CN102606092B - Hanging type adaptive automatic drill pipe string discharge device - Google Patents
Hanging type adaptive automatic drill pipe string discharge device Download PDFInfo
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- CN102606092B CN102606092B CN 201210087114 CN201210087114A CN102606092B CN 102606092 B CN102606092 B CN 102606092B CN 201210087114 CN201210087114 CN 201210087114 CN 201210087114 A CN201210087114 A CN 201210087114A CN 102606092 B CN102606092 B CN 102606092B
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Abstract
The invention discloses a hanging type adaptive automatic drill pipe string discharge device, which consists of a pipe string discharger guide track, a hydraulic motor, a rotary encoder, a tackle, a worm gear and worm rotating device, a lead screw pair, an extension hydraulic cylinder, a movable arm, a triangular support, deviation rectifying hydraulic cylinders, masts, a lifting hydraulic cylinder, a mast inner guide rod, a manipulator, a double-axis horizontal inclination sensor and an electro-hydraulic proportional control system with a PID (proportion integration differentiation) adjusting function. The pipe string discharger guide track is fixed at the bottom of a tongue platform of a second-floor platform of a K-shaped derrick, a mounting foundation of the clamping manipulator is a double-layer lifting mast structure, and the external masts are mounted on the triangular support via universal joints and are driven by the two deviation rectifying hydraulic cylinders; the internal masts can slide along the external masts, when a parallelogram stretchable mechanism acts, the internal masts can be driven by the lifting hydraulic cylinder to move vertically, the lifting action of the internal masts can be synchronous to the stretching action, or the lifting action of the internal masts and the stretching action are carried out sequentially definitely, when a drilling rig is connected or disconnected, the internal masts are in a balancing and floating state, and the balancing and floating function is realized by a specific hydraulic loop and a control mode.
Description
Technical field
The present invention relates to a kind of and the matching used automation drill string of land rig K type derrick tapping equipment, the particularly automatic well pipe handling equipment of a kind of suspension type self adaptation.Be mainly used in automatic capturing, the migration of drill string and arrange in turn, particularly its inclination that has and side-sway function can adapt to the angular deviation of drill string discharging, and can in unloading process, drill string carry out automatic deviation correction, hang down to guarantee that drill string is vertical, complete drill string and aperture drilling tool and top and drive smooth connection between output shaft, thereby realize that drill string is unloaded and the automation of discharge process.
Background technology
In the deep-well drilling processes such as oil drilling, Continental Science Drilling, rise, tripping operation occupied a large amount of non-cutting times.Usually for saved, the lower brill time, drilling rod is unloaded mainly with the drill string form more than two or two greatly.Drill string is ordered between offshore boring island pipe setback and quadruple board platform fingerboard, and for land rig, drill string is vertical out-fall.For completing the drill string work of unloading, a driller must be arranged at quadruple board platform operation elevator and by winch migration drilling rod, this labor intensity is large and dangerous.In addition, in order to improve the efficient of unloading of drill string, higher requirement has been proposed also for driller's operative skill.Even if the well system that drive on the top has been installed, this kind heavy task still can not be removed
Patent publication No. CA2661631 discloses the well pipe handling equipment of a kind of U.S. Weatherford invention, its structural principle is on the original quadruple board platform of derrick basis, a kind of rotatable telescopic boom well pipe handling equipment to be installed, and the motion mode of this device is that base revolution, swing arm are flexible.This device utilizes revolution and radial radiation-type Telescopic to realize drill string location, crawl and migration, revolute function can be with the drill string rotating 360 degrees, thereby make drill string aim at axis of rotation, complete the operation of unloading, this invention need to be installed the cantilever beams with the center open channel additional on quadruple board platform, complex structure, the positioning control principle is complicated, and traditional, tripping operation mode can't be provided.The manipulator that this invention is adopted is horizontal opening-closing type, and width is large, is difficult to adapt to narrow drill string gap.
Summary of the invention
The objective of the invention is in order to solve the problem of above-mentioned prior art existence, and provide a kind of suspension type self adaptation automatic well pipe handling equipment, realize the drill string work of unloading in order to substitute manpower fully, the present invention is mainly used in driving with the top and supports the use, to improve well system complete machine automaticity.
the present invention is by the racker guide rail, hydraulic motor, rotary encoder, coaster, the worm and gear slewing equipment, lead screw pair, stretch hydraulic cylinder, swing arm, tripod, the correction hydraulic cylinder, mast, lifting hydraulic cylinder, the mast inner guide, manipulator, double-shaft level obliquity sensor and the electro-hydraulic proportional control system composition with PID regulatory function, the racker guide rail is fixed on the tongue platform bottom of the quadruple board platform of K type derrick, coaster is suspended on the racker guide rail by the slide-and-guide piece, lead screw pair is arranged on below the racker guide rail, lead screw pair connects with coaster, hydraulic motor connects with lead screw pair, hydraulic motor can drive the lead screw pair action, lead screw pair can be with fly block front and back slip on the racker guide rail, be connected the worm and gear slewing equipment between the ennation of ass and swing arm connector, the worm and gear slewing equipment connects with hydraulic motor, it is 0 °～180 ° that rotary encoder is controlled worm and gear slewing equipment rotational angle, wherein, 0 °, can stop for 90 ° and 180 °, be hinged with the parallelogram swing arm between the lower end of swing arm connector and tripod, hinged two an of diagonal angle of parallelogram swing arm stretches hydraulic cylinder, the upper end of mast is hinged on the tripod outer upper end with universal drive shaft, respectively connect a correction hydraulic cylinder with ball pivot between hypomere two sides of mast and lower end two sides of tripod, wear the mast inner guide in mast, the mast inner guide exposes from two ends of mast, hinged Bidirectional up-down hydraulic cylinder between inboard and mast inboard, mast inner guide lower end, it is inboard that two manipulators are arranged on respectively mast inner guide upper and lower side, the double-shaft level obliquity sensor is arranged on the stage casing of mast, electro-hydraulic proportional control system with PID regulatory function is realized the action control of each executing agency.
Operating principle of the present invention and process are:
1, fluid motor-driven lead screw pair band fly block moves at the racker guide rail, and then the device that drives the below moves forward and backward, and lead screw pair has self-locking performance; Stretch hydraulic cylinder works, drive swing arm and stretch or shrink, and then the driving mechanical hand stretches or shrinks; The present invention in the plane move forward and backward and stretch the left and right or shrink, manipulator can be moved to any position crawl drill string and deliver to assigned address;
2, fluid motor-driven worm and gear slewing equipment work can forward the manipulator of below to left and right two sides and grasp the drill string of two sides, or the manipulator of below is forwarded to sky, and the worm and gear slewing equipment has auto-lock function;
3, when two correction hydraulic cylinders respectively one motionless, when another stretches, or during counteragent, can make mast and the "Left"-deviationist of mast inner guide or Right deviation, when two correction hydraulic cylinders are simultaneously motionless, can make mast and mast inner guide placed in the middle, and then make manipulator can grab the drill string of differing tilt angles or direction;
4, mast inner guide lower end inboard with the mast inboard between hinged Bidirectional up-down hydraulic cylinder stretch or contract, crawled drill string is moved according to the track that designs.
One, the present invention's translation mechanism has adopted guilde screw line slideway operating type, translation mechanism can drive pipe racking device and move forward and backward along the quadruple board platform direction of walking on stage, when pipe racking device rotation to-90 ° or+90 ° the time, can make clamping manipulator be positioned each row drill string by means of rotary encoder, as shown in Figure 8, rotary encoder adopts trapezoidal thread with the hydraulic motor coaxial arrangement that drives translation mechanism, leading screw, and have auto-lock function, can match ball-screw.Drive the rotating reductor of leading screw and adopt Worm Wheel System, when especially adopting ball-screw, must the configuration worm-gear speed reducer.
Two, slew gear of the present invention is the Worm Wheel System pivoting support of single fluid motor-driven, and this integrated transmission mechanism is lightly nimble, is to be the supporting best parts of complete machine of the present invention.In addition, can select the pivoting support that planetary reducer drives to substitute above-mentioned parts, both difference is that Worm Wheel System has self-locking performance, adopt planetary reducer must install brake additional as drive disk assembly, in order to realize pipe racking device-90 °, 0 ° or+accurate location and the reliable locking of 90 ° of three ad-hoc locations.
Three, the present invention adopts the parallel-crank mechanism of double hydraulic cylinder driving to grasp by column to realize drill string, the sensor employing range that is used for the location is the uniaxial horizontal obliquity sensor of ± 90 °, and the position of institute's arrangement drill string utilizes the obliquity sensor feedback signal to calculate according to the mechanism angle of inclination.The level inclination sensor construction is compact, and the precision high response speed is fast, guarantees that the accurate positioning of drilling rod colonnade is reliable, and crawl rapidly.
four, when center, aperture, below is driven on drill string migration to top, utilize two in-built little triangle deviation correction mechanisms of hydraulic cylinder formation that oscillating bearing is arranged of ear seat, deviation correction mechanism is by being installed at the double-shaft level obliquity sensor detection angles deviation on mast, and then error correct hydraulic cylinder action, with the mast vertical adjustment, hang down to guarantee that drill string is vertical, usually because drill string is longer, the manipulator clamping position is drill string top, therefore the top is driven with connecting of drill string and is easy to complete, but the below connects existing drilling tool still must the erection device less important work, for rigidity drill string preferably, the effect of deviation correction mechanism is more remarkable.
Five, basis is installed is the Double-deck lift type mast structure for clamping manipulator involved in the present invention, and its peripheral mast is installed on tripod by universal joint, utilizes two Driven by Hydraulic Cylinder of rectifying a deviation.Inner mast can slide along the guide frame that outside mast provides, and is provided with grease trough in the sliding pair guide pad.Inner mast is when the parallelogram extension means moves, can under driving, lifting hydraulic cylinder move up and down, the lifting action of inner mast can be synchronizeed with stretching, also clear and definite precedence can be arranged, and needs the application simulation amount to control as the electric-hydraulic proportion of input but be synchronized with the movement.In addition, in the drilling tool process of unloading, inner mast is in the balance quick condition, and balance and float function are realized by specific hydraulic circuit and control mode.
Inventive point of the present invention is:
1, adopt hanging guide rail, directly utilize the tongue platform as the basis, very large with the patent publication No. CA2661631 patent structure difference of the U.S., be different from other any equipment of realizing this function.
2, the crawl of drill string is located according to row, column, need not rotate, but drilling rod framed bent left and right sides switches and to the migration in aperture, by rotation.
3, utilizing screw-drive mechanism is that lead screw pair is accurately located, and transmission has self-locking performance.
4, extension means adopts the parallel-crank mechanism of the compactness of Driven by Hydraulic Cylinder.
5, be equipped with elevating mechanism, in stretching process, elevating mechanism moves simultaneously, keeps the track even running according to the rules of entrained drill string.
6, the tube drawbench mast has automatic vertical adjustment function, realizes by little cam mechanism and mast universal joint, and verticality-regulating system adopts PID to control automatically, can make the drilling rod automatic centering in process of unloading.
7, adopt the worm gear-endless screw transmission to realize the tube drawbench revolution, in order to carrying out the switching of drilling rod in the framed bent of both sides, and aim at the aperture direction; Worm and worm-wheel gearing has self-locking performance, can accurately be positioned left, middle and right 3 points.
But 8, the drill string of tube drawbench manipulator clamping arbitrary diameter.
Beneficial effect of the present invention: be mainly used in automatic capturing, the migration of drill string and arrange in turn, particularly its inclination that has and side-sway function can adapt to the angular deviation of drill string discharging, and can in unloading process, drill string carry out automatic deviation correction, hang down to guarantee that drill string is vertical, complete drill string and aperture drilling tool and top and drive smooth connection between output shaft, thereby realize that drill string is unloaded and the automation of discharge process.
Description of drawings
Fig. 1 is use state schematic perspective view of the present invention.
Fig. 2 is the lateral view of grabbing device of the present invention when rushing at the side.
Fig. 3 is the schematic diagram of extension means of the present invention when trailing.
Fig. 4 is the lateral view of grabbing device of the present invention when rushing at the aperture.
Fig. 5 is that the present invention grasps the schematic diagram when extension means trails after drill string.
Fig. 6 is that the present invention grasps the schematic diagram when deviation correction mechanism is stretched work after drill string.
Fig. 7 is that the present invention grasps another schematic diagram when extension means trails after drill string.
Fig. 8 is that drill string is arranged schematic diagram.
The specific embodiment
see also Fig. 1, Fig. 2, Fig. 3 and shown in Figure 4, the present embodiment is by racker guide rail 4, hydraulic motor 6, rotary encoder 7, coaster 8, worm and gear slewing equipment 9, lead screw pair 11, stretch hydraulic cylinder 12, swing arm 14, tripod 15, correction hydraulic cylinder 16, mast 17, lifting hydraulic cylinder 18, mast inner guide 19, manipulator 20, 22, double-shaft level obliquity sensor 21 and electro-hydraulic proportional control system 13 compositions with PID regulatory function, racker guide rail 4 is fixed on the tongue platform bottom of the quadruple board platform 3 of K type derrick, coaster 8 is suspended on racker guide rail 4 by the slide-and-guide piece, lead screw pair 11 is arranged on racker guide rail 4 belows, lead screw pair 11 connects with coaster 8, hydraulic motor 6 connects with lead screw pair 11, hydraulic motor 6 can drive lead screw pair 11 actions, lead screw pair 11 can be with fly block 8 front and back slip on racker guide rail 4, be connected worm and gear slewing equipment 9 between the ennation 81 of coaster 8 lower ends and swing arm connector 82, worm and gear slewing equipment 9 connects with hydraulic motor 91, it is 0 °～180 ° that rotary encoder 7 is controlled worm and gear slewing equipment 9 rotational angles, wherein, 0 °, can stop for 90 ° and 180 °, be hinged with parallelogram swing arm 14 between the lower end of swing arm connector 82 and tripod 15, hinged two an of diagonal angle of parallelogram swing arm 14 stretches hydraulic cylinder 12, the upper end of mast 17 is hinged on tripod 15 outer upper end with universal drive shaft, respectively connect a correction hydraulic cylinder 16 with ball pivot between hypomere two sides of mast 17 and lower end two sides of tripod 15, wear mast inner guide 19 in mast 17, mast inner guide 19 exposes from two ends of mast 17, hinged Bidirectional up-down hydraulic cylinder 18 between inboard and mast 17 inboards, mast inner guide 19 lower ends, two manipulators 20, 22 are arranged on respectively the upper and lower side inboard of mast inner guide 19, double-shaft level obliquity sensor 21 is arranged on the stage casing of mast 17, electro-hydraulic proportional control system 13 with PID regulatory function is realized the action control of each executing agency.
Operating principle of the present invention and process are: see also Fig. 1, Fig. 2, Fig. 3 and Fig. 4 and coordinate Fig. 5, Fig. 6 and shown in Figure 7;
1, hydraulic motor 6 drives lead screw pair 11 band fly blocks 8 and moves at racker guide rail 4, and then the device that drives the below moves forward and backward, and lead screw pair 11 has self-locking performance; Stretch hydraulic cylinder 12 work, drive swing arm 14 and stretch or shrink, and then driving mechanical hand 20,22 stretches or shrinks; The present invention in the plane move forward and backward and stretch the left and right or shrink, manipulator 20,22 can be moved to any position crawl drill string 2 and deliver to assigned address;
2, hydraulic motor 91 drives 9 work of worm and gear slewing equipment, the manipulator 20,22 of below can be forwarded to left and right two sides and grasp the drill string 2 of two sides, or the manipulator 20,22 of below is forwarded to sky, and worm and gear slewing equipment 9 has auto-lock function;
3, when two correction hydraulic cylinders 16 respectively one motionless, when another stretches, or during counteragent, can make mast 17 and 19 "Left"-deviationists of mast inner guide or Right deviation, when two correction hydraulic cylinders 16 are simultaneously motionless, can make mast 17 and mast inner guide 19 placed in the middle, and then make manipulator 20,22 can grab the drill string 2 of differing tilt angles or direction, as shown in Figure 8;
4, mast inner guide 19 lower ends inboard with mast 17 inboards between hinged Bidirectional up-down hydraulic cylinder 18 stretch or contract, crawled drill string 2 is moved according to the track that designs.
Claims (1)
1. the automatic well pipe handling equipment of suspension type self adaptation, is characterized in that: be by racker guide rail (4), hydraulic motor (6), rotary encoder (7), coaster (8), worm and gear slewing equipment (9), lead screw pair (11), stretch hydraulic cylinder (12), swing arm (14), tripod (15), correction hydraulic cylinder (16), mast (17), lifting hydraulic cylinder (18), mast inner guide (19), manipulator (20, 22), double-shaft level obliquity sensor (21) and electro-hydraulic proportional control system (13) composition with PID regulatory function, racker guide rail (4) is fixed on the tongue platform bottom of the quadruple board platform (3) of K type derrick, coaster (8) is suspended on racker guide rail (4) by the slide-and-guide piece, lead screw pair (11) is arranged on below racker guide rail (4), lead screw pair (11) connects with coaster (8), hydraulic motor (6) connects with lead screw pair (11), hydraulic motor (6) can drive lead screw pair (11) action, lead screw pair (11) can be with fly block (8) to slide before and after racker guide rail (4) is upper, be connected worm and gear slewing equipment (9) between the ennation (81) of coaster (8) lower end and swing arm connector (82), worm and gear slewing equipment (9) connects with hydraulic motor (91), it is 0 °～180 ° that rotary encoder (7) is controlled worm and gear slewing equipment (9) rotational angle, wherein, 0 °, stop for 90 ° and 180 °, be hinged with parallelogram swing arm (14) between the lower end of swing arm connector (82) and tripod (15), hinged two an of diagonal angle of parallelogram swing arm (14) stretches hydraulic cylinder (12), the upper end of mast (17) is hinged on tripod (15) outer upper end with universal drive shaft, respectively connect a correction hydraulic cylinder (16) with ball pivot between the hypomere both sides of mast (17) and the both sides, lower end of tripod (15), wear mast inner guide (19) in mast (17), mast inner guide (19) exposes from the two ends of mast (17), hinged Bidirectional up-down hydraulic cylinder (18) between inboard and mast (17) inboard, mast inner guide (19) lower end, two manipulators (20, 22) be arranged on respectively the upper and lower side inboard of mast inner guide (19), double-shaft level obliquity sensor (21) is arranged on the stage casing of mast (17), and the electro-hydraulic proportional control system (13) with PID regulatory function is realized the action control of each executing agency.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210087114 CN102606092B (en) | 2012-03-29 | 2012-03-29 | Hanging type adaptive automatic drill pipe string discharge device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210087114 CN102606092B (en) | 2012-03-29 | 2012-03-29 | Hanging type adaptive automatic drill pipe string discharge device |
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| CN102606092A CN102606092A (en) | 2012-07-25 |
| CN102606092B true CN102606092B (en) | 2013-11-06 |
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| CN 201210087114 Expired - Fee Related CN102606092B (en) | 2012-03-29 | 2012-03-29 | Hanging type adaptive automatic drill pipe string discharge device |
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| CN104265206A (en) * | 2014-09-02 | 2015-01-07 | 青岛永通电梯工程有限公司 | Racking platform bent arm pushing type drill rod discharging mechanical arm |
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| CN105114014B (en) * | 2015-08-28 | 2017-09-12 | 黑龙江景宏石油设备制造有限公司 | Drilling tool automatic-discharging processing unit |
| CN105332663B (en) * | 2015-10-30 | 2019-05-03 | 南阳师范学院 | A kind of drill rod stand column automatic-discharging manipulator |
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| CN105484683A (en) * | 2016-01-22 | 2016-04-13 | 中石化石油工程机械有限公司第四机械厂 | Automatic discharge device for drill strings |
| CN105672870B (en) * | 2016-03-16 | 2018-03-16 | 李克宁 | Well drilling top drive and safety platform collision-proof protector |
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| CN106121559A (en) * | 2016-08-04 | 2016-11-16 | 山东拓博节能科技有限公司 | Automatic Code bank of tubes puts one hydraulic leg |
| CN106988689B (en) * | 2017-02-22 | 2019-03-05 | 吉林大学 | A kind of land science probing drilling tool automatic migration device of drilling machine |
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| CN108561089B (en) * | 2018-06-19 | 2024-04-09 | 四川宏华石油设备有限公司 | Pipe processing device |
| CN109296314B (en) * | 2018-10-18 | 2024-01-26 | 广西科技大学 | Novel automatic drilling rod gas drainage rig from top to bottom |
| CN110230476A (en) * | 2019-05-27 | 2019-09-13 | 四川宏华石油设备有限公司 | Pipe has tapping equipment |
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| DK1953334T3 (en) * | 2007-01-08 | 2016-12-12 | Nat Oilwell Varco Lp | Pipe handling AND PROCEDURE |
| CN101250986B (en) * | 2008-03-28 | 2011-12-07 | 中国海洋石油总公司 | Drill site tubular pile automatic discharging device |
| CN101812977B (en) * | 2009-02-25 | 2012-10-10 | 北京Tsc海洋石油装备有限公司 | Drilling platform pipe racking system and method |
| DE102009020222A1 (en) * | 2009-05-07 | 2010-11-11 | Max Streicher Gmbh & Co. Kg Aa | Apparatus and method for handling rod-like components |
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- 2012-03-29 CN CN 201210087114 patent/CN102606092B/en not_active Expired - Fee Related
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