CN218347348U - Automatic processing system for drilling machine tubular column - Google Patents

Abstract

The utility model discloses an automatic processing system of rig tubular column, include: the device comprises a base, a derrick, a crown block, a multifunctional manipulator, a rail type iron roughneck, a telescopic arm type iron roughneck, a drill floor face robot and a ramp type automatic catwalk, wherein the derrick is arranged on the base; the crown block is arranged at the top end of the derrick; the multifunctional manipulator is matched with the steel structure guide rail, the multifunctional manipulator is slidably arranged on the steel structure guide rail, and the crown block drives the multifunctional manipulator to move along the steel structure guide rail; the rail type iron roughneck and the telescopic arm type iron roughneck are both arranged on the base; the drilling platform surface robot is arranged on the track and moves along the extending direction of the track; the ramp type automatic catwalk is connected with the base. The utility model discloses be integrated as a whole with a plurality of equipment, can realize the automated processing of rig tubular column, the operating personnel who needs simultaneously is few, and security and accuracy nature are high during each equipment motion, have saved human cost and time cost greatly.

Description

Automatic processing system for drilling machine tubular column

Technical Field

The utility model relates to an oil and gas drilling equipment's technical field especially relates to a rig tubular column automated processing system.

Background

In oil drilling operations, it is necessary to perform pipe string treatment work continuously.

At the in-process that traditional rig tubular column was handled, catwalk carries the tubular column to the rig floor face, snatchs equipment and snatchs the tubular column, gives the equipment of taking apart and take apart, gives the racking platform calandria machine again and discharges, and at this in-process, the relevant equipment that needs is many, the relevant operating personnel of needs are many, and can't accomplish the high-efficient handling to all model tubular columns, can't reach the automation requirement, has also increased not little potential safety hazard in the course of the work.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a rig tubular column automated processing system.

In order to realize the purpose, the utility model discloses the technical scheme who takes does:

a drilling rig tubular string automated processing system, comprising:

the base is provided with a track;

the derrick is arranged on the base, and a steel structure guide rail is arranged on the derrick and is arranged along the length direction of the derrick;

the overhead traveling crane is arranged at the top end of the derrick;

the multifunctional manipulator is matched with the steel structure guide rail and can be arranged on the steel structure guide rail in a sliding mode, and the crown block drives the multifunctional manipulator to move along the steel structure guide rail;

the device comprises a rail-type iron roughneck and a telescopic arm-type iron roughneck, wherein the rail-type iron roughneck and the telescopic arm-type iron roughneck are both arranged on the base;

the drilling platform surface robot is installed on the track and moves along the extending direction of the track;

the automatic catwalk of ramp formula, automatic catwalk of ramp formula and base are connected.

The above-mentioned automatic processing system of rig tubular column, wherein, multi-functional manipulator includes:

the trolley frame is provided with a roller and is in sliding connection with the steel structure guide rail through the roller;

the main arm is rotatably connected with the sliding frame by taking a first rotating shaft as a shaft at one end, and the first rotating shaft is vertical to the length direction of the main arm;

the upper end of the rotary base is arranged at the other end of the main arm, the rotary base can be rotatably arranged by taking the axis of the rotary base as the upper end and the lower end of the shaft, and the axis of the rotary base is vertical to the first rotating shaft;

one end of the auxiliary arm is rotatably connected with the lower end of the rotary base by taking a second rotating shaft as an axis, the second rotating shaft is vertical to the length direction of the auxiliary arm, and the second rotating shaft is vertical to the axis of the rotary base;

the forceps head is arranged at the other end of the auxiliary arm.

The above-mentioned drilling machine tubular column automated processing system, wherein, the rig floor face robot includes:

the traveling mechanism is arranged on the track and can move along the track;

the lower end of the rotating device is arranged on the walking device, and the upper end and the lower end of the rotating device can be rotatably arranged by taking the axis of the rotating device as a shaft;

one end of the large arm is rotatably connected with the upper end of the slewing device by taking a third rotating shaft as a shaft, and the third rotating shaft is vertical to the self axis of the slewing device;

one end of the small arm is rotatably connected with the other end of the large arm by taking a fourth rotating shaft as a shaft, and the fourth rotating shaft is parallel to the third rotating shaft;

the first clamping pincers are rotatably connected with the other end of the small arm by taking a fifth rotating shaft as an axis, and the fifth rotating shaft is parallel to the third rotating shaft.

The drilling machine tubular column automatic processing system is characterized in that the derrick is further provided with: the steel structure guide rail is arranged between the top drive and the crown block, and the hydraulic elevator is arranged below the top drive.

The automatic processing system for the drilling machine tubular column is characterized in that the clamp head is provided with: the pipe column clamping device comprises righting pliers and two second clamping pliers, wherein the two second clamping pliers are arranged on two sides of the righting pliers, and the two second clamping pliers and the righting pliers are matched to clamp a pipe column together.

According to the automatic processing system for the drilling machine tubular column, the base is provided with the aligning rat hole, the aligning rat hole is arranged under the multifunctional manipulator, the aligning rat hole is vertically arranged, and the aligning rat hole is matched with the tubular column.

According to the automatic processing system for the drilling machine pipe columns, the tracks and the well hole centers are arranged around the aligned rat hole respectively, the well hole centers are vertically arranged and matched with each other, and the pipe columns penetrate through the well hole centers and are sequentially connected in an initial position to form a stand.

The automatic processing system for the drilling machine tubular column further comprises: the top surface of the base forms a drilling platform surface, the fingerboard surrounds at least a part of the drilling platform surface, the derrick extends outwards to form a fingerboard platform, and the fingerboard surrounds at least a part of the fingerboard platform.

A method of operating a drilling rig tubular string automated processing system, wherein the drilling rig tubular string automated processing system is used, comprising:

step S1: the ramp type automatic catwalk conveys the pipe column to a corresponding position of the drilling platform surface of the base from the ground, the multifunctional manipulator descends to a corresponding height, the multifunctional manipulator adjusts and moves to align the pipe column, the righting clamp clamps the pipe column to be aligned, and the second clamping clamp clamps the pipe column;

step S2: the multifunctional manipulator grabs the tubular column and then lifts the tubular column to be vertical after reaching a certain height, the large arm and the small arm of the drilling platform robot stretch out and are clamped by the binding clip to support the tubular column, the multifunctional manipulator and the drilling platform robot are matched to place the tubular column in the aligned rat hole, the multifunctional manipulator clamps the tubular column and transfers the tubular column to a certain position in the aligned rat hole, the binding clip of the drilling platform robot is loosened, the large arm and the small arm of the drilling platform robot retract, and the multifunctional manipulator continues to transfer the tubular column to the corresponding position of the aligned rat hole.

And step S3: repeating the step S1 and the step S2 to clamp a new tubular column and further align the new tubular column with the previous tubular column;

and step S4: and repeating the step S1, the step S2 and the step S3 again, wherein the alignment rat hole passes through the complete stand formed by butting the three pipe columns, the multifunctional manipulator lifts the complete stand out of the alignment rat hole, the drilling platform robot supports the lower part of the stand, the multifunctional manipulator sends the complete stand to the corresponding position of the platform finger beam, and the drilling platform robot synchronously moves and supports the stand in the process.

Step S5: when the top drive drills downwards to the limit position, the hydraulic elevator is opened, the top drive ascends to the corresponding position, the multifunctional manipulator takes out the stand in the finger beam and sends the stand to the hydraulic elevator, the hydraulic elevator is closed, and the drilling platform robot synchronously moves and supports the stand in the process;

step S6: the drilling platform robot supports the stand to be aligned with the pipe column in the center of the well hole, the telescopic arm type iron roughneck extends out to the corresponding position of the center of the well hole, the pipe column in the center of the well hole and the stand are screwed and punched, the telescopic arm type iron roughneck retracts after butt joint is completed, and the top drive drives the pipe column to continuously drill.

The working method of the automatic processing system for the drilling machine tubular column comprises the following steps of S3:

step S31: repeating the step S1 and the step S2 to clamp a new pipe column and place the pipe column in the aligned rat hole;

step S32: the second clamping pincers of the multifunctional manipulator are loosened, and the telescopic arm type iron roughneck extends out to carry out screwing and punching on the two pipe columns to complete butt joint;

step S33: after the butt joint is completed, the telescopic arm type iron roughneck retracts, the drilling platform surface robot retracts, and the second clamping pincers of the multifunctional manipulator clamp and lower the pipe column to the position corresponding to the aligned rat hole.

The utility model discloses owing to adopted above-mentioned technique, make it compare the positive effect that has with prior art and be:

(1) The utility model discloses integrated a plurality of equipment is a whole, can realize the automated processing of rig tubular column, and the operating personnel that need simultaneously is few, and security and accuracy nature are high during each equipment motion, have saved human cost and time cost greatly.

Drawings

Fig. 1 is a three-dimensional schematic diagram of the automated handling system for a drilling rig pipe string of the present invention.

Fig. 2 is the three-dimensional schematic diagram of the multifunctional manipulator of the automatic processing system of the drilling machine tubular column of the utility model.

Fig. 3 is the three-dimensional schematic diagram of the drilling platform face robot of the automatic processing system of the drilling machine tubular column of the utility model.

Fig. 4 is a multi-functional manipulator grabbing catwalk drill string schematic diagram of an embodiment of the automated drilling rig string processing system.

Fig. 5 is a schematic view of the multi-function robot of the automated handling system for a drilling rig string of embodiments placing a drill string into a mousehole.

FIG. 6 is a setting schematic of an embodiment of a drilling rig tubular string automated processing system.

FIG. 7 is a multi-function robotic racking system schematic of an embodiment of a drilling rig tubular string automated handling system.

FIG. 8 is a schematic diagram of a rig floor robot coupled to a stand string of an embodiment of the automated handling system for a drilling rig tubular string.

FIG. 9 is a schematic diagram of a top drive stand of an embodiment of a drilling rig tubular string automation processing system.

FIG. 10 is a schematic diagram of a docking assembly at a wellhead of an embodiment of a drilling rig tubular string automation processing system.

In the drawings: 1. a base; 2. a derrick; 3. a crown block; 4. top drive; 5. hydraulic elevator; 6. a multifunctional manipulator; 7. drilling a table surface robot; 8. an automatic catwalk; 9. a rail-type iron roughneck; 10. a telescopic arm iron roughneck; 11. a pipe string; 12. aligning the rat hole; 13. erecting roots; 14. a borehole center; 21. a fingerboard; 61. a steel structure guide rail; 62. a roller; 63. a carriage frame; 64. a main arm; 65. a rotating base; 66. an auxiliary arm; 67. a binding clip; 68. a second holding jaw; 69. righting pliers; 71. a track; 72. a traveling device; 73. a turning device; 74. a large arm; 75. a small arm; 76. a first holding jaw.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto. FIG. 1 is a three-dimensional schematic diagram of a drilling rig tubular column automated processing system of the present invention; fig. 2 is a three-dimensional schematic view of a multifunctional manipulator of the automated drilling string processing system of the present invention; FIG. 3 is a three-dimensional schematic diagram of a drill floor robot of the automated handling system for a drilling rig tubular column of the present invention; FIG. 4 is a schematic view of a multi-function robotic grasping catwalk drill string of an embodiment of the automated drilling rig string handling system; FIG. 5 is a schematic view of a multi-function robot of an embodiment of the automated handling system for a drilling rig string placing a drill string into a mousehole; FIG. 6 is a schematic setting diagram of an embodiment of a drilling rig tubular string automated processing system; FIG. 7 is a schematic view of a multi-function robotic discharge stand of an embodiment of the drilling rig tubular string automated processing system; FIG. 8 is a schematic diagram of a rig floor robot coupled stand discharge for an embodiment of the drilling rig tubular string automated processing system; FIG. 9 is a schematic diagram of a top drive stand of an embodiment of a drilling rig tubular string automation processing system; fig. 10 is a schematic diagram of a docking tool at a wellhead of an embodiment of a drilling rig tubular string automated processing system, and referring to fig. 1-10, a drilling rig tubular string automated processing system of a preferred embodiment is shown, comprising: the device comprises a base 1, a derrick 2, a crown block 3, a multifunctional manipulator 6, a rail-type iron roughneck 9, a telescopic arm-type iron roughneck, a drilling table surface robot 7 and a ramp-type automatic catwalk 8, wherein a rail 71 is arranged on the base 1; the derrick 2 is arranged on the base 1, a steel structure guide rail 61 is arranged on the derrick 2, and the steel structure guide rail 61 is arranged along the length direction of the derrick 2; the crown block 3 is arranged at the top end of the derrick 2; the multifunctional manipulator 6 is matched with the steel structure guide rail 61, the multifunctional manipulator 6 is slidably arranged on the steel structure guide rail 61, and the crown block 3 drives the multifunctional manipulator to move along the steel structure guide rail 61; the rail type iron roughneck 9 and the telescopic arm type iron roughneck are both arranged on the base 1; the drill floor robot 7 is mounted on the rail 71, and the drill floor robot 7 moves in the direction in which the rail 71 extends; the ramp-type automatic catwalk 8 is connected with the base 1.

In a preferred embodiment, the multifunction robot 6 comprises:

the trolley frame 63 is provided with a roller 62, and the trolley frame 63 is connected with the steel structure guide rail 61 in a sliding manner through the roller 62;

a main arm 64, one end of the main arm 64 being rotatably connected to the carriage frame 63 by using a first rotating shaft as a shaft, the first rotating shaft being perpendicular to the length direction of the main arm 64;

a rotary base 65, the upper end of the rotary base 65 is arranged at the other end of the main arm 64, the rotary base 65 is rotatably arranged by taking the axis of the rotary base 65 as the upper end and the lower end of the shaft, and the axis of the rotary base 65 is vertical to the first rotating shaft;

an auxiliary arm 66, one end of the auxiliary arm 66 is rotatably connected with the lower end of the rotary base 65 by taking a second rotating shaft as an axis, the second rotating shaft is vertical to the length direction of the auxiliary arm 66, and the second rotating shaft is vertical to the axis of the rotary base 65;

a binding clip 67, the binding clip 67 being mounted on the other end of the secondary arm 66.

In a preferred embodiment, the drill floor robot 7 comprises:

a traveling device 72, in which a traveling mechanism is mounted on the rail 71, and the traveling mechanism is movable along the rail 71;

the lower end of the rotating device 73 is arranged on the walking device 72, and the upper end and the lower end of the rotating device 73 are rotatably arranged by taking the axis of the rotating device as a shaft;

one end of the large arm 74 is rotatably connected with the upper end of the rotating device 73 by taking a third rotating shaft as an axis, and the third rotating shaft is vertical to the self axis of the rotating device 73;

a small arm 75, one end of the small arm 75 being rotatably connected to the other end of the large arm 74 by using a fourth rotation axis as an axis, the fourth rotation axis being parallel to the third rotation axis;

and a first clamping jaw 76, wherein the first clamping jaw 76 is rotatably connected with the other end of the small arm 75 by taking a fifth rotating shaft as an axis, and the fifth rotating shaft is parallel to the third rotating shaft.

In a preferred embodiment, the derrick 2 is further provided with: top drive 4 and hydraulic elevator 5, steel construction guide rail 61 is located and is driven 4 and overhead traveling crane 3 between, and hydraulic elevator 5 is located and is driven 4 below on the top.

The above is merely an example of the preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.

The utility model discloses still have following embodiment on above-mentioned basis:

in a further embodiment of the present invention, the binding clip 67 is provided with: a righting jaw 69 and two second clamping jaws 68, the two second clamping jaws 68 being provided on both sides of the righting jaw 69, and the two clamping jaws 76 and the righting jaw 69 cooperating to clamp a tubular string 11 together.

The utility model discloses a further embodiment is equipped with alignment rat hole 12 on the base 1, aligns rat hole 12 and locates multifunctional mechanical arm 6 under, aligns the vertical setting of rat hole 12, aligns rat hole 12 and tubular column 11 and cooperatees.

The utility model discloses a further embodiment, align rat hole 12 and be equipped with a plurality of tubular columns 11, track 71 and well center 14 around respectively, well center 14 vertical setting, well center 14 and tubular column 11 cooperate, and a plurality of tubular columns 11 run through well center 14 and meet first in proper order and form stand 13.

The utility model discloses a further embodiment, still include: the fingerboard 21, the upper surface of the base 1 forms the drilling platform, the fingerboard 21 surrounds at least a part of the drilling platform, the derrick 2 extends outwards to form the fingerboard 21, and the fingerboard 21 surrounds at least a part of the fingerboard 21.

Referring to fig. 1-10, a method of operation of an automated handling system for a drilling rig string 11 is shown in accordance with a preferred embodiment, using the automated handling system for a drilling rig string 11 described above, the method comprising:

step S1: the automatic catwalk 8 of ramp type carries tubular column 11 to the corresponding position of the rig floor of base 1 by ground, and multifunctional mechanical hand 6 descends to corresponding height, and multifunctional mechanical hand 6 adjustment action aligns tubular column 11, and the centre gripping of right pincers 69 is managed 11 and is adjusted well, and second centre gripping pincers 68 press from both sides tight tubular column 11.

Step S2: multifunctional mechanical hand 6 snatchs and promotes behind the tubular column 11, it is vertical to make tubular column 11 after reaching the take the altitude, big arm 74 and forearm 75 of rig floor face machine people 7 stretch out, hold tubular column 11 with binding clip 67 centre gripping, multifunctional mechanical hand 6 and rig floor machine people 7 equipment cooperation are arranged tubular column 11 in and are aligned rat hole 12, 6 centre gripping tubular columns of multifunctional mechanical hand 11 and transfer tubular column 11 to a certain position in aligning rat hole 12, binding clip 67 of rig floor machine people 7 unclamps, big arm 74 and forearm 75 withdrawal, multifunctional mechanical hand 6 continues to transfer tubular column 11 to aligning rat hole 12 relevant position.

And step S3: repeating the step S1 and the step S2 to clamp a new tubular column 11 and further centering the new tubular column with the previous tubular column 11;

and step S4: and repeating the step S1, the step S2 and the step S3 again, wherein at the moment, the alignment rat hole 12 passes through the three tubular columns 11 and is butted to form a complete stand 13, the multifunctional manipulator 6 lifts the complete stand 13 out of the alignment rat hole 12, the drilling platform face robot 7 supports the lower part of the stand 13, the multifunctional manipulator 6 sends the complete stand 13 to the corresponding position of the finger board 21, and the drilling platform face robot 7 synchronously moves and supports the stand 13 in the process.

Step S5: and stopping the drilling when the top drive 4 drills down to the limit position, opening the hydraulic elevator 5, lifting the top drive 4 to the corresponding position, taking out the vertical root 13 in the finger beam 21 by the multifunctional manipulator 6, feeding the vertical root into the hydraulic elevator 5, closing the hydraulic elevator 5, and synchronously moving the drilling platform robot 7 and supporting the vertical root 13 in the process.

Step S6: the drill floor robot 7 supports the stand 13 to be aligned with the pipe column 11 in the well center 14, the telescopic arm type iron roughneck extends out to the corresponding position of the well center 14, the pipe column 11 and the stand 13 in the well center 14 are screwed and punched, the telescopic arm type iron roughneck retracts after butt joint is completed, and the top drive 4 drives the pipe column 11 to continue drilling.

In a preferred embodiment, step S3 comprises:

step S31: repeating the step S1 and the step S2 to clamp a new tubular column 11 and placing the tubular column in the aligned rat hole 12;

step S32: the second clamping pincers 68 of the multifunctional manipulator 6 are loosened, and the telescopic arm type iron roughneck extends out to carry out screwing and punching on the two tubular columns 11 to complete butt joint;

step S33: after the butt joint is completed, the telescopic arm type iron roughneck retracts, the drill floor surface robot 7 retracts, the second clamping pincers 68 of the multifunctional manipulator 6 clamp tightly, and the pipe column 11 is placed to be aligned with the corresponding position of the rat hole 12.

In a preferred embodiment, the device comprises a base 1, a derrick 2, a crown block 3, a top drive 4, a hydraulic elevator 5, a multifunctional manipulator 6, a drill floor robot 7, an automatic catwalk 8, a rail-type iron roughneck 9, a telescopic arm iron roughneck 10 and the like. The base 1 and the derrick 2 are the bearing and mounting foundation of the whole system; the crown block 3, the top drive 4 and the hydraulic elevator 5 are core components for tripping the drill of the drilling machine; the multifunctional manipulator 6 is arranged on a track 71 of the derrick 2, and can process the pipe column 11 through actions of vertical motion, amplitude variation of the main arm 64, inclination compensation, rotary motion, amplitude variation of the auxiliary arm 66, inclination of the tong head 67, righting of the tong head 67, clamping of the tong head 67 and the like; the drill table surface robot 7 is arranged on the drill table surface of the base 1 through a rail 71 and can work by matching actions such as walking, rotating, large arm 74 rotating, small arm 75 rotating, tong head 67 clamping and the like with the multifunctional manipulator 6 and other parts; the automatic catwalk 8 can realize the conveying of the pipe column 11 between the ground and the drilling platform; two iron roughnecks can cooperate with the system to handle different types of tubular strings 11. The system integrates the devices into a whole, can realize the automatic treatment of the drilling machine tubular column 11, needs few operators, has high safety and accuracy when each device moves, and greatly saves the labor cost and the time cost.

In a preferred embodiment, a steel structure guide rail 61 is arranged on the derrick 2, the multifunctional manipulator 6 is arranged on a track 71 through four groups of rollers 62 and can vertically move along the track 71, and the multifunctional manipulator 6 can complete the actions of amplitude variation of a main arm 64, inclination compensation, rotary motion, amplitude variation of an auxiliary arm 66, inclination of a tong head 67, centralization and clamping of the tong head 67 and the like under servo drive; a track 71 with a rack is mounted on a drilling platform surface of the base 1, the drilling platform surface robot 7 is mounted on the track 71 through the roller 62 and the gear rack in a meshed mode and can walk along the track 71, the drilling platform surface robot 7 can finish walking, rotating, large arm 74 rotating, small arm 75 rotating, tong head 67 clamping and other actions under servo driving, and the actions can be matched with other parts of a system to work through controlling the actions; the automatic catwalk 8 is a slope catwalk and can complete the conveying of the pipe column 11 between the ground and the drilling floor; the rail-type iron roughneck 9 is meshed and installed on the drilling platform surface of the base 1 through the gear rack rail 71, can walk along the rail 71 and can be matched with other parts to complete the treatment of the large-diameter tubular column 11; the telescopic arm iron driller 10 is fixedly arranged on one side of the drilling platform surface of the base 1 and can complete the screwing and screwing work of the pipe column 11.

In a preferred embodiment, the system for automatically processing the drilling machine pipe column 11 is completed under the mutual cooperation of a base 1, a derrick 2, a crown block 3, a top drive 4, a hydraulic elevator 5, a multifunctional manipulator 6, a drill floor robot 7, an automatic catwalk 8, a rail-type iron roughneck 9, a telescopic arm iron roughneck 10 and the like.

In a preferred embodiment, the derrick 2 is used as a mounting base of the multifunctional manipulator 6, and the steel structure guide rail 61 is mounted on the front inner side of the multifunctional manipulator 6, and the multifunctional manipulator 6 can move vertically along the rail 71.

In a preferred embodiment, the multifunctional manipulator 6 comprises a sliding frame 63, a main arm 64, a rotary base 65, an auxiliary arm 66, a tong head 67 and a related electric cylinder, and the multifunctional manipulator 6 can realize vertical motion, amplitude variation of the main arm 64, inclination compensation, rotary motion, amplitude variation of the auxiliary arm 66, inclination of the tong head 67, righting and clamping of the tong head 67 and the like under the driving of a related electric servo driving mechanism.

In a preferred embodiment, a drill floor robot 7 rail 71 is arranged on the drill floor of the base 1, and the drill floor robot 7 can walk on the drill floor along the rail 71 through gear-rack meshing.

In a preferred embodiment, the drill-floor robot 7 is composed of a track 71, a walking device 72, a revolving device 73, a large arm 74, a small arm 75, a first clamping jaw 76 and related electric driving parts, and the drill-floor robot 7 can realize the actions of walking, rotating, revolving the large arm 74, revolving the small arm 75, revolving the jaw 67, clamping the jaw 67 and the like.

In a preferred embodiment, the automatic catwalk 8 is a ramp catwalk that can accomplish the transportation of various types of pipe strings 11 between the surface and the drill floor.

In a preferred embodiment, the orbital iron roughneck 9 and the telescopic arm iron roughneck can handle various types of pipe strings 11 in cooperation with other parts in the system.

In a preferred embodiment, each moving part of the system is provided with an angle and displacement sensor for monitoring real-time data of each action, so that the visibility, the accuracy and the safety of the system are improved.

In a preferred embodiment, the system is provided with an omnibearing robot vision module, the working condition of each part of the system can be monitored in real time, and the digitization, the informatization and the intellectualization of the system are realized.

In a preferred embodiment, the system has three working modes of driller room control, remote control and offline automatic operation, and the controllability, the adaptability and the working efficiency of the system can be greatly improved.

In a preferred embodiment, the device provides a brand-new automatic treatment system for the drilling machine tubular column 11, aiming at the technical defects that the existing drilling machine tubular column 11 is low in matching efficiency, high in labor cost, low in safety, incapable of realizing automation and the like due to different devices. The utility model discloses with automatic catwalk 8, multifunctional mechanical hand 6, rig floor face machine robot 7, top drive 4, rail mounted iron roughneck 9, the integrated an organic whole of automation equipment such as flexible arm-type iron roughneck, let each part in the system closely cooperate the work, can improve 11 treatment effeciencies of tubular column by a wide margin, equipment degree of automation is high simultaneously, the simple operation safety, the auxiliary personnel who needs are few, operating mode is various, the human cost that has significantly reduced has reduced relevant potential safety hazard.

In a preferred embodiment, the derrick 2 base 1 device suitable for installation of related automation equipment is a multifunctional manipulator 6 device which can perform a series of operations such as grabbing, lifting, translating and lowering on a pipe column 11 conveyed from an automatic catwalk 8, a drilling platform robot 7 device which can assist the multifunctional manipulator 6 and other devices in processing the pipe column 11, and a rail type iron roughneck 9 device and a telescopic arm type iron roughneck device which can be matched with other devices to process various types of pipe columns 11.

In a preferred embodiment, the automatic equipment is integrated into a system, the instructions of various working conditions are integrally controlled, the working states of the equipment and the whole working state are integrally monitored, and the highly-automatic drilling machine string 11 processing system can be realized.

In a preferred embodiment, the automatic catwalk 8 is a ramp catwalk, the device is simple in structure and easy to maintain, the conveying pipe column 11 is high in efficiency, and the space occupied when the device is matched with other devices is small.

In a preferred embodiment, the multifunctional manipulator 6 is arranged at the front inner side of the derrick 2 through a rail 71, and all actions of the multifunctional manipulator 6 are driven by a servo motor, so that the action precision is high, and the control is easy.

In a preferred embodiment, the drill-floor robot 7 is mounted on the drill floor through a rack-and-pinion track 71, the drill-floor robot 7 can travel along the track 71, and the travel area comprises an avoidance area, so that interference when all devices work together is avoided; each action of the drilling platform robot 7 is driven by a servo motor, and the drilling platform robot is high in action precision and easy to control.

In a preferred embodiment, the telescopic arm iron roughneck is fixedly arranged at one side of the derrick 2, occupies small space when retracted, and can carry out screwing and punching work to the center of the mousehole or the center 14 of the well hole when extended.

In a preferred embodiment, the rail-type iron roughneck 9 is mounted on the drilling surface of the base 1, and the rail-type iron roughneck 9 can perform the processing work of the large-diameter casing.

In a preferred embodiment, as shown in fig. 1, an automatic processing system for a drilling machine string 11 comprises an automatic catwalk 8 device installed on the ground in front of a base 1, a multifunctional manipulator 6 device installed on a derrick 2, a drilling platform robot 7 device, a rail type iron driller 9 device and a telescopic arm type iron driller device installed on a drilling platform of the base 1, and a crown block 3, a top drive 4, a hydraulic elevator 5 and other devices, wherein each part of the devices can realize the automatic processing of the drilling machine string 11 under the control of the system.

In a preferred embodiment, as shown in fig. 2, the multi-function manipulator 6 is an important working device in the whole system, and has multiple degrees of freedom in its entirety, and the range of motion covers the space required for processing all the strings 11, and plays an important role in processing the strings 11 of the drilling machine.

In a preferred embodiment, as shown in fig. 3, the drill floor robot 7 is an important auxiliary device in the whole system, and has multiple degrees of freedom as a whole, so that the tubular column 11 is clamped in the processing of the tubular column 11, and the accuracy and safety of the processing of the tubular column 11 are effectively improved.

In a preferred embodiment, fig. 4-10 are schematic diagrams illustrating the operation steps of conveying, grabbing, moving, setting a stand 13, arranging a stand 13, sending a stand 13 and butting a pipe string 11 of a wellhead in the system according to the embodiment.

The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.

Claims (8)

1. A drilling rig tubular string automated processing system, comprising:

the base is provided with a track;

the derrick is arranged on the base, and a steel structure guide rail is arranged on the derrick and is arranged along the length direction of the derrick;

the overhead traveling crane is arranged at the top end of the derrick;

the multifunctional manipulator is matched with the steel structure guide rail, the multifunctional manipulator is slidably arranged on the steel structure guide rail, and the crown block drives the multifunctional manipulator to move along the steel structure guide rail;

the rail type iron roughneck and the telescopic arm type iron roughneck are both arranged on the base;

a drill floor robot mounted on the track, the drill floor robot moving along a direction in which the track extends;

the automatic catwalk of ramp formula, automatic catwalk of ramp formula and base are connected.

2. The automated rig string handling system of claim 1, wherein the multi-function robot comprises:

the trolley frame is provided with a roller and is in sliding connection with the steel structure guide rail through the roller;

the main arm, one end of the said main arm is connected with the said slippery frame rotatably with the first spindle as the axle, the said first spindle is perpendicular to length direction of the said main arm;

the upper end of the rotary base is arranged at the other end of the main arm, the rotary base can be rotatably arranged by taking the axis of the rotary base as the upper end and the lower end of the shaft, and the axis of the rotary base is vertical to the first rotating shaft;

one end of the auxiliary arm is rotatably connected with the lower end of the rotary base by taking a second rotating shaft as a shaft, the second rotating shaft is vertical to the length direction of the auxiliary arm, and the second rotating shaft is vertical to the axis of the rotary base;

and the forceps head is arranged at the other end of the auxiliary arm.

3. The drilling rig tubular string automated handling system of claim 2, wherein the drill floor robot comprises:

the running gear is arranged on the track and can move along the track;

the lower end of the rotating device is arranged on the walking device, and the upper end and the lower end of the rotating device can be rotatably arranged by taking the axis of the rotating device as a shaft;

one end of the large arm is rotatably connected with the upper end of the slewing device by taking a third rotating shaft as a shaft, and the third rotating shaft is vertical to the axis of the slewing device;

one end of the small arm is rotatably connected with the other end of the large arm by taking a fourth rotating shaft as a shaft, and the fourth rotating shaft is parallel to the third rotating shaft;

the first clamping pincers are rotatably connected with the other end of the small arm by taking a fifth rotating shaft as an axis, and the fifth rotating shaft is parallel to the third rotating shaft.

4. The automated rig pipe string handling system of claim 3, wherein the derrick further comprises: top drive and hydraulic elevator, the steel construction guide rail is located the top drive with between the overhead traveling crane, the hydraulic elevator is located the below that the top was driven.

5. The automated drilling rig string handling system of claim 4, wherein the tong head is provided with: the pipe string clamping device comprises a righting clamp and two second clamping clamps, wherein the two second clamping clamps are arranged on two sides of the righting clamp, and the two second clamping clamps and the righting clamp are matched to clamp a pipe string together.

6. The automated drilling rig string handling system of claim 5, wherein the base is provided with an alignment mousehole, the alignment mousehole is located directly below the multi-function manipulator, the alignment mousehole is vertically located, and the alignment mousehole mates with the string.

7. The automated drilling rig string handling system of claim 6, wherein a plurality of the strings, the tracks and the borehole center are respectively disposed around the aligned rat hole, the borehole center is vertically disposed, the borehole center and the strings are matched, and the strings penetrate through the borehole center and are sequentially connected end to form a stand.

8. The drilling rig tubular string automated handling system of claim 7, further comprising: the top surface of the base forms a drilling platform surface, the fingerboard surrounds at least a part of the drilling platform surface, the derrick extends outwards to form a fingerboard platform, and the fingerboard surrounds at least a part of the fingerboard platform.

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