WO2024174824A1

WO2024174824A1 - Method for automatically processing drilling tool of drilling and workover rig

Info

Publication number: WO2024174824A1
Application number: PCT/CN2024/074984
Authority: WO
Inventors: 李学军; 黄海龙; 严峰; 李海旭; 于洋
Original assignee: 北京捷杰西科技股份有限公司
Priority date: 2023-02-24
Filing date: 2024-01-31
Publication date: 2024-08-29
Also published as: CN116044326A

Abstract

A method for automatically processing a drilling tool of a drilling and workover rig, comprising the following steps: S11, a drilling control system controls a traveling block system to lift a target drilling tool in a shaft to a target height, and the drilling control system controls a slip lifting and placing device at the position of a wellhead for slip setting to clamp the target drilling tool; S12, the drilling control system controls an iron roughneck of a drilling platform to shackle a drilling tool and the target drilling tool that are connected together in the shaft; S13, the drilling control system controls a lower monkey board manipulator below a derrick monkey board and a drilling platform manipulator of the drilling platform to lift the target drilling tool to a position away from the wellhead, and transfer the target drilling tool to a handover position; and S14, the drilling control system controls an upper monkey board manipulator above the derrick monkey board and the drilling platform manipulator to transfer the target drilling tool from the handover position to a storage position in a finger board of the derrick monkey board for storage. The present invention has the beneficial effects of higher safety and operation efficiency.

Description

A method for automatically processing drilling tools of a drilling and workover rig

Technical Field

The invention relates to the technical field of oil drilling, and in particular to a method for automatic processing of drilling tools of a well drilling and workover rig.

Background Art

At present, with the advancement of oil drilling technology, the design and manufacturing technology in the field of drilling and workover rigs has been greatly improved, the speed of research and development has also been improved, and the performance of drilling and workover rigs has also made great progress, moving towards serialization, standardization and diversification. At the same time, with the complexity of on-site operation processes and operation procedures, as well as the increasing emphasis on safety and efficiency, the requirements for automation in drilling operations are getting higher and higher. How to ensure the safety, reliability and efficiency of the entire drilling system has become the key.

At present, the following problems still exist in the drilling and repair rig in the process of drilling tool handling: 1. The traveling hoist system needs to perform multiple actions, which affects the operation efficiency. 2. The drilling and repair rig's handling process of drilling tools is still in the semi-automatic stage. During the handover of drilling tools, the handling equipment still requires a large number of workers to assist in operation and confirmation, occupying a long wellhead position, resulting in low operation efficiency. 3. The drilling tools tilt during the transfer of drilling tools, resulting in a poor handover process of drilling tools, which poses a safety risk.

Therefore, there is an urgent need for an automated processing method for drilling tools of a drilling and workover rig with high operating efficiency and high safety.

Summary of the invention

1. Technical issues to be resolved

In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a method for automated processing of drilling tools of a drilling and workover rig, which solves the technical problems of low operating efficiency and low safety of the prior art.

(II) Technical solution

In order to achieve the above object, the main technical solutions adopted by the present invention include:

The embodiment of the present invention provides a method for automatically processing drilling tools of a drilling and workover rig, comprising: The method and the drilling method are controlled by the drilling control system. The method of automatic processing of drilling tools of the drilling and workover rig adopts a drilling tool processing system, and the drilling tool processing system is connected to the drilling control system; the drilling tool processing system includes a traveling hoist system, a manipulator on the second floor platform, a manipulator under the second floor platform, a drilling floor manipulator, an iron roughneck, slips, and a slip lifting and placing device.

The drilling method comprises the steps of:

S11, the drilling control system controls the traveling hoist system to lift the target drilling tool in the wellbore to the target height, and the drilling control system controls the cava lifting and placing device at the wellhead position to clamp the cava installed on the cava lifting and placing device to lower and clamp the target drilling tool.

S12, the drilling control system controls the iron roughneck of the drilling platform to break out the drill tool and the target drill tool in the wellbore that are connected together.

S13, the drilling control system controls the second-level platform manipulator under the second-level platform of the derrick and the drilling platform manipulator of the drilling platform to lift the target drilling tool to a position away from the wellhead, and move the target drilling tool to a handover position.

S14, the drilling control system controls the second-level platform manipulator above the second-level platform of the derrick and the drilling platform manipulator to move the target drilling tool from the handover position to the storage position in the finger beam of the second-level platform of the derrick for storage.

Optionally, the drill-down method comprises the steps of:

S21, the drilling control system controls the second-floor platform manipulator and the drilling floor manipulator to take out the target drilling tool from the storage position in the finger beam, and move the target drilling tool to the handover position.

S22, the drilling control system controls the second-floor under-platform manipulator and the drilling floor manipulator to move the target drilling tool to the wellhead position.

S23, the drilling control system controls the second-floor manipulator and the drilling floor manipulator to mate the male buckle at the bottom end of the target drilling tool with the female buckle at the top end of the drilling tool at the wellhead position.

S24, the drilling control system controls the iron roughneck to make up the target drilling tool, Then the drilling control system controls the traveling and hoisting system to lift the target drilling tool, and controls the slip lifting and releasing device to drive the slip to release the slip, and the drilling control system controls the traveling and hoisting system to lower the target drilling tool into the wellbore.

Optionally, after step S23 is completed, when it is necessary to drill the next target drilling tool, when step S21 is repeated, step S24 and step S21 can be performed simultaneously.

Optionally, after step S21 is completed, the step is also included: S211, after the target drill tool reaches the handover position, the drilling control system controls the second-level platform manipulator to lift the target drill tool to a height where the height of the male buckle at the bottom of the target drill tool is higher than the height of the female buckle at the top of the drill tool at the wellhead position.

Optionally, in step S21 and step S22, during the process of transferring the target drilling tool, the manipulator under the second-floor platform and the manipulator on the second-floor platform clamp the upper part of the target drilling tool, and the manipulator on the drilling floor pushes the lower part of the target drilling tool.

Optionally, after step S13 is completed, if it is necessary to start drilling the next target drilling tool, when step S11 is repeated, step S14 and step S11 can be performed synchronously.

Optionally, the traveling hoist system includes a top drive mounted on the derrick so as to be movably mounted up and down, and a hydraulic elevator connected below the top drive.

Optionally, in step S13 and step S14, during the process of transferring the target drilling tool, the manipulator under the second-floor platform and the manipulator on the second-floor platform clamp the upper part of the target drilling tool, and the manipulator on the drilling floor pushes the lower part of the target drilling tool.

Optionally, the drilling control system is a PLC control system.

Optionally, the drilling control system includes a main control cabinet. The main control cabinet is electrically connected to the controllers of the traveling hoist system, the slip lifting and releasing device, the iron roughneck, the drilling floor manipulator, the second-floor under-floor manipulator, and the second-floor on-floor manipulator.

(III) Beneficial effects

The beneficial effects of the present invention are:

The present invention provides a method for automatically handling drilling tools of a drilling and workover rig, which can automatically control the whole process through a drilling tool control system, and does not require a large number of workers to assist in the operation process, thus reducing the labor costs of workers. Dynamic strength, improve work efficiency and safety. The manipulator on the second floor and the manipulator under the second floor cooperate with the manipulator on the drilling floor to ensure that the drilling tool remains vertical during the transfer of the drilling tool. This not only makes the handover process of the drilling tool smooth and unobstructed, improves work efficiency, but also has higher safety. During the drilling operation, after the drilling tool leaves the wellhead position, the traveling hoist system can continue the next operation to improve work efficiency. Compared with the existing technology, this method has higher safety and work efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic front view of a pipe handling system for oil drilling in Embodiment 1 of the present invention;

FIG2 is an enlarged view of point A in FIG1 ;

FIG3 is an enlarged view of point B in FIG1 ;

FIG4 is a schematic side view of a pipe handling system for oil drilling in Example 1 of the present invention;

FIG5 is a schematic top view of the derrick in Embodiment 1 of the present invention;

FIG6 is a schematic structural diagram of the traveling hanging system in Embodiment 1 of the present invention;

7 is a schematic diagram of the structure of the robot on the second-level platform in Example 1 of the present invention;

FIG8 is a schematic diagram of the structure of the second-layer under-stage manipulator in Embodiment 1 of the present invention;

FIG9 is a schematic structural diagram of a drilling floor manipulator in Embodiment 1 of the present invention;

FIG10 is a schematic diagram of the structure of the cava lifting device in Example 1 of the present invention;

FIG11 is a schematic structural diagram of an iron roughneck in Embodiment 1 of the present invention;

FIG12 is a schematic flow diagram of a method for drilling in Embodiment 1 of the present invention;

[Description of Reference Numerals]

1: Drilling platform;

2: derrick; 21: second floor platform; 22: finger beam;

3: Iron driller;

4: Slip; 41: Slip lifting and lowering device; 42: Installation base plate;

5: Traveling hoist system; 51: Top drive; 52: Hydraulic elevator;

6: Manipulator on the second-level platform; 61: Carriage assembly; 62: Telescopic column; 63: First telescopic drive; 64: Support assembly; 65: Rotary moving mechanism;

7: Second floor under-table manipulator; 71: Guide rail assembly; 72: Second column assembly; 73: First clamp assembly; 74: Trolley assembly;

8: drilling platform manipulator; 81: second clamp assembly; 82: second telescopic driver; 83: support arm; 84: telescopic rear arm; 85: telescopic front arm; 86: third moving mechanism.

DETAILED DESCRIPTION

In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

Embodiment 1:

The present embodiment provides a method for automated processing of drilling tools of a drilling and workover rig, including a method for pulling out a drill and a method for drilling down a drill, wherein the pulling out a drill and the method for drilling down a drill are controlled by a drilling control system throughout the entire process, and the method for automated processing of drilling tools of the drilling and workover rig adopts a drilling tool processing system, wherein the drilling tool processing system includes a traveling and hoisting system 5, a manipulator 6 on a second-floor platform, a manipulator 7 under a second-floor platform, a drilling platform manipulator 8, an iron roughneck 3, a slip 4, and a slip lifting and releasing device 41, and the drilling tool processing system is connected to the drilling control system. Specifically, the drilling tool processing system also includes a drilling platform 1 and a derrick 2 fixed on the drilling platform 1, the iron roughneck 3 is installed on the drilling platform 1, the slip 4 is installed on the drilling platform 1 through the slip lifting and releasing device 41, the drilling platform manipulator 8 can be installed on the drilling platform 1 in a lateral movable manner, the traveling and hoisting system 5 can be installed on the derrick 2 in an upward and downward movable manner, the manipulator 6 on the second-floor platform is installed on the upper part of the derrick 2, located above the second-floor platform 21 of the derrick 2, and the manipulator 7 under the second-floor platform is installed at the bottom of the second-floor platform 21. Among them, the iron roughneck 3 is a rail-type iron roughneck.

Specifically, the traveling hoist system 5 includes a top drive 51 and a hydraulic elevator 52 connected below the top drive 51, and the hydraulic elevator 52 is aligned with the wellhead on the drilling platform 1. The top drive 51 is installed on the derrick 2 in a manner that it can be lifted and moved.

Specifically, the manipulator 6 on the second-level platform includes two main beam assemblies, a trolley assembly 61 and a first column assembly. The two main beam assemblies are fixed and arranged in parallel on the derrick 2, located above the second-level platform 21, and the two ends of the trolley assembly 61 are installed at the bottom of the two main beam assemblies in a transversely movable manner. Specifically, the two ends of the trolley assembly are installed at the bottom of the two main beam assemblies respectively through a first moving mechanism, and the first moving mechanism can drive the trolley assembly 61 to move along the two main beam assemblies. The first column assembly is installed at the bottom of the trolley assembly 61 in a transversely movable manner. The first column assembly includes a telescopic column 62, a first telescopic driver 63 and a supporting assembly 64. The top of the telescopic column 62 assembly is installed on the bottom of the trolley assembly 61 in a lateral movable manner through a rotary moving mechanism 65. The rotary driving mechanism 65 can drive the telescopic column assembly 62 to rotate. The supporting assembly 64 is connected to the bottom of the telescopic column 62. The telescopic driver is connected to the telescopic column 62 to drive the telescopic column 62 to extend and retract up and down, thereby driving the supporting assembly 64 to rise and fall. The moving direction of the trolley assembly 61, the moving direction of the first column assembly and the lifting direction of the supporting assembly 64 are perpendicular to each other.

Specifically, the second-tier platform under-manipulator 7 includes a guide rail assembly 71, a second column assembly 72, and a first clamp assembly 73. The guide rail assembly 71 is fixed to the bottom of the second-tier platform 21, and the second column assembly 72 is installed at the bottom of the guide rail assembly 71 in a transversely movable manner. Specifically, the top of the second column assembly 72 is installed at the bottom of the guide rail assembly 71 in a transversely movable manner through a second moving mechanism, and the first clamp assembly 73 is installed at the side of the second column assembly 72 in a lifting and moving manner through a trolley assembly 74. The moving direction of the second column assembly 72 is perpendicular to the lifting direction of the first clamp assembly 73.

Specifically, the traveling and hoisting system 5, the manipulator on the second-floor platform 6 and the manipulator under the second-floor platform 7 are provided with load sensors (not shown), and the load sensors can realize the load transfer feedback of the drilling tools, which can make the pipe tool handover and pipe tool transfer process safer. The load sensors of the traveling and hoisting system 5, the manipulator on the second-floor platform 6 and the manipulator under the second-floor platform 7 are connected to the drilling control system, and the real-time load of the traveling and hoisting system 5, the manipulator on the second-floor platform 6 and the manipulator under the second-floor platform 7 can be fed back to the drilling control system through the load sensors.

Specifically, the drilling floor manipulator 8 includes a telescopic arm assembly and a second clamp assembly 81. The telescopic arm assembly includes a second telescopic driver 82, a support arm 83, a telescopic rear arm 84, a telescopic front arm 85 and a third moving mechanism 86. The bottom end of the support arm 83 can be laterally moved by the third moving mechanism 86. Installed on the guide rail of the drilling platform 1, the third moving mechanism 86 can drive the telescopic arm assembly to move along the guide rail, and the third moving mechanism 86 can drive the support arm 83 to rotate, the support arm 83, the telescopic rear arm 84 and the telescopic front arm 85 are rotatably connected in sequence, and the second clamp assembly 81 is rotatably connected to the free end of the telescopic front arm 85. The two ends of the second telescopic driver 82 are rotatably connected to the support arm 83 and the telescopic rear arm 84 respectively to drive the telescopic rear arm 84 and the telescopic front arm 85 to extend or fold.

Specifically, a finger beam lock is provided in the finger beam 22 of the second-level platform 21. Specifically, there are multiple pipe discharge positions in the finger beam 22, each discharge position is provided with a finger beam lock, and each finger beam lock is connected to the drilling control system, and the drilling control system controls the opening and closing of the finger beam lock.

Specifically, the drilling control system includes a main control cabinet (not shown). The main control cabinet is electrically connected to the controllers (not shown) of the traveling hoist system, the slip lifting and lowering device of the slips, the iron roughneck, the drilling floor manipulator, the second-floor manipulator under the second-floor platform, and the manipulator on the second-floor platform. The main control cabinet sends instructions to each controller to realize the control of the entire drilling tool handling system. The drilling control system is a PLC control system.

Specifically, the drilling control system controls the drilling tool handling system to implement the drilling method, which includes the following steps:

S11. The drilling control system controls the traveling hoist system to lift the target drilling tool in the wellbore to the target height. The drilling control system controls the slip lifting device at the wellhead position to make the slips installed on the slip lifting device lower and clamp the target drilling tool. Specifically, the drilling control system controls the top drive to drive the hydraulic elevator to descend to the wellhead position, and controls the top drive to drive the hydraulic elevator to open. After the target drilling tool enters the hydraulic elevator, the hydraulic elevator can be triggered to close automatically, and the top drive can be controlled to drive the hydraulic elevator to rise to the target height. Then the drilling control system controls the slip lifting device at the wellhead position to rotate the slips to clamp and clamp the target drilling tool.

S12, the drilling control system controls the iron roughneck of the drilling platform to unhook the drill tools and target drill tools in the connected wellbore. Specifically, after the clamping, the traveling hoist system releases the target drill tool until the hydraulic hoist is unloaded, and the load sensor of the traveling hoist system sends a signal to the drilling control system, and the drilling control system controls the iron roughneck to move from the standby position to the wellhead position to unhook the connected wellbore. The top end of the drill bit in the barrel and the bottom end of the target drill bit are shackled to separate the two, and then the drilling control system controls the iron roughneck to move from the wellhead position to the standby position.

S13, the drilling control system controls the manipulator under the second floor platform of the derrick and the manipulator on the drilling platform to lift the target drilling tool to a position away from the wellhead, and move the target drilling tool to the handover position. Specifically, the drilling control system controls the manipulator under the second floor platform of the derrick and the manipulator on the drilling platform to move from their standby positions to the wellhead position, and controls the first clamp assembly of the manipulator under the second floor platform to clamp the upper part of the target drilling tool, and controls the second clamp assembly of the manipulator on the drilling platform to clamp the lower part of the target drilling tool. After the clamping sensor of the manipulator under the second floor platform feeds back the clamping confirmation signal to the drilling control system, the drilling control system controls the top drive to drive the hydraulic elevator to punch. Then the drilling control system controls the manipulator under the second floor and the drilling floor manipulator to lift the target drilling tool to a position away from the wellhead, and the drilling control system controls the drilling floor manipulator to change from clamping the drilling tool to pushing the drilling tool, and controls the manipulator under the second floor to clamp the upper part of the target drilling tool, and controls the drilling floor manipulator to push the lower part of the target drilling tool, and transfers the target drilling tool to the handover position in front of the second floor. After step S13 is completed, that is, after the target drilling tool reaches the handover position, if it is necessary to start drilling the next target drilling tool, when step S11 is repeated, step S14 and step S11 can be performed synchronously, thereby greatly improving the drilling efficiency, and there will be no interference between the devices.

S14, the drilling control system controls the manipulator on the second floor platform above the second floor platform of the derrick and the manipulator on the drilling platform to move the target drilling tool from the handover position to the storage position inside the finger beam of the second floor platform of the derrick for storage. Specifically, after the target drilling tool reaches the handover position, the drilling control system controls the manipulator under the second floor platform to clamp the target drilling tool to a suitable height below, and the drilling control system controls the manipulator on the second floor platform above the second floor platform of the derrick to move from its standby position to the handover position, so that the target drilling tool enters the supporting assembly of the manipulator on the second floor platform, and the supporting assembly abuts against the contraction connection part on the upper part of the target drilling tool. After the clamp of the supporting assembly is closed, the drilling control system controls the manipulator under the second floor platform to lower the target drilling tool until the manipulator under the second floor platform is free of load. At this time, the load sensor of the manipulator on the second floor platform sends a load signal to the drilling control system, and then the drilling control system controls the first clamp assembly of the manipulator under the second floor platform to open and move to its standby position. Then the drilling control system controls the finger beam inside The finger beam lock of the storage position is opened, the drilling control system controls the manipulator on the second floor to support the upper part of the target drill tool, and controls the drilling floor manipulator to push the lower part of the target drill tool, so as to move the target drill tool to the storage position, and controls the finger beam lock of the position to be closed. After the drilling control system controls the manipulator on the second floor to release the target drill tool until it is unloaded, the drilling control system controls the clamp of the supporting assembly of the manipulator on the second floor and the second clamp assembly of the drilling floor manipulator to open, and controls the manipulator on the second floor and the drilling floor manipulator to move to their standby positions.

Therefore, the whole process is automatically controlled by the drilling tool control system, and the operation process does not require the assistance of a large number of workers, which reduces the labor intensity of workers and improves work efficiency and safety. The manipulator on the second-floor platform and the manipulator under the second-floor platform cooperate with the manipulator on the drilling platform to ensure that the drilling tool remains in a vertical state during the transfer of the drilling tool. This not only makes the drilling tool handover process smooth and unobstructed, improves work efficiency, but also has higher safety. During the drilling operation, after the drilling tool leaves the wellhead position, the traveling hoist system can continue to the next operation to improve work efficiency. Compared with the existing technology, this method has higher safety and work efficiency.

Embodiment 2:

This embodiment provides a drilling-down method described in Embodiment 1, which specifically includes the following steps:

S21, the drilling control system controls the manipulator on the second floor and the manipulator on the drilling floor to take out the target drilling tool from the storage position in the finger beam, and move the target drilling tool to the handover position in front of the second floor. Specifically, the drilling control system controls the manipulator on the second floor and the manipulator on the drilling floor to move from their standby positions to the storage position in the finger beam of the target drilling tool, the drilling control system controls the manipulator on the second floor to support the upper part of the target drilling tool, and controls the manipulator on the drilling floor to push the lower part of the target drilling tool, after the load sensor of the manipulator on the second floor sends the load signal to the drilling control system, the drilling control system controls the finger beam lock of the storage position to open, the drilling control system controls the manipulator on the second floor to support the upper part of the target drilling tool, and controls the manipulator on the drilling floor to push the lower part of the target drilling tool, and moves the target drilling tool to the handover position in front of the second floor.

S211, after the target drilling tool reaches the handover position, the drilling control system controls the manipulator under the second-floor platform to lift the target drilling tool until the height of the male buckle at the bottom of the target drilling tool is higher than the height of the female buckle at the top of the drilling tool at the wellhead position. The manipulator under the second-level platform moves from the standby position to the handover position in front of the second-level platform, and controls the first clamp assembly of the manipulator under the second-level platform to clamp the upper part of the target drill bit. After the drilling control system receives the clamping confirmation signal from the manipulator under the second-level platform, the drilling control system controls the manipulator under the second-level platform to lift the target drill bit until the height of the male buckle at the bottom of the target drill bit is higher than the height of the female buckle at the top of the drill bit at the wellhead position, and confirms that the height of the traveling hoist system is appropriate.

S22, the drilling control system controls the manipulator under the second-floor platform and the manipulator on the drilling platform to move the target drilling tool to the wellhead position. Specifically, the drilling control system controls the manipulator under the second-floor platform to clamp the upper part of the target drilling tool, and controls the manipulator on the drilling platform to push the lower part of the target drilling tool to move the target drilling tool to the wellhead position. Among them, before the target drilling tool reaches the wellhead position, the drilling control system has controlled the top drive to drive the hydraulic elevator to open. After the target drilling tool reaches the wellhead position, it enters the hydraulic elevator, triggering the hydraulic elevator to automatically close, but the target drilling tool is still carried by the manipulator on the second-floor platform.

S23, the drilling control system controls the manipulator under the second floor and the manipulator on the drilling platform to mate the male buckle at the bottom of the target drill tool with the female buckle at the top of the drill tool at the wellhead. Specifically, the drilling control system controls the manipulator on the drilling platform to straighten the target drill tool, align the male buckle at the bottom of the target drill tool with the female buckle at the top of the drill tool at the wellhead, the drilling control system controls the manipulator under the second floor to lower the target drill tool until the male buckle at the bottom of the target drill tool enters the female buckle at the top of the drill tool at the wellhead, and controls the manipulator under the second floor to release it to no load, the drilling control system controls the first clamp assembly of the manipulator under the second floor and the second clamp assembly of the manipulator on the drilling platform to open, and controls the manipulator under the second floor and the manipulator on the drilling platform to move to their standby positions. Among them, after step S23 is completed, that is, after the mate of the target drill tool is completed, if it is necessary to drill the next target drill tool, when step S21 is repeated, step S24 and step S21 can be performed synchronously.

S24, the drilling control system controls the iron roughneck to make up the target drill tool, and then the drilling control system controls the traveling and lifting system to lift the target drill tool, and controls the slip lifting and releasing device to drive the slip to release the jam, and the drilling control system controls the traveling and lifting system to lower the target drill tool into the wellbore. Specifically, the drilling control system controls the iron roughneck to move from the standby position to the wellhead position to make up the target drill tool, and connect the target drill tool with the drill tool at the wellhead position as a whole. After the drilling control system controls the traveling and lifting system to lift the drill tool with load, the drilling control system controls the slip lifting and releasing device to drive the slip to release the jam (wellhead position The drill bit is clamped by the slip seat), and the drilling control system controls the traveling hoist system to lower the target drill bit into the wellbore.

In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine different descriptions in this specification without contradiction. Features of the same embodiment or example as well as different embodiments or examples may be combined and coupled.

Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

A method for automated processing of drilling tools of a drilling and workover rig, comprising a method for pulling out a drill and a method for drilling down a drill, wherein the pulling out a drill and the drilling down a drill are controlled entirely by a drilling control system, and is characterized in that:

The method for automated processing of drilling tools of the drilling and workover rig adopts a drilling tool processing system, and the drilling tool processing system is connected to the drilling control system; the drilling tool processing system includes a traveling and hanging system, a manipulator on the second floor platform, a manipulator under the second floor platform, a manipulator on the drilling floor, an iron roughneck, slips, and a slip lifting and placing device;

The drilling method comprises the steps of:

S11, the drilling control system controls the traveling hoist system to lift the target drilling tool in the wellbore to the target height, and the drilling control system controls the slip lifting and placing device at the wellhead position to clamp the slip installed on the slip lifting and placing device to lower and clamp the target drilling tool;

S12, the drilling control system controls the iron roughneck of the drilling platform to break out the drill tool and the target drill tool in the wellbore that are connected together;

S13, the drilling control system controls the second-floor manipulator under the second-floor platform of the derrick and the drilling platform manipulator of the drilling platform to lift the target drilling tool to a position away from the wellhead, and transfer the target drilling tool to a handover position;

S14, the drilling control system controls the second-level platform manipulator above the second-level platform of the derrick and the drilling platform manipulator to move the target drilling tool from the handover position to the storage position in the finger beam of the second-level platform of the derrick for storage.
The method for automated processing of drilling tools of a drilling and workover rig according to claim 1, wherein the drilling method comprises the steps of:

S21, the drilling control system controls the manipulator on the second-floor platform and the manipulator on the drilling floor to take out the target drilling tool from the storage position in the finger beam, and move the target drilling tool to the handover position;

S22, the drilling control system controls the second-floor manipulator and the drilling floor manipulator to move the target drilling tool to the wellhead position;

S23, the drilling control system controls the second-floor manipulator and the drilling floor manipulator The male buckle at the bottom end of the target drilling tool is fastened to the female buckle at the top end of the drilling tool at the wellhead position;

S24, the drilling control system controls the iron driller to buckle up the target drill tool, and then the drilling control system controls the traveling and lifting system to lift up the target drill tool, and controls the cava lifting and releasing device to drive the cava to release the cava, and the drilling control system controls the traveling and lifting system to lower the target drill tool into the wellbore.
The method for automated processing of drilling tools for a drilling and workover rig according to claim 2, characterized in that:

After step S23 is completed, if it is necessary to drill the next target drilling tool, when step S21 is repeated, step S24 and step S21 can be performed synchronously.
The method for automated processing of drilling tools for a drilling and workover rig according to claim 2, characterized in that after step S21 is completed, it further comprises the steps of:

S211, after the target drill tool arrives at the handover position, the drilling control system controls the manipulator under the second-level platform to lift the target drill tool until the height of the male buckle at the bottom of the target drill tool is higher than the height of the female buckle at the top of the drill tool at the wellhead position.
The method for automated processing of drilling tools for a drilling and workover rig according to claim 2, characterized in that:

In step S21 and step S22, during the process of transferring the target drilling tool, the manipulator under the second-floor platform and the manipulator on the second-floor platform clamp the upper part of the target drilling tool, and the manipulator on the drilling floor pushes the lower part of the target drilling tool.
The method for automated processing of drilling tools for a well drilling and workover rig according to claim 1, characterized in that:

After step S13 is completed, if it is necessary to start drilling the next target drilling tool, when step S11 is repeated, step S14 and step S11 can be performed synchronously.
The method for automated processing of drilling tools for a well drilling and workover rig according to claim 1, characterized in that:

The traveling hoist system includes a top drive mounted on the derrick and connected to the top drive A hydraulic elevator below the top drive.
The method for automated processing of drilling tools for a well drilling and workover rig according to claim 1, characterized in that:

In step S13 and step S14, during the process of transferring the target drilling tool, the manipulator under the second-floor platform and the manipulator on the second-floor platform clamp the upper part of the target drilling tool, and the manipulator on the drilling floor pushes the lower part of the target drilling tool.
The method for automated processing of drilling tools for a well drilling and workover rig according to claim 1, characterized in that:

The drilling control system is a PLC control system.
The method for automated processing of drilling tools for a well drilling and workover rig according to claim 1, characterized in that:

The drilling control system includes a main control cabinet;

The main control cabinet is electrically connected to the controllers of the traveling hoist system, the cava lifting and lowering device, the iron roughneck, the drilling floor manipulator, the second-floor under-platform manipulator and the second-floor on-platform manipulator.