CN109594937A - A kind of upper and lower pipe device of offshore platform automation drilling platform of workover rig - Google Patents
A kind of upper and lower pipe device of offshore platform automation drilling platform of workover rig Download PDFInfo
- Publication number
- CN109594937A CN109594937A CN201910073466.7A CN201910073466A CN109594937A CN 109594937 A CN109594937 A CN 109594937A CN 201910073466 A CN201910073466 A CN 201910073466A CN 109594937 A CN109594937 A CN 109594937A
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- China
- Prior art keywords
- manipulator
- pipe
- robot device
- sliding rail
- principal arm
- 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.)
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- 238000005553 drilling Methods 0.000 title claims abstract description 21
- 238000003825 pressing Methods 0.000 claims description 7
- 235000005121 Sorbus torminalis Nutrition 0.000 claims description 3
- 244000152100 Sorbus torminalis Species 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
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
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
- E21B19/087—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods by means of a swinging arm
-
- 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
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/143—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole specially adapted for underwater drilling
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses pipe devices above and below a kind of offshore platform automation drilling platform of workover rig, including drillingrig base, upper and lower pipe device, rig floor manipulator and hydraulic control system, the drillingrig base is frame-type structure, and drillingrig base is equipped with sliding rail one and can be with XY to mobile slide；Upper and lower pipe device is fixed on slide and can be along XY to moving；Rig floor manipulator includes principal arm and upper and lower two robot devices, and lower robot device is mounted on principal arm, and upper robot device is mounted at the top of principal arm and may be reversed 180 °；Rig floor manipulator is mounted on the sliding rail one of drillingrig base and vertically moves along sliding rail one；Hydraulic control system controls pipe device realization up and down and takes over, more than trombone slide to drilling floor surface, and control rig floor manipulator adapter tube, anti-pipe simultaneously send the oil pipe of overturning to well head.Drilling floor surface manipulator of the present invention completes the vertical stacking operation of oil pipe together with two-deck table mechanical arm, and instead of manual operation, labor intensity is low, highly-safe.
Description
Technical field
The present invention relates to pipe devices above and below a kind of offshore platform automation drilling platform of workover rig, belong to petroleum well workover technology neck
Domain.
Background technique
Workover treatment is the important link of oil field production, and ensures that oil field produces stable critical process.Marine well workover
Operation there is live places it is small, weather is complicated and changeable, efficiency requirements are high the features such as.Sea workover treatment mostly uses manually at present
Based on operation mode, comprising: the moving up of slips, the feeding of Power Tong and retract, the handling of oil pipe to drilling floor surface, elevator are opened
It closes, the comb of quadruple board platform etc..People stands on quadruple board platform, and marine waves whipped up by the wind rolled turbulently, there is very big danger, low efficiency.Due to sea
The structure of the particularity of oil well, former land oil-field workover rig cannot meet the needs.
Summary of the invention
It is automatic the technical problem to be solved by the present invention is in view of the defects existing in the prior art, provide a kind of offshore platform
Change drilling platform of workover rig pipe device up and down.
In order to solve this technical problem, the present invention provides down tube dresses on a kind of offshore platform automation drilling platform of workover rig
It sets, including drillingrig base, upper and lower pipe device, rig floor manipulator and hydraulic control system, the drillingrig base is frame-type structure, is bored
Platform pedestal is equipped with sliding rail one and can be with XY to mobile slide；It is described up and down pipe device be fixed on slide and can along XY to
It is mobile；The rig floor manipulator includes principal arm and upper and lower two robot devices, and the lower robot device is mounted on principal arm,
Upper robot device is mounted at the top of principal arm and may be reversed 180 °；The rig floor manipulator is mounted on the sliding rail one of drillingrig base
Above and along sliding rail one vertically move；The hydraulic control system control pipe device up and down realize adapter tube, trombone slide to drilling floor surface with
On, control rig floor manipulator adapter tube, anti-pipe simultaneously send the oil pipe of overturning to well head.
It is equipped with top seat at the top of the principal arm, rotary oil cylinder is equipped in the seat of top, the back side of principal arm is equipped with sliding rail two and rises
Oil cylinder drops；The upper robot device is mounted on the top seat of principal arm, and rotary oil cylinder controls upper robot device around top seat
180 ° of overturnings can be achieved；The lower robot device is mounted on the sliding rail two at principal arm back, and lifting cylinder controls lower manipulator
Device realization is moved up and down along sliding rail two；The oil pipe that lower robot device sends lower section is taken over and is transferred to upper manipulator dress
It sets, upper robot device is sent after overturning oil pipe to well head.
The upper robot device is identical with lower robot device structure, including bracket and manipulator, and bracket both ends are each
One manipulator is installed；The manipulator includes linkage block, universal driving shaft, pressing plate, mechanical paw and clamping cylinder, the clamping oil
The cylinder body of cylinder is fixed on bracket, and the other end and two linkage blocks are hinged, and linkage block is mounted on bracket end by pressing plate；Two
Linkage block) it is fixedly connected respectively with universal driving shaft one end, mechanical paw is fixed on the other end of universal driving shaft；The clamping cylinder one drives
Dynamic linkage block simultaneously drives universal driving shaft to swing, and drive mechanical paw realize 0-90 ° of overturning, realize manipulator to the clamping of oil pipe and
It unclamps.
The pipe device up and down includes support arm, manipulator and clamping cylinder two, and the bottom of support arm is fixed on slide,
The manipulator is mounted on support arm；The manipulator includes clamping plate and connecting plate, and connecting plate two sides are distinguished by hinged shaft
Clamping plate is connected, link mechanism is equipped between two clamping plate, two drive link mechanism of clamping cylinder drives two clamping plates to open
Close the clamping and release realized to oil pipe.
The opposite face of two clamping plate is equipped with backing plate, and the backing plate is equipped with anti-skid chequer.
The drillingrig base is fixed on rig floor, and one end is connect with derrick, and at sea platform automates for the other end and setting
Connection at the top of small support column on workover rig base.
The utility model has the advantages that the present invention by the alternation switch of manipulator and up and down, realizes above the mentioning instead of artificial logical of oil pipe
Cross derrick hook pull oil pipe, improve working efficiency, reduce labor intensity, safety it is good；Drilling floor surface manipulator of the present invention with
Two-deck table mechanical arm completes the vertical stacking operation of oil pipe together, and instead of manual operation, labor intensity is low, highly-safe.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of rig floor manipulator of the present invention；
Fig. 3 is the structural schematic diagram of the present invention or more robot device；
Fig. 4 is the structural schematic diagram of the present invention or more pipe device；
Fig. 5 is the structural schematic diagram of manipulator of the present invention.
In figure: 1 drillingrig base, about 2 pipe devices, 3 rig floor manipulators, 4 slides, 5 sliding rails one, 6 oil pipes, 21 support arms,
22 manipulators, 23 clamping plates, 24 connecting plates, 31 principal arms, 32 tops seat, 33 rotary oil cylinders, 34 sliding rails two, 35 lifting cylinders, 36
Upper robot device, 37 lower robot devices, 41 brackets, 42 linkage blocks, 43 universal driving shafts, 44 pressing plates, 45 mechanical paws, 46 clamp
Oil cylinder one.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Fig. 1 show structural schematic diagram of the invention.
The present invention includes drillingrig base 1, upper and lower pipe device 2, rig floor manipulator 3 and hydraulic control system, the rig floor bottom
Seat 1 is frame-type structure, and drillingrig base 1 is equipped with sliding rail 1 and can be with XY to mobile slide 4；The pipe device 2 up and down is fixed
And it can be along XY to moving on slide 4；The rig floor manipulator 3 is mounted on the sliding rail 1 of drillingrig base 1 and can be along sliding rail
One 5 longitudinal movements.
Fig. 2 show the structural schematic diagram of rig floor manipulator of the present invention.
The rig floor manipulator 3 includes principal arm 31 and upper and lower two robot devices, is equipped with top at the top of the principal arm 31
Seat 32, top seat 32 is interior to be equipped with rotary oil cylinder 33, and the back side of principal arm 31 is equipped with sliding rail 2 34 and lifting cylinder 35；The principal arm 31
On two sets robot devices up and down are installed, the upper robot device 36 is mounted on the top seat 32 of principal arm 31, and rotation is oily
The controllable upper robot device 36 of cylinder 33 realizes 180 ° of overturnings around top seat 32, passes through the controllable upper manipulator dress of rotary oil cylinder 33
The angle for setting 36, facilitates oil pipe to enter in derrick；The lower robot device 37 is mounted on the sliding rail 2 34 at 31 back of principal arm,
Lifting cylinder 35 controls the lower realization of robot device 37 and moves up and down along sliding rail 2 34；What lower robot device 37 sent lower section
Robot device 36 is taken over and be transferred to oil pipe 6, and upper robot device 36 is sent after overturning oil pipe 6 to well head.
Fig. 3 show the structural schematic diagram of the present invention or more robot device.
The upper robot device 36 is identical with lower 37 structure of robot device, including bracket 41 and manipulator, bracket
41 both ends are respectively installed by one manipulator；The manipulator includes linkage block 42, universal driving shaft 43, pressing plate 44, mechanical paw 45 and folder
The cylinder body of locking oil cylinder 46, the clamping cylinder 46 is fixed on bracket 41, and the other end and two linkage blocks 42 are hinged, linkage block 42
41 end of bracket is mounted on by pressing plate 44；Two linkage blocks 42 are fixedly connected with 43 one end of universal driving shaft respectively, mechanical paw 45
It is fixed on the other end of universal driving shaft 43.The clamping cylinder 1 drives linkage block 42 and universal driving shaft 43 is driven to swing, and drives
Mechanical paw 45 realizes 0-90 ° of overturning, realizes clamping and release of the manipulator to oil pipe 6.
Fig. 4 show the structural schematic diagram of the present invention or more pipe device.
The pipe device 2 up and down includes support arm 21, manipulator 22 and clamping cylinder, and the bottom of support arm 21 is fixed on cunning
On seat 4, the manipulator 22 is mounted on support arm 21.
Fig. 5 show the structural schematic diagram of manipulator of the present invention.
The manipulator 22 includes clamping plate 23 and connecting plate 24, and 24 two sides of connecting plate are separately connected clamping plate by hinged shaft
23, link mechanism is equipped between two clamping plate 23, clamping cylinder drive link mechanism drives the folding of two clamping plates 23 to realize
Clamping and release to oil pipe.
Two clamping plates, 23 opposite face is equipped with backing plate, and the backing plate is equipped with anti-skid chequer.
The drillingrig base 1 is fixed on rig floor, and one end is connect with derrick, and at sea platform automates for the other end and setting
Connection at the top of small support column on workover rig base.
The hydraulic control system controls the realization of pipe device 2 up and down and takes over, more than trombone slide to drilling floor surface, and control rig floor is mechanical
The adapter tube of hand 3, anti-pipe simultaneously send the longitudinal movement of oil pipe 6 for overturning 180 ° to well head.
The course of work of the invention:
Lower robot device 37 on principal arm 31 is taken over from chassis and lifts the oil pipe 6 that pipe manipulator is sent, and pipe manipulator loose is lifted
It opens, lower robot device 37 grasps the uplink under the driving of oil cylinder of oil pipe 6, send at supreme robot device 36, upper manipulator dress
Setting 36 grasps 6 uplink of oil pipe, and lower robot device 37 unclamps, and realizes the promotion of oil pipe 6；Then in the driving of rotary oil cylinder 33
Under, upper robot device 36 rotates 180 °；The manipulator clamping oil pipe 6 of upper and lower pipe device 2 is according to the tubing string of program setting two
The position coordinate of layer platform, position of the adjustment manipulator on drilling floor surface small arc shaped and longitudinal crossbeam, reaches specified coordinate, puts down oil
Pipe.
The present invention realizes above mentioning instead of manually hanging oneself by derrick for oil pipe by the alternation switch of manipulator and up and down
Hook pull oil pipe, improve working efficiency, reduce labor intensity, safety it is good；Drilling floor surface manipulator of the present invention and quadruple board platform are mechanical
Hand completes the vertical stacking operation of oil pipe together, and instead of manual operation, labor intensity is low, highly-safe.
The embodiment above of the present invention, is merely illustrative, be not it is only, it is all within the scope of the present invention or it is equivalent this
Change in the range of invention is surrounded by the present invention.
Claims (6)
1. pipe device above and below a kind of offshore platform automation drilling platform of workover rig, it is characterised in that: including drillingrig base (1), up and down
Pipe device (2), rig floor manipulator (3) and hydraulic control system, the drillingrig base (1) is frame-type structure, on drillingrig base (1)
Equipped with sliding rail one (5) and can be with XY to mobile slide (4)；The pipe device (2) up and down is fixed on slide (4) and can edge
XY is to movement；The rig floor manipulator (3) includes principal arm (31) and upper and lower two robot devices, the lower robot device
(37) it is mounted on principal arm (31), upper robot device (36) is mounted at the top of principal arm (31) and may be reversed 180 °；The rig floor
Manipulator (3) is mounted on the sliding rail one (5) of drillingrig base (1) and vertically moves along sliding rail one (5)；The hydraulic control system
System controls pipe device (2) up and down and realizes adapter tube, more than trombone slide to drilling floor surface, and control rig floor manipulator (3) adapter tube, anti-manage simultaneously will
The oil pipe 6 of overturning is sent to well head.
2. pipe device above and below offshore platform automation drilling platform of workover rig according to claim 1, it is characterised in that: the principal arm
(31) top is equipped with top seat (32), is equipped with rotary oil cylinder (33) in top seat (32), and the back side of principal arm (31) is equipped with sliding rail two
(34) and lifting cylinder (35)；The upper robot device (36) is mounted on the top seat (32) of principal arm (31), rotary oil cylinder
(33) robot device (36) is overturn around achievable 180 ° of top seat (32) in control；The lower robot device (37) is mounted on
On the sliding rail two (34) at principal arm (31) back, lifting cylinder (35) controls lower robot device (37) and realizes along sliding rail two (34)
Lower movement；The oil pipe (6) that lower section is sent is taken over and is transferred to upper robot device (36), upper machinery by lower robot device (37)
Arm device (36) is sent after overturning oil pipe (6) to well head.
3. pipe device above and below offshore platform automation drilling platform of workover rig according to claim 1, it is characterised in that: described is upper
Robot device (36) is identical with lower robot device (37) structure, including bracket (41) and manipulator, and bracket (41) both ends are each
One manipulator is installed；The manipulator includes linkage block (42) universal driving shaft (43), pressing plate (44), mechanical paw (45) and folder
The cylinder body of locking oil cylinder (46), the clamping cylinder (46) is fixed on bracket (41), the other end and two linkage blocks (42) hingedly,
Linkage block (42) is mounted on bracket (41) end by pressing plate (44)；Two linkage blocks (42) are solid with universal driving shaft (43) one end respectively
Fixed connection, mechanical paw (45) are fixed on the other end of universal driving shaft (43)；The clamping cylinder one (46) drives linkage block (42)
And universal driving shaft (43) are driven to swing, and mechanical paw (45) is driven to realize 0-90 ° of overturning, realize manipulator to the folder of oil pipe (6)
Tight and release.
4. pipe device above and below offshore platform automation drilling platform of workover rig according to claim 1, it is characterised in that: above and below described
Pipe device (2) includes support arm (21), manipulator (22) and clamping cylinder two, and the bottom of support arm (21) is fixed on slide (4)
On, the manipulator (22) is mounted on support arm (21)；The manipulator (22) includes clamping plate (23) and connecting plate (24),
Connecting plate (24) two sides are separately connected clamping plate (23) by hinged shaft, and link mechanism, folder are equipped between two clamping plate (23)
Two drive link mechanism of locking oil cylinder drives two clamping plates (23) folding to realize clamping and release to oil pipe.
5. pipe device above and below offshore platform automation drilling platform of workover rig according to claim 4, it is characterised in that: two folder
The opposite face of tight plate (23) is equipped with backing plate, and the backing plate is equipped with anti-skid chequer.
6. pipe device above and below any one of -5 offshore platform automation drilling platform of workover rig according to claim 1, it is characterised in that:
The drillingrig base (1) is fixed on rig floor, and one end is connect with derrick, and at sea platform automates workover rig for the other end and setting
Connection at the top of small support column on pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910073466.7A CN109594937A (en) | 2019-01-25 | 2019-01-25 | A kind of upper and lower pipe device of offshore platform automation drilling platform of workover rig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910073466.7A CN109594937A (en) | 2019-01-25 | 2019-01-25 | A kind of upper and lower pipe device of offshore platform automation drilling platform of workover rig |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109594937A true CN109594937A (en) | 2019-04-09 |
Family
ID=65966686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910073466.7A Pending CN109594937A (en) | 2019-01-25 | 2019-01-25 | A kind of upper and lower pipe device of offshore platform automation drilling platform of workover rig |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109594937A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110485949A (en) * | 2019-09-06 | 2019-11-22 | 北京鼎文融和科技有限公司 | A kind of pipe-grabbing mechanical arm |
-
2019
- 2019-01-25 CN CN201910073466.7A patent/CN109594937A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110485949A (en) * | 2019-09-06 | 2019-11-22 | 北京鼎文融和科技有限公司 | A kind of pipe-grabbing mechanical arm |
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