CN116394218A

CN116394218A - Composite operation racking platform calandria manipulator

Info

Publication number: CN116394218A
Application number: CN202111626011.7A
Authority: CN
Inventors: 邢广亮; 邢大伟; 白丙建; ***; 杨海刚; 梁维刚; 王洪涛
Original assignee: China National Petroleum Corp; Baoji Oilfield Machinery Co Ltd; CNPC Chuanqing Drilling Engineering Co Ltd; CNPC National Oil and Gas Drilling Equipment Engineering Technology Research Center Co Ltd
Current assignee: China National Petroleum Corp; Baoji Oilfield Machinery Co Ltd; CNPC Chuanqing Drilling Engineering Co Ltd; CNPC National Oil and Gas Drilling Equipment Engineering Technology Research Center Co Ltd
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2023-07-07

Abstract

The invention discloses a composite operation racking platform calandria manipulator which is fixedly arranged below a derrick racking platform through pin shaft connection, and comprises an inclined arm, wherein the top end of the inclined arm is connected with a pulley through a slewing device, the pulley is arranged on a track, the bottom end of the inclined arm is connected with a vertically arranged telescopic arm through an adjusting device, two ends of the telescopic arm are respectively provided with a supporting clamp and a clamping clamp, and the clamping clamp is provided with a detection mechanism for detecting load. The invention can meet the requirements of a drill rod stand with the suspension emission accounting for more than 90 percent and a heavy load drill collar stand with the pushing emission accounting for less than 10 percent.

Description

Composite operation racking platform calandria manipulator

Technical Field

The invention belongs to the technical field of printing mechanical equipment, and relates to a racking platform calandria manipulator for composite operation.

Background

Currently, there are two general methods for the operation of the oil rig stand discharge: one is to adopt a manual operation mode, a derrick worker transfers the upper end of a stand between a fingerboard and a wellhead at a double-layer platform, and a drill floor worker transfers the lower end of the stand between the stand and the wellhead at a drill floor surface; and the other is to adopt a manipulator operation mode, and two mechanical devices are respectively arranged on the two layers of tables and the drill floor, so that the manual operation is completely simulated, the upper end of the stand is pushed to the position of the fingerboard, and the lower end of the stand is pushed to the corresponding position of the stand after the upper end is in place.

The above method has the following disadvantages: the method needs to be matched by a plurality of people when the vertical roots are discharged, and has the advantages of high labor intensity, high risk and low manual operation efficiency; according to the method, two manipulators are needed to participate in operation in order when the secondary stand is discharged, and the lower end of the secondary stand can be transferred to the stand table only by synchronously lifting and lowering the secondary stand through the free hanging system. The stand discharging efficiency is low, thereby affecting the comprehensive efficiency of the drilling operation.

Disclosure of Invention

The invention aims to provide a racking platform calandria manipulator for composite operation, which can meet the requirements of a drill rod stand with the suspension emission accounting for more than 90 percent and a heavy load drill collar stand with the pushing emission accounting for less than 10 percent.

The technical scheme includes that the racking platform calandria manipulator for the composite operation is fixedly installed below a racking platform of a derrick through pin shaft connection and comprises an inclined arm, the top end of the inclined arm is connected with a pulley through a turning device, the pulley is arranged on a track, the bottom end of the inclined arm is connected with a vertically arranged telescopic arm through an adjusting device, two ends of the telescopic arm are respectively provided with a supporting clamp and a clamping clamp, and the clamping clamp is provided with a detection mechanism for detecting load.

The present invention is also characterized in that,

the tilting arm comprises a main arm and an auxiliary arm which are hinged up and down, an electric hydraulic push rod is arranged between the main arm and the auxiliary arm, a base of the electric hydraulic push rod is fixed on the auxiliary arm, and a piston rod of the electric hydraulic push rod is fixedly connected with the main arm.

The telescopic arm comprises an inner arm and an outer arm which are sleeved inside and outside, the clamping pliers and the supporting pliers are respectively arranged at the lower end of the inner arm and the upper end of the outer arm, and the telescopic arm is driven electrically or hydraulically or driven electrically and hydraulically in a combined mode.

The rotary device is used for driving the tilting arm to rotate and comprises a planetary reducer a connected with a servo motor or a motor, the planetary reducer a is connected with a rotary reducer a, the rotary reducer a is fixed on the pulley through a bolt, and a rotary part of the rotary reducer a is connected with the tilting arm through a bolt.

The adjusting device is used for driving the telescopic boom to rotate and adjusting the included angle between the inclined boom and the telescopic boom, and comprises a planetary reducer b connected with a servo motor or a motor, wherein the planetary reducer b is connected with a rotary reducer b, the rotary reducer b is arranged between the inclined boom and the telescopic boom, the rotary reducer b is fixed on the telescopic boom, and the rotary part of the rotary reducer b is arranged on the inclined boom; or the adjusting device is a servo electric cylinder, the servo electric cylinder is fixed on the inclined arm, and a push rod of the servo electric cylinder is fixedly connected with the telescopic arm.

The detection mechanism comprises a clamping load sensor and a drilling tool detection sensor which are both fixed on the clamping pliers.

The pulley and the track are driven by a gear and a rack, the rack is arranged on the track, the gear is arranged on the pulley, and the gear is driven by a servo motor or a motor.

The beneficial effects of the invention are as follows:

1) The operation difficulty of the vertical root discharge is reduced. The drill rod is adopted for suspension and discharge, so that the participation of manpower or other equipment and systems is not required, and the synchronous lifting and lowering of drilling tools by a traveling and hanging system is not required, so that the operation requirement is low;

2) And the operation efficiency of the vertical root discharge is improved. The vertical stand of the drill rod is arranged in a suspension mode, the upper end and the lower end of the vertical stand synchronously reach the corresponding positions of the fingerboard and the vertical stand table, and the drill rod discharging efficiency is high;

3) The adaptability is good. The drill collar stand is discharged, a supporting mode is adopted, the heavy load is not suspended, the self weight of the manipulator is light, the lifting load of the derrick of the drilling machine is little, and the new drilling machine and the old drilling machine can be matched.

4) The automatic discharge of the stand in the tripping operation of the drilling machine is realized, the unmanned of the racking platform is realized, and the labor intensity is reduced.

Drawings

FIG. 1 is a schematic view of an installation of a composite work racking platform calandria manipulator of the present invention;

FIG. 2 is a schematic view of an installation of a composite work racking rack pipe manipulator according to the present invention from another perspective;

FIG. 3 is a schematic view of a composite operation racking platform calandria manipulator suspended drill pipe according to the present invention;

FIG. 4 is a schematic view of a composite work racking platform calandria manipulator holding drill collar of the present invention.

In the figure, the two layers are 1, the auxiliary arm 2, the track 3, the pulley 4, the inclined arm 5, the telescopic arm 6, the clamping pliers 7, the supporting pliers 8, the walking device 9, the rotating device 10, the adjusting device 11, the detecting mechanism 12, the control system 14, the electric hydraulic push rod 15 and the main arm.

Detailed Description

The invention will be described in detail below with reference to the drawings and the detailed description.

The invention relates to a composite operation racking platform calandria manipulator which is fixedly arranged below a derrick racking platform 1 through pin shaft connection, as shown in fig. 1-2, and comprises an inclined arm 5, wherein the top end of the inclined arm 5 is connected with a pulley 4 through a rotary device 10, the pulley 4 is arranged on a track 3, the bottom end of the inclined arm 5 is connected with a vertically arranged telescopic arm 6 through an adjusting device 11, two ends of the telescopic arm 6 are respectively provided with a supporting clamp 8 and a clamping clamp 7, and the clamping clamp 7 is provided with a detection mechanism 12 for detecting load.

The tilting arm 5 comprises a main arm 15 and an auxiliary arm 2 which are hinged up and down, an electric hydraulic push rod 14 is arranged between the main arm 15 and the auxiliary arm 2, a base of the electric hydraulic push rod 14 is fixed on the auxiliary arm 2, and a piston rod of the electric hydraulic push rod 14 is fixedly connected with the main arm 15.

The telescopic arm 6 comprises an inner arm and an outer arm which are sleeved inside and outside, the clamping pliers 7 and the supporting pliers 8 are respectively arranged at the lower end of the inner arm and the upper end of the outer arm, and the telescopic arm 6 is driven electrically or hydraulically or electrically and hydraulically in a combined mode.

The turning device 10 is used for driving the tilting arm 5 to rotate, and comprises a planetary reducer a connected with a servo motor or a motor, wherein the planetary reducer a is connected with a turning reducer a, the turning reducer a is fixed on the pulley 4 through a bolt, and a turning part of the turning reducer a is connected with the tilting arm 5 through a bolt.

The adjusting device 11 is used for driving the telescopic boom 6 to rotate, adjusting the included angle between the inclined boom 5 and the telescopic boom 6, and comprises a planetary reducer b connected with a servo motor or a motor, wherein the planetary reducer b is connected with a rotary reducer b, the rotary reducer b is arranged between the inclined boom 5 and the telescopic boom 6, the rotary reducer b is fixed on the telescopic boom 6, and the rotary part of the rotary reducer b is arranged on the inclined boom 5; or the adjusting device is a servo electric cylinder, the servo electric cylinder is fixed on the tilting arm 5, and a push rod of the servo electric cylinder is fixedly connected with the telescopic arm 6.

The pulley 4 and the track 3 are driven by a gear and a rack, the rack is arranged on the track 3, the gear is arranged on the pulley 4, and the gear is driven by a servo motor or a motor.

The detection mechanism 12 comprises a clamping load sensor and a drilling tool detection sensor, which are both fixed on the clamping pliers 7.

The control system 13 is integrated with the driving mechanism of each component, the sensors are connected with the control system 13 and used for position detection or limit control, the control system 13 is utilized for programmable control of actions of each component in the device, the safety interlocking function is realized, the remote control realizes automatic calandria operation, and in the moving and transporting process of a drilling machine, excessive pipelines are not required to be disassembled, so that the convenience of installation and transportation is greatly improved.

The main components of the composite operation racking platform calandria manipulator of the invention are as follows:

a gear-rack mechanism is adopted between the track 3 and the pulley 4 and is driven by a travelling device 9, so that the racking platform calandria manipulator 2 longitudinally moves along the racking platform 1.

The slewing device 10 comprises a slewing drive to realize clockwise and anticlockwise rotation of the racking platform calandria manipulator 2.

The electro-hydraulic push rod 14 is used for realizing the swing arm action of the tilting arm 5, so that the clamping pincers 7 and the supporting pincers 8 mounted on the telescopic arm 6 reach the target position, and the target stand is clamped or supported, and the electro-hydraulic push rod 14 can be replaced by other electric cylinder driving structures or rotary driving structures.

The adjusting device 11 can realize that the telescopic boom 6 rotates around the inclined boom 5, and simultaneously the inner and outer booms of the telescopic boom 6 are telescopic, so that the height of the clamping pliers 7, which suspend the drilling tool from the drilling platform, is unchanged, and the operation safety is ensured.

The clamping pliers 7 adopt three-point clamping and have an opening and closing function, so that the operation of suspending the tubular column is satisfied.

The detection mechanism 12 timely feeds back signals when the clamping pliers 7 clamp the drilling tool to lift or drop the drilling tool to contact the stand, and the detection mechanism 12 timely feeds back the deflection angle of the clamping pliers 7, so that accurate control is facilitated, and the working efficiency is improved.

The invention relates to a composite operation racking platform calandria manipulator, which comprises the following working processes:

as shown in fig. 3, when the drill stem stand is discharged, the central connecting line of the clamping pincers 7 and the supporting pincers 8 arranged on the telescopic arms 6 is collinear with the central line of the drill stem stand through the combined action of the inclined driving mechanism of the inclined arms 5 and the adjusting device 11, the two pincers heads jointly clamp the drill stem stand, the inner arms of the telescopic arms 6 enable the clamping pincers 7 to ascend or descend under telescopic driving, the purpose of lifting the stand is achieved, and the stand is lowered after the telescopic arms are moved to a required target position, so that the purpose of suspending and discharging the drill stem stand is achieved.

As shown in fig. 4, when the composite operation racking platform calandria manipulator of the invention is used for discharging a drill collar stand, the inclined driving mechanism of the inclined arm 5 and the adjusting device 11 are used together to enable the connecting line of the centers of the clamping pincers 7 and the supporting pincers 8 arranged on the telescopic arm 6 to form an included angle with the central line of the drill rod stand, so that the clamping pincers 7 are far away from the drill collar stand, only the supporting pincers 8 support the upper end of the drill collar stand, and after the lower end of the stand is transferred to the stand, the upper end of the supporting stand is pushed to enter the racking platform finger beam, thereby realizing the purpose of supporting the discharge drill collar stand.

Claims

1. The utility model provides a compound operation racking platform calandria manipulator, is through round pin hub connection fixed mounting in derrick racking platform (1) below, its characterized in that, including tilting arm (5), tilting arm (5) top is connected with coaster (4) through slewer (10), coaster (4) set up on track (3), tilting arm (5) bottom is connected with flexible arm (6) of vertical setting through adjusting device (11), flexible arm (6) both ends are provided with respectively and hold up pincers (8) and centre gripping pincers (7), centre gripping pincers (7) are provided with detection mechanism (12) of detection load.

2. The racking platform calandria manipulator of claim 1, wherein the tilting arm (5) comprises a main arm (15) and an auxiliary arm (2) which are hinged up and down, an electro-hydraulic push rod (14) is arranged between the main arm (15) and the auxiliary arm (2), a base of the electro-hydraulic push rod (14) is fixed on the auxiliary arm (2), and a piston rod of the electro-hydraulic push rod (14) is fixedly connected with the main arm (15).

3. The racking platform calandria manipulator of claim 1, wherein the telescopic arm (6) comprises an inner arm and an outer arm which are sleeved inside and outside, the clamping pliers (7) and the supporting pliers (8) are respectively arranged at the lower end of the inner arm and the upper end of the outer arm, and the telescopic arm (6) is electrically driven, hydraulically driven or electro-hydraulically driven in a combined mode.

4. The composite operation racking platform calandria manipulator according to claim 1, wherein the turning device (10) is used for driving the tilting arm (5) to rotate, and comprises a planetary reducer a connected with a servo motor or a motor, wherein the planetary reducer a is connected with a turning reducer a, the turning reducer a is fixed on the pulley (4) through a bolt, and a turning part of the turning reducer a is connected with the tilting arm (5) through a bolt.

5. The composite operation racking platform calandria manipulator according to claim 1, wherein the adjusting device (11) is used for driving the telescopic arm (6) to rotate, adjusting the included angle between the inclined arm (5) and the telescopic arm (6), and comprises a planetary reducer b connected with a servo motor or a motor, wherein the planetary reducer b is connected with a rotary reducer b, the rotary reducer b is arranged between the inclined arm (5) and the telescopic arm (6), the rotary reducer b is fixed on the telescopic arm (6), and the rotary part of the rotary reducer b is arranged on the inclined arm (5); or the adjusting device is a servo electric cylinder, the servo electric cylinder is fixed on the tilting arm (5), and a push rod of the servo electric cylinder is fixedly connected with the telescopic arm (6).

6. The racking platform calandria manipulator of claim 1, wherein the trolley (4) and the track (3) are driven by a gear and a rack, the rack is arranged on the track (3), the gear is arranged on the trolley (4), and the gear is driven by a servo motor or a motor.

7. The racking platform calandria manipulator according to claim 1, wherein the detection means (12) comprises a clamping load sensor and a drilling tool detection sensor, both fixed on the clamping jaw (7).