CN211598565U - Double-arm robot for pipe treatment and pipe treatment system - Google Patents

Abstract

The utility model relates to an oil drilling equipment field, concretely relates to a double-armed robot and pipe utensil processing system for pipe utensil is handled. The double-arm robot comprises an upright and two hands, wherein one manipulator is slidably connected with one side of the upright, the other manipulator is slidably connected with the other side of the upright, the manipulators comprise clamping devices for clamping the pipe, and the clamping devices on the two manipulators are allowed to have different movement speeds. The tube handling system includes a tube storage assembly and the dual-arm robot described above. The utility model provides a both arms robot and pipe utensil processing system can directly stack the gesture of on-the-spot pipe of getting and adjusting the pipe utensil from the pipe utensil to need not to set up the interim storage point of pipe utensil on the derrick, also can retrench the equipment of pipe utensil transportation, be favorable to reducing the load of derrick, improve work efficiency.

Description

Double-arm robot for pipe treatment and pipe treatment system

Technical Field

The utility model relates to an oil drilling equipment machinery, especially a double-armed robot and pipe utensil processing system for pipe utensil is handled.

Background

In oil and gas drilling systems, including land drilling rigs and marine drilling rigs, in order to improve the efficiency of their operations, and in particular to improve the efficiency of tripping operations, it is common to provide temporary storage areas for drill pipe columns, i.e. the setback area, in or out of the derrick. The drill rods are connected into double or triple or even four-stroke 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 temporary stand 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 and increases the force of wind on the derrick, and meanwhile, 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, the equipment such as the vertical root box, the pipe arranging machine, the vertical root connecting mechanical arm, the rat hole, the catwalk and the like is one of important cost components of the drilling system, the equipment is various, high in manufacturing cost and heavy in weight, and the cost of the drilling system is greatly improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: aiming at the problems in the prior art, the double-arm robot and the pipe treatment system for pipe treatment are provided, the stand can be directly taken from a pipe storage yard, the posture of the stand is adjusted, and the stand is moved to a wellhead, so that a temporary stand box does not need to be placed on a derrick, equipment such as a pipe arranging machine, a stand connecting mechanical arm, a rat hole and a catwalk does not need to be adopted, and the load of the derrick is greatly reduced.

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

in one aspect, the utility model provides a double-armed robot for pipe utensil is handled, it includes stand and two manipulators, and one of them manipulator links to each other with stand one side, and another manipulator links to each other with the stand opposite side, and the manipulator is including the clamping device who is used for centre gripping pipe utensil, and the clamping device on two manipulators is allowed to have different velocities of motion. Through foretell structure, during the use, the stand is connected on the derrick, and two manipulators of double-armed robot stack the scene from the pipe and get the pipe, then adjust the gesture of pipe through clamping device's different velocities of motion, are convenient for realize the low tube. By adopting the double-arm robot for pipe tool treatment, pipes can be directly taken from the pipe tool stacking site and the postures of the pipes can be adjusted, so that a temporary stacking point of the pipes does not need to be arranged on a derrick, the load of the derrick is favorably reduced, pipe connection equipment can be greatly simplified, and the load of the derrick is further reduced.

As the utility model discloses an optimal scheme, the manipulator still includes the arm, and arm one end is used for linking to each other with the stand slidable, and the arm other end links to each other with clamping device, and the arm on two manipulators is allowed to have different sliding speed, and the arm includes six degrees of freedom series arms. The six-degree-of-freedom series mechanical arm is mature in technology, high in reliability and sufficient in degree of freedom, and can meet the requirement of change of the posture of the pipe.

As a preferred scheme of the utility model, the clamping device comprises a joint, a clamping frame, a first clamping part and a second clamping part; one end of the clamping frame is connected with the joint, and the other end of the clamping frame is rotationally connected with the first clamping part and the second clamping part; the first clamping part and the second clamping part are oppositely arranged, and a clamping space capable of being opened and closed is formed between the first clamping part and the second clamping part.

As a preferred scheme of the utility model, the first clamping part comprises a first transmission rod, a second transmission rod, a clamping block and a clamping power piece; one end of the first transmission rod is hinged with the clamping frame, and the other end of the first transmission rod is hinged with the clamping block; one end of the second transmission rod is hinged with the clamping frame, and the other end of the second transmission rod is hinged with the clamping block; the clamping frame, the first transmission rod, the second transmission rod and the clamping block form a parallelogram mechanism, and the clamping power piece is connected with the first transmission rod and used for driving the first transmission rod to rotate; the second clamping part has the same structure as the first clamping part. Through the scheme, the clamping block can always keep translational motion in the motion process.

As the preferred scheme of the utility model, one end of the clamping power piece is hinged with the clamping frame, and the other end of the clamping power piece is hinged with the first transmission rod; the clamping power piece, the first transmission rod and the clamping frame form a triangular structure, wherein one side formed by the clamping power piece can be extended or shortened.

As a preferred scheme of the utility model, the clamping device further comprises a clamping driving piece and a clamping driving wheel, the clamping driving piece and the clamping driving wheel are mounted on the clamping block, the first clamping part is provided with at least one clamping driving piece, the second clamping part is also provided with at least one clamping driving piece, and the clamping driving piece and the clamping driving wheel are connected in a one-to-one correspondence manner; the gripping drive wheel is for contacting the pipe in the gripping space. Through setting up centre gripping driving piece and centre gripping drive wheel, when clamping device presss from both sides the pipe utensil, the centre gripping driving piece can drive the centre gripping drive wheel and rotate to drive the pipe utensil removal in the centre gripping space, the position of adjustment pipe utensil.

As the utility model discloses a preferred scheme, in the axial direction of centre gripping drive wheel, the cross-sectional area at centre gripping drive wheel middle part is less than the cross-sectional area at centre gripping drive wheel both ends. Through foretell structure, the pipe utensil can with the sunken cooperation of centre gripping drive wheel, increase the area of contact of centre gripping drive wheel and pipe utensil, make the centre gripping more stable.

As the preferred scheme of the utility model, the side of centre gripping drive wheel is equipped with friction line. Through the structure, the friction lines can increase the friction force between the clamping driving wheel and the pipe, so that the clamping is more stable; meanwhile, when the clamping driving wheel rotates to adjust the position of the pipe tool, the slipping can be avoided, and the position of the pipe tool in the clamping space can be adjusted more accurately.

As the preferred scheme of the utility model, the manipulator passes through the coaster with the stand and links to each other.

As the preferred scheme of the utility model, the double-arm robot also comprises an upper support frame and a lower support frame; the upper supporting frame is hinged with one end of the upright post, and the lower supporting frame is hinged with the other end of the upright post. When the double-arm robot is used, the upper support frame and the lower support frame can be connected with the derrick and used for bearing bending moment of the double-arm robot in the working process.

On the other hand, the utility model also provides a pipe tool processing system, which comprises a pipe tool storage component and the double-arm robot; the tube storage assembly is used for storing tubes, and the two-arm robot is used for taking tubes from the tube storage assembly or placing the tubes on the tube storage assembly. In use, the pipe storage assembly can be placed directly on the ground, and the pipe storage assembly and the pipe fitting thereon do not cause additional load to the derrick.

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.

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:

1. the pipe can be directly taken out from the lower part of the derrick, so that a temporary pipe storage device does not need to be arranged on the derrick, the load borne by the derrick is reduced, and the safety is improved;

2. the pipe taking, transporting, pipe posture adjusting, pipe lowering and other functions can be realized only by the pipe processing system, so that equipment such as a pipe arranging machine, a mechanical arm for connecting the stand, a rat hole, a catwalk and the like is not required to be arranged, the load of the derrick is further reduced, and the field arrangement space is saved;

3. with such a dual arm robot and pipe string handling system, the stacking direction of pipe strings at the well site can be adjusted, thereby facilitating reduction of the transport distance of pipe strings from the stacking site to the center of the wellhead and facilitating improvement of efficiency.

Drawings

Fig. 1 is a schematic diagram of a pipework handling system according to an embodiment of the present invention when connected to a well site and when pipe removal is initiated.

Fig. 2 is a schematic structural diagram of a manipulator provided by an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a clamping device according to an embodiment of the present invention.

Fig. 4 is a schematic view of a whipstock of a pipe storage rack according to an embodiment of the present invention in a first operating position.

Fig. 5 is a schematic view of an accessory storage assembly according to an embodiment of the present invention.

Fig. 6 is a schematic view of the angle-making rod of the pipe storage assembly according to the embodiment of the present invention in the second working position.

Fig. 7 is a schematic view of the roll-over stand of the pipe storage assembly according to the embodiment of the present invention separating one of the pipes.

Fig. 8 is a schematic diagram of a dual-arm robot according to an embodiment of the present invention lifting a pipe tool from a pipe tool storage assembly.

Fig. 9 is a schematic diagram of a two-arm robot provided by the embodiment of the present invention during the process of adjusting the posture of a pipe tool.

Fig. 10 is a schematic view after completion of the tube posture adjustment.

Figure 11 is a schematic view of the pipe being placed over the center of the wellhead after the vertical column has been rotated.

Fig. 12 is a schematic structural diagram of a first clamping portion according to an embodiment of the present invention.

Icon: 1-a derrick; 11-a platform; 2-a two-arm robot; 21-upper support frame; 22-upright post; 23-a robot arm; 23 a-a first manipulator; 23 b-a second manipulator; 231-the sled; 232-big arm; 233-forearm; 234-wrist; 235-a clamping device; 2351-a first grip; 2351 a-first transfer lever; 2351 b-a second drive link; 2351 c-gripper block; 2351 d-grip the power piece; 2352-a second grip; 2353-a linker; 2354-a gripping rack; 2355-grip drive; 2356-grip drive wheel; 236-a base; 24-a lower support frame; 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.

Examples

Referring to fig. 1, an embodiment of the present invention provides a pipe handling system, which includes a dual-arm robot 2 and a pipe storage assembly 3. The pipe handling system can be used for handling tubulars such as stands at a drilling site, moving the pipe 4 directly from a pipe storage site to a wellhead, and adjusting the attitude of the pipe 4 to facilitate pipe lowering operations. Specifically, the method comprises the following steps:

the two-arm robot 2 includes an upper support frame 21, a column 22, a lower support frame 24, and two robot arms 23.

The upper support frame 21 is rotatably connected with the upper end of the upright post 22, and the upper support frame 21 is used for being fixedly connected with the derrick 1. Specifically, the upper support frame 21 is provided with a fitting hole, and one end of the upright post 22 is rotatably disposed in the fitting hole.

The lower support frame 24 is rotatably connected with the lower end of the upright column 22, and the lower support frame 24 is used for being fixedly connected with the derrick 1 or the ground. Specifically, the lower support frame 24 is provided with a fitting hole, and the other end of the upright post 22 is rotatably disposed in the fitting hole.

When the upright column 22 is connected with the upper support frame 21 and the lower support frame 24, the upright column 22 is arranged along the height direction of the derrick 1, and the upright column 22 only retains the freedom of self-rotation around the axis thereof, so that the upright column 22 can rotate under the action of external force.

The two manipulators 23 are a first manipulator 23a and a second manipulator 23b, respectively.

The first robot 23a is slidably connected to the column 22 side. Specifically, the first robot 23a is slidably connected to the column 22 side via a block 231.

The first robot 23a includes a robot arm and a gripping device 235. One end of the robot arm is connected to the trolley 231 and the other end of the robot arm is connected to the clamping device 235.

Referring to fig. 2, in the present embodiment, the robot is configured as a six-degree-of-freedom serial robot, which includes a base 236, a large arm 232, a small arm 233, and a wrist 234. Base 236 is fixedly attached to sled 231. The large arm 232 is hinged to the base 236 with the axis of rotation perpendicular to the large arm 232. The small arm 233 is hinged to the base 236 with the axis of rotation perpendicular to the small arm 233. The wrist 234 is rotatably connected to the arm 233 such that the wrist 234 can rotate about its own longitudinal direction with the axis of rotation coinciding with the longitudinal direction of the arm 233.

Referring to fig. 3, the clamping device 235 includes a connector 2353, a clamping frame 2354, a first clamping portion 2351, a second clamping portion 2352, a clamping driving member 2355 and a clamping driving wheel 2356.

One end of the connector 2353 is hinged to the wrist 234, and the other end of the connector 2353 is connected to the support frame 2354. First clamping portion 2351 and second clamping portion 2352 are both hinged to clamping frame 2354, and first clamping portion 2351 and second clamping portion 2352 are arranged relatively to form an openable clamping space between first clamping portion 2351 and second clamping portion 2352.

Referring to fig. 12, the first clamping portion 2351 includes a first driving rod 2351a, a second driving rod 2351b, a clamping block 2351c and a clamping power member 2351 d. One end of the first transfer rod 2351a is hinged to the gripping frame 2354 and the other end is hinged to the gripping block 2351 c. One end of the second drive rod 2351b is hinged to the frame 2354 and the other end is hinged to the clamp block 2351 c. The gripper frame 2354, the first driving rod 2351a, the second driving rod 2351b and the gripper block 2351c form a parallelogram mechanism, so that the gripper block 2351c can always keep translational motion when in operation.

One end of the clamping power piece 2351d is hinged to the clamping frame 2354, and the other end of the clamping power piece 2351d is hinged to the first driving rod 2351a, so that the clamping power piece 2351d can drive the first driving rod 2351a to rotate by extending or shortening.

Four clamp drives 2355 and four clamp drive wheels 2356 are provided on one clamp device 235. The clamp drive members 2355 are coupled to the clamp drive wheels 2356 in a one-to-one correspondence, with one clamp drive member 2355 driving one clamp drive wheel 2356. Two of the clamp driving members 2355 are disposed on the first clamping portion 2351, and the remaining two clamp driving members 2355 are disposed on the second clamping portion 2352. Specifically, the clamp drive member 2355 and the clamp drive wheel 2356 are both mounted on the clamp block 2351 c.

The clamping driving wheel 2356 is a solid of revolution, and in the axial direction of the clamping driving wheel 2356, the cross sectional area of the middle portion is smaller than the cross sectional areas of both ends. Further, in this embodiment, the sides of the clamp drive wheel 2356 are single-sheet hyperboloid. Friction lines are also provided on the sides of the gripping drive wheel 2356. When the first and second gripping portions 2351 and 2352 are used to grip the pipe 4, the pipe 4 in the gripping space is in contact with the gripping driving wheel 2356, and the contact area between the gripping driving wheel 2356 and the pipe 4 may be increased by the recessed portion in the middle of the gripping driving wheel 2356, thereby achieving more stable gripping. The clamp drive 2355 may also be rotated by the clamp drive 2355 to adjust the position of the pipe string 4 by friction between the clamp drive wheel 2356 and the pipe string 4. In particular, in this embodiment, the clamp drive 2355 is configured as a motor.

The second robot 23b has the same configuration as the first robot 23 a. A second robot 23b is connected to the other side of the column 22. The second manipulator 23b is connected to the column 22 by another trolley 231. The second robot 23b can slide at a different speed with respect to the column 22 than the first robot 23 a.

Referring to fig. 4-7, the pipe storage assembly 3 is adapted to be positioned beneath the dual-arm robot 2 such that the first and second manipulators 23a, 23b are able to grip a pipe 4 from the pipe storage assembly 3 when positioned adjacent the lower end of the column 22.

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

when in use, the upper support frame 21 of the double-arm robot 2 is connected to the derrick 1, and the lower support frame 24 is connected below the working platform 11 of the derrick 1. The pipe tool storage rack 301 is placed on the ground and positioned on the side below the two-armed robot 2 such that the length direction of the pipe tools 4 on the pipe tool storage rack 301 coincides with the direction in which the first manipulator 23a points to the second manipulator 23b, and the direction in which the first end of the pipe tool storage rack 301 points to the second end is perpendicular to the length direction of the pipe tools 4, and the first end of the storage surface 34 is relatively closer to the two-armed robot 2;

when one upright column 22 needs to be lifted, the deflecting bar 36 of the pipe storage assembly 3 is located at the second working position, the second bent part 382 of the roll-over stand 38 is lower than the storage surface 34, the first bent part 381 is higher than the storage surface 34, then one pipe 4 slides along the storage surface 34 to the joint of the first bent part 381 and the second bent part 382, then the roll-over stand 38 rotates, the second bent part 382 is higher than the storage surface 34, the first bent part 381 is lower than the storage surface 34, and the pipe 4 is separated from the rest pipe 4 by the second bent part 382 for being clamped by the double-arm robot 2;

referring to fig. 8-10, the first and second manipulators 23a, 23b of the dual-arm robot 2 slide down, the pipe 4 is gripped by the gripping device 235, and the pipe 4 engages the depressions in the sides of each gripping drive wheel 2356. At this point, the clamp driving member 2355 can drive the clamp driving wheel 2356 to rotate, thereby driving the pipe 4 to move along the axis direction, thereby adjusting the position of the pipe 4. Then the first manipulator 23a and the second manipulator 23b drive the pipe 4 to move upwards, in this process, the movement speed of the first manipulator 23a is faster than that of the second manipulator 23b (or the movement speed of the second manipulator 23b is faster than that of the first manipulator 23a), so that the posture of the pipe 4 is gradually adjusted from the horizontal direction to the vertical direction, and at this time, the pipe 4 and the derrick 1 are respectively positioned at two sides of the upright column 22;

referring to fig. 11, finally the column 22 is turned to rotate the pipe 4 into the derrick 1 and to adjust the position so that the pipe 4 is aligned with the centre of the wellhead so that pipe lowering can be effected.

The embodiment of the utility model provides a pipe fitting processing system except can directly getting the outside of tubes from the pipe utensil yard, can also directly put the pipe utensil yard down with the pipe utensil 4 that mentions in following the well head, and the process of moving of transferring pipe utensil 4 is opposite with the aforesaid process of getting the pipe, and this is not repeated again.

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 11 of the derrick 1, so that a temporary storage device for the pipe 4 is not required to be arranged on the derrick 1, the load borne by the derrick 1 is reduced, the gravity center of the derrick 1 is favorably reduced, and the safety is favorably improved;

2. the pipe taking, transporting, posture adjustment of the pipe 4, pipe lowering and other functions can be realized only by the pipe processing system, 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 1 is further reduced, and the field arrangement space is saved;

3. all the pipes 4 can be stored in a pipe yard, so that the disassembly operation of the pipes 4 is avoided in an 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 1 is located the extension line of pipe utensil 4 promptly), and under this kind of mode of putting, the transport distance of pipe utensil 4 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 vertically 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 the present application, the reason why the gripping devices 235 on the first and second manipulators 23a and 23b are allowed to have different movement speeds is that: after the tube 4 is grasped, the posture of the tube 4 can be adjusted by different movement speeds of the gripping devices 235 on the two manipulators 23. Those skilled in the art will appreciate that this includes both the two robot arms 23 with the gripping devices 235 moving at different speeds; also included are situations where the gripping device 235 on one of the robots 23 is moved while the gripping device 235 on the other robot 23 remains stationary relative to the ground (i.e., the speed of movement is 0);

further, the method of generating the different movement speeds of the two gripping devices 235 of the two manipulators 23 may be obtained by adjusting the different sliding speeds of the two manipulators 23 and the postures of the manipulators 23 themselves as described in the present embodiment, or may be obtained by only adjusting the postures of the manipulators 23 themselves when the length of the manipulators 23 is sufficient;

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.

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 (15)

1. A double-arm robot for pipe tool treatment is characterized by comprising an upright post and two mechanical arms, wherein one mechanical arm is connected with one side of the upright post, and the other mechanical arm is connected with the other side of the upright post;

the manipulators comprise gripping means for gripping the pipe, the gripping means on both of the manipulators being allowed to have different speeds of movement.

2. The dual-arm robot of claim 1, wherein the manipulators further comprise a mechanical arm, one end of the mechanical arm is slidably connected with the upright, the other end of the mechanical arm is connected with the clamping device, and the mechanical arms on the two manipulators are allowed to have different sliding speeds;

the mechanical arm comprises a six-degree-of-freedom series mechanical arm.

3. The dual-arm robot of claim 1, wherein the gripping means comprises a joint, a gripping rack, a first gripping part and a second gripping part;

one end of the clamping frame is connected with the joint, and the other end of the clamping frame is rotatably connected with the first clamping part and the second clamping part;

the first clamping part and the second clamping part are oppositely arranged, and an openable clamping space is formed between the first clamping part and the second clamping part.

4. The dual-arm robot according to claim 3, wherein the first gripping part comprises a first transmission lever, a second transmission lever, a gripping block and a gripping power member;

one end of the first transmission rod is hinged with the clamping frame, and the other end of the first transmission rod is hinged with the clamping block;

one end of the second transmission rod is hinged with the clamping frame, and the other end of the second transmission rod is hinged with the clamping block;

the clamping frame, the first transmission rod, the second transmission rod and the clamping block form a parallelogram mechanism, and the clamping power piece is connected with the first transmission rod and used for driving the first transmission rod to rotate;

the second clamping part has the same structure as the first clamping part.

5. The dual-arm robot of claim 4, wherein one end of the clamping power member is hinged to the clamping frame, and the other end of the clamping power member is hinged to the first transmission rod;

the clamping power piece, the first transmission rod and the clamping frame form a triangular structure, wherein one side formed by the clamping power piece can be extended or shortened.

6. The dual-arm robot of claim 5, wherein the clamping device further comprises a clamping driving member and a clamping driving wheel, the clamping driving member and the clamping driving wheel are mounted on the clamping block, the first clamping portion is provided with at least one clamping driving member, the second clamping portion is also provided with at least one clamping driving member, and the clamping driving members and the clamping driving wheel are connected in a one-to-one correspondence;

the clamping driving wheel is used for contacting with the pipe in the clamping space.

7. The dual-arm robot according to claim 6, wherein a cross-sectional area of a middle portion of the grip driving wheel is smaller than cross-sectional areas of both ends of the grip driving wheel in an axial direction of the grip driving wheel.

8. The dual-arm robot as claimed in claim 6, wherein the side surfaces of the gripping driving wheels are provided with friction patterns.

9. The dual-arm robot of claim 1, wherein the manipulator is connected to the upright via a trolley.

10. The dual-arm robot according to any one of claims 1 to 9, further comprising an upper support frame and a lower support frame;

the upper supporting frame is hinged to one end of the upright post, and the lower supporting frame is hinged to the other end of the upright post.

11. A pipe handling system comprising a pipe storage assembly and the dual-arm robot of any of claims 1-10;

the dual-arm robot is used for taking out a pipe from the pipe storage assembly or placing the pipe on the pipe storage assembly.

12. The pipe treatment system of claim 11 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.

13. The pipe treatment system of claim 12, 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.

14. The pipe treatment system of claim 13 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.

15. The pipe treatment system of claim 14 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.

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