CN205349253U - Automatic discharging equipment of drilling string - Google Patents
Automatic discharging equipment of drilling string Download PDFInfo
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- CN205349253U CN205349253U CN201620062592.4U CN201620062592U CN205349253U CN 205349253 U CN205349253 U CN 205349253U CN 201620062592 U CN201620062592 U CN 201620062592U CN 205349253 U CN205349253 U CN 205349253U
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Abstract
Involve oil drilling equipment's an automatic discharging equipment of drilling string, the top of its derrick has that drive on the top, there is the quadruple board platform centre, there is the rig floor lower part, and the thribble platform is connected on the rig floor, and the upper portion manipulator is connected on the quadruple board platform and can be moved on the quadruple board platform, and lower part manipulator leg joint is at the thribble bench, lower part manipulator logic and just moving on the manipulator support of lower part on the manipulator support of lower part. The utility model discloses can realize the automatic operation of snatching, remove, discharging of drilling string, reduce workman intensity of labour, level of mechanization is high, and operation safety is applicable to the supporting use of various drilling platform.
Description
Technical field
This utility model belongs to oil drilling and extracting equipment technical field, relates to a kind of well pipe handling equipment for capturing, move, discharge thribble.
Background technology
Pipe racking is the process realizing thribble conveying between thribble platform and well head and discharge in drilling process.Drilling operation course needs drill string is carried out substantial amounts of discharge operation, including drill string discharge on well site and the discharge on rig floor.Particularly in the process of making a trip, it is necessary to repeatedly repeat drill string discharge operation.Drill string discharge operation not only spends the substantial amounts of time, and labor intensity is big, and security risk is high.Therefore, it is achieved automatization's discharge of drill string, allow driller away from deathtrap, alleviate labor strength, improve the gentle work efficiency of Automated water of drill string discharge, be realize safe and healthy drilling well and improve the effective way of drilling efficiency.
At present, conventional oil rig adopts manual work to coordinate pneumatic puffer to realize mostly, this discharge, conveying thribble operation, it is necessary to rigger climbs to quadruple board platform and is engaged in work high above the ground, abnormally dangerous and labor intensity big, and working performance is low.In recent years, the typical structure pattern such as column pipe pick up and lay down system and quadruple board platform well pipe handling equipment is occurred in that.
Column pipe pick up and lay down system, mainly adopt installation manipulator arm and trolley body on the column be parallel to derrick to realize system and realize along the rectilinear motion of horizontal guide rail with around the rotation within the scope of 180 ° of the column own axes, thus realizing capturing drilling rod (thribble), synchronize to realize up and down and the transmission of front and back.Its advantage is that structure is relatively easy, takes up space little, and working range is wide, it is prone to Automated condtrol, shortcoming is to need to install the column with guide rail and powerful little motor vehicle drive system on rig floor, and overall stability against overturning is also impacted, and range of application is very limited.
Quadruple board platform well pipe handling equipment, main employing is integrated into the cantilevered multifunction manipulator on quadruple board platform, adopt the TRAJECTORY CONTROL pattern that translation adds rotation automatically column upper end to be guided and put into quadruple board platform discharge frame, or column upper end is moved to well head top position from quadruple board platform discharge frame.System is easily achieved emissions operation, takes up space little, light weight, but the radius of clean-up is little, control complexity, it usually needs with other exhaust system of rig floor with the use of.But due to outstanding hold drill string time derrick in epimere and quadruple board platform stressing conditions complex, be unfavorable for transforming with rig；Meanwhile, gang drill post and drill string are vertically put, less stable, at present not yet industrial applications.
Utility model content
This utility model is for above-mentioned Problems existing, it is provided that a kind of bearing capacity is strong, meet drilling environment, long service life and the Fully-mechanized a kind of well pipe handling equipment worked continuously, to realize safe and healthy drilling well and to improve drilling efficiency.
This utility model solves its technical problem and be the technical scheme is that and include derrick, rig floor, quadruple board platform, top mechanical hand, lower robot, lower robot support, thribble platform, there is quadruple board platform the centre of derrick, rig floor is arranged at the bottom of derrick, thribble platform is connected on rig floor, top mechanical hand is arranged on connection quadruple board platform, realize ring set and the horizontal feed of drill string, and coordinate lower robot to realize thribble discharge on quadruple board platform；Lower robot is connected on lower robot support, realize the clamping of drill string, lifting, horizontal feed and transfer, and coordinating top mechanical hand to realize the thribble discharge at thribble platform, lower robot support, on thribble platform, meets working region when lower robot moves and covers whole thribble platform.
Described top mechanical hand, including top sliding rail, top sliding trolley, pipe-grabbing mechanical arm, mechanical arm and telescopic oil cylinder, top sliding rail guide rail is connected to quadruple board platform front portion, top sliding trolley is stuck in sliding rail by roller, driven by motor and realize the movement in orbit of top sliding trolley, mechanical arm is connected on the sliding trolley of top, including pipe-grabbing mechanical arm, mechanical arm and telescopic oil cylinder composition, pipe-grabbing mechanical arm is fixed on mechanical arm front end, mechanical arm is inside and outside bar telescoping mechanism, telescopic oil cylinder is inside and outside mechanical arm in bar telescoping mechanism, realize the automatic telescopic of mechanical arm.
Described lower robot is connected on the sliding trolley on lower robot support by bearing pin, including bottom pipe-grabbing mechanical arm, lower robot mounting seat, lower robot oil cylinder I, lower robot oil cylinder II, bottom sliding trolley, little cloth mechanical hand linkage, bottom pipe-grabbing mechanical arm is connected to the front end of lower robot linkage, rear end is connected with lower robot mounting seat, bottom pipe-grabbing mechanical arm is fixed on mechanical arm assembly front end, hydraulic oil cylinder driving can realize the clamping of the thribble of different size.Mechanical arm bearing, on sliding trolley, can move with bottom sliding trolley.
Described lower robot support is connected on the otic placode that thribble platform is anterior by bearing pin, including rack body, bottom sliding trolley track, bottom sliding trolley, bottom sliding motor, rack body is that lead frame structure is for bottom sliding trolley track and bottom sliding trolley, and bear lower robot and the weight of clamping thribble, bottom sliding trolley is stuck in two tracks by roller, driven by bottom sliding motor and realize the movement in orbit of bottom sliding trolley, lower robot is fixed on the sliding trolley of bottom, thus realizing lower robot with the movement in orbit of bottom sliding trolley, meet working region when lower robot moves and cover whole thribble platform.
Described thribble platform, including thribble platform main body, thribble fixed block and connection otic placode.Thribble fixed block and otic placode are arranged in main body, and thribble fixed block is connected with cylindrical boss, being accurately positioned for thribble, and thribble platform is connected on base by bearing pin.
Useful benefit of the present utility model is in that: reasonable integral structure, it is achieved that the crawl of thribble, movement, discharge automated job, mechanization degree is high, reduces the labor intensity of workman, improves work efficiency；Avoid work high above the ground, allow driller away from deathtrap, enhance security reliability, applied widely, can be directly mounted at supporting on drill floor being suitable for, be realize safe and healthy drilling well and improve the effective way of drilling efficiency.
Accompanying drawing explanation
Fig. 1 is this utility model structural representation；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is Fig. 1 top mechanical hand front view；
Fig. 4 is the top mechanical hand top view of Fig. 1；
Fig. 5 is the lower robot top view of Fig. 1；
Fig. 6 is the lower robot front view of Fig. 1；
Fig. 7 is the lower robot structural representation of Fig. 1；
Fig. 8 is the bottom pipe-grabbing mechanical arm structural representation of Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the utility model is described in further detail.
In Fig. 1-2: there is quadruple board platform 5 at the middle part of derrick 2, rig floor 1 is arranged at bottom, top is sagging has top to drive 4, top mechanical hand 6 is welded on quadruple board platform 5, top mechanical hand 6 can move on quadruple board platform, standing is connected on rig floor 1 with platform 7, lower robot support 9 is connected to vertical with on platform 7 by bearing pin, lower robot 8 is connected on lower robot support 9 by bearing pin, top mechanical hand 6 ring set stands the top with 3, the bottom of lower robot 8 ring set thribble 3, make thribble 3 promote and movement on lower robot support 9 and mobile time working region cover whole vertical with platform 7, top mechanical hand 6 and lower robot 8 realize the thribble 3 clamping on quadruple board platform 5, discharge and horizontal feed.
In Fig. 3-4: mechanical hand 6 includes sliding roller 11, top sliding trolley 12, top sliding rail 13, supervisor's mechanical hand 14, mechanical arm 15, telescopic oil cylinder 16, pipeline drag chain 17, top mechanical hand move motor 18.Sliding roller 11 is arranged on the bottom of top sliding trolley 12, it is achieved top sliding trolley 12 moves left and right on quadruple board platform 5 along top sliding rail 13, and top sliding rail 13 is channel-section steel form, is welded on quadruple board platform 5.Mechanical arm 15 is fixed on top sliding trolley 12, and for inside and outside bar telescoping mechanism, telescopic oil cylinder 16 is arranged on inside and outside mechanical arm 15 in bar telescoping mechanism, is realized the automatic telescopic of mechanical arm 15 by telescopic oil cylinder 16.Pipeline drag chain 17 one end is fixed in mechanical arm 15 on bar, and one end is fixed on the outer bar of mechanical arm 15, for laying the pipeline of telescopic oil cylinder 16.Top mechanical hand moves motor 18 and is arranged on quadruple board platform 5 both sides, for hydraulic drive motor, is used for driving sliding trolley 12 to move left and right on quadruple board platform 5 along top sliding rail 13.
In Fig. 5: thribble platform 7 includes: thribble platform main body 19, thribble locating piece 20, connection otic placode 21, installation bearing pin 22.Thribble platform main body 19 is used for bearing thribble weight and realizing the thribble platform 7 installation on rig floor 1 for frame structure.Thribble locating piece 20 is cylindrical boss, is welded on thribble platform 7, for realizing being accurately positioned of every thribble 3, connects otic placode 21 and is welded in thribble platform main body 19, realizes lower robot support 9 by installation bearing pin 22 and be arranged on thribble platform 7.
In Fig. 6-8: lower robot 8 includes: bearing pin 23, lower robot mounting seat 24, lower robot oil cylinder I25, lower robot oil cylinder II26, lower robot connection set square 27, lower robot linkage 28, bottom pipe-grabbing mechanical arm 29 are installed.The bearing that lower robot mounting seat 24 is Plate Welding, its underpart realizes the connection with sliding trolley 31 by installing bearing pin 23.Lower robot linkage 28 is connected set square 27 by 4 groups of connecting rods by 2 groups of lower robot and forms two parallelogram sturcutres, the rear end of lower robot linkage 28 is connected with the top of lower robot mounting seat 24, one end of lower robot oil cylinder I25 is connected to lower robot and connects on set square 27, the other end is connected on bottom pipe-grabbing mechanical arm 29, one end of lower robot oil cylinder II26 is connected with lower robot linkage 28, the other end is connected seat 24 and is connected with lower robot, and realize the flexible of bottom pipe-grabbing mechanical arm 29 by lower robot oil cylinder I25 and lower robot oil cylinder II26, promote, horizontal feed and transfer thribble 3.
Bottom pipe-grabbing mechanical arm 29 is by bottom pipe-grabbing mechanical arm binding clip 30, bottom pipe-grabbing mechanical arm oil cylinder 31, support connecting plate 32 and bearing pin 40.Two, bottom pipe-grabbing mechanical arm binding clip 37 connects the top being arranged on support connecting plate 39, one end of two bottom pipe-grabbing mechanical arm oil cylinders 38 is connected to the bottom supporting connecting plate 39, the other end connects bottom pipe-grabbing mechanical arm binding clip 37 respectively and connects, the easy motion of bottom pipe-grabbing mechanical arm binding clip 37 is realized, it is achieved the clamping of different-diameter thribble 3 by two, left and right bottom pipe-grabbing mechanical arm oil cylinder 31.Bottom pipe-grabbing mechanical arm 29 is connected fixing by bearing pin 40 with the front end of lower robot linkage 28.
Lower robot support 9 includes: rack body 36, bottom sliding rail 30, bottom sliding trolley 31, lower robot move limit base 32, lower robot moves motor 33.Rack body 36 is to be welded by H profile steel, is used for installing bottom sliding trolley track 30, lower robot moves limit base 32 and lower robot moves motor 33.Bottom sliding trolley track 30 is channel-section steel, is welded on rack body 36.Bottom sliding trolley 31 is the sliding trolley with roller 34, is arranged in the bottom sliding trolley track 30 of both sides by roller 34 clamping.Roller 34 and roller installing plate 35 form a whole, and are installed on bottom sliding trolley 31 by bolt.Bottom sliding trolley 31 top is plane, plane has pin-and-hole for installing lower robot 8.It is the column with rubber buffer seat that lower robot moves limit base 32, for limiting the shift position of lower robot sliding trolley 31.Lower robot moves motor 33 for hydraulic drive motor, is used for driving bottom sliding trolley 31 to move left and right along bottom sliding trolley track 30.
Specific works flow process is: during trip-out, top is driven 4 and is put forward thribble 3 from well head, lower robot oil cylinder I25 and lower robot oil cylinder II26 synchronizes to stretch out, drive the linkage 28 launching lower robot, the pipe-grabbing mechanical arm 29 making lower robot 8 reaches well head thribble position, it is achieved from the bottom of thribble 3 to the clamping of thribble 3, lifting.Simultaneously, top mechanical hand telescopic oil cylinder 16 stretches out, and drives top mechanical hand telescopic arm 15 to make the ring set mechanical hand 14 of top mechanical hand 6 reach well head thribble 3 position, ring set mechanical hand 14 action, realize the top from thribble 3 ring of thribble 3 is held up, thus realizing holding action under the upper ring to whole thribble 3.After holding under the upper ring completing thribble 3, lower robot oil cylinder I25 and lower robot oil cylinder II26 synchronizes to retract, top mechanical hand telescopic oil cylinder 16 is retracted simultaneously, the top making the thribble 3 that ring holds arrives fingerboard 10 opening part of predetermined discharge areas, hereafter, thribble 3 is transported to precalculated position by top mechanical hand sliding trolley 12 and lower robot sliding trolley 31 synchronizing moving.Then, the linkage 28 of lower robot moves and thribble 3 is transferred on predetermined thribble fixed block 20 smoothly, the pipe-grabbing mechanical arm oil cylinder 31 of the pipe-grabbing mechanical arm 29 of lower robot 8 moves, pipe-grabbing mechanical arm 29 is unclamped, release thribble 3, unclamp with the ring set mechanical hand of upper back mechanical hand, discharge thribble 3, complete the clamping of a thribble, conveying, discharge and release movement.So circulation, it is achieved the discharge of all thribbles 3.During lower brill, workflow is contrary to the above.
Claims (6)
1. a drill string automatic discharge device, including derrick (2), (4) are driven on top, quadruple board platform (5), top mechanical hand (6), lower robot (8), lower robot support (9), thribble platform (7), it is characterized in that: the top of derrick (2) has top to drive (4), there is quadruple board platform (5) centre of derrick (2), rig floor (1) is arranged at the bottom of derrick (2), thribble platform (7) is connected on rig floor (1), top mechanical hand (6) is connected to quadruple board platform (5) and above and above can move at quadruple board platform (5), lower robot support (9) is connected on thribble platform (7), lower robot (8) is connected to lower robot support (9) and above and above can move at lower robot support (9).
2. a kind of drill string automatic discharge device according to claim 1, it is characterized in that: top mechanical hand (6) includes top sliding rail (13), top sliding trolley (12), pipe-grabbing mechanical arm (14), mechanical arm (15), telescopic oil cylinder (16), top mechanical hand moves motor (18), sliding roller (11) is in the bottom of top sliding trolley (12), top sliding rail (13) is connected to the front portion of quadruple board platform (5), top mechanical hand hydraulic motor (18) is in quadruple board platform (5) both sides, mechanical arm (15) is fixed on top sliding trolley (12), pipe-grabbing mechanical arm (14) is fixed in mechanical arm (15) front end, telescopic oil cylinder (16) is inside and outside mechanical arm (15) on expansion link.
3. a kind of drill string automatic discharge device according to claim 1, it is characterized in that: the bottom of lower robot mounting seat (24) is connected with bottom sliding trolley (31) by installing bearing pin (23), lower robot linkage (28) is connected set square (27) by 4 groups of connecting rods by lower robot and is connected as two parallelogrames, bottom pipe-grabbing mechanical arm (29) is connected to lower robot linkage (28) front end by bearing pin (40), the rear end of lower robot linkage (28) is connected with the top of lower robot mounting seat (24), one end of lower robot oil cylinder I (25) is connected to lower robot and connects on set square (27), the other end is connected on bottom pipe-grabbing mechanical arm (29), lower robot oil cylinder II (26) one end is connected with lower robot linkage (28), the other end is connected in lower robot mounting seat (24).
4. a kind of drill string automatic discharge device according to claim 3, it is characterized in that: the two ends supporting connecting plate (39) top connect bottom pipe-grabbing mechanical arm binding clip (37) respectively, supporting connecting plate (39) bottom to be connected with one end of two bottoms pipe-grabbing mechanical arm oil cylinder (38) respectively, the other end of two bottoms pipe-grabbing mechanical arm oil cylinder (38) is connected with two bottoms pipe-grabbing mechanical arm binding clip (37) respectively.
5. a kind of drill string automatic discharge device according to claim 1, it is characterized in that: the rack body (36) of lower robot support (9) is framework shape, bottom sliding trolley track (30), lower robot are moved motor (33) and are connected with rack body (36), bottom sliding trolley (31) moves motor (33) and is connected with lower robot, and bottom sliding trolley (31) is stuck on bottom sliding trolley track (30) by roller thereon (34).
6. a kind of drill string automatic discharge device according to claim 1, it is characterized in that: thribble platform main body (19) of thribble platform (7) is framework shape, drill string locating piece (20) is for cylindrical boss and is fixed on thribble platform (7) face, connect otic placode (21) and be fixed in thribble platform main body (19), be connected with manipulator support (9) by bearing pin (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620062592.4U CN205349253U (en) | 2016-01-22 | 2016-01-22 | Automatic discharging equipment of drilling string |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620062592.4U CN205349253U (en) | 2016-01-22 | 2016-01-22 | Automatic discharging equipment of drilling string |
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| Publication Number | Publication Date |
|---|---|
| CN205349253U true CN205349253U (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620062592.4U Active CN205349253U (en) | 2016-01-22 | 2016-01-22 | Automatic discharging equipment of drilling string |
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| CN (1) | CN205349253U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110242231A (en) * | 2019-07-29 | 2019-09-17 | 中国地质大学（北京） | A kind of drilling rod automatic-discharging and pass connection device |
| CN112211574A (en) * | 2020-09-28 | 2021-01-12 | 中油国家油气钻井装备工程技术研究中心有限公司 | Gang drilling method of push-up type tubular column processing equipment under top-drive-free working condition |
| CN112983304A (en) * | 2019-12-02 | 2021-06-18 | 四川宏华石油设备有限公司 | Double-arm robot for pipe treatment and pipe treatment system |
-
2016
- 2016-01-22 CN CN201620062592.4U patent/CN205349253U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110242231A (en) * | 2019-07-29 | 2019-09-17 | 中国地质大学（北京） | A kind of drilling rod automatic-discharging and pass connection device |
| CN112983304A (en) * | 2019-12-02 | 2021-06-18 | 四川宏华石油设备有限公司 | Double-arm robot for pipe treatment and pipe treatment system |
| CN112983304B (en) * | 2019-12-02 | 2024-04-09 | 四川宏华石油设备有限公司 | Double-arm robot for pipe treatment and pipe treatment system |
| CN112211574A (en) * | 2020-09-28 | 2021-01-12 | 中油国家油气钻井装备工程技术研究中心有限公司 | Gang drilling method of push-up type tubular column processing equipment under top-drive-free working condition |
| CN112211574B (en) * | 2020-09-28 | 2023-08-29 | 中油国家油气钻井装备工程技术研究中心有限公司 | Gang drill column method of pushing-supporting type column treatment equipment under top-drive-free working condition |
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Effective date of registration: 20171110 Address after: 434020 No. 1 Longshan Temple Street, Jingzhou District, Jingzhou, Hubei Co-patentee after: SINOPEC OILFIELD EQUIPMENT CORPORATION Patentee after: Four Sinopec Petroleum Machinery Co. Ltd. Address before: 434020 Jingzhou city of Hubei province Jingzhou district four Road No. 1 Patentee before: SJ Petroleum Machinery Co., SINOPEC |