A pipe handling system and method

Abstract

The application discloses a pipe handling system and a handling method, and belongs to the technical field of oil drilling devices; the system comprises a rack, the rack is provided with a continuous conveying mechanism, the rack is further provided with a drilling platform, a mechanical arm is arranged on the drilling platform, a travelling block system and an iron roughneck are further arranged on the drilling platform, the continuous conveying mechanism is further provided with a pipe storage mechanism, the pipe storage mechanism is matched with the drilling platform, the mechanical arm can grab the drilling tools stored on the pipe storage mechanism and convey the drilling tools to the travelling block system; the application effectively improves the problems of low efficiency and high safety hazards of the traditional structure, and effectively improves the efficiency of drilling tool handling by using the continuous conveying mechanism in combination with the design of the mechanical arm with conveying function, so that the number of pipes conveyed or played back between the drilling platform and the pipe storage yard in a single cycle of the equipment is increased, the function and role of the mechanical arm on the drilling platform are increased, and the safety hazards caused by the vertical storage of the stands on the drilling platform are eliminated.

Description

Technical Field

[0001] This invention relates to a pipe processing system and method, belonging to the technical field of oil drilling equipment. Background Technology

[0002] Automated pipe handling systems are widely used in the oil drilling industry. Push-type pipe handling systems mainly include a powered catwalk, a drilling platform robot, a powered secondary platform and its pipe handling machine, and a steel drill. During tripping in and out of the well, the powered catwalk transports a single pipe from the pipe yard to the drilling platform or back to the pipe yard in one cycle. The traveling hoist system lifts the pipe, while the drilling platform robot and pipe handling machine push the pipe, completing the vertical movement of the pipe between the drilling platform (vertical anchor box area) and the wellhead. The traveling hoist system lifts the pipe, the drilling platform robot straightens the pipe, and the steel drill connects and disconnects the couplings, completing the connection and disconnection of the pipe.

[0003] The pipe handling system has the following problems: 1) The powered catwalk can only transport or return one or two pipes between the drilling platform and the pipe storage yard in a single cycle, which is a small number; taking the prior applications CN202010821294.X and CN202110401966.6 as examples, the structure used for pipe transportation is a powered catwalk used for single pipe transportation and hoisting, and the transportation efficiency of this structure is relatively low; 2) The drilling platform robot occupies a large space on the platform, but only plays a pushing and supporting role; 3) The pipes are stored vertically on the drilling platform (vertical pipe box area) in the form of uprights, which poses a safety hazard. Summary of the Invention

[0004] The purpose of this invention is to provide a pipe handling system and method to address the aforementioned problems. This system has the effect of continuously conveying drilling tools, and the design of a robotic arm with conveying function effectively improves the efficiency of drilling tool handling. This increases the number of pipes that can be transported or returned between the drilling platform and the pipe storage area in a single cycle, increases the function and role of the robotic arm on the drilling platform, and eliminates the safety hazards caused by vertically storing the drilling rig on the drilling platform.

[0005] The technical solution adopted in this invention is as follows:

[0006] A pipe handling system includes a frame serving as a carrier, a continuous transport mechanism for continuously conveying drilling tools, a drilling platform, a robotic arm for gripping and conveying drilling tools, a traveling crane system for lifting drilling tools, and a steel drill bit for attaching / unattaching drilling tools. The continuous transport mechanism also includes a vertically movable pipe storage mechanism that matches the drilling platform. The robotic arm can grip the drilling tools stored in the pipe storage mechanism and convey them to the traveling crane system.

[0007] Furthermore, the continuous transport mechanism includes at least two sets of sprocket assemblies, each sprocket assembly having a chain that rotates in a circular motion, and each chain having a support block fixedly mounted on it for supporting the drill bit and for lifting the drill bit.

[0008] Furthermore, the continuous transport mechanism includes two sets of sprocket assemblies and chains mounted on the sprocket assemblies, with one-to-one matching blocks mounted on the chains, and the two ends of the drill pipe can be placed on the blocks respectively.

[0009] Furthermore, the continuous transport mechanism is vertically assembled, with a pipe storage yard at the bottom of the frame, the bottom of the continuous transport machine matching the pipe storage yard, and the top of the continuous transport machine matching the storage pipe mechanism.

[0010] Furthermore, the storage mechanism includes at least two legs for supporting the drill bit. One end of each leg is rotatably mounted near the sprocket assembly, and the other end of each leg is provided with a limit rod. A telescopic mechanism for adjusting the height of the legs is also provided below each leg, and the legs are mounted on the frame via the telescopic mechanism.

[0011] Furthermore, the telescopic mechanism includes a telescopic cylinder, one end of which is hinged to the frame and the other end of which is hinged to the bottom of the outrigger.

[0012] Furthermore, the telescopic mechanism also includes a support link disposed between the outrigger and the frame for enhanced support. One end of the support link is hinged to the frame, a connecting block is provided at the bottom of the outrigger, a sliding groove is provided on the connecting block, and the other end of the support link is rotatably assembled with the sliding groove.

[0013] Furthermore, the storage mechanism includes two legs for supporting the drill bit, and the two ends of the drill bit transported by the continuous transport mechanism can be placed on the legs respectively.

[0014] Furthermore, the robotic arm includes a multi-directional adjustable and rotatable robotic arm and a rotatable and openable / closeable robotic claw mounted on the robotic arm. The robotic arm is mounted on a drilling platform, and the robotic claw is provided with roller claws for gripping pipes and for rotatably conveying pipes.

[0015] Furthermore, an inner roller for auxiliary conveying is also provided on the mechanical claw at the top of the inner side of the roller claw; after the roller claw grips the tube, the outer side of the tube contacts the inner roller.

[0016] The mechanical gripper is also equipped with a first telescopic cylinder for controlling the opening and closing of the roller gripper, and the roller gripper is effectively opened and closed through the first telescopic cylinder.

[0017] A pipe processing method includes the following steps:

[0018] During drilling operations, the sprocket assembly of the continuous pipe transport mechanism drives the chain to circulate, continuously transporting the pipe from the pipe storage area to a position above the drilling platform. The pipe rolls to the designated position via outriggers, and the drilling platform robot grabs the pipe from the designated position. The robot lifts one end of the pipe to a certain height, and the upper roller claw of the robot rotates, causing the pipe to extend forward to the front end and enter the traveling hoist system. The traveling hoist system grips the front end of the pipe and lifts the pipe. At the same time, the robot straightens the pipe and then performs the coupling, which is then completed by the iron driller.

[0019] During tripping operations, the traveling crane system lifts the pipe, the robotic arm supports the lower end of the pipe, the driller unties the chuck, and the robotic arm and traveling crane system work together to lower the pipe to a near-horizontal position. The traveling crane system opens, the roller claws on the robotic arm rotate in the opposite direction, driving the pipe back to the outriggers. The telescopic cylinder lifts, causing the pipe on the outriggers to roll toward the chain. The chain rotates in the opposite direction, and the blocks on the chain lift the pipe. When it reaches the top, the pipe rolls from the existing block to the previous block. The pipe descends with the chain on that block until it reaches the pipe storage area.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] 1. The pipe processing system and method of the present invention effectively improves the problems of low efficiency and high safety hazards of traditional structures. By utilizing a continuous conveying mechanism with continuous conveying of drilling tools and combining it with the design of a manipulator with conveying function, the efficiency of drilling tool processing is effectively improved. This increases the number of pipes transported or returned between the drilling platform and the pipe storage yard in a single cycle, increases the function and role of the drilling platform manipulator, and eliminates the safety hazards caused by vertically storing the pipe supports on the drilling platform.

[0022] 2. The pipe handling system and method of the present invention transports the pipes directly from the pipe storage yard to the wellhead or from the wellhead back to the pipe storage yard during both tripping and drilling operations. There is no stand-up piling process, which avoids the safety hazards caused by vertically storing the stand-up piling on the drilling platform. In addition, there is no need to configure a second-level platform and its robotic arm, which reduces equipment investment.

[0023] 3. Through the pipe handling system and method of the present invention, during the transportation of pipes between the pipe yard and the wellhead, the continuous pipe transport machine can transfer several pipes in a single cycle, which greatly improves work efficiency. In addition to the uprighting function, the robot can also use its roller claws to complete the transport of pipes, thereby realizing the function of hydraulic lifting of pipes, reducing the investment of other drilling equipment, reducing costs, and saving drilling platform space. Attached Figure Description

[0024] The present invention will be described by way of example and with reference to the accompanying drawings, wherein:

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This describes the state of the storage tank mechanism of the present invention during drilling;

[0027] Figure 3 This describes the state of the storage tank mechanism of the present invention during drilling.

[0028] Figure 4 This is one of the structural schematic diagrams of the present invention during drilling;

[0029] Figure 5 This is the second schematic diagram of the structure during drilling in this invention;

[0030] Figure 6 This is the third schematic diagram of the structure during drilling in this invention;

[0031] Figure 7 This is the fourth schematic diagram of the structure during drilling in this invention;

[0032] Figure 8 This is a schematic diagram of the mechanical claw of the present invention;

[0033] Figure 9 This is a schematic diagram of the claw-like hand of the present invention.

[0034] The diagram is labeled as follows: 1-Frame, 2-Continuous transport mechanism, 21-Sprocket assembly, 22-Chain, 23-Block, 3-Drilling platform, 4-Manipulator, 41-Manipulator arm, 42-Manipulator claw, 43-Roller claw, 44-First telescopic cylinder, 45-Inner roller, 46-Claw hand, 47-Second telescopic cylinder, 5-Rolling crane system, 6-Iron driller, 7-Storage pipe mechanism, 71-Outrigger, 72-Limit rod, 73-Telescopic cylinder, 74-Supporting link, 8-Pipe storage yard. Detailed Implementation

[0035] All features disclosed in this specification, or steps in all methods or processes disclosed herein, may be combined in any way, except for mutually exclusive features and / or steps.

[0036] Any feature disclosed in this specification, unless otherwise stated, may be replaced by other equivalent or similar features. That is, unless otherwise stated, each feature is merely one example of a series of equivalent or similar features.

[0037] Example 1

[0038] A pipe handling system, such as Figures 1-8As shown, the system includes a frame 1 serving as a carrier, a continuous transport mechanism 2 for continuously transporting drilling tools, a drilling platform 3, a robotic arm 4 for gripping and transporting drilling tools, a traveling hoisting system 5 for lifting drilling tools, and a steel drill 6 for attaching / unattaching drilling tools. The continuous transport mechanism 2 also includes a vertically movable storage mechanism 7, which is matched with the drilling platform 3. The robotic arm 4 can grip the drilling tools stored in the storage mechanism 7 and transport them to the traveling hoisting system 5.

[0039] In this embodiment, unlike traditional structural designs, the transport mechanism is a continuous transport mechanism 2 specifically designed for continuously transporting drill bits. Traditional structures typically employ designs like powered catwalks, which, from an existing technological perspective, primarily transport only one or two drill bits at a time, significantly limiting their efficiency. This structural design aims to achieve continuous and batch transport of drill bits. Furthermore, another difference lies in the use of a different structural design for the robotic arms 4. Traditional robotic arms 4 typically grip and transport drill bits via a conveying device, requiring at least two arms for gripping, transporting, and straightening. This design combines gripping and transporting functions, effectively saving installation space and reducing equipment requirements while significantly improving drill bit transport and gripping efficiency, further enhancing drill bit handling efficiency. Additionally, the height difference between the two ends of the adjustable storage mechanism 7 can be adjusted, effectively improving the efficiency of drill bit feeding and return.

[0040] Based on the above-described specific structural design, more specifically, the continuous transport mechanism 2 includes at least two sets of sprocket assemblies 21. Each sprocket assembly 21 is equipped with a cyclically rotating chain 22, and each chain 22 is fixedly fitted with a support block 23 for supporting and lifting the drill string. Unlike traditional structural designs, this design enables the simultaneous transport of more drill strings, solving the problem of low transport efficiency in traditional structures and further improving the overall drill string transport efficiency. In this structural design, the support block 23 serves to lift the drill string during transport, while the rotation of the chain 22 allows for the raising and lowering of the drill string.

[0041] In the above-described specific structural design, the sprocket assembly 21 includes a sprocket and a drive device (drive motor). As a specific technical requirement, the rotation of the control sprockets in multiple sprocket assemblies 21 is synchronized. The main purpose is to ensure that the corresponding support blocks 23 can rise and fall synchronously, avoiding a height difference between the two ends of the drill string, which could lead to related safety hazards. More specifically, to prevent the drill string from slipping, the support blocks 23 can be inclined, with the end furthest from the chain 22 higher than the end connected to the chain 22. Alternatively, the support blocks 23 can be equipped with support block 23 limiting blocks to prevent radial slippage of the drill string.

[0042] As a specific design, the continuous transport mechanism 2 is vertically assembled. A pipe storage yard 8 is located at the bottom of the frame 1. The bottom of the continuous transport machine matches the pipe storage yard 8, and the top of the continuous transport machine matches the pipe storage mechanism 7. Based on this structural design, the pipe storage yard 8 is formed by two guide rails. When the pipes are stacked, both ends are placed on the guide rails. More specifically, the support block 23 is located inside or outside the guide rails. When the support block 23 rotates downwards, upon reaching the guide rail, the force exerted by the guide rail on the drill bit keeps the drill bit on the guide rail. When the support block 23 rotates upwards, the force exerted by the support block 23 causes the drill bit to detach from the guide rail, thereby achieving upward transport of the drill bit.

[0043] Based on the above-described structural design, as a more specific design, the continuous transport mechanism 2 includes two sets of sprocket assemblies 21 and chains 22 mounted on the sprocket assemblies 21. Support blocks 23 are respectively mounted on the chains 22 and matched one-to-one. The two ends of the drill pipe can be placed on the support blocks 23 respectively. In this design, the support blocks 23 form a one-to-one placement platform, thereby enabling efficient transport of the drill string.

[0044] Based on the above-mentioned specific structural design, as a more specific design, the continuous transport mechanism 2 is vertically assembled, the bottom of the frame 1 is provided with a pipe storage yard 8, the bottom of the continuous transport machine matches the pipe storage yard 8, and the top of the continuous transport machine matches the storage pipe mechanism 7.

[0045] In this embodiment, the structure of the continuous transport mechanism 2 has been specifically designed. In particular, the structural design is significantly different from the traditional structure. In this design, the continuous transport mechanism 2 is used to achieve continuous delivery of the drilling tool. Compared with the traditional single-function structure, it has a higher delivery efficiency. In addition, the structural design occupies less assembly space and does not require the transport mechanism to be stretched longer, thus achieving a better compact design effect. Oil drilling equipment already occupies a very large area, and the further optimization of the structure makes it more compact, which can effectively improve the installation effect of the entire equipment.

[0046] Example 2

[0047] Based on the design of the above specific structure, since a specific design has been made for the continuous conveying mechanism, and based on the design of Embodiment 1, a further optimized design has been made for the storage system. In a more specific design, the storage mechanism 7 includes at least two legs 71 for supporting the drill bit. One end of each leg 71 is rotatably mounted near the sprocket assembly 21, and the other end of each leg 71 is provided with a limit rod 72. A telescopic mechanism for adjusting the height of each leg 71 is also provided below the leg 71. The leg 71 is mounted on the frame 1 through the telescopic mechanism.

[0048] In this embodiment, the storage mechanism 7 serves as the carrier. Compared to traditional structures where there is no large storage area for drilling tools near the drill platform 3, this design, based on embodiment 1, utilizes the space saved by the continuous conveying structure, which does not require a longer space for assembling the conveying mechanism. This space can be used for the construction of the storage mechanism 7. The construction of this structure allows for the storage of more drilling tools near the drill platform 3. Furthermore, the movement of the robotic arm 4 effectively improves the efficiency of drilling down and up. Considering that drilling down and up are opposite processes, the structure must consider not only the upward transport of the drilling tools but also their retrieval. Therefore, this design utilizes a telescopic mechanism with a hinge at one end and an adjustable height at the other. This design effectively allows the drilling tools to enter a designated position for the next operation. The height adjustment, especially the tilt setting, effectively facilitates the back-and-forth transport of the drilling tools. Simultaneously, it further avoids collisions of the drilling tools in the vertical direction.

[0049] Based on the above-described structural design, as a more specific design, the telescopic mechanism includes a telescopic cylinder 73. One end of the telescopic cylinder 73 is hinged to the frame 1, and the other end is hinged to the bottom of the support leg 71. The structural design of the telescopic cylinder 73 effectively controls the height adjustment of the end of the storage tube mechanism 7 and further provides support for the storage tube mechanism 7.

[0050] Of course, the structural design of using only the telescopic cylinder 73 for support is relatively poor. To provide better support, the telescopic mechanism also includes a support link 74 disposed between the outrigger 71 and the frame 1 for enhanced support. One end of the support link 74 is hinged to the frame 1, and a connecting block with a sliding groove is provided at the bottom of the outrigger 71. The other end of the support link 74 is rotatably assembled with the sliding groove. In the structural design, not only the support effect needs to be considered, but also the lifting of the storage mechanism 7. Therefore, a sliding groove structure was designed. Specifically, one end of the support link 74 is hinged to the frame 1, and the other end is provided with a sliding rod, which is assembled in the sliding groove. In this structure, the sliding rod achieves a guiding effect. In addition, when fixed, the support link 74, the telescopic cylinder 73, and the outrigger 71 form a stable triangular structure.

[0051] Based on the above-described structural design, as a more specific design, the storage mechanism 7 includes two support legs 71 for supporting the drill string. The two ends of the drill string, transported by the continuous transport mechanism 2, can be placed on the support legs 71 respectively. In this structural design, the telescopic cylinder 73 synchronously controls the up-and-down movement of the support legs 71. Of course, as a practical consideration, this structural design ensures that even a slight height difference (error) will not cause the drill string to fall off or malfunction.

[0052] Example 3

[0053] Based on the designs of Embodiments 1 and 2, such as Figure 8 and Figure 9 As shown, in the specific structural design of the robotic arm 4, in order to achieve the effect of grasping and transporting, the robotic arm 4 includes a multi-directional adjustable and rotatable robotic arm 41 and a rotatable and openable / closeable robotic claw 42 set on the robotic arm 41. The robotic arm 4 is mounted on the drilling platform 3, and the robotic claw 42 is provided with a roller claw 43 for clamping pipes and for transporting pipes.

[0054] In this embodiment, as a specific description, the mechanical claw 42 designed on the robot arm 4 is significantly different from the traditional structure. The design of this structure utilizes the structure of the roller claw 43. The roller claw 43 can not only effectively grasp the drill bit, but also transport the drill bit by means of the rotation of the roller claw 43.

[0055] In the specific structure, an inner roller 45 for auxiliary conveying is also provided on the top of the mechanical claw on the inner side of the roller claw 43. After the roller claw 43 grips the pipe, the outer surface of the pipe contacts the inner roller 45. Based on this structural design, in order to better achieve the safety of the robot arm gripping the drill bit, claws 46 for auxiliary gripping are also provided at both ends of the roller claw 43. In this design, the roller claw 43 and the claws 46 work together to grip the drill bit, thereby effectively improving the safety of gripping and conveying. Furthermore, in this embodiment, the mechanical claw 42 is also provided with a first telescopic cylinder 44 for controlling the opening / closing of the roller claw. The roller claw 43 is effectively opened / closed through the first telescopic cylinder 44, thereby achieving the gripping and lowering of the drill bit. In a more specific design, each group of claws 43 employs two claws, with the middle of each claw 43 hinged to the claw body of the mechanical claw 42. A second telescopic cylinder 47 for controlling the opening and closing of the claws is also provided on the claw body of the mechanical claw 42. The opening and closing function of the claws 43 is controlled by the extension and retraction of the second telescopic cylinder 47.

[0056] Example 4

[0057] Based on the above embodiments, the working method of the structure of the above embodiments is further described. Specifically, a pipe processing method includes the following steps:

[0058] During drilling operations, such as Figure 1 and Figure 2 As shown, the sprocket assembly 21 of the continuous pipe transport mechanism drives the chain 22 in a cyclical motion, continuously transporting the pipes from the pipe storage area to a position beyond three sides of the drilling rig. The pipes are then rolled to the designated position via the support legs 71, such as... Figure 4 As shown, the robotic arm 4 on the drilling rig 3 grabs the pipe tool from the designated position, such as... Figure 5 As shown, the robotic arm 4 lifts one end of the tube upwards to a certain height, as... Figure 6 As shown, the roller gripper 43 on the robotic arm 4 rotates, causing the pipe to extend forward and enter the traveling hoist system 5. The hydraulic clamp of the traveling hoist system 5 grips the front end of the pipe, as shown. Figure 7 As shown, the hydraulic lifting clamp of the traveling hoist system 5 lifts the pipe tool, while the robot arm 4 straightens the pipe tool and then performs the coupling, which is then secured by the iron drill 6.

[0059] During the tripping operation, the hydraulic clamps of the traveling crane system 5 hold the pipe tool in place, such as... Figure 7 As shown, the robotic arm 4 holds the lower end of the pipe, and the drill bit 6 unties the coupling, as... Figure 6 As shown, the robotic arm 4, in conjunction with the traveling crane system 5, lowers the pipe to a near-horizontal position. The hydraulic clamps of the traveling crane system 5 then open, as... Figure 5 As shown, the roller gripper 43 on the robotic arm 4 rotates in the opposite direction, driving the tube back to the support leg 71, as... Figure 3 As shown, the telescopic cylinder 73 is raised, causing the pipe on the outrigger 71 to roll toward the chain 22. The chain 22 is rotated in the opposite direction, and the support block 23 on the chain 22 lifts the pipe. When it reaches the top, the pipe rolls from the existing support block 23 to the previous support block 23. The pipe descends on the support block 23 with the chain 22 until it reaches the pipe storage yard 8.

[0060] In all the above-mentioned tripping and running-out operations, the pipes are transported directly from the pipe storage yard 8 to the wellhead or back from the wellhead to the pipe storage yard 8, without the process of storing the risers. This avoids the safety hazards caused by vertically storing the risers on the drilling platform 3, and eliminates the need for a second-level platform and its robotic arm 4, reducing equipment investment. In addition, during the transportation of pipes between the pipe storage yard 8 and the wellhead 8, the continuous transport mechanism 2 can transfer several pipes in a single cycle, greatly improving work efficiency. In addition to its uprighting function, the robotic arm 4 of the drilling platform 3 can also use its roller claws 43 to extend and retract the pipes, thereby realizing the function of hydraulic lifting and lowering the pipes, reducing the investment in other equipment on the drilling platform 3, lowering costs, and saving space on the drilling platform 3.

[0061] In summary:

[0062] 1. The pipe processing system and method of the present invention effectively improves the problems of low efficiency and high safety hazards of traditional structures. By utilizing a continuous conveying mechanism with continuous conveying of drilling tools and combining it with the design of a manipulator with conveying function, the efficiency of drilling tool processing is effectively improved. This increases the number of pipes transported or returned between the drilling platform and the pipe storage yard in a single cycle, increases the function and role of the drilling platform manipulator, and eliminates the safety hazards caused by vertically storing the pipe supports on the drilling platform.

[0063] 2. The pipe handling system and method of the present invention transports the pipes directly from the pipe storage yard to the wellhead or from the wellhead back to the pipe storage yard during both tripping and drilling operations. There is no stand-up piling process, which avoids the safety hazards caused by vertically storing the stand-up piling on the drilling platform. In addition, there is no need to configure a second-level platform and its robotic arm, which reduces equipment investment.

[0064] 3. Through the pipe handling system and method of the present invention, during the transportation of pipes between the pipe yard and the wellhead, the continuous pipe transport machine can transfer several pipes in a single cycle, which greatly improves work efficiency. In addition to the uprighting function, the robot can also use its roller claws to complete the transport of pipes, thereby realizing the function of hydraulic lifting of pipes, reducing the investment of other drilling equipment, reducing costs, and saving drilling platform space.

[0065] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A pipe processing method, characterized in that: The system includes a frame serving as a carrier, a continuous transport mechanism for continuously conveying pipes, a drilling platform with a robotic arm for gripping and conveying pipes, a traveling hoisting system for lifting pipes, and a steel drill for attaching / unattaching pipes. The continuous transport mechanism also includes a vertically movable pipe storage mechanism that matches the drilling platform. The robotic arm grips the pipes stored in the storage mechanism and conveys them to the traveling hoisting system. The robotic arm includes a multi-directional adjustable and rotatable robotic arm and a rotatable and openable / closeable robotic claw mounted on the robotic arm. The robotic arm is mounted on a drilling platform, and the robotic claw is provided with roller claws for gripping and rotatably conveying pipes. An inner roller for auxiliary conveying is also provided on the top of the mechanical claw inside the roller claw; after the roller claw grips the pipe, the outer surface of the pipe contacts the inner roller. The mechanical gripper is also equipped with a first telescopic cylinder for controlling the opening / closing of the roller gripper, and the roller gripper is effectively opened / closed through the first telescopic cylinder; At both ends of the roller gripper are also provided grippers for assisting in gripping, and on the gripper body of the mechanical gripper are also provided a second telescopic cylinder for controlling the opening and closing of the grippers. The continuous transport mechanism includes at least two sets of sprocket assemblies, each sprocket assembly is provided with a chain that rotates in a circular manner, and the chain is fixedly provided with a support block for supporting the pipe and for lifting the pipe; The continuous transport mechanism is vertically assembled, and a pipe storage yard is provided at the bottom of the frame. The bottom of the continuous transport mechanism matches the pipe storage yard, and the top of the continuous transport mechanism matches the storage pipe mechanism. The storage mechanism includes at least two support legs for supporting the pipes, and a telescopic mechanism for adjusting the height of the support legs is provided below the support legs. The telescopic mechanism includes a telescopic cylinder. It also includes the following steps: During drilling operations, the sprocket assembly of the continuous transport mechanism drives the chain to circulate, continuously transporting the pipe from the pipe storage area to a position above the drilling platform. The pipe rolls to the designated position via outriggers, and the robotic arm grabs the pipe from the designated position. The robotic arm lifts one end of the pipe to a certain height, and the upper roller claw of the robotic arm rotates, causing the pipe to extend forward to the front end and enter the traveling hoist system. The traveling hoist system grips the front end of the pipe and lifts the pipe. At the same time, the robotic arm straightens the pipe and then performs the coupling, which is then completed by the iron drill operator. During tripping operations, the traveling crane system lifts the pipe, the robotic arm supports the lower end of the pipe, the driller unties the chuck, and the robotic arm and traveling crane system work together to lower the pipe to a near-horizontal position. The traveling crane system opens, the roller claws on the robotic arm rotate in the opposite direction, driving the pipe back to the outriggers. The telescopic cylinder lifts, causing the pipe on the outriggers to roll toward the chain. The chain rotates in the opposite direction, and the blocks on the chain lift the pipe. When it reaches the top, the pipe rolls from the existing block to the previous block. The pipe descends with the chain on that block until it reaches the pipe storage area.

2. The pipe processing method as described in claim 1, characterized in that: The continuous transport mechanism includes two sets of sprocket assemblies and chains mounted on the sprocket assemblies. Each of the support blocks mounted on the chain is matched one-to-one, and the two ends of the tube are placed on the support blocks respectively.

3. The pipe processing method as described in claim 1, characterized in that: One end of the support leg is rotatably mounted near the sprocket assembly, and the other end of the support leg is provided with a limit rod. The support leg is assembled on the frame via a telescopic mechanism.

4. The pipe processing method as described in claim 1, characterized in that: One end of the telescopic cylinder is hinged to the frame, and the other end of the telescopic cylinder is hinged to the bottom of the outrigger.

5. The pipe processing method as described in claim 4, characterized in that: The telescopic mechanism also includes a support link disposed between the outrigger and the frame for enhanced support. One end of the support link is hinged to the frame. A connecting block is provided at the bottom of the outrigger, and a sliding groove is provided on the connecting block. The other end of the support link is rotatably assembled with the sliding groove.

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