Offshore drilling platform pipe string automatic transfer device

Abstract

The invention discloses an automated shifting and transporting device of an ocean drilling platform pipe column and solves the problems that an existing pipe column shifting and transporting mechanism is low in freedom degree, not high in accuracy and consistency and the like. The automated shifting and transporting device comprises a base, a mechanical arm system and a tail executor. The mechanical arm system is composed of four mechanical arms, and the front two mechanical arms are long and can efficiently and rapidly shift and transport a grabbing device near a drill pipe; the rear two mechanical arms are short and better than a big arm in rigidity, and the accuracy error brought by the big arm can be compensated, so that the pipe column to be grabbed is accurately positioned; besides, more consistency is achieved in the grabbing process through the design of multiple joints and the freedom degree of the mechanical arm system and the tail executor, and grabbing accuracy and flexibility are improved.

Description

technical field [0001] The invention relates to an automatic pipe column transfer device. Background technique [0002] On offshore drilling platforms, the automatic transmission system for drill pipes and other pipe strings is an important part of automatic drilling equipment. It can complete operations such as clamping and handling of drill pipes, replacing manual reciprocating automatic transmission of drill pipes between the wellhead and the storage warehouse. . It can effectively improve the safety of drilling operations, reduce the labor intensity of staff, shorten the operation cycle, save operating costs, and improve the automation level and work efficiency of drill pipe transmission. [0003] At present, the domestic research and application of drill pipe automatic transmission system has just started. The transmission of drill pipe depends more on manual operation or can only realize partial automatic transmission, which is far from meeting the requirements of mod...

AI Technical Summary

Problems solved by technology

[0003] At present, the domestic research and application of drill pipe automatic transmission system has just started. The transmission of drill pipe relies more on manual operation or can only realize partial automatic transmission, which is far from meeting the requirements of modern automatic drilling.

[0004] Most of the existing automatic drill pipe transfer devices are composed of two to three mechanical arms with low degrees of freedom, and because of the large size of the two large arms, vibrations will be generated at the ends when the driving action stops, which affects the gripping of the drill pipe. Positioning and grabbing accuracy, and inconsistency in the drill pipe processing process, affecting the efficiency of grabbing and working progress

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