步：接立根机械手钳头绕着竖直轴顺时针旋转一定角度至鼠洞A正上方，带着管具下行，将管具放入鼠洞A；
重复第一步和第二步，
第四步：接立根机械手钳头绕着竖直轴线逆时针旋转一定角度至鼠洞B正上方，带着第二根管具下行，并将管具放入鼠洞B；
重复第一步和第二步，
第五步：接立根机械手钳头绕着竖直轴线顺时针或逆时针旋转一定角度至鼠洞A/B上方，带着第三根管具下行，并将第三根管具下部接头放入第一根管具或第二根管具的上部接头里；
第六步：铁钻工伸出至放有两根管具的鼠洞A/B，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
第七步：接立根机械手夹持双立根上行，在双立根下部接头离开钻台面之前，钻台机械手钳头扶持双立根的下部，接立根机械手继续上行，使双立根下端高出钻台面一定高度后停止,并同步摆至另一鼠洞的管具上方并下放至下部管具接头内停止；
第八步：铁钻工伸出至放有三根管具的鼠洞上方，对下部两根管具进行上扣形成三立根，上扣完成后铁钻工缩回；
第九步：接立根机械手夹持三立根上行，当三立根的下部接头离开钻台面之前，钻台机械手钳头扶持三立根下部，接立根机械手带着三立根继续上行至三立根下部接头提离钻台面一定高度后停止；
第十步：二层台排管机夹持/扶持三立根上段，接立根机械手钳头打开并上行，钻台机械手扶持/夹持三立根下端；
第十一步：二层台排管机和钻台机械手同步竖直移运三立根至立根盒区；
第十二步：二层台排管机/钻台机械手下放三立根至立根盒区，二层台排管机和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区；
重复第一步到第十二步，循环离线接下一立根。在接立根过程，丝扣油涂抹装置集成在铁钻工或钻台机械手，实现丝扣油的涂抹。
离线接双立根的方法是对上述方法的简化，在此不再赘述。
本说明书一些实施例还包括通过接立根机械手9利用两个鼠洞离线接4立根的方法，相应的流程步骤如下：
第一步，由动力猫道12将一根管具（钻杆、钻铤、套管等）倾斜移运至钻台面（上座1-1上平面），管具接头在动力猫道12主体以外接立根机械手9在低位，钳头9-5倾摆至与管具轴线平行，打开钳头9-5并夹持管具前部；
第二步：接立根机械手9带着管具上行，通过调整钳头9-5和变幅机构9-4使管具由水平倾斜至竖直；
在一些实施例中，可以直接由接立根机械手9带着管具上行，使管具调整至竖直状态。在一些实施例中，为避免管具移动过程中产生晃动，在接立根机械手9带着管具上行的过程中，也可以通过钻台机械手6对管具进行扶持，使管具调整至竖直状态。
第三步：接立根机械手9钳头绕着竖直轴顺时针旋转一定角度至鼠洞A7-1正上方，带着管具下行，将管具放入鼠洞A7-1；
重复第一步和第二步；
第四步：接立根机械手9钳头9-5绕着竖直轴线逆时针旋转一定角度至鼠洞B7-2正上方，带着第二根管具下行，并将管具放入鼠洞B7-2；
重复第一步和第二步；
第五步：接立根机械手9钳头9-5绕着竖直轴线顺时针或逆时针旋转一定角度至鼠洞A/B上方，带着第三根管具下行，并将第三根管具下部接头放入第一根管具或第二根管具的上部接头里；
第六步：铁钻工5伸出至放有两根管具的鼠洞A/B，对两根管具进行上扣，上扣完成后，两根管具组成第一双立根，铁钻工缩回；
第七步：接立根机械手9夹持鼠洞A/B中的第一双立根继续下行，将第一双立根放入鼠洞A/B，并使第一双立根的上部接头露出鼠洞A/B；
重复第一步和第二步；
第八步：接立根机械手9钳头9-5绕着竖直轴线顺时针或逆时针旋转一定角度至放有单根管具的鼠洞B/A上方，带着第四根管具下行，并将第四根管具下部接头放入单根管具的上部接头里；
第九步：铁钻工5伸出至放有两根管具的鼠洞B/A，对两根管具进行上扣，上扣完成后，两根管具组成第二双立根，铁钻工缩回；
第十步：接立根机械手9夹持第二双立根上行，下部接头离开钻台面之前，钻台机械手6钳头6-5扶持第二双立根的下部，接立根机械手9继续上行，使第二双立根下端高出钻台面一定高度后停止,并同步摆至另一鼠洞的第一双立根上方并下放至第一双立根上部接头内停止；
第十一步：铁钻工5伸出至放有第一双立根和第二双立根的鼠洞上方，对第一双立根和第二双立根进行上扣，上扣完成后，第一双立根和第二双立根组成四立根，铁钻工5缩回；
第十二步：接立根机械手9夹持四立根上行，当最下面一根管具的下部接头离开钻台面之前，钻台机械手6钳头6-5扶持立根下部，接立根机械手9带着四立根继续上行至四立根下部接头提离钻台面一定高度后停止；
第十三步：二层台排管机11夹持/扶持四立根上段，接立根机械手9钳头打开并上行，钻台机械手6扶持/夹持立根下端；
第十四步：二层台排管机11和钻台机械手6同步竖直移运四立根至立根盒区；
第十五步：二层台排管机11钻台机械手6下放四立根至立根盒区，二层台排管机11和钻台机械手6钳头（钳头11-1和导向钳6-5）同步打开并返回，钻台机械手6退回到存储区。
重复第一步到第十五步，循环离线接下一四立根。在接立根过程，丝扣油涂抹装置集成在铁钻工5或钻台机械手6，实现丝扣油的涂抹。
本说明书一些实施例还包括另一种通过接立根机械手9利用两个鼠洞离线接4立根的方法，相应的流程步骤如下：
第一步，由动力猫道（12）将一根管具（钻杆、钻铤、套管等）倾斜移运至钻台面（上座（1-1）上平面），管具接头在动力猫道（12）主体以外接立根机械手（9）在低位，钳头（9-5）倾摆至与管具轴线平行，打开钳头（9-5）并夹持管具前部；
第二步：接立根机械手（9）带着管具上行，通过调整钳头（9-5）和变幅机构（9-4）使管具由水平倾斜至竖直；
在一些实施例中，可以直接由接立根机械手（9）带着管具上行，使管具调整至竖直状态。在一些实施例中，为避免管具移动过程中产生晃动，在接立根机械手（9）带着管具上行的过程中，也可以通过钻台机械手（6）对管具进行扶持，使管具调整至竖直状态。
第三步：接立根机械手（9）钳头绕着竖直轴顺时针旋转一定角度至鼠洞A（7-1）正上方，带着管具下行，将管具放入鼠洞A（7-1）；
重复第一步和第二步；
第四步：接立根机械手（9）钳头（9-5）绕着竖直轴线逆时针旋转一定角度至鼠洞B（7-2）正上方，带着第二根管具下行，并将管具放入鼠洞B（7-2）；
重复第一步和第二步；
第五步：接立根机械手（9）钳头（9-5）绕着竖直轴线顺时针或逆时针旋转一定角度至鼠洞A/B上方，带着第三根管具下行，并将第三根管具下部接头放入第一根管具或第二根管具的上部接头里；
第六步：铁钻工（5）伸出至放有两根管具的鼠洞A/B，对两根管具进行上扣，上扣完成后，两根管具组成第一双立根，铁钻工缩回；
第七步：接立根机械手（9）夹持鼠洞A/B中的第一双立根继续下行，将第一双立根放入鼠洞A/B，并使第一双立根的上部接头露出鼠洞A/B；
重复第一步和第二步；
第八步：接立根机械手（9）钳头（9-5）绕着竖直轴线顺时针或逆时针旋转一定角度至放有双立根的鼠洞A/B上方，带着第四根管具下行，并将第四根管具下部接头放入双立根的上部接头里；
第九步：铁钻工（5）伸出至放有双立根和第四根管具的鼠洞A/B，对双立根和第四根管具进行上扣，上扣完成后，两根管具组成三立根，铁钻工缩回；
第十步：接立根机械手（9）夹持三立根上行，下部接头离开钻台面之前，钻台机械手（6）钳头（6-5）扶持三立根的下部，接立根机械手（9）继续上行，使三立根下端高出钻台面一定高度后停止,并同步摆至另一鼠洞的单根管具上方并下放至单根管具上部接头内停止；
第十一步：铁钻工（5）伸出至放有三立根和单根管具的鼠洞上方，对三立根和单根管具进行上扣，上扣完成后，三立根和单根管具组成四立根，铁钻工（5）缩回；
第十二步：接立根机械手（9）夹持四立根上行，当最下面一根管具的下部接头离开钻台面之前，钻台机械手（6）钳头（6-5）扶持立根下部，接立根机械手9带着四立根继续上行至四立根下部接头提离钻台面一定高度后停止；
第十三步：二层台排管机（11）夹持/扶持四立根上段，接立根机械手9钳头打开并上行，钻台机械手（6）扶持/夹持立根下端；
第十四步：二层台排管机（11）和钻台机械手（6）同步竖直移运四立根至立根盒区；
第十五步：二层台排管机（11）钻台机械手（6）下放四立根至立根盒区，二层台排管机（11）和钻台机械手（6）钳头（钳头（11-1）和导向钳（6-5））同步打开并返回，钻台机械手（6）退回到存储区。
重复第一步到第十五步，循环离线接下一四立根。在接立根过程，丝扣油涂抹装置集成在铁钻工（5）或钻台机械手（6），实现丝扣油的涂抹。
在一些实施例中，钻机可以通过两个接立根机械手利用两个鼠洞完成任意长度的接立根操作，接立根的长度可以根据钻杆的任务需求设置。在一些实施例中，接立根的长度为五立根，接五立根的具体步骤可以参见示例性流程100。在一些实施例中，流程100可以包括以下步骤：
步骤S110，动力猫道移运第一管具和第二管具，接立根机械手夹持第一管具和第二管具，并调整第一管具和第二管具至竖直。
在一些实施例中，由动力猫道（12）将第一管具（如，钻杆、钻铤、套管等）和第二管具倾斜移运至钻台面，接立根机械手夹持第一管具和第二管具。
在一些实施例中，动力猫道（12）可以同时移运第一管具和第二管具，第一接立根机械手和第二接立根机械手分别夹持一个管具。在一些实施例中，动力猫道（12）也可以一次移运一个管具，两个接立根机械手中的任意一个可以夹持该管具并执行后续操作。当该管具被移走后，动力猫道（12）移运另一管具至钻台面，两个接立根机械手中的另一个夹持当前动力猫道（12）中的管具执行后续操作。
在一些实施例中，管具被移运至钻台面时，管具接头在动力猫道（12）主体以外。当任意一个接立根机械手夹持管具时，该接立根机械手处于低位，该接立根机械手的钳头倾摆至与管具轴线平行后，打开钳头并夹持管具前部。
在一些实施例中，接立根机械手可以带着管具上行，通过调整钳头和变幅机构使管具由水平或倾斜状态调整至竖直状态。在一些实施例中，为避免管具移动过程中产生晃动，在接立根机械手（9）带着管具上行的过程中，也可以通过钻台机械手（6）对管具进行扶持，使管具调整至竖直状态。
在一些实施例中，第一接立根机械手和第二接立根机械手可以分别将各自夹持的管具调整至竖直状态。
步骤S121，第一接立根机械手将第一管具放入鼠洞A。
在一些实施例中，第一接立根机械手钳头绕着竖直轴顺时针旋转一定角度至鼠洞A正上方，带着第一管具下行，将第一管具放入鼠洞A。
步骤S122，第二接立根机械手将第二管具放入鼠洞B。
在一些实施例中，第二接立根机械手钳头绕着竖直轴线逆时针旋转一定角度至鼠洞B正上方，带着第二管具下行，并将第二管具放入鼠洞B。
在一些实施例中，步骤S121和步骤S122可以同时执行。在一些实施例中，步骤S121和步骤S122也可以按不同的顺序先后执行。
步骤S130，动力猫道移运第三管具，第一接立根机械手夹持第三管具，并调整第三管具至竖直。
在一些实施例中，动力猫道（12）可以将第三管具移运至钻台面，第一接立根机械手在将第一管具放入鼠洞A后，可以移动至动力猫道（12）处夹持第三管具。在一些实施例中，第一接立根机械手可以带着第三管具上行，通过调整钳头和变幅机构使管具由水平或倾斜状态调整至竖直状态。在一些实施例中，为避免第三管具移动过程中产生晃动，在第一接立根机械手带着第三管具上行的过程中，也可以通过钻台机械手（6）对第三管具进行扶持，使第三管具调整至竖直状态。
步骤S140，第一接立根机械手将第三管具移运至鼠洞A或鼠洞B，将第三管具与第一管具或第二管具对接为双立根。
在一些实施例中，第一接立根机械手钳头绕着竖直轴线顺时针或逆时针旋转一定角度至鼠洞A或鼠洞B上方，带着第三根管具下行，并将第三根管具下部接头放入第一根管具或第二根管具的上部接头里。
在一些实施例中，铁钻工（5）伸出至放有两根管具的鼠洞A或鼠洞B，对两根管具进行上扣，上扣完成后第三管具与第一管具或第二管具对接为双立根，铁钻工5缩回。
步骤S150，动力猫道移运第四管具，第二接立根机械手夹持第四管具，并调整第四管具至竖直。
在一些实施例中，动力猫道（12）可以将第四管具移运至钻台面，第二接立根机械手在将第二管具放入鼠洞B后，可以移动至动力猫道（12）处夹持第四管具。在一些实施例中，第二接立根机械手可以带着第四管具上行，通过调整钳头和变幅机构使管具由水平或倾斜状态调整至竖直状态。在一些实施例中，为避免第四管具移动过程中产生晃动，在第二接立根机械手带着第四管具上行的过程中，也可以通过钻台机械手（6）对第四管具进行扶持，使第四管具调整至竖直状态。
在一些实施例中，步骤S150可以与步骤S140同步执行。在一些实施例中，步骤S150与步骤S140也可以先后执行。
步骤S161，第一接立根机械手移运双立根至鼠洞B或鼠洞A，将双立根与第一管具或第二管具对接为三立根。
在一些实施例中，第一接立根机械手夹持双立根上行，下部接头离开钻台面之前，钻台机械手钳头扶持双立根的下部，接立根机械手继续上行，使双立根下端高出钻台面一定高度后停止,并同步摆至另一鼠洞的管具上方并下放至下部管具接头内停止。
在一些实施例中，铁钻工（5）伸出至放有三根管具的鼠洞上方，对下部两根管具进行上扣将双立根与第一管具或第二管具对接为三立根，上扣完成后铁钻工（5）缩回。
步骤S162，第二接立根机械手将第四管具放入鼠洞A或鼠洞B。
在一些实施例中，当第一接立根机械手将双立根从鼠洞A或鼠洞B移走后，第二接立根机械手可以将第四管具放入空闲的鼠洞A或鼠洞B。
步骤S171，第一接立根机械手移运三立根至鼠洞A或鼠洞B，将三立根与第四管具对接为四立根。
在一些实施例中，当第二接立根机械手将第四管具放入空闲的鼠洞A或鼠洞B后，第二接立根机械手从该鼠洞区域移走，之后第一接立根机械手移运三立根至该鼠洞。移运过程中，第一接立根机械手夹持三立根上行，下部接头离开钻台面之前，钻台机械手钳头扶持三立跟的下部，接立根机械手继续上行，使三立根下端高出钻台面一定高度后停止,并同步摆至第四管具所在鼠洞的管具上方并下放至下部管具接头内停止。铁钻工（5）伸出至放有四根管具的鼠洞上方，对下部两根管具进行上扣将双立根与第一管具或第二管具对接为四立根，上扣完成后铁钻工（5）缩回。
步骤S172，动力猫道移运第五管具，第二接立根机械手夹持第五管具，并将第五管具放入鼠洞B或鼠洞A。
在一些实施例中，当第二接立根机械手将第五管具放入空闲的鼠洞A或鼠洞B后，第二接立根机械手从该鼠洞区域移至动力猫道（12）处。动力猫道（12）移运第五管具至钻台面后，第二接立根机械手夹持第五管具，并将第五管具调整至竖直状态后，移至当前处于空闲状态的鼠洞B或鼠洞A处，将第五管具放入该鼠洞。
步骤S180，第一接立根机械手移运四立根至鼠洞B或鼠洞A，将四立根与第五管具对接为五立根。
在一些实施例中，该步骤的操作可以与步骤S171相类似，此处不在赘述。
在一些实施例中，当步骤S180完成后，第一接立根机械手或第二接立根机械手可以将接好的五立根移运至立根盒中存储。在一些实施例中，五立根的移运过程与双立根、三立跟的移运过程相似，可以参考本说明书其他地方的描述，此处不在赘述。
上述有关流程100的描述仅仅是为了示例和说明，而不限定本说明书一个或多个实施例的适用范围。在一些实施例中，在上述流程中，第一接立根机械手和第二接立根机械手执行的功能可以互换。在一些实施例中，部分步骤可以合并或调整先后顺序。例如，步骤S121与步骤S122可以合并为一个步骤。又例如，步骤S150可以在步骤S140之后执行，步骤S150和步骤S140也可以同时执行。
通过设置两个接立根机械手，可以利用两个鼠洞完成任意长度的接立根操作，当需要接多立根时无需在底座（1）上开设更多鼠洞，有效节约底座（1）上的可操作空间，使钻机结构更紧凑。并且，通过设置两个接立根机械手，可以在接立根操作的同时移运下一待接管具，能够有效提高接多立根的操作效率。

Claims (30)

  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）和动力卡瓦，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）平台和多功能机械手（9）；
    安装在所述顶驱（8）上的吊卡（8-1）；
    所述吊卡（8-1）配置为能够在竖直方向上倾摆；
    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；
    所述多功能机械手（9）包括钳头（9-6）和带动所述钳头（9-6）运动的传动机构，所述钳头（9-6）配置为用于夹持/扶持立根的上部；
    所述钻台机械手（6）配置为用于夹持/扶持立根的下部，并与所述钳头（9a-6）配合带动立根在井口位置和立根盒区之间运动；
    所述钳头（9-6）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，所述钻机还包括安装在地面的动力猫道，布置在底座（1）上的鼠洞A（7-1）、鼠洞B（7-2），所述鼠洞A（7-1）和鼠洞B（7-2）分布在立根盒和井口之间。
  3. 根据权利要求2所述的高效作业钻机，其特征在于，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，钻台机械手（6）包括设置在所述底座（1）上的轨道（6-1），安装在所述轨道（6-1）上的行走机构（6-2），安装在所述行走机构（6-2）上的立柱（6-3），安装在所述立柱（6-3）上的伸缩机构（6-4）和安装在所述伸缩机构（6-4）上的导向钳（6-5），其中，轨道（6-1）布置在立根盒之间，并成L形。
  5. 根据权利要求4所述的高效作业钻机，其特征在于，所述钻机还包括布置在底座（1）上的鼠洞A（7-1）、鼠洞B（7-2），所述鼠洞A（7-1）和鼠洞B（7-2）分布在立根盒和井口之间，以钻台机械手轨道（6-1）中心线对称布置。
  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：顶驱在低位，吊卡打开卡住井口立柱，吊卡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，立柱上部由顶驱吊卡配合；
    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/扶持立根上部，钻台机械手钳头打开低位扶持/夹持立根下部；
    第五步：顶驱吊卡打开，吊卡向后倾摆；
    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/钻台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。
  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：在第六步到第八步中，立根离开井口后，顶驱下行至低位后，返回至第一步，继续下一循环。
  8. 一种使用权利要求3所述钻机的下钻方法，其特征在于，包括以下步骤：
    第一步：由多功能机械手夹持/扶持立根，而钻台机械手扶持/夹持立根,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，吊卡提立根，钻台机械手和多功能机械手同时松开，钻台机械手和多功能机械手移动至立根盒区为第一步做准备；
    第三步：铁钻工伸出至井口上扣，完成后铁钻工复位；
    第四步：吊卡将立柱下放，下放到低位后，动力卡瓦关闭，吊卡打开，顶驱上行；
    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2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：由动力猫道将一根管具倾斜移运至钻台面，用多功能机械手的钳头夹持管具前部，多功能机械手带着管具上行，并调整管具至竖直，将管具放入鼠洞A；
    第二步：由动力猫道将第二根管具倾斜移运至钻台面，用多功能机械手的钳头夹持管具前部，多功能机械手带着管具上行，并调整管具至竖直，并将管具放入鼠洞B；
    第三步：由动力猫道将第三根管具倾斜移运至钻台面，用多功能机械手的钳头持管具前部，多功能机械手带着管具上行，并调整管具至竖直，多功能机械手钳头移动至鼠洞A或鼠洞B之一的上方，带着第三根管具下行，并将第三根管具下部接头放入第一根管具或第二根管具的上部接头里；
    第四步：铁钻工伸出至放有两根管具的鼠洞，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
    第五步：多功能机械手夹持双立根管具上行，在双立根下部接头离开钻台面之前，钻台机械手钳头扶持双立根管具的下部，多功能机械手继续上行，使双立根管具下端高出钻台面后停止,并同步摆至另一鼠洞的管具上方并下放管具至下部管具接头内停止；
    第六步：铁钻工伸出至放有三根管具的鼠洞上方，对双立根和第一根管具/第二根管具进行上扣形成三立根，上扣完成后铁钻工缩回；
    第七步：多功能机械手夹持三立根管具上行，当最三立根下部接头离开钻台面之前，钻台机械手钳头扶持三立根下部，多功能机械手带着三立根管具继续上行至三立根下部接头提离钻台面后停止；
    第八步：多功能机械手夹持/扶持三立根上段，多功能机械手钳头打开并上行，钻台机械手扶持/夹持三立根下端；
    第九步：多功能机械手和钻台机械手同步竖直移运三立根至立根盒区；
    第十步：多功能机械手/钻台机械手下放三立根至立根盒区，多功能机械手和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区。
  12. 根据权利要求11所述钻机的离线接立根方法，其特征在于，包括以下步骤：需要连接多根管具时，重复权利要求11所述的步骤，循环离线接下一立根管具。
  13. 根据权利要求11或12所述的离线接立根方法，其特征在于，在所述钻机上还安装有丝扣油涂抹装置，在接立根过程，丝扣油涂抹装置集成在铁钻工或钻台机械手，实现丝扣油的涂抹。
  14. 一种使用权利要求2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：由动力猫道将一根管具倾斜移运至钻台面，用多功能机械手的钳头夹持管具前部，多功能机械手带着管具上行，并调整管具至竖直，将管具放入鼠洞A；
    第二步：由动力猫道将第二根管具倾斜移运至钻台面，用多功能机械手的钳头夹持管具前部，多功能机械手带着管具上行，并调整管具至竖直，多功能机械手钳头移动至鼠洞A上方，带着第二根管具下行，并将第二根管具下部接头放入第一根管具的上部接头里；
    第四步：铁钻工伸出至放有两根管具的鼠洞A，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
    第五步：多功能机械手夹持双立根管具上行，在双立根下部接头离开钻台面之前，钻台机械手钳头扶持双立根管具的下部，多功能机械手继续上行，使双立根管具下端高出钻台面后停止；
    第六步：多功能机械手夹持/扶持双立根上段，多功能机械手钳头打开并上行，钻台机械手扶持/夹持双立根下端；
    第七步：多功能机械手和钻台机械手同步竖直移运双立根至立根盒区；
    第八步：多功能机械手/钻台机械手下放双立根至立根盒区，多功能机械手和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区。
  15. 根据权利要求14所述钻机的离线接立根方法，其特征在于，包括以下步骤：需要连接多根管具时，重复权利要求14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，在所述钻机上还安装有丝扣油涂抹装置，在接立根过程，丝扣油涂抹装置集成在铁钻工或钻台机械手，实现丝扣油的涂抹。
  17. 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）和动力卡瓦，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）平台和安装在所述动力指梁（10）上的二层台排管机（11a）；
    安装在所述顶驱（8）上的吊卡（8-1）；
    所述吊卡（8-1）配置为能够在竖直方向上倾摆；
    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；
    所述二层台排管机（11）包括钳头（11-1）和带动所述钳头（11-1）运动的传动机构，所述钳头（11-1）配置为用于夹持/扶持立根的上部；
    所述钻台机械手（6）配置为用于夹持/扶持立根的下部，并与所述钳头（11-1）配合带动立根在井口位置和立根盒区区之间运动；
    所述钳头（11-1）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。
  18. 根据权利要求17所述的高效作业钻机，其特征在于，在所述井架（2）上还安装有接立根机械手（9），其配置为能够沿井架上下移动，并且能够夹持和带动管具运动；所述钻机还包括安装在地面的动力猫道，布置在底座（1）上的鼠洞A（7-1）、鼠洞B（7-2），所述鼠洞A（7-1）和鼠洞B（7-2）分布在立根盒和井口之间。
  19. 根据权利要求18所述的高效作业钻机，其特征在于，在所述钻机上还安装有丝扣油涂抹装置。
  20. 一种使用权利要求17至19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：顶驱在低位，吊卡打开卡住井口立柱，吊卡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，立柱上部由顶驱吊卡配合；
    第四步：铁钻工缩回，二层台排管机和钻台机械手同步伸至井口，二层台排管机钳头打开夹持/扶持立根上部，钻台机械手钳头打开低位扶持/夹持立根下部；
    第五步：顶驱吊卡打开，吊卡向后倾摆；
    第六步：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，移运过程中立根保持竖直；
    第七步：二层台排管机/钻台机械手下放立根至立根盒区，同步打开二层台排管机和钻台机械手钳头并缩回；
    第八步：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。
  21. 根据权利要求18所述的起钻方法，其特征在于，包括以下步骤：在在第六步到第八步中，立根离开井口后，顶驱下行至低位后，返回至第一步，继续下一循环。
  22. 一种使用权利要求19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：二层台排管机和钻台机械手将立根放置在下方立柱的顶端，吊卡提立根，钻台机械手和二层台排管机松开，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：铁钻工伸出至井口上扣，完成后铁钻工复位；
    第四步：吊卡将立柱下放，下放到低位后，动力卡瓦关闭，吊卡打开向后倾摆，顶驱上行；
    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。
  23. 根据权利要求21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。
  24. 根据权利要求21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。
  25. 一种使用权利要求18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：由动力猫道将一根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至鼠洞A正上方，带着管具下行，将管具放入鼠洞A；
    第二步：由动力猫道将第二根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至鼠洞A上方，带着第二根管具下行，并将第二根管具下部接头放入第一根管具上部接头里；
    第三步：铁钻工伸出至放有两根管具的鼠洞A，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
    第四步：接立根机械手夹持双立根上行，当双立根的下部接头离开钻台面之前，钻台机械手钳头扶持双立根下部，接立根机械手带着双立根继续上行至双立根下部接头提离钻台面后停止；
    第五步：二层台排管机夹持/扶持双立根上段，接立根机械手钳头打开并上行，钻台机械手扶持/夹持双立根下端；
    第六步：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；
    第七步：二层台排管机/钻台机械手下放双立根至立根盒区，二层台排管机和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区。
  26. 根据权利要求24所述钻机的离线接立根方法，其特征在于，包括以下步骤：需要连接多根管具时，重复权利要求24所述的步骤，循环离线接下一立根管具。
  27. 根据权利要求24或25所述的离线接立根方法，其特征在于，在所述钻机上还安装有丝扣油涂抹装置，在接立根过程，丝扣油涂抹装置集成在铁钻工或钻台机械手，实现丝扣油的涂抹。
  28.  一种使用权利要求18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：由动力猫道将一根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至至鼠洞A正上方，带着管具下行，将管具放入鼠洞A；
    第二步：由动力猫道将第二根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至鼠洞B正上方，带着第二根管具下行，并将管具放入鼠洞B；
    第四步：由动力猫道将第三根管具倾斜移运至钻台面，用接立根机械手的钳头夹持管具前部，接立根机械手带着管具上行，并调整管具至竖直，接立根机械手钳头移动至鼠洞A或鼠洞B上方，带着第三根管具下行，并将第三根管具下部接头放入第一根管具或第二根管具上部接头里；
    第五步：铁钻工伸出至放有两根管具的鼠洞，对两根管具进行上扣形成双立根，上扣完成后铁钻工缩回；
    第六步：接立根机械手夹持双立根上行，在双立根下部接头离开钻台面之前，钻台机械手钳头扶持双立根的下部，接立根机械手继续上行，使双立根下端高出钻台面后停止,并同步摆至另一鼠洞的管具上方后下放至下部管具接头内停止
    第七步：铁钻工伸出至放有三根管具的鼠洞上方，对双立根和管具进行上扣形成三立根，上扣完成后铁钻工缩回；
    第八步：接立根机械手夹持三立根上行，当三立根的下部接头离开钻台面之前，钻台机械手钳头扶持三立根下部，接立根机械手带着三立根继续上行至三立根下部接头提离钻台面后停止；
    第九步：二层台排管机夹持/扶持三立根上段，接立根机械手钳头打开并上行，钻台机械手扶持/夹持三立根下端；
    第十步：二层台排管机和钻台机械手同步竖直移运三立根至立根盒区；
    第十一步：二层台排管机/钻台机械手下放三立根至立根盒区，二层台排管机和钻台机械手钳头同步打开并返回，钻台机械手退回到存储区。
  29.  根据权利要求27所述钻机的离线接立根方法，其特征在于，包括以下步骤：需要连接多根管具时，重复权利要求27所述的步骤，循环离线接下一立根管具。
  30. 根据权利要求27所述钻机的离线接立根方法，其特征在于，包括以下步骤：在所述钻机上还安装有丝扣油涂抹装置，在接立根过程，丝扣油涂抹装置集成在铁钻工或钻台机械手，实现丝扣油的涂抹。
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