Hanging type adaptive automatic drill pipe string discharge device

Abstract

The invention discloses a hanging type adaptive automatic drill pipe string discharge device, which consists of a pipe string discharger guide track, a hydraulic motor, a rotary encoder, a tackle, a worm gear and worm rotating device, a lead screw pair, an extension hydraulic cylinder, a movable arm, a triangular support, deviation rectifying hydraulic cylinders, masts, a lifting hydraulic cylinder, a mast inner guide rod, a manipulator, a double-axis horizontal inclination sensor and an electro-hydraulic proportional control system with a PID (proportion integration differentiation) adjusting function. The pipe string discharger guide track is fixed at the bottom of a tongue platform of a second-floor platform of a K-shaped derrick, a mounting foundation of the clamping manipulator is a double-layer lifting mast structure, and the external masts are mounted on the triangular support via universal joints and are driven by the two deviation rectifying hydraulic cylinders; the internal masts can slide along the external masts, when a parallelogram stretchable mechanism acts, the internal masts can be driven by the lifting hydraulic cylinder to move vertically, the lifting action of the internal masts can be synchronous to the stretching action, or the lifting action of the internal masts and the stretching action are carried out sequentially definitely, when a drilling rig is connected or disconnected, the internal masts are in a balancing and floating state, and the balancing and floating function is realized by a specific hydraulic loop and a control mode.

Description

technical field [0001] The invention relates to an automatic drilling rod discharge device used in conjunction with a K-type derrick of a land drilling rig, in particular to a suspended self-adaptive automatic drill rod discharge device. It is mainly used for the automatic grabbing, moving and sequential arrangement of the drill string, especially its tilting and side swing functions can adapt to the angle deviation of the drill string discharge, and can automatically carry out automatic drilling in the process of connecting and unloading the drill string. Deviation correction to ensure the sag of the drill string, complete the smooth connection between the drill string, the hole drilling tool and the output shaft of the top drive, so as to realize the automation of the drill string connection, unloading and discharge process. Background technique [0002] In the process of deep well drilling such as oil drilling and continental scientific drilling, tripping and tripping ope...

AI Technical Summary

Problems solved by technology

The device realizes the positioning, grasping and moving of the drill string by means of rotary and radial radial telescopic functions. The rotary function can rotate the drill string 360° so that the drill string is aligned with the rotation axis to complete the loading and unloading operation. The invention needs to install a cantilever beam with a central open channel on the second-floor platform, the structure is complicated, the positioning control principle is complicated, and the traditional lifting and lowering operation methods cannot be provided.

The manipulator used in this invention is a horizontal opening and closing type with a large width, so it is difficult to adapt to the narrow drill string gap

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