An automated drill pipe handling system

Abstract

The present invention relates to an automatic pipe string processing system for a drilling rig, which includes a base, a derrick, a crown block, a top drive, a hydraulic elevator, an intelligent drilling robot, a drill floor manipulator, a power drill pipe box, a lifting power catwalk, a power drill pipe box, a rail-mounted iron roughneck and a telescopic boom iron roughneck. The crown block, the top drive and the hydraulic elevator cooperate with the drilling rig to raise and lower the drill pipe. A steel structure guide rail is provided on the derrick, and the intelligent drilling robot is slidably connected to the steel structure guide rail through four groups of rollers. A track is provided on the drill floor of the base, and the drill floor manipulator is slidably connected to the track. The power drill pipe box and the lifting power catwalk cooperate to transfer the pipe string. The rail-mounted iron roughneck is movably connected to the drill floor of the base through gears and racks, and the telescopic boom iron roughneck is fixed on one side of the drill floor of the base. A novel automatic pipe string processing system of the present invention can greatly improve the pipe string processing efficiency, and at the same time has a high degree of equipment automation, reduces the labor cost and reduces the relevant safety hazards.

Description

Technical Field

[0001] The invention relates to the field of oil and gas drilling equipment, and in particular to an automatic processing system for a drilling rig pipe string. Background Art

[0002] In oil drilling operations, it is necessary to continuously handle the pipe string. In the process of traditional drilling rigs handling the pipe string, the catwalk transports the pipe string to the drilling table, the grabbing equipment grabs the pipe string, and hands it over to the disassembly equipment for disassembly, and then hands it over to the second-level platform pipe laying machine for discharge. In this process, many related equipment are required, and a large number of related operators are required to cooperate. In addition, the operation efficiency of each work process is low, and it is impossible to efficiently handle all types of pipe strings, and it is impossible to meet the automation requirements. There are many safety hazards in the work process. Summary of the invention

[0003] In order to solve the technical problems existing in the prior art, the present invention provides an automated processing system for drilling rig pipe strings, which can greatly improve the processing efficiency of pipe strings.

[0004] To achieve the above object, the technical solution of the present invention is as follows:

[0005] A drilling rig pipe string automatic processing system comprises a base, a derrick, a crown block, a top drive, a hydraulic elevator, an intelligent drilling robot, a drill table manipulator, a power drill rod box, a lifting power catwalk, a power drill rod box, a track-type iron roughneck and a telescopic arm iron roughneck. The crown block, the top drive and the hydraulic elevator cooperate with the drilling rig to start and stop drilling. A steel structure guide rail is provided on the derrick. The intelligent drilling robot is slidably connected to the steel structure guide rail through four sets of rollers. A track is provided on the drill table of the base. The drill table manipulator is slidably connected to the track. The power drill rod box and the lifting power catwalk cooperate to transmit the pipe string. The track-type iron roughneck is movably connected to the drill table of the base through a gear and a rack. The telescopic arm iron roughneck is fixed to one side of the base with the drill table.

[0006] As a preferred technical solution, the intelligent drilling robot includes a pulley frame, a main arm, a rotating base, a sub-arm, a clamp head and several electric cylinders. The pulley frame is slidably connected to the steel structure guide rail through four sets of rollers, the upper end of the main arm is connected to the pulley frame through a pin shaft, the electric cylinder between the main arm and the pulley frame is transmission connected to the main arm, the rotating base is connected to the lower end of the main arm, the electric cylinder between the main arm and the rotating base is transmission connected to the rotating base, the upper end of the sub-arm is fixedly connected to the rotating base by bolts, and the lower end of the sub-arm is connected to the clamp head.

[0007] As a preferred technical solution, the manipulator on the drill floor includes a slewing device, a boom, an arm, a first joint, a second joint, a clamping tongs and an electric drive device. The slewing device is slidably connected to the track on the base. The boom is connected to the slewing device, the arm is connected to the boom, the first joint is connected to the arm, the second joint is connected to the first joint, and the first joint is connected to the clamping tongs through slewing bearings.

[0008] As a preferred technical solution, the elevating power catwalk includes a catwalk base, an elevating beam, an elevating oil cylinder, a column and a clamp. Four groups of kicking legs are symmetrically installed on the left and right sides of the catwalk base. The kicking legs are driven by hydraulic cylinders between the catwalk base to kick the drill tools in the power drill pipe box. The drill tools reach the designated position in the clamp on the column. One end of the elevating beam is installed on the catwalk base through a pin shaft. The column is connected to the other end of the elevating beam through a slewing bearing. The column rotates around its own central axis driven by a hydraulic motor. Two groups of clamps are connected to the column through gear and rack meshing. The two groups of clamps move along the central axis of the column driven by the relevant hydraulic motor. At the same time, the hydraulic cylinders built in the two groups of clamps drive the jaws to open and close to clamp the drill tools.

[0009] As a preferred technical solution, the power drill pipe box is provided with four layers of space. The pipe string stored in the four layers of space is conveyed to the kicking legs of the elevating power catwalk through the power drill pipe box.

[0010] As a preferred technical solution, angle and displacement sensors are installed on the crown block, top drive, hydraulic elevator, intelligent drilling robot, manipulator on the drill floor, power drill pipe box, elevating power catwalk, power drill pipe box, rail type iron roughneck and telescopic boom type iron roughneck.

[0011] As a preferred technical solution, the drill pipe automatic handling system of the drilling rig is equipped with a computer vision module.

[0012] As a preferred technical solution, the drill pipe automatic handling system of the drilling rig has three working modes: driller's cabin control, remote control and offline automatic operation.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] A new type of drilling pipe string automatic processing system for the needle of the present invention integrates automatic equipment such as a power drill pipe box, a lifting power catwalk, an intelligent drilling robot, a drill floor manipulator, a top drive, an orbital iron roughneck, a telescopic arm iron roughneck, etc., enabling each part in the system to work closely together, operating efficiently in working conditions such as pipe string transportation, grasping, docking, and discharging. It can greatly improve the pipe string processing efficiency. At the same time, the equipment has a high degree of automation, is convenient and safe to operate, requires fewer auxiliary personnel, and has diverse operation modes, greatly reducing the labor cost and reducing relevant safety hazards. The system uses a modern vision system and a sensor system, can automatically identify the working conditions and operate automatically, adopts an intelligent human-machine interaction solution, makes the operating conditions of each device presented on the electronic monitoring device in real time, and has a high degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional schematic diagram of a drilling pipe string automatic processing system for the present invention;

[0016] Figure 2 is a three-dimensional schematic diagram of the intelligent drilling robot in a drilling pipe string automatic processing system for the present invention;

[0017] Figure 3 is a three-dimensional schematic diagram of the lifting power catwalk in a drilling pipe string automatic processing system for the present invention;

[0018] Figure 4 is a three-dimensional schematic diagram of the drill floor manipulator in a drilling pipe string automatic processing system for the present invention;

[0019] Figure 5 is a schematic diagram of the lifting power catwalk lifting the pipe string in a drilling pipe string automatic processing system for the present invention;

[0020] Figure 6 is a schematic diagram of the intelligent drilling robot grasping the catwalk pipe string in a drilling pipe string automatic processing system for the present invention.

[0021] Figure 7 is a schematic diagram of the intelligent drilling robot in a drilling pipe string automatic processing system for the present invention putting the pipe string into the mouse hole.

[0022] Figure 8 is a schematic diagram of connecting stands in a drilling pipe string automatic processing system for the present invention.

[0023] Figure 9 is a schematic diagram of the intelligent drilling robot discharging stands in a drilling pipe string automatic processing system for the present invention.

[0024] Figure 10 is a schematic diagram of the drill floor manipulator cooperating to discharge stands in a drilling pipe string automatic processing system for the present invention.

[0025] Figure 11 The present invention is a schematic diagram of an automated drilling rig pipe string processing system for delivering pipe stands to a top drive.

[0026] Figure 12 A schematic diagram of a drilling tool docking at a wellhead in an automated drilling rig pipe string processing system of the present invention

[0027] In the figure: 11. Base; 12. Power drill rod box; 13. Derrick; 14. Track type roughneck; 15. Telescopic arm type roughneck; 16. Overhead crane; 17. Top drive; 18. Hydraulic elevator; 19. Pipe string; 20. Newly grabbed pipe string; 21. Lifting power catwalk; 22. Clamp; 23. Catwalk base; 24. Kick leg; 25. Lifting beam; 26. Lifting cylinder; 27. Column; 30. Righting clamp; 31 .Intelligent drilling robot; 32.Roller; 33.Pulley frame; 34.Main arm; 35.Slewing base; 36.Auxiliary arm; 37.Clamp head; 38.Steel structure guide rail; 41.Drilling table manipulator; 42.Clamping clamp; 43.Track; 44.Slewing device; 45.Upper arm; 46.Left arm; 47.First joint; 48.Second joint; 50.Rat hole; 61.Stand root; 62.Finger beam; 63.Wellbore center. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further described below in conjunction with specific implementation methods:

[0029] like Figure 1As shown in the figure, a drilling pipe string automatic processing system includes a base 11, a derrick 13, a crown block 16, a top drive 17, a hydraulic elevator 18, an intelligent drilling robot 31, a drill floor manipulator 41, a power drill pipe box 12, a lifting power catwalk 21, a power drill pipe box 12, an orbital iron roughneck 14, and a telescopic arm iron roughneck 15. The crown block 16, the top drive 17, and the hydraulic elevator 18 cooperate with the drilling rig to raise and lower the drill pipe. A steel structure guide rail 38 is provided on the derrick 13. The intelligent drilling robot 31 is slidably connected to the steel structure guide rail 38 through four groups of rollers 32. A track 43 is provided on the drill floor of the base 11. The drill floor manipulator 41 is slidably connected to the track 43. The power drill pipe box 12 cooperates with the lifting power catwalk 21 to transfer the pipe string 19. The orbital iron roughneck 14 is movably connected to the drill floor of the base 11 through gears and racks. The telescopic arm iron roughneck 15 is fixed on one side of the base 11 with a drill floor. The base 11 and the derrick 13 are the bearing and installation bases of the entire drilling pipe string automatic processing system. The intelligent drilling robot 31 and the drill floor manipulator 41 cooperate to process the pipe string 19. The power drill pipe box 12 is used to store the pipe string 19 and is used in cooperation with the lifting power catwalk 21. The lifting power catwalk 21 can realize the transfer of the pipe string 19 between the ground and the drill floor through actions such as kicking in the pipe string 19, clamping with the clamp 22, slewing of the stand 27, lifting of the stand 27, and walking of the clamp 22. The orbital iron roughneck 14 and the telescopic arm iron roughneck 15 can cooperate with the system to process pipe strings 19 of various models.

[0030] As Figure 2As shown in the figure, the intelligent drilling robot 31 includes a carriage frame 33, a main arm 34, a slewing base 35, a sub-arm 36, a tong head 37 and several electric cylinders. The carriage frame 33 is slidably connected to the steel structure guide rail 38 through four groups of rollers 32. Driven by an electric winch, the carriage frame 33 moves vertically along the steel structure guide rail 38. The upper end of the main arm 34 is connected to the carriage frame 33 through a pin shaft. Driven by the electric cylinder between the main arm 34 and the carriage frame 33, the main arm 34 completes the luffing action. The slewing base 35 is connected to the lower end of the main arm 34 through a pin shaft. Driven by the electric cylinder between the main arm 34 and the slewing base 35, the slewing base 35 completes the tilt compensation action. At the same time, the slewing base 35 is divided into upper and lower parts, and the two parts are connected by a slewing bearing and can complete the slewing action driven by a servo motor. The upper end of the sub-arm 36 is connected to the slewing base 35 through multiple groups of bolts and can complete the luffing action driven by the servo motor inside the upper end of the sub-arm 36. The tong head 37 is connected to the lower end of the sub-arm 36 through a pin shaft and can complete the tilting action of the tong head 37 driven by the electric cylinder between the sub-arm 36 and the tong head 37. Three groups of servo electric cylinders are installed inside the tong head 37 to drive the opening and closing of two groups of clamping tongs 42 and one group of centralizing tongs 30 respectively. The intelligent drilling robot 31 has multiple degrees of freedom and is driven by electric cylinders to complete vertical movement, luffing of the main arm 34, tilt compensation, slewing movement, luffing of the sub-arm 36, tilting of the tong head 37, centralizing and clamping of the tong head 37 and other actions. The activity range covers all the space required for the processing of all pipe strings 19.

[0031] As Figure 4 shown in the figure, the drill floor manipulator 41 includes a slewing device 44, a boom 45, a sub-boom 46, a first joint 47, a second joint 48, clamping tongs 42 and an electric drive device. The slewing device 44 is installed on the corresponding track 43 of the base 11 through gear-rack meshing and can walk along the track 43 and slew itself driven by a servo motor. The boom 45 and the slewing device 44, the sub-boom 46 and the boom 45, the first joint 47 and the sub-boom 46, the second joint 48 and the first joint 47, and the first joint 47 and the clamping tongs 42 are all connected by slewing bearings, and the corresponding slewing actions are completed by the servo motor inside the connection. The clamping principle of the clamping tongs 42 is a planar four-bar mechanism and is driven by the servo motor inside it. The drill floor manipulator 41 is driven by an electric drive device to complete actions such as walking, rotating, slewing of the boom 45, slewing of the sub-boom 46, slewing of the first joint 47, slewing of the second joint 48, slewing of the clamping tongs 42, and clamping of the clamping tongs 42, and works in cooperation with the intelligent drilling robot 31.

[0032] The power drill pipe box 12 is provided with four layers of space, and the pipe strings 19 stored in the four layers of space are transported to the kicker 24 of the lifting power catwalk 21 through the power drill pipe box 12.

[0033] As Figure 3As shown in the figure, the lifting power catwalk 21 includes a catwalk base 23, a lifting beam 25, a lifting oil cylinder 26, a column 27, and a clamp 22. The catwalk base 23 is an overall welded structure steel part. Four groups of kickers 24 are symmetrically installed on both the left and right sides of the catwalk base 23 through pins. The kickers 24 can complete the kicking of the drill pipe in the power drill pipe box 12 under the drive of the hydraulic oil cylinder between them and the catwalk base 23, so that the drill pipe reaches the designated position in the clamp 22 on the column 27. One end of the lifting beam 25 is installed on the catwalk base 23 through a pin shaft and can rotate between a horizontal position and a vertical position under the drive of the lifting oil cylinder 26. The column 27 is connected to the other end of the lifting beam 25 through a slewing bearing and can rotate around its own central axis under the drive of a hydraulic motor. Two groups of clamps 22 are connected to the column 27 through gear-rack meshing and can move along the central axis of the column 27 under the drive of the relevant hydraulic motor. At the same time, two groups of hydraulic oil cylinders are built in the clamps 22 for driving the jaw to open and close to clamp the drill pipe. The lifting power catwalk 21 drives the lifting beam 25 to lift and lower through the lifting oil cylinder 26, lifts the pipe string 19 transmitted to the kickers 24 from a horizontal posture to a vertical posture and transports it to the corresponding position in front of the drill floor, facilitating the subsequent processing of the pipe string 19.

[0034] Angle and displacement sensors are installed on the crown block 16, top drive 17, hydraulic elevator 18, intelligent drilling robot 31, drill floor manipulator 41, power drill pipe box 12, lifting power catwalk 21, power drill pipe box 12, rail type iron roughneck 14, and telescopic boom type iron roughneck 15, which are used to monitor the real-time data of each action of each component in the system, so as to improve the visibility, accuracy, and safety of the system.

[0035] The drilling rig pipe string automatic processing system is equipped with a computer vision module, which can monitor the working conditions of each part of the system in real time and realize the digitization, informatization, and intelligence of the system.

[0036] The drilling rig pipe string automatic processing system has three working modes: driller's cabin control, remote control, and offline automatic operation. In the driller's cabin control working mode, the driller monitors and commands the working conditions of each part of the whole system in the driller's cabin in real time. In the remote control mode, the operator remotely controls each part of the system through a wireless remote control and a system wireless receiver. In the offline automatic operation mode, the whole system automatically identifies the current working condition and works automatically according to the pre-determined working condition process without personnel monitoring and assistance. Through these three working modes, the controllability, adaptability, and working efficiency of the system are greatly improved.

[0037] The working method of this drilling rig pipe string automatic processing system includes the following steps:

[0038] Step 1: As Figure 5As shown, the lifting power catwalk 21 transports the pipe column 19 from the ground power drill pipe box 12 to the corresponding position in front of the drilling table of the base 11 by kicking in the pipe column 19, rotating the column 27, and lifting the column 27.

[0039] Step 2: If Figure 6 As shown, the intelligent drilling robot 31 descends to a corresponding height and adjusts its movement to align with the pipe string 19 , the head of the straightening clamp 30 is aligned with the center of the pipe string 19 , and the clamp head 37 clamps the pipe string 19 .

[0040] Step 3: If Figure 7 As shown, the intelligent drilling robot 31 grabs the pipe string 19 and lifts it. After reaching a certain height, the pipe string 19 is moved toward the rat hole 50 in a vertical posture through action transformation. The upper arm 45 and the lower arm 46 of the drilling floor manipulator 41 are extended, and the pipe string 19 is supported by the clamp 42. With the cooperation of the intelligent drilling robot 31 and the drilling floor manipulator 41, the pipe string 19 is aligned with the rat hole 50. The intelligent drilling robot 31 clamps the pipe string 19 and lowers it to a certain position in the rat hole 50. The clamp 42 of the drilling floor machine is released, the upper arm 45 and the lower arm 46 are retracted, and the intelligent drilling robot 31 continues to lower the pipe string 19 to the corresponding position of the rat hole 50.

[0041] Step 4: If Figure 8 As shown, the system repeats steps one and two, and aligns the newly grabbed pipe string 20 with the pipe string 19 placed in steps one, two, and three in the rat hole 50 in a similar manner to step three, the clamp head 37 of the intelligent drilling robot 31 is loosened, the telescopic arm roughneck 15 is extended, and the two pipe strings 19 are screwed and punched. After the docking is completed, the telescopic arm roughneck 15 is retracted, the drill table manipulator 41 is retracted, the clamp head 37 of the intelligent drilling robot 31 is clamped, and the pipe string 19 is lowered to the corresponding position of the rat hole 50.

[0042] Step 5: If Figure 9 and 10 As shown, after repeating steps one, two, three and four, a complete stand 61 formed by connecting three pipe strings 19 has been formed in the rat hole 50, the intelligent drilling robot 31 lifts the complete stand 61 out of the rat hole 50, and the drilling table manipulator 41 supports the lower part of the stand 61. The intelligent drilling robot 31 sends the complete stand 61 to the corresponding position of the second-floor platform finger beam 62 through action transformation. During this process, the drilling table manipulator 41 moves synchronously for support.

[0043] Step 6: If Figure 11 As shown, when the top drive 17 reaches the limit position, it stops drilling, the hydraulic elevator 18 opens, the top drive 17 rises to the corresponding position, the intelligent drilling robot 31 takes out the stand 61 in the finger beam 62 and sends it into the hydraulic elevator 18, and the hydraulic elevator 18 closes. During this process, the drill table manipulator 41 moves synchronously to provide support.

[0044] Step Seven: As Figure 12 shown, the manipulator 41 on the rotary table holds the stand 61 and aligns the pipe string 19 with the wellbore center 63. The telescopic mast iron roughneck 15 extends to the corresponding position of the wellbore center 63, performs make-up and wash-up on the two pipe strings 19. After the docking is completed, the telescopic mast iron roughneck 15 retracts, and the top drive 17 drives the pipe string 19 to continue drilling.

[0045] This embodiment is only a further explanation of the present invention, rather than a limitation to the present invention. Those skilled in the art can make non-creative modifications to this embodiment as needed after reading this specification. However, as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

Claims

1. An automated processing system for a drilling rig pipe string, characterized in that, It includes a base, a derrick, a crane, a top drive, a hydraulic elevator, an intelligent drilling robot, a drilling table manipulator, a power drill rod box, a lifting power catwalk, a track-type iron roughneck and a telescopic arm iron roughneck. The crane, the top drive and the hydraulic elevator cooperate with the drilling rig to start and stop drilling. A steel structure guide rail is provided on the derrick. The intelligent drilling robot is slidably connected to the steel structure guide rail through four sets of rollers. A track is provided on the drilling table of the base. The drilling table manipulator is slidably connected to the track. The power drill rod box cooperates with the lifting power catwalk to transmit the pipe column. The track-type iron roughneck is movably connected to the drilling table of the base through a gear and a rack. The telescopic arm iron roughneck is fixed to the drilling table of the base. One side; the lifting power catwalk includes a catwalk base, a lifting beam, a lifting cylinder, a column and a clamp, and four sets of kicking legs are symmetrically installed on the left and right sides of the catwalk base. The kicking legs are driven by the hydraulic cylinder between the catwalk base to kick the drill tool in the power drill rod box, and the drill tool reaches the specified position in the clamp on the column. One end of the lifting beam is installed on the catwalk base through a pin shaft, and the column is connected to the other end of the lifting beam through a slewing bearing. The column rotates around its own central axis under the drive of the hydraulic motor, and two sets of clamps are connected to the column through gear rack engagement. The two sets of clamps move along the central axis of the column under the drive of the relevant hydraulic motor. At the same time, the built-in hydraulic cylinders of the two sets of clamps drive the jaws to open and close to clamp the drill tool.

2. The automated processing system for drill pipe string according to claim 1, characterized in that, The intelligent drilling robot includes a pulley frame, a main arm, a rotating base, a secondary arm, a clamp head and several electric cylinders. The pulley frame is slidably connected to the steel structure guide rail through four sets of rollers, the upper end of the main arm is connected to the pulley frame through a pin shaft, the electric cylinder between the main arm and the pulley frame is transmission connected to the main arm, the rotating base is connected to the lower end of the main arm, the electric cylinder between the main arm and the rotating base is transmission connected to the rotating base, the upper end of the secondary arm is fixedly connected to the rotating base through bolts, and the lower end of the secondary arm is connected to the clamp head.

3. The automated processing system for drill pipe string according to claim 1, wherein The drilling floor manipulator includes a rotating device, an upper arm, a lower arm, a first joint, a second joint, a clamp and an electric drive device. The rotating device is slidably connected to the track on the base, and the upper arm and the rotating device, the lower arm and the upper arm, the first joint and the lower arm, the second joint and the first joint, and the first joint and the clamp are all connected through a rotating bearing.

4. The automated processing system for drill pipe string according to claim 1, wherein, The power drill rod box is provided with four layers of space, and the pipes stored in the four layers of space are transported to the kicking legs of the lifting power catwalk through the power drill rod box.

5. The automated processing system for drilling pipe string according to claim 1, wherein, The overhead crane, top drive, hydraulic elevator, intelligent drilling robot, drilling table manipulator, power drill rod box, lifting power catwalk, power drill rod box, track-type iron roughneck and telescopic arm iron roughneck are all equipped with angle and displacement sensors.

6. The automated processing system for drill pipe string according to claim 1, wherein The drilling rig pipe string automated processing system is equipped with a computer vision module.

7. The automatic drill string processing system according to claim 1, wherein The drilling rig pipe string automatic processing system has three working modes: driller room control, remote control, and offline automatic operation.

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