CN211598564U

CN211598564U - Pipe handling robot and handling system

Info

Publication number: CN211598564U
Application number: CN201922127896.0U
Authority: CN
Inventors: 何波; 高杭; 秦皓
Original assignee: Sichuan Honghua Petroleum Equipment Co Ltd
Current assignee: Sichuan Honghua Petroleum Equipment Co Ltd
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2020-09-29
Anticipated expiration: 2029-12-02

Abstract

The utility model relates to the field of oil drilling equipment, in particular to a pipe tool processing robot and a processing system, wherein the pipe tool processing robot comprises a stand column; the mounting rack is connected with the upright column in a sliding manner; the clamping arm is rotatably connected with the mounting rack, the clamping arm can rotate in a vertical plane, and a clamping part used for clamping the pipe is arranged on the clamping arm. The pipe tool processing system comprises a pipe tool storage rack and the pipe tool processing robot. The utility model provides a pipe fitting treatment robot and processing system can directly get the pipe from ground to carry out the attitude adjustment of pipe utensil, thereby need not to set up interim back box on the derrick, be favorable to reducing the load of derrick, avoid unnecessary work efficiency's waste.

Description

Pipe handling robot and handling system

Technical Field

The utility model relates to an oil drilling equipment, especially a pipe fitting treatment robot and processing system.

Background

In an oil and gas drilling system, in order to improve the working efficiency, especially the working efficiency of tripping operation, a temporary storage area of a drill rod column, namely a setback area, is usually arranged in or outside a derrick. The drill rods are joined together by two, three or four stands, discharging vertically into the stand box area.

In order to achieve the purpose, the drilling system needs to be provided with a plurality of devices such as a pipe erecting box, a pipe arranging machine, a pipe erecting mechanical arm, a rat hole, a catwalk and the like. The equipment is operated in a cooperative mode, a single drill rod is horizontally transferred to the rotary table through anchoring, the single drill rod is adjusted to be in a vertical posture from the horizontal posture by the vertical root receiving manipulator, the single drill rod is connected into a vertical root under the cooperation of the rat hole, the vertical root is delivered to the vertical root box by the pipe arranging machine, and when the vertical root needs to be placed at a well mouth, the target vertical root is taken out of the vertical root box by the pipe arranging machine, transferred to the well mouth and delivered to the top drive.

The stand box is used as a stand zero storage device and is one of key devices for improving the working efficiency. The setback needs to have a large enough capacity to store drill rods at all drilling depths, so the setback needs to have a large enough structural size, structural strength, and rigidity to meet its operational needs. Meanwhile, the stand box is arranged at the middle upper part of the derrick, so that the gravity center height of the whole derrick is increased, and the connection reliability is met by local reinforcement. When the stand box is filled with stands, the stand load of the derrick is greatly increased; the full stand condition also greatly increases the windward area of wind load, increases the acting force of wind on the derrick, and simultaneously the area of the stand box of the drill floor also needs enough structural strength to support the weight of all stands. When emergency happens, all the stands need to be taken out of the stand box in time and disassembled into single stands to be placed in a pipe yard. This results in a huge amount of work and a large amount of waste of work efficiency.

Meanwhile, in order to achieve the purpose, equipment such as a pipe arranging machine, a mechanical arm for connecting a vertical root, a rat hole, a catwalk and the like needs to be arranged for cooperative work, and the equipment is also one of important cost components of a drilling system.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: aiming at the problems that in the prior art, the derrick load is large due to the fact that a temporary stand box needs to be placed on the derrick, the stand box is taken out in emergency, a large amount of work efficiency is wasted, and a large amount of equipment needed for connecting the stand is needed, the pipe tool processing robot and the pipe tool processing system are provided.

In order to realize the purpose, the utility model discloses a technical scheme be:

in one aspect, the utility model provides a pipe fitting treatment robot, it includes: a column; the mounting rack is connected with the upright column in a sliding manner; the clamping arm is rotatably connected with the mounting rack, the clamping arm can rotate in a vertical plane, and a clamping part used for clamping the pipe is arranged on the clamping arm. The utility model provides a pipe fitting treatment robot can directly get the pipe from ground to the gesture of pipe fitting is adjusted, thereby need not to set up interim back box on the derrick, is favorable to reducing the load of derrick. Meanwhile, the waste of working efficiency caused when all the stands need to be taken out from the temporary stand box in emergency can be avoided. Specifically, the clamping arm is used for taking the pipe and is rotatably connected with the mounting frame, so that the clamping arm can be used for adjusting the posture of the pipe; in addition, the mounting frame is connected with the upright column in a sliding mode, so that after the clamping arm takes the pipe, enough space for adjusting the posture of the pipe can be provided, and the clamping arm can drive the pipe to adjust the posture conveniently.

As the preferred scheme of the utility model, the stand passes through coaster slidable ground with the mounting bracket and links to each other.

As a preferred scheme of the utility model, the pipe processing robot further comprises an attitude adjusting driving piece, one end of the attitude adjusting driving piece is hinged with the mounting frame, and the output end of the attitude adjusting driving piece is hinged with the clamping arm; the posture adjusting driving member, the mounting frame and the clamping arm form a triangular posture adjusting mechanism, and the length of one side formed by the posture adjusting driving member can be extended or shortened. The posture adjustment of the clamping arm is realized through the structure, the structure is simple, and the triangular structure is stable under the condition that the posture adjustment driving part does not output force. Specifically, the attitude adjustment driving part can be set to be a hydraulic oil cylinder, can output large force and is convenient to control.

As the utility model discloses an optimal scheme is equipped with the connection lug on the centre gripping arm, and the connection lug is the triangle-shaped structure, and the tie point of posture adjustment driving piece and centre gripping arm is located the connection lug. Through set up the connection lug that is the triangle structure on the centre gripping arm, can avoid the centre gripping arm to produce the interference with all the other structures such as mounting bracket in the gesture adjustment process, be convenient for installation and structural design.

As the preferred scheme of the utility model, the mounting rack comprises an amplitude variation component and a base; the base is fixedly connected with the pulley, and the amplitude variation assembly is hinged with the base.

As the preferable proposal of the utility model, the amplitude variation component comprises a first amplitude variation pole, a second amplitude variation pole and a connecting plate; the base, the first amplitude transformer, the second amplitude transformer and the connecting plate form a parallelogram mechanism; the first amplitude transformer is used as a driving rod of the parallelogram mechanism, the second amplitude transformer is used as a driven rod of the parallelogram mechanism, the base is used as a rack of the parallelogram mechanism, and the connecting plate is used as a connecting rod of the parallelogram mechanism; the attitude adjusting driving part, the clamping arm and the connecting plate on the mounting frame form an attitude adjusting mechanism. Through foretell structure, the base, first amplitude transformer, second amplitude transformer and even board form parallelogram mechanism, make under the drive of first amplitude transformer, even the board can the translation and do not take place to rotate, the rethread is even the board, gesture adjustment mechanism that gesture adjustment driving piece and centre gripping arm are constituteed drives the centre gripping arm, can be under the condition that the gesture adjustment of centre gripping arm has been accomplished, realize the translation of centre gripping arm, thereby adjust the distance between centre gripping arm and the stand, be convenient for operate the pipe utensil and aim at the well head.

As the preferred scheme of the utility model, the amplitude variation component also comprises an amplitude variation driving piece, one end of the amplitude variation driving piece is hinged with the base, and the other end of the amplitude variation driving piece is hinged with the first amplitude variation pole; the amplitude variation driving piece, the first amplitude variation rod and the base form a triangular amplitude variation driving mechanism, and the length of one side formed by the amplitude variation driving piece can be extended or shortened. The rotation of the first amplitude transformer is realized through the amplitude-variable driving structure, and the amplitude-variable driving structure of the triangular structure is relatively stable under the condition that the amplitude-variable driving piece does not need to output force. Furthermore, the amplitude-variable driving piece is arranged as a hydraulic oil cylinder, so that large force can be output and the control is convenient.

As the preferable proposal of the utility model, the pipe tool processing robot also comprises an upper support frame and a lower support frame; stand one end and upper strut frame rotatable links to each other, and the stand other end and lower support frame rotatable links to each other. The upper support frame is used for providing a rotating guide for the upright post, and the lower support frame is used for supporting the upright post. The upper support frame and the lower support frame constrain the two ends of the upright column together, so that the upright column can be prevented from overturning.

As the utility model discloses a preferred scheme, centre gripping arm one end is equipped with a clamping part, and the centre gripping arm other end is equipped with another clamping part. The clamping part is used for clamping the pipe. At least two clamping parts are arranged on the clamping arm, so that the pipe tool can be more stable.

On the other hand, the utility model also provides a pipe tool processing system, which comprises a pipe tool storage component and the pipe tool processing robot; the tube storage assembly is used for storing tubes, and the tube handling robot is used for taking tubes from the tube storage assembly or for placing tubes on the tube storage assembly.

As a preferred scheme of the utility model, the pipe storage assembly comprises a pipe storage rack, and the pipe storage rack comprises a rack body and at least two abutting blocks; the pipe storage assembly is provided with a storage surface, the abutting stop blocks are convexly arranged on the storage surface and connected with the frame body, and a storage space is formed between at least two abutting stop blocks.

As a preferred scheme of the utility model, the pipe storage assembly further comprises at least two deflecting driving pieces and at least two deflecting rods; the tube storage rack is provided with a storage surface opposite to the storage surface; the deflecting driving pieces are correspondingly connected with the deflecting rods one by one; the angle-producing rod has a first working position and a second working position, when the angle-producing rod is located at the first working position, the distance from the first end of the storage surface to the support surface is greater than the distance from the second end of the storage surface to the support surface, and when the angle-producing rod is located at the second working position, the distance from the first end of the storage surface to the support surface is less than the distance from the second end of the storage surface to the support surface. Through above-mentioned structure, the position that the whipstock was made in whipstock drive switches between first operating position and second operating position for the pipe utensil can roll to the direction of needs. For example, when a pipe needs to be taken, the pipe is rolled to the direction close to the derrick; when the pipe is required to be stored, the pipe is rolled away from the derrick.

As the preferred scheme of the utility model, one end of the deflecting bar is hinged with the frame body, and the connecting point of the deflecting bar and the frame body is close to the first end of the storage surface; the other end of the deflecting rod is close to the second end of the storage surface and is hinged with one end of a deflecting driving piece, and the other end of the deflecting driving piece is hinged with the frame body through an installation lug plate; the whipstock drive member may be extendable or retractable. The movement of the diagonal rod is realized through the structure, and the structure is simple and stable. Further, the whipstock drive may be provided as a hydraulic ram.

As a preferred scheme of the utility model, the pipe storage assembly further comprises at least two turning frames and at least two turning driving pieces; the overturning frame is connected with the pipe storage frame, the overturning frame is provided with a clamping surface, the clamping surface comprises a first bending part and a second bending part, the clamping surface is made to be an inwards concave bending surface, and the overturning frame is hinged with the position, close to the first end of the storage surface, on the frame body; one end of the overturning driving piece is hinged with the frame body, and the other end of the overturning driving piece is hinged with one end, far away from the clamping surface, of the overturning frame. Through above-mentioned structure, the roll-over stand can cooperate with the whipstock, and when getting the pole, the roll-over stand can keep apart a pipe utensil wherein with other pipe utensils, is convenient for get the pipe operation, avoids once getting the condition of a plurality of pipes.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:

the utility model provides a pipe fitting treatment robot and processing system can directly get the pipe from ground or pipe utensil storage assembly to the gesture of pipe utensil is adjusted, thereby need not to set up interim back box on the derrick, is favorable to reducing the load of derrick. Meanwhile, the waste of working efficiency caused when all the stands need to be taken out from the temporary stand box in emergency can be avoided. Specifically, the clamping arm is used for taking the pipe and is rotatably connected with the mounting frame, so that the clamping arm can be used for adjusting the posture of the pipe; in addition, the mounting frame is connected with the upright column in a sliding mode, so that after the clamping arm takes the pipe, enough space for adjusting the posture of the pipe can be provided, and the clamping arm can drive the pipe to adjust the posture conveniently.

Drawings

Fig. 1 is a schematic structural diagram of a pipe handling system provided in embodiment 1 of the present invention.

Fig. 2 is a partially enlarged view of a portion a in fig. 1.

Fig. 3 is a schematic structural view of a pipe handling robot according to embodiment 1 of the present invention.

Fig. 4 is a schematic structural view of a pipe storage rack provided in embodiment 1 of the present invention.

Fig. 5 is a schematic perspective view of a pipe storage rack provided in embodiment 1 of the present invention.

Fig. 6 is a schematic view of the pipe storage rack provided in embodiment 1 of the present invention when the first bending portion is higher than the storage surface.

Fig. 7 is a schematic view of the pipe storage rack provided in embodiment 1 of the present invention when the second bending portion is higher than the storage surface.

Fig. 8 is a schematic view of a pipe handling robot according to embodiment 1 of the present invention taking out a pipe from a pipe storage rack.

Fig. 9 is a schematic view of the pipe handling robot according to embodiment 1 of the present invention when lifting a pipe.

Fig. 10 is a schematic view of a pipe handling robot provided in embodiment 1 of the present invention in the process of adjusting the posture of a pipe from horizontal to vertical.

Fig. 11 is a partially enlarged view of a portion B in fig. 10.

Fig. 12 is a schematic view of the pipe handling robot provided in embodiment 1 of the present invention after adjusting the posture of the pipe to vertical.

Fig. 13 is a partially enlarged view of a portion C in fig. 12.

Fig. 14 is a schematic view of the pipe handling robot provided in embodiment 1 of the present invention after the column starts to rotate.

Fig. 15 is a schematic view of the pipe handling robot provided in embodiment 1 of the present invention after the column is rotated to the position where the pipe is located above the derrick floor.

Fig. 16 is a schematic structural diagram of a pipe handling robot according to embodiment 1 of the present invention, which aligns a pipe with the center of a wellhead.

Fig. 17 is a partially enlarged view of a portion D in fig. 16.

Fig. 18 is a schematic structural view of a mounting frame of a pipe treatment system according to embodiment 2 of the present invention.

Icon: 1-a pipe handling robot; 11-upright post; 12-an upper support frame; 13-lower support frame; 14-a sled; 15-a mounting frame; 151-a base; 152-a horn assembly; 1521-first horn; 1522-second horn; 1523-connecting plate; 1524-variable amplitude drive; 16-attitude adjustment drives; 17-a gripper arm; 171-connecting bumps; 172-a grip; 2-a derrick; 21-a derrick platform; 22-well head centre; 3-a tubing storage assembly; 301-tube storage rack; 31-a frame body; 32-a resisting block; 33-a storage space; 34-a storage surface; 35-a support surface; 36-making a diagonal rod; 37-a whipstock drive; 38-a roll-over stand; 381-a first bend; 382-a second bending part; 39-tumble drive; 4-pipe tool.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Example 1

Please refer to fig. 1-17. The embodiment of the utility model provides a pipe utensil processing system, it includes that pipe utensil processing robot 1 and pipe utensil storage assembly 3. The pipe tool storage assembly 3 is used for being placed on the ground and storing the pipe tool 4, and meanwhile, when the pipe tool storage assembly 3 needs to be taken out, the stored pipe tool 4 can be isolated from other pipe tools 4, so that the pipe tool processing robot 1 can take out the pipe tool conveniently. The tubular handling robot 1 is used to retrieve tubulars from the tubular storage assembly 3, to perform attitude adjustments on the tubulars 4, and then to transport the tubulars 4 to the wellhead center 22 to facilitate the pipe lowering operation.

Specifically, the pipe handling robot 1 includes an upper support frame 12, a lower support frame 13, a column 11, a mounting frame 15, a gripping arm 17, and a posture adjustment drive 16.

One end of the upright post 11 is rotatably connected with the upper support frame 12, and the other end of the upright post 11 is rotatably connected with the lower support frame 13. The upper support frame 12 is used for connecting with the derrick 2, and the lower support frame 13 is used for connecting with the drill floor base. The upper support frame 12 is used for providing restraint and rotary guidance for the upright post 11, and the lower support frame 13 is mainly used for bearing the overturning moment of the upright post 11.

The mounting frame 15 is slidably connected to the upright 11 by a trolley 14. Specifically, the trolley 14 is slidably connected to the upright 11, and the mounting bracket 15 is fixedly connected to the trolley 14, so that when the trolley 14 slides along the upright 11, the mounting bracket 15 slides along the upright 11 together with the trolley 14.

The mounting frame 15 includes a base 151 and a horn assembly 152. The base 151 is attached to the trolley 14 and the amplitude variation assembly 152 is attached to the base 151. The horn assembly 152 is connected at one end to the base 151 and at the other end of the horn assembly 152 to the gripping arm 17 and the attitude adjustment drive 16. The amplitude variation assembly 152 is used for driving the clamping arm 17 and the attitude adjusting driving piece 16 to translate, so that the clamping arm 17 can move away from or close to the upright post 11.

In particular, the horn assembly 152 includes a first horn 1521, a second horn 1522, a web 1523, and a horn drive member 1524.

One end of the first amplitude transformer 1521 is hinged with the base 151, and the other end of the first amplitude transformer 1521 is hinged with the connecting plate 1523; one end of the second horn 1522 is hinged to the base 151, and the other end of the second horn 1522 is hinged to the link plate 1523. With the above structure, the first horn 1521, the second horn 1522, the link plate 1523, and the base 151 are connected to form a parallelogram structure. The first amplitude transformer 1521 serves as a driving rod in a parallelogram structure, the second amplitude transformer 1522 serves as a driven rod in the parallelogram structure, the connecting plate 1523 serves as a connecting rod for connecting the driving rod and the driven rod, and the base 151 serves as a frame, so that the second amplitude transformer 1522 can be driven to rotate together through rotation of the first amplitude transformer 1521, and the connecting plate 1523 can be driven to translate. The rotation of the first horn 1521 is driven by: one end of the amplitude variation driving member 1524 is hinged to the base 151, and the other end of the amplitude variation driving member 1524 is hinged to the first amplitude variation rod 1521, so that the amplitude variation driving member 1524, the base 151 and the first amplitude variation rod 1521 form an amplitude variation driving mechanism with a triangular structure, and one side formed by the amplitude variation driving member 1524 can be extended or shortened, so that the first amplitude variation rod 1521 is driven to rotate. Specifically, the variable amplitude drive 1524 is a hydraulic cylinder.

In other embodiments of the present invention, the first horn 1521 may also be configured as a driven horn and the second horn 1522 may be configured as a driving horn. The amplitude variation driving component 1524 is hinged to the second amplitude variation rod 1522 and can drive the second amplitude variation rod 1522 to rotate, so that the connecting plate 1523 is driven to translate, and the first amplitude variation rod 1521 is driven to rotate.

The link plate 1523 also forms a triangular posture adjustment mechanism together with the posture adjustment driving member 16 and the clamp arm 17, and one side formed by the posture adjustment driving member 16 can be extended or shortened. Specifically, one end of the attitude adjusting driving member 16 is hinged to the connecting plate 1523, the other end of the attitude adjusting driving member 16 is hinged to the clamping arm 17, and the connecting plate 1523 is further hinged to the clamping arm 17. In this embodiment, the attitude adjustment actuator 16 is a hydraulic cylinder.

When the attitude adjustment drive 16 is extended or shortened, the clamp arm 17 is rotated accordingly. In this embodiment, the posture adjustment driving member 16 extends or shortens in the plane where the vertical direction is located, so as to drive the clamping arm 17 to rotate in the plane where the vertical direction is located, and thus the posture of the clamping arm 17 can be changed between the horizontal direction and the vertical direction.

In order to avoid the obstruction of the mounting frame 15 or the amplitude variation assembly 152 and the like to the posture adjustment of the clamping arm 17, a connecting lug 171 is arranged on the clamping arm 17, the connecting lug 171 is in a triangular structure, and the connecting point of the posture adjustment driving member 16 and the clamping arm 17 is positioned on the connecting lug 171; the connection point of the connecting plate 1523 and the clamping arm 17 is also located on the connecting projection 171, so that during the rotation of the clamping arm 17, the body of the clamping arm 17 and the mounting frame 15 or the amplitude variation assembly 152 and other structures can keep a gap, thereby avoiding interference.

One end of the holding arm 17 is provided with one holding portion 172, and the other end of the holding arm 17 is provided with the other holding portion 172. The clamping portion 172 has a clamping space for clamping the pipe 4.

When the amplitude variation driving component 1524 drives the first amplitude variation rod 1521 to rotate, the connecting plate 1523 can only translate along with the connecting plate 1523, so that if the length of the attitude adjusting driving component 16 is kept constant at this time, the attitude adjusting driving component 16 and the clamping arm 17 both translate along with the connecting plate 1523. When the first amplitude transformer 1521 rotates, one end of the first amplitude transformer 1521 far away from the base 151 moves in a direction close to or far away from the upright 11, and then the first amplitude transformer drives the clamping arm 17 to move in a direction far away from or close to the upright 11, so that the distance between the pipe 4 clamped by the clamping arm 17 and the upright 11 is adjusted.

The tube storage assembly 3 is adapted to be disposed below the tube handling robot 1 such that the gripping arm 17 can grip the tube 4 from the tube storage assembly 3 when it is proximate the lower end of the column 11.

The pipe string storage assembly 3 includes a pipe string storage rack 301, a whipstock drive 37, a whipstock rod 36, a roll-over rack 38, and a roll-over drive 39.

Wherein the tube storage rack 301 includes a rack body 31 and a stopper 32. In the present embodiment, the frame body 31 has a hexahedral frame structure. The stopper 32 is connected to the frame 31.

The tubing storage assembly 3 includes oppositely disposed storage surfaces 34 and support surfaces 35 thereon. In storing the pipe string 4, the support surface 35 is used for contacting the ground, the storage surface 34 faces upward, the number of the stoppers 32 is four, the tops of the four stoppers 32 are higher than the storage surface 34, a storage space 33 is formed between the four stoppers 32, and the pipe string 4 can be placed in the storage space 33.

A whipstock drive 37 is connected to the whipstock 36 for providing different directional inclinations on the storage surface 34 to enable the pipe 4 on the storage surface 34 to be rotated in a predetermined direction. Specifically, a whipstock drive 37 and a whipstock 36 are attached to one tube storage rack 301. A whipstock drive member 37 is hingedly connected to the whipstock rod 36.

The side of whipstock driving piece 37 one end through installation otic placode and support body 31 is articulated to be connected with, and the whipstock driving piece 37 other end is articulated with 36 one end of whipstock, and the whipstock 36 other end is articulated with support body 31. The whipstock driving member 37, the whipstock 36 and the frame body 31 form a triangular structure, wherein the length of one side formed by the whipstock driving member 37 can be extended or shortened. Specifically, in the present embodiment, the whipstock drive 37 is selected to be a cylinder.

The storage surface 34 has first and second oppositely disposed ends. The whipstock 36 has a first operative position and a second operative position. With the monument rod 36 in the first working position, the first end of the storage surface 34 is spaced further from the support surface 35 than the second end of the storage surface 34 is spaced from the support surface 35; when the monument rod 36 is in the second working position, the first end of the storage surface 34 is spaced from the support surface 35 by a distance that is less than the distance that the second end of the storage surface 34 is spaced from the support surface 35.

One end of the turning driving member 39 is fixedly connected with the frame body 31, and the other end of the turning driving member 39 is hinged with the turning frame 38. The roll-over stand 38 is hingedly connected to the frame 31 adjacent a first end of the storage surface 34. The tumble driving member 39, the tumble frame 38 and the frame body 31 form a triangular structure, and one side constituted by the tumble driving member 39 can be extended or shortened. Specifically, the tumble drive 39 is provided as a cylinder.

The roll-over stand 38 has a holding surface, and specifically, the holding surface includes a first bent portion 381 and a second bent portion 382. When the turnover driving member 39 is shortened, the first bent portion 381 is lower than the storage surface 34, and the second bent portion 382 is higher than the storage surface 34, so that a space for accommodating a single pipe tool 4 is formed between the second bent portion 382 and the abutting block 32 at one end, so as to clamp the pipe tool 4 to be grabbed or just put down, and the remaining pipe tools 4 are accommodated between the second bent portion 382 and the abutting block 32 at the other end. When the roll-over drive 39 is extended and the roll-over stand 38 is rotated, the tube 4 which has just been lowered can roll towards the lower end of the storage surface 34 until the first bend 381 is above the storage surface 34 and the second bend 382 is below the storage surface 34.

Through the cooperation of the turning driving part 39, the turning frame 38, the whipstock driving part 37 and the whipstock 36, the pipe tool 4 can be moved to a preset direction, so that the pipe tool 4 can be conveniently grabbed, put down and stored.

The embodiment of the utility model provides a pipe fitting processing system's theory of operation lies in:

the pipe tool handling system may be used for pipe extraction:

specifically, before the pipe handling robot 1 takes out the pipe, the deflecting driving member 37 on the pipe storage assembly 3 is extended to make the deflecting rod 36 located at the second working position, the first bent part 381 of the roll-over stand 38 is higher than the storage surface 34, and the pipe 4 on the storage surface 34 rolls towards the roll-over stand 38 until being blocked by the first bent part 381; then the turning frame 38 is turned over under the action of the turning driving member 39, so that the first bent portion 381 is lower than the storage surface 34, and the second bent portion 382 is higher than the storage surface 34, and then one of the tube tools 4 is isolated by the second bent portion 382, which is convenient for the tube tool handling robot 1 to take out the tube;

when taking the pipe, the clamping arm 17 is in a horizontal state, the pulley 14 drives the mounting rack 15 to move downwards, and the two clamping parts 172 clamp the pipe 4;

after taking the pipe, the pulley 14 drives the mounting rack 15 to ascend along the upright post 11, and the pipe 4 ascends along with the ascending; the attitude adjustment drive 16 is then extended, with the gripper arm 17 subsequently rotated in the vertical plane, so that the attitude of the pipe 4 is adjusted from the horizontal to the vertical; then the upright post 11 rotates around the length direction thereof, so that the pipe 4 is positioned above the derrick platform 21; the variable amplitude drive 1524 is extended or shortened in length to adjust the distance of the tubular 4 from the column 11 so that the tubular 4 is aligned with the wellhead center 22 for easy down pipe.

The pipe tool handling system may also be used for storage operations:

specifically, after the downhole pipe 4 is lifted, the column 11 is rotated until the gripping arm 17 is located above the derrick 2, and the gripping part 172 on the gripping arm 17 grips the pipe 4, and at this time, the gripping arm 17 extends in the vertical direction; the column 11 is then rotated about its axis until the pipe 4 is positioned directly above the pipe storage assembly 3; the attitude adjustment drive 16 is shortened so that the attitude of the gripping arm 17 and the pipe 4 is adjusted from the vertical direction to the horizontal direction; the tackle 14 then drives the mounting frame 15, the clamping arm 17 and the pipe 4 to slide downwards to be close to the pipe storage assembly 3; the gripper 172 then releases the tube 4, placing the tube 4 onto the tube storage assembly 3;

the placed pipe 4 is close to the first end of the storage surface 34 and is separated by the second bend 382, at which time the whip drive 37 is shortened, the whip stock 36 is in the first operating position, the placed pipe 4 rolls along the storage surface 34 into the recesses of the first bend 381 and the second bend 382, and then the roll stand 38 is turned over, the second bend 382 being lower than the storage surface 34 so that the placed pipe 4 can continue to roll until it rolls to the second end of the storage surface 34.

The embodiment of the utility model provides a pipe fitting processing system's beneficial effect lies in:

1. the pipe can be directly taken from the position below the platform of the derrick 2, so that a temporary storage device for the pipe 4 is not required to be arranged on the derrick 2, the load borne by the derrick 2 is reduced, the gravity center of the derrick 2 is favorably lowered, and the safety is favorably improved;

2. the processing system can realize multiple functions of pipe taking, transportation, posture adjustment of the pipe 4, pipe lowering and the like, so that equipment such as a pipe arranging machine, a mechanical arm for connecting a stand, a rat hole, a catwalk and the like does not need to be repeatedly arranged, the load of the derrick 2 is further reduced, and the field arrangement space is saved;

3. all the pipes 4 can be stored in the pipe 4 storage yard, so that the disassembly operation of the pipes 4 is avoided in emergency, and unnecessary efficiency waste is reduced;

4. among the prior art, in order to facilitate the transport and promotion of pipe utensil 4, the orientation of putting of pipe utensil 4 all is vertical (the derrick 2 is located the extension line of pipe utensil 4 promptly), and this kind of mode of putting pipe utensil 4's transport distance is longer, and passes through the embodiment of the utility model provides an above-mentioned pipe utensil processing system, pipe utensil 4 is horizontal from vertical changing into in the posture of putting of storage yard, provides the storage yard utilization ratio, shortens pipe utensil 4 transport distance, raises the efficiency.

It should be noted that: in this embodiment, the tube storage unit 3 includes two tube storage racks 301 arranged at intervals, and each tube storage rack 301 is provided with one whip driving member 37, one whip rod 36, one inversion driving member 39, and one inversion rack 38. In other embodiments of the present invention, if it is necessary to provide the pipe storage rack 301, the whipstock driving member 37, the whipstock 36, the inversion driving member 39, and the inversion frame 38, the number correspondence of the above five components may be changed, and it is not necessary to adopt the form described in the present embodiment. Namely: it is not necessary that a whipstock 36 and a roll-over stand 38 be attached to a tube storage rack 301. In the entire pipe string storage assembly 3: the number of the tube storage racks 301 should be set to at least one; the number of the whipstock drives 37 and the whipstock rods 36 should be at least two so as to facilitate the support of the elongated pipe 4, enabling the pipe 4 to be placed horizontally; the number of the roll-over stands 38 and roll-over drives 39 should be at least two to facilitate accurate separation of the individual tubulars 4. For example, only one tube string storage rack 301 may be provided, and at least two whipstock drives 37, at least two whipstock rods 36, at least two roll-over stands 38, and at least two roll-over drives 39 may be connected to this tube string storage rack 301.

Example 2

Please refer to fig. 18. This embodiment provides a pipe treatment system, which is different from the pipe treatment system in embodiment 1 in that: in this embodiment, the amplitude module 152 is not included on the tube handling robot 1.

Specifically, in this embodiment, the mounting frame 15 is fixedly connected to the trolley 14. One end of the attitude adjusting driving member 16 is connected with the mounting frame 15, and the output end of the attitude adjusting driving member 16 is hinged with the clamping arm 17. The gripping arm 17 is hinged to the mounting frame 15. The mounting frame 15, the attitude adjusting driving member 16 and the clamp arm 17 form a triangular attitude adjusting mechanism for adjusting the attitude of the pipe 4, and the length of one side formed by the attitude adjusting driving member 16 can be extended or shortened, so that the clamp arm 17 can be driven to rotate.

The distance between the gripping arm 17 and the mounting frame 15 is such that: so that the column 11 can rotate the pipe 4 on the gripping arms 17 to just above the centre 22 of the wellhead while bringing the pipe 4 to rotate above the platform of the derrick 2. Namely: the wellhead centre 22 is located at a distance from the column 11 equal to the distance between the gripping arm 17 and the column 11.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A pipe handling robot, comprising:

a column;

a mounting bracket slidably connected to the upright;

the centre gripping arm, the centre gripping arm with the mounting bracket is rotationally connected, the centre gripping arm can be at vertical in-plane rotation, be equipped with the clamping part that is used for centre gripping pipe utensil on the centre gripping arm.

2. The pipe handling robot of claim 1, wherein the column and the mounting bracket are slidably connected by a trolley.

3. The pipe handling robot of claim 2, further comprising an attitude adjustment drive, one end of the attitude adjustment drive being hinged to the mounting frame, the other end of the attitude adjustment drive being hinged to the gripper arm;

the posture adjustment driving piece, the mounting frame and the clamping arm form a triangular posture adjustment mechanism, and the length of one side formed by the posture adjustment driving piece can be extended or shortened.

4. The pipe handling robot of claim 3, wherein the gripping arms have a connection protrusion thereon, the connection protrusion having a triangular configuration, and a connection point of the attitude adjustment drive member to the gripping arms is located on the connection protrusion.

5. The tube handling robot of claim 4, wherein the mounting bracket comprises a luffing assembly and a base;

the base is fixedly connected with the pulley, and the amplitude variation assembly is hinged with the base.

6. The tube handling robot of claim 5, wherein the horn assembly comprises a first horn, a second horn, and a web;

the base, the first amplitude transformer, the second amplitude transformer and the connecting plate form a parallelogram mechanism;

the first amplitude transformer is used as a driving rod of the parallelogram mechanism, the second amplitude transformer is used as a driven rod of the parallelogram mechanism, the base is used as a rack of the parallelogram mechanism, and the connecting plate is used as a connecting rod of the parallelogram mechanism;

the posture adjusting mechanism is composed of the posture adjusting driving piece, the clamping arm and the connecting plate on the mounting rack.

7. The pipe handling robot as defined in claim 6, wherein the horn assembly further comprises a horn drive, one end of the horn drive being articulated to the base and the other end of the horn drive being articulated to the first horn;

the amplitude-variable driving piece, the first amplitude-variable rod and the base form a triangular amplitude-variable driving mechanism, and the length of one side formed by the amplitude-variable driving piece can be extended or shortened.

8. The pipe treatment robot of claim 1, further comprising an upper support frame and a lower support frame;

stand one end with upper strut frame rotatable links to each other, the stand other end with lower strut frame rotatable links to each other.

9. The pipe handling robot of claim 1, wherein the gripper arm is provided with one grip at one end and another grip at the other end.

10. A pipe handling system comprising a pipe storage assembly and a pipe handling robot as claimed in any one of claims 1 to 9;

the pipe storage assembly is used for storing pipe tools, and the pipe tool processing robot is used for taking pipes from the pipe storage assembly or placing the pipe tools on the pipe storage assembly.

11. The pipe treatment system of claim 10 wherein the pipe storage assembly comprises a pipe storage rack comprising a rack body and at least two stop blocks;

the pipe storage assembly is provided with a storage surface, the top surface of the abutting block is higher than the storage surface, the abutting block is connected with the frame body, and a storage space is formed between at least two abutting blocks.

12. The pipe treatment system of claim 11, wherein the pipe storage assembly further comprises at least two whipstock drives and at least two whipstock rods, the whipstock drives being connected to the whipstock rods in a one-to-one correspondence;

the tube manufacturing diagonal rod is connected with the tube storage rack;

a surface of the pipe storage rack opposite the storage surface is a support surface;

the angle-producing rod has a first working position and a second working position, when the angle-producing rod is located at the first working position, the distance from the first end of the storage surface to the supporting surface is greater than the distance from the second end of the storage surface to the supporting surface, and when the angle-producing rod is located at the second working position, the distance from the first end of the storage surface to the supporting surface is less than the distance from the second end of the storage surface to the supporting surface.

13. The pipe treatment system of claim 12 wherein the whipstock is hingedly connected at one end to the frame and the connection point of the whipstock to the frame is proximate the first end of the storage surface;

the other end of the deflecting rod is close to the second end of the storage surface and is hinged with one end of the deflecting driving piece, and the other end of the deflecting driving piece is hinged with the frame body through an installation lug plate;

the whipstock drive member is extendable or retractable.

14. The pipe treatment system of claim 13, wherein the pipe storage assembly further comprises at least two roll-over stands and at least two roll-over drives, the roll-over stands being connected to the pipe storage stands;

the turnover frame is provided with a clamping surface, the clamping surface comprises a first bending part and a second bending part, the clamping surface is an inwards concave bending surface, and the turnover frame is hinged with the frame body at a position close to the first end of the storage surface;

the turnover driving piece is hinged to the frame body, and the other end of the turnover driving piece is hinged to one end, far away from the clamping face, of the turnover frame.