WO2017133561A1

WO2017133561A1 - Automated drilling rig

Info

Publication number: WO2017133561A1
Application number: PCT/CN2017/072299
Authority: WO
Inventors: 魏双会; 于芳; 田雨; 高杭; 李志刚
Original assignee: 四川宏华石油设备有限公司
Priority date: 2016-02-05
Filing date: 2017-01-24
Publication date: 2017-08-10
Also published as: CN105672874B; CN105672874A

Abstract

Disclosed is an automated drilling rig. Two fan-shaped fingerboards (9) are provided on either side of a headframe (8), two corresponding sink-style setbacks (3) are arranged on a base (4); installed pipes are automatically turned in, turned out and translated back and forth by a catwalk (1); a turn-over manipulator (2) grips the pipes delivered by the catwalk (1) and turns them over to a vertical state and during makeup/breakout, tightly grips the pipes below and applies a reaction torque; and a stand-connecting manipulator (10) moves the pipes up and down, aligns the pipes, and vertically transfers or arranges stands. The drilling rig uses electrical and hydraulic drive technology, an omnidirectional video monitoring system and integrated control, such that a drilling operator can enable, by operating corresponding programs in a control cabin, the drilling rig to drill, and connect or detach the stands, achieving full automation, off-line operation, and safety and reliability, while the operation efficiency can be improved up to 3 times of the existing drilling rigs; moreover, when moving a well site, the automated drilling rig can be moved together with all the stands, improving the operation efficiency and lowering the labor intensity of staff.

Description

一种自动化钻机Automatic drilling rig

技术领域Technical field

本发明涉及一种油气钻采用钻机，可实现自动化操作、离线作业。The invention relates to a drilling machine for oil and gas drilling, which can realize automatic operation and offline operation.

背景技术Background technique

现役钻机属于半自动化，仅钻进过程实现自动化，其他辅助作业需要工人配合机械操作，钻机自动化程度低、危险性大、生产效率低。The active drilling rig is semi-automatic, and only the drilling process is automated. Other auxiliary operations require workers to cooperate with the mechanical operation. The drilling rig has low automation, high risk and low production efficiency.

例如，陆地钻机进行钻具移运和上钻台面作业过程：首先，专用车辆将钻具运输至井场，采用现场吊车将钻具吊至钻具架；然后，工人将钻具推入猫道，由钻台面的气动绞车下放钢丝绳挂住钻具顶部，利用索具直接把钻具沿猫道提升至钻台面；最后，由2名工人用铁钩钩住钻具下部，慢慢移送到小鼠洞中，用吊卡卡住钻具。上述操作需要3-4名工人配合，操作效率低、安全性差、对钻具的损坏程度大。For example, a land rig performs drilling and drilling operations: first, the special vehicle transports the drilling tool to the well site, and the on-site crane hoist the drilling tool to the drill frame; then, the worker pushes the drilling tool into the catwalk. The top of the drill is hung by the pneumatic winch of the drilling platform, and the rig is used to directly lift the drill along the catwalk to the drill floor. Finally, two workers hook the lower part of the drill with the iron hook and slowly transfer it to the small In the rat hole, use a lifting card to get stuck in the drill. The above operation requires 3-4 workers to cooperate, and the operation efficiency is low, the safety is poor, and the damage to the drill is large.

又例如，陆地钻机的接立根作业过程中，采用液气大钳以及液压猫头和B型钳配合进行上、卸扣；立根盒安装在钻台面上，立根存放需要井架工上二层台拉拽管具，钻台面需要专人扶正管具。整个接立根、存立根过程，自动化程度低，工人劳动强度大，危险性较高。For example, in the grounding operation of the land drilling rig, the liquid gas tongs and the hydraulic cat head and the B-type pliers are used for the upper and lower shackles; the vertical root box is installed on the drill floor, and the vertical root storage requires the derrick to work on the second floor.拽 Pipe fittings, drill benches need special person to support the pipe. The whole process of connecting the roots and depositing the roots has a low degree of automation, and the labor intensity of the workers is high and the risks are high.

发明内容Summary of the invention

本发明在于提高钻机的自动化水平，使得钻机能自动输送钻具、二层台无人值守、自动接卸立根、自动排放立根，从而实现离线作业。The invention aims to improve the automation level of the drilling machine, so that the drilling machine can automatically transport the drilling tool, the unstacked on the second floor, the automatic unloading stand, and the automatic discharge standing, thereby realizing offline operation.

为了达到上述目的，本发明提供了一种自动化钻机，主要由井架、底座、猫道、顶驱、钻台面组成，其特征在于：在上述井架的两侧设有双扇形指梁，在上述底座上设有两个于前述扇形指梁相对应的下沉式立根盒；上述猫道自动翻进、翻出及前后平移置入的管具；In order to achieve the above object, the present invention provides an automated drilling machine, which is mainly composed of a derrick, a base, a catwalk, a top drive, and a drill floor. The utility model is characterized in that: two fan-shaped finger beams are arranged on both sides of the derrick, and the base is There are two sinking vertical root boxes corresponding to the aforementioned fan-shaped finger beams; the above-mentioned catwalks are automatically turned in, turned out and translated backwards and forwards;

还包括安装于井场地面、位于前述两立根盒之间的翻转机械手，夹持猫道输送来的管具并翻转至竖直状态，在上、卸扣时夹紧下边的管具施加反扭矩；The utility model further comprises an inverting robot installed on the ground of the well site and located between the two vertical boxes, clamping the pipe conveyed by the catwalk and flipping to a vertical state, and clamping the lower pipe to apply a counter torque when the shackle is shackled. ;

还包括安装在井架的后大门侧的接立根机械手，上、下移动管具，对扣管具，竖直移运或排放立根。It also includes a stand-up manipulator mounted on the back door side of the derrick, moving the pipe up and down, hooking the pipe, moving vertically or discharging the stand.

本发明中，猫道安装在井场地面上，可自动实现管具的翻进、翻出及前后的平移动作，自动实现管具从管子堆场向翻转机械手的移运功能。翻转机械手的功能是自动实现管具从水平状态到竖直状态，并在上、卸扣时夹紫下边的管具施加反扭矩。接立根机械手可以上下移动、旋转、变幅及夹持，可自动实现管具的上下移动、对扣、立根排放、立根竖直方向移运。In the invention, the catwalk is installed on the surface of the well site, and the turning forward, the turning out and the translational movement of the pipe can be automatically realized, and the transfer function of the pipe from the pipe yard to the turning manipulator can be automatically realized. The function of the flipping robot is to automatically realize the pipe from the horizontal state to the vertical state, and apply the counter torque to the pipe under the purple edge when the shackle is shackled. The standing root manipulator can move up, down, change and clamp up and down, and can automatically realize the up and down movement of the pipe, the buckle, the root discharge, and the vertical movement of the root.

猫道、翻转机械手、接立根机械手相互配合，可实现管具的高自动化处理：猫道水平移运管具到既定位置，翻转机械手夹紧管具；然后翻转机械手带动管具从水平状态翻转到竖直状态；接立根机械手下移，抓住管具并上提管具至既定高度，此时翻转机械手扶正管具；猫道、翻转机械手复位，重复上一动作流程，将下一根管具运送到竖直状态，接立根机械手下移，上下两根管具对接；由铁钻工等工具对两根管具进行上扣，此时翻转机械手夹持管具施加反扭矩；接立根机械手抓住管具上提，至下边一根管具高于台面一定高度停止；猫道、翻转机械手再次复位，输送第三根管具至竖直状态；接立根机械手下移，上下两根管具对接；由铁钻工等工具对两根管具进行上扣，3根管具接成1个立根；接立根机械手抓住立根上提，当管具高于钻台面后，接立根接机械手带动立根回收，旋转，行走至双扇形指梁目标位置下放立根。卸立根作业过程与上述接立根、立根排放作业过程相反。The catwalk, the flipping robot and the standing root manipulator cooperate with each other to realize the high automatic processing of the pipe: the catwalk horizontally moves the pipe to the predetermined position, and the manipulator clamps the pipe; then the manipulator is turned to drive the pipe from the horizontal state to the state Vertical state; pick up the root manipulator to move down, grab the pipe and lift the pipe to the specified height, then flip the manipulator to support the pipe; the catwalk, flip manipulator reset, repeat the previous action flow, the next pipe After being transported to the vertical state, the vertical manipulator is moved down, and the upper and lower pipes are docked; the two pipe tools are buckled by a tool such as an iron driller, and the reverse manipulator clamps the pipe to apply a counter torque; The pipe is lifted up, and the lower pipe is stopped at a certain height above the table; cat The road and the reversing manipulator are reset again, and the third pipe is conveyed to the vertical state; the vertical manipulator is moved down, and the upper and lower pipes are docked; the two pipes are buckled by a tool such as an iron driller, and the three pipes are Connected to a stand-up; the stand-up manipulator grabs the stand-up and lifts up. When the pipe is higher than the drill floor, the root-connected manipulator drives the stand-up root to recover, rotate, and walk to the double-fan-shaped finger beam to place the root. The process of unloading the root is the reverse of the above-mentioned process of connecting the standing root and the root.

另外，本发明中，立根盒的安装位置由传统的钻台面上下沉至底座上，重心位置有效下移9米至14米，在井场搬家时，可满立根整体移运，大大提高了搬家效率和降低人员劳动强度。双扇形指梁均布于自升式井架两侧，满载时载荷对称分布、受力好。当一侧扇形指梁用于存储井场上来的管具接成的立根，另一侧扇形指梁则可用于存储起钻过程中的立根。因此，接卸立根和起下钻工作可同时进行。In addition, in the present invention, the installation position of the vertical root box is lowered from the conventional drilling platform to the base, and the center of gravity position is effectively moved down by 9 meters to 14 meters. When the well site is moved, the whole body can be fully transported, greatly improving the moving. Efficiency and reduce the labor intensity of personnel. The double-segment finger beams are evenly distributed on both sides of the self-elevating derrick. The load is symmetrically distributed and the force is good when fully loaded. When one side of the finger beam is used to store the standing roots of the pipe on the well site, the other side of the finger beam can be used to store the standing root during the drilling process. Therefore, the loading and unloading of the vertical and the drilling can be carried out simultaneously.

该钻机采用电液复合驱动，集成控制，司钻在控制室操作相应的程序即可实现钻机的钻进和接卸立根工作，可实现真正地全自动化、离线作业、作业效率可提高到现役钻机的3倍且安全可靠。The rig adopts electro-hydraulic composite drive and integrated control. The driller can operate the corresponding program in the control room to realize the drilling and unloading work of the rig. It can realize truly fully automated and offline operation, and the working efficiency can be improved to the active rig. 3 times safe and reliable.

作为一种优选，本专利的一种自动化钻机，其特征还在于：上述猫道包括对称分布的两对支腿、液缸驱动的成对内翻转臂、液缸驱动的成对外翻转臂，以及主车、小车、安装座、减速机；支腿位于猫道的主体两侧，其外侧由支腿油缸支撑到地面，内侧经销轴铰接于安装座；主车上设有V道；减速机设于猫道两端，经链条驱动小车带动管具在主车上前后运动。存储在管子堆场的管具放置到猫道的支腿上；猫道同侧的支腿油缸同时驱动支腿向上旋转，支腿外侧太高，管具沿着支腿方向向内滑向内翻转臂；内翻转臂在内内翻转液缸的驱动下向内翻转，将管具翻转至主车的V道上；小车经减速机、链条驱动向前行驶推动管具向前平移，此时内翻转臂已复位；管具被运退到既定位置时，交给翻转机械手，小车停止并且后退至初始位置，等待移运下一根管具。相反，当管具下钻台时，翻转机械手将管具放到猫道的主车的V道上后，小车带动管具向后运动，至既定位置后，小车退回初始位置；外翻转臂在外翻转液缸的驱动下将管具向外翻转放到支腿上。As an optimization, an automatic drilling machine of the present patent is further characterized in that: the catwalk comprises two pairs of legs symmetrically distributed, a pair of inner flip arms driven by a liquid cylinder, and a flip arm driven by a liquid cylinder, and Main car, trolley, mount, reducer; the legs are located on both sides of the main body of the catwalk, the outer side is supported by the outrigger cylinder to the ground, the inner distribution pin is hinged to the mount; the main car is provided with V-track; the reducer is set At both ends of the catwalk, the chain drive car drives the pipe to move back and forth on the main car. The pipe stored in the pipe yard is placed on the legs of the catwalk; the leg cylinders on the same side of the catwalk simultaneously drive the legs to rotate upwards, the outside of the legs is too high, and the pipe slides inward along the legs. The inverted arm is turned inwardly under the driving of the inner turning liquid cylinder, and the pipe is turned over to the V-way of the main vehicle; the trolley is driven forward by the speed reducer and the chain to push the pipe forward, at this time The flip arm has been reset; when the tube is returned to the intended position, it is handed over to the flipping robot, the cart stops and retreats to the initial position, waiting for the next tube to be transported. Conversely, when the pipe is under the drill floor, the flipping robot places the pipe on the V-lane of the main car of the catwalk, and the trolley drives the pipe to move backwards. After the predetermined position, the car returns to the initial position; the outer flip arm is turned over. The tube is turned over and placed on the leg under the driving of the liquid cylinder.

作为一种优选，本专利的一种自动化钻机，其特征还在于：上述翻转机械手主要由钳体、翻转臂及安装架组成；安装架固定在井场地面上，靠近钻台一边与翻转臂经销轴铰接，在安装架上铰接有驱动翻转臂旋转90度的翻转液缸；钳体安装在翻转臂上夹紧或松开置入的管具。初始状态时，翻转臂叠放在安装架上；工作时，钳体先打开，猫道将管具运到既定位置时，两钳体闭合夹紧管具；然后翻转臂在翻转液缸的驱动下，带动管具从水平状态围绕销轴向上翻转到竖直状态。第一根管具交给已待命的接立根机械手，接立根机械手上提管具至既定高度。翻转机械手重复上一动作流程，将下一根管具运送到竖直状态，等待铁钻工等工具上扣。As an optimization, an automatic drilling machine of the present patent is further characterized in that: the above-mentioned turning manipulator is mainly composed of a tong body, a turning arm and a mounting frame; the mounting frame is fixed on the surface of the well site, and is distributed near the side of the drilling rig and the turning arm. The shaft is hinged, and a flipping cylinder for driving the flip arm to rotate 90 degrees is hinged on the mounting bracket; the caliper body is mounted on the flip arm to clamp or loosen the inserted pipe. In the initial state, the flipping arms are stacked on the mounting frame; when working, the caliper body is first opened, and when the catwalk transports the pipe to the predetermined position, the two calipers close the clamping pipe; then the flipping arm is driven by the flipping cylinder Next, the driving pipe is turned from the horizontal state to the vertical state around the pin. The first pipe is handed over to the stand-up root manipulator, and the pipe is attached to the stand-up manipulator to a predetermined height. The flipping robot repeats the previous action flow, transports the next pipe to the vertical state, and waits for the tools such as the iron driller to buckle.

作为进一步优化，本专利的一种自动化钻机，其特征还在于：上述钳体有两个，分别位于翻转臂的上、下端，钳体的钳头主要由沿着竖轴旋转的至少一对滚轮组成，该对滚轮由固定在翻转臂上的夹紧油缸驱动开合。在翻转机械手2夹持管具上提时，成对滚轮2-8可以具有导向扶正功能；滚轮2-8不能在管具的径向方向旋转，在配合铁钻工7上、卸扣时夹紧下边的管具施加反扭矩，具有传统钻机卡瓦的功能。As a further optimization, an automatic drilling machine of the present patent is further characterized in that: the above-mentioned caliper body has two, respectively located at the upper and lower ends of the flip arm, and the caliper head of the caliper body is mainly composed of at least one pair of rollers rotating along the vertical axis. In composition, the pair of rollers are driven to open and close by a clamping cylinder fixed to the flip arm. When the flipping robot 2 gripping pipe is lifted up, the pair of rollers 2-8 can have the guiding and rightening function; the rollers 2-8 can not rotate in the radial direction of the pipe, and are clamped on the iron driller 7 and the shackle The pipe under the tight side exerts a counter torque and has the function of a conventional drill rig.

作为一种优选，本专利的一种自动化钻机，其特征还在于：上述接立根机械手主要由安装架、行走架、回转支座、伸缩臂、夹紧钳、起升绞车、相应的滑轮组件；安装架的上下横梁上设有轨道，行走架沿该轨道水平移动；安装架在起升绞车的作用下上下移动；伸缩臂为平行四边形结构，安装在回转支座与夹紧钳之间，在油缸的驱动下平稳伸出或缩回；加紧钳在油缸的驱动下夹紧或松开管具。接立根机械手排放立根过程如下：安装架移至既定位置；伸缩臂带动夹紧钳向外伸出至管具位置，夹紧钳打开夹住管具；然后，安装架带动整个接立根机械手上移，当立根下端高出钻台面一定高度后，伸缩臂带动管具缩回至极限位置；回转支座旋转至指定角度；行走架沿安装架上导轨水平移动至双扇形指梁的目标列，伸缩臂带动管具伸出至目标位置；安装架下移将管具放置立根盒内，加紧钳打开放置管具；接立根机械手复位，待处理下移立根。As an optimization, an automatic drilling machine of the present patent is further characterized in that: the connecting vertical manipulator is mainly composed of a mounting frame, a traveling frame, a rotating support, a telescopic arm, a clamping clamp, a lifting winch, and a corresponding pulley assembly; The upper and lower beams of the mounting frame are provided with a track, and the traveling frame moves horizontally along the track; the mounting frame moves up and down under the action of the lifting winch; the telescopic arm is The parallelogram structure is installed between the rotary support and the clamp, and is smoothly extended or retracted under the driving of the cylinder; the clamping clamp clamps or releases the pipe under the driving of the cylinder. The vertical root manipulator discharge vertical process is as follows: the mounting frame is moved to a predetermined position; the telescopic arm drives the clamping pliers to extend outward to the position of the pipe, and the clamping pliers open to clamp the pipe; then, the mounting frame drives the entire connecting root to move the manipulator When the lower end of the standing root is higher than the height of the drilling table, the telescopic arm drives the pipe to retract to the limit position; the rotating support rotates to the specified angle; the traveling frame moves horizontally along the upper rail of the mounting frame to the target column of the double fan-shaped finger beam, and the telescopic The arm drives the pipe to extend to the target position; the mounting frame moves down to place the pipe in the stand-up box, and the clamp is opened to place the pipe; the stand-up manipulator is reset, and the stand is moved down.

为方便接立根机械手更加顺畅、安全的上下移动，作为进一步优化，本专利的一种自动化钻机，其特征还在于：上述井架上安装有轨道，上述安装架两侧四角的位置设有滚轮，在上述起升绞车的作用下安装架沿前述井架上的轨道上下移动。In order to facilitate the smoother and safe movement of the vertical manipulator, the automatic drilling machine of the present patent is further characterized in that: the above-mentioned derrick is equipped with a rail, and the four corners of the mounting bracket are provided with rollers. The mounting bracket is moved up and down along the track on the derrick by the lifting hoist.

作为一种优选，本专利的一种自动化钻机，其特征还在于：上述双扇形指梁主要由存储架和卡子总成组成，存储架的每一个钻具存放位置前都设有一个卡子总成；卡子总成主要由翻转气缸、连杆、指头以及检测指头开合状态的传感器组成。传感器可以检测每一个卡子的开合状态。当司钻从控制室观察接立根机械手运送管具到双扇形指梁的指定列时，按下操控按钮，相应列目标位置前的所有卡子总成开启；当管具下发到目标位置后，卡子总成在翻转气缸的驱动下自动关闭，以很好的隔离和保护每一个管具，避免管具倾倒。As an optimization, an automatic drilling machine of the present patent is further characterized in that: the double-fan finger beam is mainly composed of a storage rack and a clip assembly, and each of the storage racks is provided with a clip assembly in front of the storage position of the drill. The clip assembly is mainly composed of a flipping cylinder, a connecting rod, a finger and a sensor for detecting the opening and closing state of the finger. The sensor can detect the opening and closing state of each clip. When the driller observes the standing manipulator transporting the pipe from the control room to the designated column of the double sector finger beam, press the control button, and all the clip assemblies in front of the corresponding column target position are opened; when the pipe is delivered to the target position, The clip assembly is automatically closed under the drive of the flip cylinder to isolate and protect each tube well, preventing the tube from tipping over.

为方便司钻能从控制室清楚的观察接立根机械手运送管具到双扇形指梁情况以及每个钻具存放位置的情况的，从而实现远程自动化控制，作为进一步优化，本专利的一种自动化钻机，其特征还在于：上述井架上安装有监控每个卡子总成存放钻具情况的摄像头。In order to facilitate the driller to clearly observe the situation of connecting the vertical manipulator transporting pipe to the double fan-shaped finger beam and the position of each drilling tool from the control room, realizing remote automation control, as an optimization, an automation of the patent The drilling machine is further characterized in that: the above-mentioned derrick is equipped with a camera for monitoring the condition of each of the clip assemblies for storing the drilling tools.

为方便该钻机的搬运和拆装，以及实现管具处理的全自动化，作为进一步优化，本专利的一种自动化钻机，其特征还在于：上述井架为自升式井架；该钻机还包括液压吊卡、铁钻工、动力卡瓦；铁钻工主要由旋扣钳、紧扣钳、加紧钳组成，上扣、卸扣通过控制***一键操作。In order to facilitate the handling and disassembly of the drilling rig, and to realize the full automation of the pipe processing, as an optimization, the automatic drilling machine of the patent is characterized in that: the derrick is a self-elevating derrick; the rig also includes a hydraulic hoist Card, iron driller, power slip; iron driller mainly consists of rotary clamp pliers, tight pliers, tightening pliers, upper buckle, shackle through the control system one-button operation.

为方便猫道、翻转机械手、接立根机械手相互配合，作为进一步优化，本专利的一种自动化钻机，其特征还在于：上述钻台面的边缘开放式设置半圆形鼠洞。这样，接、卸立根作业时管具均在钻台面外边，不仅利于操作，也减少了与钻机其他部分的碰撞。In order to facilitate the cooperation between the catwalk, the flipping robot and the standing root manipulator, as an optimization, the automatic drilling machine of the patent is characterized in that the semi-circular rat hole is openly arranged on the edge of the drill floor. In this way, the pipe fittings are all outside the drilling table when connecting and unloading the roots, which not only facilitates the operation, but also reduces the collision with other parts of the drilling machine.

附图说明DRAWINGS

以下结合附图和具体实施方式来进一步说明本发明。The invention is further described below in conjunction with the drawings and specific embodiments.

图1：本发明钻机的结构示意图；Figure 1: Schematic diagram of the structure of the drilling machine of the present invention;

图2：图1所示钻机中猫道1的结构示意图；Figure 2 is a schematic view showing the structure of the catwalk 1 in the drilling machine shown in Figure 1;

图3：图2所示猫道在支腿1-2移运管具时的状态示意图；Figure 3: Schematic diagram of the state of the catwalk shown in Figure 2 when the legs 1-2 are transported;

图4：图2所示猫道在内翻转臂1-3翻转管具时的状态示意图；Figure 4 is a schematic view showing the state of the catwalk shown in Figure 2 when the flipping arm 1-3 flips the pipe;

图5：图2所示猫道在小车1-8水平移运管具时的状态示意图；Figure 5: Schematic diagram of the state of the catwalk shown in Figure 2 when the cart 1-8 is horizontally transported;

图6：图1所示钻机中翻转机械手2的结构示意图；Figure 6 is a schematic view showing the structure of the turning robot 2 in the drilling machine shown in Figure 1;

图7：图1所示钻机中接立根机械手10的结构示意图；Figure 7 is a schematic view showing the structure of the standing root manipulator 10 in the drilling machine shown in Figure 1;

图8：图1所示钻机中双扇形指梁9的结构示意图；Figure 8 is a schematic view showing the structure of a double sector finger beam 9 in the drilling machine shown in Figure 1;

图9：图8所示双扇形指梁中指梁卡子总成的结构示意图；Figure 9 is a schematic view showing the structure of the middle finger finger clip assembly of the double sector finger beam shown in Fig. 8;

图10：图1所示钻机中翻转机械手2在夹持管具时的状态示意图； Figure 10 is a schematic view showing the state of the inverting robot 2 in the drilling machine shown in Figure 1 when the pipe is clamped;

图11：图1所示钻机中翻转机械手2在夹持管具处于竖直时的状态示意图；Figure 11 is a schematic view showing the state of the inverting robot 2 in the drilling machine shown in Figure 1 when the clamping pipe is in a vertical position;

图12：图1所示钻机中翻转机械手2与接立根机械手10在配合对接管具时的状态示意图；Figure 12 is a schematic view showing the state of the inverting robot 2 and the standing root manipulator 10 in the drilling machine shown in Figure 1 when mating the butt fitting;

图13：图1所示钻机中铁钻工7在上扣时的状态示意图；Figure 13 is a schematic view showing the state of the iron driller 7 in the drilling machine shown in Figure 1 when it is buckled;

图14：图1所示钻机中立根排放示意图；Figure 14: Schematic diagram of the neutral root discharge of the drilling machine shown in Figure 1;

图15：图1所示钻机中接立根机械手10与液压吊卡14在交接立根时的状态示意图。Figure 15 is a schematic view showing the state in which the standing root robot 10 and the hydraulic elevator 14 are placed at the stand-up stand in the drilling machine shown in Figure 1.

图中标记：猫道1，翻转机械手2，立根盒3，底座4，鼠洞5，动力卡瓦6，铁钻工7，自升式井架8，双扇形指梁9，接立根机械手10，顶驱11，管具12，管具12-1，管具12-2，液压吊卡14，支腿油缸1-1，支腿1-2，内翻转臂1-3，主车1-4，内翻转液缸1-5，外翻转臂1-6，外翻转液缸1-7，小车1-8，安装座1-9，减速机1-11，链条1-12，钳体2-1，翻转臂2-2，安装架2-3，销轴2-5，翻转液缸2-6，夹紧油缸2-7，滚轮2-8，夹紧钳10-1，伸缩臂10-2，回转支座10-3，行走架10-4，变幅油缸10-5，安装架10-6，轨道10-7，滑轮组件10-8，起升绞车10-9，存储架9-1，卡子总成9-2，指头9-2-1，翻转气缸9-2-2，连杆9-2-3，传感器9-2-4，旋扣钳7-1，紧扣钳7-2，加紧钳7-3，顶驱摆臂11-1。Marked in the figure: catwalk 1, flip robot 2, stand-up box 3, base 4, rat hole 5, power slip 6, iron drill 7, self-lifting derrick 8, double-fan finger beam 9, connecting vertical manipulator 10, Top drive 11, pipe 12, pipe 12-1, pipe 12-2, hydraulic elevator 14, leg cylinder 1-1, leg 1-2, inner flip arm 1-3, main car 1-4 , inner turning liquid cylinder 1-5, outer turning arm 1-6, outer turning liquid cylinder 1-7, trolley 1-8, mounting seat 1-9, speed reducer 1-11, chain 1-12, caliper body 2 1, flip arm 2-2, mounting bracket 2-3, pin 2-5, flip cylinder 2-6, clamping cylinder 2-7, roller 2-8, clamping jaw 10-1, telescopic arm 10- 2, rotary support 10-3, travel frame 10-4, variable amplitude cylinder 10-5, mounting frame 10-6, rail 10-7, pulley assembly 10-8, hoist winch 10-9, storage rack 9- 1, clip assembly 9-2, finger 9-2-1, flip cylinder 9-2-2, connecting rod 9-2-3, sensor 9-2-4, rotary clamp pliers 7-1, fastening pliers 7 -2, tightening the clamp 7-3, the top drive swing arm 11-1.

具体实施方式detailed description

为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体图示，进一步阐述本发明。In order to make the technical means, creative features, achievement goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

如图1所示，本实施例钻机的主要设备从低到高、从左到右依次包括：猫道1、翻转机械手2、底座4、立根盒3、动力卡瓦6、铁钻工7、自升式井架8、双扇形指梁9、接立根机械手10、顶驱11、液压吊卡14。其中，翻转机械手2安装在井场地面上，立根盒3安装在底座4上，双扇形指梁9位于自升式井架8两侧，接立根机械手10安装在自升式井架8后大门侧As shown in FIG. 1 , the main equipment of the drilling machine of the embodiment includes, from low to high, left to right, including: catwalk 1, flipping robot 2, base 4, stand-up box 3, power slip 6, iron driller 7, The self-elevating derrick 8, the double-fan finger beam 9, the standing root manipulator 10, the top drive 11, and the hydraulic elevator 14 are provided. Wherein, the flipping robot 2 is installed on the surface of the well site, the vertical box 3 is mounted on the base 4, the double sector finger beam 9 is located on both sides of the jack-up derrick 8, and the standing root manipulator 10 is installed on the side of the gate of the jack-up derrick 8

猫道1安装在井场地面上，可自动实现管具的翻进、翻出及前后的平移动作，自动实现管具从管子堆场向翻转机械手2的移运功能。如图2-图5所示，猫道1主要有4个对称分布的支腿1-2、4个对称分布的内翻转臂1-3、主车1-4、小车1-8、4个对称分布的外翻转臂1-6及相应的执行和控制机构组成。其中，支腿1-2位于猫道1的主体两侧，靠近中间主车1-4；支腿1-2的外侧设计有一个支腿油缸1-1，内侧与安装座1-9通过销轴铰接。其中，主车1-4上设计有V型的V道，管具翻入V道时在惯性的作用下左右摆动。其中，在猫道1两端设有减速机1-11，链条1-12连接小车1-8并与减速机1-11上的齿轮啮合，减速机1-11经链条1-12驱动下小车1-8在主车1-4上前后运动。主车1-4上间隔设有4个对称分布的外翻转臂1-6；外翻转液缸1-7一端固定在主车1-4内部，另一端连接外翻转臂1-6。如图3所示，在支腿油缸1-1的驱动下，支腿1-2外端围绕内端铰点向上旋转，管具12-1顺着支腿1-2滑向内侧的内翻转臂1-3；如图4所示，内翻转臂1-3在内翻转液缸1-5的驱动下，带动管具12-1向主车1-4内翻转，将管具放入主车1-4的V道上；如图5所示，小车1-8向前行驶推动管具12-1向前平移。管具12-1移动到既定位置时小车1-8停止，待翻转机械手2夹持。相反，当管具12-1下钻台时，翻转机械手2将管具放到猫道1的主车1-4的V道上后，小车1-8带动管具向后运动，至既定位置后，小车1-8退回初始位置；外翻转臂1-6在外翻转液缸1-7的驱动下将管具向外翻转放到支腿1-2上。The catwalk 1 is installed on the surface of the well site, which can automatically realize the turning in, out and forward and backward translation of the pipe, and automatically realize the transfer function of the pipe from the pipe yard to the turning manipulator 2. As shown in Figure 2-5, the catwalk 1 mainly has 4 symmetrically distributed legs 1-2, 4 symmetrically distributed inner flip arms 1-3, main car 1-4, trolleys 1-8, 4 Symmetrically distributed outer flip arms 1-6 and corresponding execution and control mechanisms. Wherein, the legs 1-2 are located on both sides of the main body of the catwalk 1, near the intermediate main car 1-4; the outer side of the legs 1-2 is designed with a leg cylinder 1-1, and the inner side and the mounting seat 1-9 pass the pin The shaft is hinged. Among them, the main vehicle 1-4 is designed with a V-shaped V-channel, and the tube swings left and right under the action of inertia when it is turned into the V-channel. Among them, there are reducer 1-11 at both ends of catwalk 1, chain 1-12 is connected to trolley 1-8 and meshes with gears on reducer 1-11, reducer 1-11 is driven by chain 1-12 1-8 moves back and forth on the main car 1-4. There are four symmetrically distributed outer flip arms 1-6 spaced apart on the main vehicle 1-4; one end of the outer flip fluid cylinder 1-7 is fixed inside the main vehicle 1-4, and the other end is connected to the outer flip arm 1-6. As shown in FIG. 3, under the driving of the leg cylinder 1-1, the outer end of the leg 1-2 rotates upward around the inner end hinge point, and the pipe 12-1 slides inward along the leg 1-2. The arm 1-3; as shown in FIG. 4, the inner flip arm 1-3 drives the inner tube 1-4 to drive the inner tube 1-4 under the driving of the inner turning cylinder 1-5, and puts the tube into the main On the V-lane of the car 1-4; as shown in Fig. 5, the car 1-8 drives forward the pipe 12-1 forward. When the pipe 12-1 is moved to a predetermined position, the carriage 1-8 is stopped, and the robot 2 to be reversed is clamped. Conversely, when the pipe 12-1 is lowered from the drill floor, the reverse robot 2 places the pipe on the V-lane of the main car 1-4 of the catwalk 1, and the trolley 1-8 drives the pipe to move backward to the predetermined position. The cart 1-8 is returned to the initial position; the outer flip arm 1-6 is turned over to the leg 1-2 by the outer flip cylinder 1-7.

翻转机械手2的功能是自动实现管具从水平状态到竖直状态，并在上、卸扣时夹紧下边的管具施加反扭矩。如图6、图10、图11、图12所示，翻转机械手2主要由钳体2-1、翻转臂 2-2及安装架2-3组成。其中，安装架2-3固定在地面上，靠近钻台一边与翻转臂2-2通过销轴2-5铰接；安装架2-3与翻转臂2-2两侧各设置有一个翻转液缸2-6；钳体2-1安装在翻转臂2-2上，上下各有一个，其钳头主要由一对沿着竖轴旋转的滚轮2-8组成。在翻转机械手2夹持管具上提时，成对滚轮2-8可以具有导向扶正功能；滚轮2-8不能在管具的径向方向旋转，在配合铁钻工7上、卸扣时夹紧下边的管具施加反扭矩，具有传统钻机卡瓦的功能。夹紧油缸2-7一端连接滚轮2-8，另一端固定在翻转臂2-2上，在夹紧油缸2-7的驱动下钳体2-1开合并可夹持不同管径的管具。如图6所示，初始状态时，翻转臂2-2叠放在安装架2-3上；工作时，钳体2-1先打开，猫道1将管具运到既定位置时，如图10所示两钳体2-1闭合夹紧管具；然后翻转臂2-2在翻转液缸2-6的驱动下，带动管具从水平状态围绕销轴2-5向上翻转到如图11所示的竖直状态。第一根管具交给已待命的接立根机械手10，接立根机械手10上提管具至既定高度。翻转机械手2重复上一动作流程，将下一根管具运送到如图12所示竖直状态，等待铁钻工7上扣。The function of the flipping robot 2 is to automatically realize the pipe from the horizontal state to the vertical state, and apply the counter torque to the pipe clamped on the upper side during the shackle. As shown in FIG. 6, FIG. 10, FIG. 11, and FIG. 12, the inverting robot 2 mainly consists of a caliper body 2-1 and a flip arm. 2-2 and mounting bracket 2-3. Wherein, the mounting bracket 2-3 is fixed on the ground, and the side of the drill stand is hinged with the flip arm 2-2 through the pin 2-5; the mounting bracket 2-3 and the flip arm 2-2 are respectively provided with a turning liquid cylinder 2-6; The caliper body 2-1 is mounted on the inverting arm 2-2, one on each side, and the jaws are mainly composed of a pair of rollers 2-8 rotating along the vertical axis. When the flipping robot 2 gripping pipe is lifted up, the pair of rollers 2-8 can have the guiding and rightening function; the rollers 2-8 can not rotate in the radial direction of the pipe, and are clamped on the iron driller 7 and the shackle The pipe under the tight side exerts a counter torque and has the function of a conventional drill rig. One end of the clamping cylinder 2-7 is connected to the roller 2-8, and the other end is fixed on the flip arm 2-2. Under the driving of the clamping cylinder 2-7, the caliper body 2-1 is opened and the tube can be clamped with different diameters. . As shown in FIG. 6, in the initial state, the flip arm 2-2 is stacked on the mounting bracket 2-3; when working, the caliper body 2-1 is first opened, and when the catwalk 1 transports the tube to the predetermined position, as shown in the figure The two calipers 2-1 shown in Fig. 10 close the clamping tube; then the flipping arm 2-2 is driven by the turning cylinder 2-6 to drive the tube to flip upward from the horizontal state around the pin 2-5 to Fig. 11 The vertical state shown. The first pipe is handed over to the stand-up root manipulator 10, and the stand-up manipulator 10 is lifted to a predetermined height. The flipping robot 2 repeats the previous action flow, and transports the next pipe to the vertical state as shown in Fig. 12, waiting for the iron driller 7 to buckle.

如图13所示，铁钻工7主要功能是代替传统钻机的液气大钳对管具进行上扣和卸扣，由旋扣钳7-1，紧扣钳7-2，加紧钳7-3组成。上扣时，上下管具对扣完成后，加紧钳7-3夹紧下边一根管具，先用旋扣钳7-1对上边一根管具高速施加扭矩，使上边管具的公扣旋进下边管具的母扣，然后用紧扣钳7-2进行紧扣达到管具对应的扭矩。卸扣时动作相同，旋扣方向相反。这一系列动作可通过控制***控制一键完成。As shown in Figure 13, the main function of the iron driller 7 is to replace the pipe clamp and shackle of the traditional rig with the liquid gas tongs, from the rotary clamp 7-1, the fastening pliers 7-2, and the clamping pliers 7- 3 composition. When the upper and lower tubes are buckled, the clamping pliers 7-3 clamps the lower tube. First, the torque is applied to the upper tube by the button clamp 7-1, so that the upper tube is buckled at the high speed. Screw into the female buckle of the lower pipe, and then fasten it with the fastening pliers 7-2 to reach the corresponding torque of the pipe. When the shackle is the same, the direction of the turn is opposite. This series of actions can be done with one click of the control system.

如图7、图15所示，接立根机械手10可以上下移动、旋转、变幅及夹持，可自动实现管具的上下移动、对扣、立根排放、立根竖直方向移运。接立根机械手10主要由安装架10-6、行走架10-4、回转支座10-3、伸缩臂10-2、夹紧钳10-1、起升绞车10-9和相应的滑轮组件10-8及安装在井架上的轨道10-7组成。其中，安装架10-6的上下横梁上设有轨道，行走架10-4可沿该轨道水平移动；安装架10-6两侧四角的位置设有滚轮，在起升绞车10-9的作用下接立根机械手2可沿井架上的轨道10-7上下移动。伸缩臂10-2是平行四边形结构，安装在回转支座10-3与夹紧钳10-1之间，在变幅油缸10-5的驱动下可实现机械臂的平稳伸出与缩回运动。加紧钳10-1在夹紧油缸(图中未示出)的作用下实现夹紧管具的功能。接立根机械手10排放立根过程如下：安装架10-6移至既定位置；伸缩臂10-2带动夹紧钳10-1向外伸出至管具位置，夹紧钳10-1打开夹住管具；然后，安装架10-6带动整个接立根机械手10上移，当立根下端高出钻台面一定高度后，伸缩臂10-2带动管具缩回至极限位置；回转支座10-3旋转至指定角度；行走架10-4沿安装架10-6上导轨水平移动至双扇形指梁9的目标列，伸缩臂10-2带动管具伸出至目标位置；安装架10-6下移将管具放置立根盒3内，加紧钳10-1打开放置管具；接立根机械手复位，待处理下移立根。As shown in FIG. 7 and FIG. 15 , the standing root manipulator 10 can move up, down, swivel and clamp up and down, and can automatically realize the vertical movement of the pipe, the buckle, the root discharge, and the vertical movement of the root. The stand-up manipulator 10 is mainly composed of a mounting bracket 10-6, a traveling frame 10-4, a swing support 10-3, a telescopic arm 10-2, a clamp 10-1, a hoist winch 10-9, and a corresponding pulley assembly 10. -8 and the track 10-7 installed on the derrick. Wherein, the upper and lower beams of the mounting frame 10-6 are provided with rails, and the traveling frame 10-4 can be horizontally moved along the track; the four corners of the mounting frame 10-6 are provided with rollers, and the functions of the lifting winches 10-9 The lower standing manipulator 2 can be moved up and down along the track 10-7 on the derrick. The telescopic arm 10-2 is a parallelogram structure, and is installed between the rotary support 10-3 and the clamp 10-1, and can realize the smooth extension and retraction movement of the mechanical arm under the driving of the variable amplitude cylinder 10-5. . The clamping pliers 10-1 implements the function of the clamping tube under the action of a clamping cylinder (not shown). The vertical root manipulator 10 discharge vertical process is as follows: the mounting frame 10-6 is moved to a predetermined position; the telescopic arm 10-2 drives the clamping pliers 10-1 to extend outward to the position of the pipe, and the clamping pliers 10-1 open to clamp the pipe Then, the mounting frame 10-6 drives the entire standing root manipulator 10 to move up. When the lower end of the standing root is raised above the drill floor surface, the telescopic arm 10-2 drives the pipe to retract to the limit position; the rotating support 10-3 rotates. To the specified angle; the traveling frame 10-4 is horizontally moved along the upper rail of the mounting frame 10-6 to the target row of the double sector finger beam 9, the telescopic arm 10-2 drives the pipe to extend to the target position; the mounting frame 10-6 moves down Place the tube in the vertical box 3, tighten the clamp 10-1 to open the tube; reset the root manipulator and move it to the root.

如图8、图9、图14所示，双扇形指梁9位于立根盒3的上方，并配合立根盒3存储立根，主要由存储架9-1和卡子总成9-2组成。存储架9-1的每一个钻具存放位置前都设有一个卡子总成9-2。卡子总成9-2主要由翻转气缸9-2-2、连杆9-2-3、指头9-2-1、传感器9-2-4组成。传感器9-2-4可以检测每一个卡子的开合状态；自升式井架8上安装有摄像头，可以清楚的看到每个钻具存放位置的情况。当司钻从控制室观察接立根机械手10运送管具12到双扇形指梁9的指定列时，按下操控按钮，相应列目标位置前的所有卡子总成9-2开启；当管具12下发到目标位置后，卡子总成9-2在翻转气缸9-2-2的驱动下自动关闭，以很好的隔离和保护每一个管具，避免管具倾倒。双扇形指梁9均布于自升式井架8两侧，满载时载荷对称分布、受力好。当一侧扇形指梁用于存储井场上来的管具接成的立根，另一侧扇形指梁则可用于存储起钻过程中的立根。因此，接卸立根和起下钻工作可同时进行。As shown in Fig. 8, Fig. 9, and Fig. 14, the double sector finger beam 9 is located above the vertical box 3, and is stored in the standing root box 3, and is mainly composed of a storage rack 9-1 and a clip assembly 9-2. A chuck assembly 9-2 is provided in front of each of the drill storage positions of the storage rack 9-1. The clip assembly 9-2 is mainly composed of a turning cylinder 9-2-2, a connecting rod 9-2-3, a finger 9-2-1, and a sensor 9-2-4. The sensor 9-2-4 can detect the opening and closing state of each clip; the self-elevating derrick 8 is equipped with a camera, and the position of each drilling tool can be clearly seen. When the driller observes from the control room, the vertical manipulator 10 transports the pipe 12 to the designated column of the double sector finger beam 9, pressing the control button, all the clip assemblies 9-2 in front of the corresponding column target position are opened; when the pipe 12 After being delivered to the target position, the clip assembly 9-2 is automatically closed under the driving of the turning cylinder 9-2-2, so that each tube can be well isolated and protected from falling. The double sector finger beams 9 are evenly distributed on both sides of the jack-up derrick 8 and the load is symmetrically distributed at full load. Cloth, good strength. When one side of the finger beam is used to store the standing roots of the pipe on the well site, the other side of the finger beam can be used to store the standing root during the drilling process. Therefore, the loading and unloading of the vertical and the drilling can be carried out simultaneously.

该实施例中，接立根、立根排放作业过程如下：猫道1水平移运管具12交给翻转机械手2；翻转机械手2将管具从水平状态翻转到竖直状态；接立根机械手10下移，抓住管具12并上提，此时翻转机械手2扶正管具，管具被提高到高于钻台面一定距离后停止；猫道1，翻转机械手2复位，输送下一管具，至竖直状态；接立根机械手10下移，上下两根管具对接；铁钻工7上扣，此时翻转机械手2夹持管具施加反扭矩；接立根机械手10抓住管具上提，至下边一根管具高于台面一定高度停止；猫道1，翻转机械手2复位，输送下一管具，至竖直状态；接立根机械手10下移，上下两根管具对接；铁钻工7上扣，3根管具接成1个立根；接立根机械手10抓住立根上提，当管具高于钻台面后，接立根接机械手10带动立根回收，旋转，行走至双扇形指梁9目标列；双扇形指梁9的卡子总成9-2打开；接立根接机械手10下放立根；双扇形指梁9的卡子总成9-2闭合。卸立根作业过程与接立根、立根排放作业过程相反。In this embodiment, the vertical root and vertical root discharge operation process is as follows: the catwalk 1 horizontal transfer pipe 12 is handed over to the flip manipulator 2; the flip manipulator 2 flips the pipe from the horizontal state to the vertical state; and the stand-up root manipulator 10 is moved down. , grasp the pipe 12 and lift it up, at this time, flip the manipulator 2 to strengthen the pipe, the pipe is raised to a certain distance above the drill floor and stop; the catwalk 1, the flipping robot 2 is reset, the next pipe is conveyed, to the vertical Straight state; the vertical manipulator 10 moves down, the upper and lower pipes are docked; the iron driller 7 is buckled, and the flipping robot 2 holds the pipe to apply the counter torque; the stand-up manipulator 10 grasps the pipe up, to the bottom A pipe is stopped at a certain height above the table; the catwalk 1, the reversing manipulator 2 is reset, and the next pipe is transported to the vertical state; the stand-up manipulator 10 is moved down, and the upper and lower pipes are docked; the iron driller 7 Buckle, 3 pipe joints are connected to 1 stand; the vertical root manipulator 10 grasps the vertical root lift, when the pipe is higher than the drill floor, the vertical root manipulator 10 drives the stand root to recover, rotate, and walk to the double fan finger beam 9 target Column; double-fan fingerboard 9 clip assembly 9-2 Open; the root of the manipulator 10 is placed under the root; the clamp assembly 9-2 of the double sector finger beam 9 is closed. The process of unloading the roots is the reverse of the process of connecting the standing roots and the roots.

该实施例中，下钻作业过程如下：In this embodiment, the drilling process is as follows:

接立根接机械手10运行到目标立根所在位置，双扇形指梁9的卡子总成9-2打开；接立根接机械手10抓稳立根，回缩，行走旋转将立根交给液压吊卡14；液压吊卡14缩回，使立根进入顶驱11的卡瓦体卡持；顶驱11带动立根下移，将立根对准井口原有钻具；铁钻工7上扣，此时井口原有钻具用动力卡瓦6卡住施加反扭矩；上好扣后铁钻工7复位，顶驱11向下钻井。在下钻的同时，接立根、立根排放工作可同时进行。起钻作业与下钻作业过程相反。The pick-up robot 10 runs to the position of the target stand, the clip assembly 9-2 of the double-fan finger beam 9 is opened; the stand-up manipulator 10 grasps the standing root, retracts, and the walking rotation hands the root to the hydraulic elevator 14; The elevator 14 is retracted, so that the vertical root enters the slip body of the top drive 11; the top drive 11 drives the vertical root to move downward, and the vertical root is aligned with the original drilling tool of the wellhead; the iron driller 7 is buckled, and the wellhead is drilled at this time. The power kava 6 is stuck to apply the counter torque; after the good buckle, the iron driller 7 is reset, and the top drive 11 is drilled down. At the same time of drilling, the vertical root and vertical root discharge work can be carried out simultaneously. The drilling operation is the reverse of the drilling operation.

该实施例中，钻机整个工作过程为如下步骤1-7所示。In this embodiment, the entire working process of the drilling machine is as shown in the following steps 1-7.

步骤1，猫道1输送管具到翻转机械手2。存储在管子堆场的管具12-1放置到猫道1的支腿1-2上；猫道1同侧的两个支腿油缸1-1同时驱动支腿1-2向上旋转，支腿1-2外侧太高，管具12-1沿着支腿方向向内滑向内翻转臂1-3，如图3；内翻转臂1-3在内内翻转液缸1-5的驱动下向内翻转，将管具12-1翻转至主车1-4的V道上，如图5；小车1-8向前行驶推动管具向前平移，此时内翻转臂1-3已复位；管具12-1被运退到既定位置时，交给翻转机械手2，小车1-8停止并且后退至初始位置，等待移运下一根管具，如图5。In step 1, the catwalk 1 transports the pipe to the flipping robot 2. The tube 12-1 stored in the pipe yard is placed on the legs 1-2 of the catwalk 1; the two leg cylinders 1-1 on the same side of the catwalk 1 simultaneously drive the legs 1-2 to rotate upward, the legs 1-2 the outer side is too high, the tube 12-1 slides inwardly along the leg direction to the inner flip arm 1-3, as shown in Fig. 3; the inner flip arm 1-3 is driven by the inner inner turning cylinder 1-5 Inverting inward, flipping the pipe 12-1 to the V lane of the main car 1-4, as shown in Fig. 5; the car 1-8 forwards to push the pipe forward, and the inner flip arm 1-3 has been reset; When the pipe 12-1 is retracted to the predetermined position, it is handed over to the flipping robot 2, and the cart 1-8 is stopped and retracted to the initial position, waiting for the next pipe to be transported, as shown in FIG.

步骤2，翻转机械手2将管具从水平状态调整到竖直状态。翻转机械手2上下两个钳体2-1同时夹紧管具12-1，如图9；在翻转液缸2-6的驱动下翻转臂2-2带动管具12-1围绕销轴2-5向上旋转90度，将管具从水平状态调整到竖直，此时管具处于鼠洞5中心，如图10。In step 2, the flipping robot 2 adjusts the pipe from a horizontal state to a vertical state. Flip the robot 2 up and down the two jaws 2-1 and simultaneously clamp the tube 12-1, as shown in Fig. 9; the arm 2-2 is driven by the flipping cylinder 2-6 to drive the tube 12-1 around the pin 2 - 5 Rotate 90 degrees upward to adjust the pipe from horizontal to vertical. At this time, the pipe is at the center of the rat hole 5, as shown in Figure 10.

步骤3，接立根机械手10接住单根。安装在井架后大门侧的接立根机械手10，沿着轨道10-7向下运动，到达指定位置后伸缩臂10-2在变幅油缸10-5的驱动下向管具12-1伸出，同时加紧钳10-1打开；夹紧钳夹钳10-1夹紧管具12-1，翻转机械手2的钳体2-1继续夹持管具，接立根机械手10上移，翻转机械手2的钳体2-1的滚轮2-8在摩擦力的作用下朝管具轴向滚动。当将单根12-1提升钻台一定高度，接立根机械手10停止等待下一根管具。In step 3, the stand-up robot 10 catches a single root. The standing root manipulator 10 installed on the side of the gantry rear gate moves downward along the rail 10-7, and reaches the designated position, and the telescopic arm 10-2 extends to the pipe 12-1 under the driving of the luffing cylinder 10-5. At the same time, the clamping pliers 10-1 is opened; the clamping pliers 10-1 clamps the pipe 12-1, the pliers 2-1 of the reversing robot 2 continues to grip the pipe, and the standing manipulator 10 moves up, and the manipulator 2 is turned over. The rollers 2-8 of the caliper body 2-1 are axially rolled toward the tube under the action of friction. When the single 12-1 lifts the drill floor to a certain height, the stand-up robot 10 stops waiting for the next pipe.

步骤4，翻转机械手2、接立根机械手10共同接双根。翻转机械手2和猫道1退回到初始位置，重复上述动作，输送下一根管具12-2。下一根管具12-2就位后，接立根机械手10下移并通过调整伸缩臂10-2的姿态使上、下两根管具对扣，如图11。然后铁钻工7对管具旋扣、紧扣，如图10。In step 4, the flipping robot 2 and the standing root robot 10 are connected to each other. The flip robot 2 and the catwalk 1 are returned to the initial position, and the above action is repeated to transport the next tube 12-2. After the next tube 12-2 is in place, the standing root manipulator 10 is moved down and the upper and lower tubes are buckled by adjusting the posture of the telescopic arm 10-2, as shown in FIG. Then the iron driller 7 pairs of pipe with a turn buckle, tight buckle, as shown in Figure 10.

步骤5，翻转机械手2、接立根机械手10共同接立跟。完成接双根动作后，接立根机械手10上移，将双根管具提升钻台一定高度，等待下一根管具。同时翻转机械手2和猫道1退回到初始位置，输送下一根管具。待下一根管具就位后，接立根机械手10下移并通过调整伸缩臂10-2的姿态使上、下两根管具对扣，然后铁钻工对管具旋扣、紧扣。如此一系列动作循环，即完成接立根的工作。In step 5, the flipping robot 2 and the standing root robot 10 are connected to each other. After the completion of the double root action, the standing root manipulator 10 is moved up, and the double root pipe is lifted to a certain height of the drill floor, waiting for the next pipe. At the same time flip the robot 2 and the catwalk 1 Return to the initial position and transport the next tube. After the next pipe is in place, the vertical manipulator 10 is moved down and the upper and lower pipes are buckled by adjusting the posture of the telescopic arm 10-2, and then the iron driller spins and fastens the pipe. Such a series of action cycles, that is, to complete the work of the root.

步骤6，立根的排放。完成接立根的工作后，要进行立根的排放。如图13示，接立根机械手10抓持立根上移，此时翻转机械手2仍夹持扶正立根，将立根管具提升钻台一定高度，伸缩臂10-2缩回，回转支座10-3旋转，行走架10-4行走配合至夹紧钳10-1对准双扇形指梁9目标列后，双扇形指梁9该列的目标位置以前的卡子总成9-2在气缸9-2-2驱动下自动开启，接立根机械手10的伸缩臂10-2伸至目标位置后，接立根机械手10下移放置立根至立根盒3对应位置，指梁卡子总成9-2自动关闭，接立根机械手10的夹钳10-1打开，状态如图13。接立根机械手10复位等待下一指令。钻机的卸立根作业过程和上述过程相反。钻机的接、卸立根工作与钻机的起下钻工作可并行进行。作业区域和设备不存在干扰。 Step 6, the discharge of the root. After completing the work of the standing root, it is necessary to carry out the discharge of the root. As shown in Fig. 13, the standing root manipulator 10 grasps the vertical upshift, at this time, the flipping robot 2 still holds the righting root, the vertical root pipe has a certain height of the lifting drill stand, the telescopic arm 10-2 is retracted, and the rotating support 10- 3 rotation, the walking frame 10-4 is fitted to the clamping jaw 10-1 after aligning the target column of the double sector finger beam 9, the double sector finger beam 9 is the target position of the column before the previous clip assembly 9-2 is in the cylinder 9- 2-2 drive automatically open, after the telescopic arm 10-2 of the stand-up manipulator 10 is extended to the target position, the stand-up manipulator 10 is moved down to place the stand-up root to the corresponding position of the stand-up box 3, and the finger-clamp sub-assembly 9-2 is automatically closed. The clamp 10-1 of the stand-up robot 10 is opened, and the state is as shown in FIG. The stand-up robot 10 resets and waits for the next command. The rig's unloading operation is the reverse of the above process. The rig's picking and unloading work can be carried out in parallel with the rig's tripping work. There is no interference in the work area and equipment.

步骤7，下钻。钻机的起下钻工作主要有液压吊卡14、顶驱11、铁钻工7和动力卡瓦6配合接立根机械手10完成。钻机下钻时，如图14所示，接立根机械手10从双扇形指梁9内抓取以立根，接立根机械手10上提立根高于钻台面一定高度后，伸缩臂10-2缩回，主体旋转，移动至目标位置将立根交给液压吊卡14；液压吊卡14在顶驱摆臂11-1的控制下带动立根缩回直井口中心并下移，与井口中心已有管具对扣，动力卡瓦6此时卡紧下边管具，然后铁钻工7对管具旋扣、紧扣，这一部分配合工作与现役钻机相同；顶驱11驱动立根钻进。钻机的起钻作业过程和上述过程相反。 Step 7, drill down. The hoisting work of the rig mainly includes the hydraulic elevator 14, the top drive 11, the iron driller 7, and the power slip 6 cooperate with the stand-up manipulator 10. When the drilling machine is drilled, as shown in FIG. 14, the standing root manipulator 10 is grasped from the double fan-shaped finger beam 9 to stand up, and after the standing root manipulator 10 is lifted to a certain height higher than the drill floor surface, the telescopic arm 10-2 is retracted. The main body rotates and moves to the target position to transfer the standing root to the hydraulic elevator 14; under the control of the top drive swing arm 11-1, the hydraulic elevator 14 drives the vertical root to retract the center of the vertical wellhead and moves downward, and has an existing pair of wells at the center of the wellhead. Buckle, power kava 6 at this time to clamp the lower pipe, and then the iron driller 7 pairs of pipe with a buckle, tight buckle, this part of the work is the same as the active rig; top drive 11 drive vertical drilling. The drilling operation of the drilling rig is the reverse of the above process.

该实施例子，立根盒3的安装位置由传统的钻台面上下沉至底座4上，重心位置有效下移9米至14米，在井场搬家时，可满立根整体移运，大大提高了搬家效率和降低人员劳动强度。另外，该钻机采用电液复合驱动，全方位视频监控***，集成控制，司钻在控制室操作相应的程序即可实现钻机的钻进和接卸立根工作，可实现真正地全自动化、离线作业、作业效率可提高到现役钻机的3倍且安全可靠。 In this embodiment, the installation position of the vertical root box 3 is lowered from the conventional drilling table surface to the base 4, and the center of gravity position is effectively moved down by 9 meters to 14 meters. When the well site is moved, the whole body can be fully transported, greatly improving the moving. Efficiency and reduce the labor intensity of personnel. In addition, the rig adopts electro-hydraulic composite drive, omni-directional video monitoring system, integrated control, and the driller can operate the corresponding program in the control room to realize the drilling and unloading work of the rig, which can realize truly fully automated and offline operation. The working efficiency can be increased to 3 times that of the active rig and it is safe and reliable.

Claims

一种自动化钻机，主要由井架、底座、猫道、顶驱、钻台面组成，其特征在于：在上述井架的两侧设有双扇形指梁，在上述底座上设有两个于前述扇形指梁相对应的下沉式立根盒；上述猫道自动翻进、翻出及前后平移置入的管具；The utility model relates to an automatic drilling machine, which mainly comprises a derrick, a base, a catwalk, a top drive and a drill floor, and is characterized in that: two fan-shaped finger beams are arranged on both sides of the derrick, and two fan-shaped fingers are arranged on the base a corresponding sinking vertical box of the beam; the above-mentioned catwalk is automatically turned in, turned out and the tube is inserted back and forth;

还包括安装于井场地面、位于前述两立根盒之间的翻转机械手，夹持猫道输送来的管具并翻转至竖直状态，在上、卸扣时夹紧下边的管具施加反扭矩；The utility model further comprises an inverting robot installed on the ground of the well site and located between the two vertical boxes, clamping the pipe conveyed by the catwalk and flipping to a vertical state, and clamping the lower pipe to apply a counter torque when the shackle is shackled. ;

还包括安装在井架的后大门侧的接立根机械手，上、下移动管具，对扣管具，竖直移运或排放立根。It also includes a stand-up manipulator mounted on the back door side of the derrick, moving the pipe up and down, hooking the pipe, moving vertically or discharging the stand.
根据权利要求1所述的一种自动化钻机，其特征在于：上述猫道包括对称分布的两对支腿、液缸驱动的成对内翻转臂、液缸驱动的成对外翻转臂，以及主车、小车、安装座、减速机；支腿位于猫道的主体两侧，其外侧由支腿油缸支撑到地面，内侧经销轴铰接于安装座；主车上设有V道；减速机设于猫道两端，经链条驱动小车带动管具在主车上前后运动。An automated drilling machine according to claim 1, wherein said catwalk comprises two pairs of legs symmetrically distributed, a pair of inner flip arms driven by a liquid cylinder, a hydraulically driven outer flip arm, and a main vehicle. , trolley, mount, reducer; the legs are located on both sides of the main body of the catwalk, the outer side is supported by the outrigger cylinder to the ground, the inner distribution shaft is hinged to the mount; the main car is provided with a V-track; the reducer is set at the cat At both ends of the road, the chain drive car drives the pipe to move back and forth on the main car.
根据权利要求1或2所述的一种自动化钻机，其特征在于：上述翻转机械手主要由钳体、翻转臂及安装架组成；安装架固定在井场地面上，靠近钻台一边与翻转臂经销轴铰接，在安装架上铰接有驱动翻转臂旋转90度的翻转液缸；钳体安装在翻转臂上夹紧或松开置入的管具。The automatic drilling machine according to claim 1 or 2, wherein the inverting robot is mainly composed of a caliper body, a flip arm and a mounting frame; the mounting frame is fixed on the surface of the well site, and is distributed near the side of the drill floor and the flip arm. The shaft is hinged, and a flipping cylinder for driving the flip arm to rotate 90 degrees is hinged on the mounting bracket; the caliper body is mounted on the flip arm to clamp or loosen the inserted pipe.
根据权利要求3所述的一种自动化钻机，其特征在于：上述钳体有两个，分别位于翻转臂的上、下端，钳体的钳头主要由沿着竖轴旋转的至少一对滚轮组成，该对滚轮由固定在翻转臂上的夹紧油缸驱动开合。An automatic drilling machine according to claim 3, wherein the caliper body has two upper and lower ends respectively, and the tongs of the caliper body are mainly composed of at least one pair of rollers rotating along the vertical axis. The pair of rollers are driven to open and close by a clamping cylinder fixed to the flip arm.
根据权利要求3所述的一种自动化钻机，其特征在于：上述接立根机械手主要由安装架、行走架、回转支座、伸缩臂、夹紧钳、起升绞车、相应的滑轮组件；安装架的上下横梁上设有轨道，行走架沿该轨道水平移动；安装架在起升绞车的作用下上下移动；伸缩臂为平行四边形结构，安装在回转支座与夹紧钳之间，在油缸的驱动下平稳伸出或缩回；加紧钳在油缸的驱动下夹紧或松开管具。An automatic drilling machine according to claim 3, wherein said connecting stand manipulator is mainly composed of a mounting frame, a traveling frame, a rotary support, a telescopic arm, a clamping pliers, a hoist winch, and a corresponding pulley assembly; The upper and lower beams are provided with a track, and the traveling frame moves horizontally along the track; the mounting frame moves up and down under the action of the lifting winch; the telescopic arm has a parallelogram structure, is installed between the rotating support and the clamping jaw, and is in the cylinder The drive is smoothly extended or retracted; the clamping pliers clamp or loosen the pipe under the driving of the cylinder.
根据权利要求5所述的一种自动化钻机，其特征在于：上述井架上安装有轨道，上述安装架两侧四角的位置设有滚轮，在上述起升绞车的作用下安装架沿前述井架上的轨道上下移动。An automatic drilling machine according to claim 5, wherein said derrick is mounted with a rail, and said four corners of said mounting bracket are provided with rollers, and said mounting bracket is mounted on said derrick by said hoisting winch The track moves up and down.
根据权利要求5所述的一种自动化钻机，其特征在于：上述双扇形指梁主要由存储架和卡子总成组成，存储架的每一个钻具存放位置前都设有一个卡子总成；卡子总成主要由翻转气缸、连杆、指头以及检测指头开合状态的传感器组成。An automated drilling machine according to claim 5, wherein said double-sector finger beam is mainly composed of a storage rack and a clip assembly, and each of the storage racks is provided with a clip assembly in front of the storage position; The assembly is mainly composed of a flipping cylinder, a connecting rod, a finger and a sensor for detecting the opening and closing state of the finger.
根据权利要求7所述的一种自动化钻机，其特征在于：上述井架上安装有监控每个卡子总成存放钻具情况的摄像头。An automated drilling machine according to claim 7, wherein said derrick is mounted with a camera for monitoring the condition of each of the clip assemblies for storing the drill.
根据权利要求8所述的一种自动化钻机，其特征在于：上述井架为自升式井架；该钻机还包括液压吊卡、铁钻工、动力卡瓦；铁钻工主要由旋扣钳、紧扣钳、加紧钳组成，上扣、卸扣通过控制***一键操作。The automatic drilling machine according to claim 8, wherein the derrick is a self-elevating derrick; the rig further comprises a hydraulic elevator, an iron driller and a power slip; the iron drill is mainly composed of a rotary clamp and a tight The buckle clamp and the clamping clamp are composed, and the upper buckle and the shackle are operated by one button of the control system.
根据权利要求9所述的一种自动化钻机，其特征在于：上述钻台面的边缘开放式设置半圆形鼠洞。 An automated drilling machine according to claim 9, wherein the edge of said drill floor is openly provided with a semicircular rat hole.