A semi-rack type pipe handler for a land drilling rig

Abstract

This invention relates to a semi-gantry type pipe handling device for a land drilling rig, comprising a traveling rail assembly, a semi-gantry type rail assembly, and a robotic arm assembly. The traveling rail assembly is fixed to the derrick of the land drilling rig and located above the second-level platform of the derrick. The first end of the semi-gantry type rail assembly is movably mounted on the traveling rail assembly, and the second end of the semi-gantry type rail assembly is movably supported on the second-level platform. The robotic arm assembly is movably mounted on the semi-gantry type rail assembly. The movability direction of the semi-gantry type assembly is perpendicular to the movability direction of the robotic arm assembly. Its advantages are that by using the semi-gantry type rail assembly in conjunction with the robotic arm assembly to grasp and release pipes, and to complete the pipe handover with equipment at the wellhead, the entire operation process requires no manual assistance, has a high degree of mechanization, eliminates the safety hazards associated with manual operation, and greatly improves both safety and operational efficiency. Furthermore, it is suitable for the retrofitting of both new and old land drilling rigs, and has a wide range of applications.

Description

Technical Field

[0001] This invention relates to the field of oil drilling technology, and more particularly to a semi-gantry type pipe handling device for a land drilling rig. Background Technology

[0002] A derrick is a device used during the drilling process on a land drilling rig to house the overhead crane, suspend traveling blocks, hooks, lifting rings, and clamps, as well as to handle and store drill pipes, tubing, and sucker rods. The derrick consists of the main body, the crane platform, the crane frame, the second-level platform, the riser platform, and the working ladder. The second-level platform is the work area for derrick workers to perform tripping operations, and includes the derrick worker's work platform and the finger beam storage for drill tools.

[0003] During oil drilling, drill strings approximately 28 meters long are vertically stacked in a specific order between the second-level platform (24-26 meters above ground) and the drilling rig's support box. Each time a tripping or jacking-up operation is completed, the drill strings must be retrieved or stored sequentially from the finger beam storage compartment on the second-level platform. Currently, most drilling rigs rely on workers for tripping and jacking up, which is not only labor-intensive and inefficient, but also presents numerous potential safety hazards. For example, in severe weather conditions such as strong winds, rain, and snow, the risk of the second-level platform freezing in cold seasons is significantly increased, and a single mistake can lead to serious accidents and substantial economic losses.

[0004] Therefore, there is an urgent need for a semi-gantry type pipe handling device for land drilling rigs that is both efficient and safe. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a semi-gantry type pipe handling device for land drilling rigs, which solves the technical problems of low working efficiency and low safety of the prior art.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0009] This invention provides a semi-gantry type pipe handling device for a land drilling rig, comprising a travel rail assembly, a semi-gantry type rail assembly, and a robotic arm assembly. The travel rail assembly is fixed to the derrick of the land drilling rig and located above the second platform of the derrick. A first end of the semi-gantry type rail assembly is movably mounted on the travel rail assembly, and a second end of the semi-gantry type rail assembly is movably supported on the second platform. The robotic arm assembly is movably mounted on the semi-gantry type rail assembly. The movability direction of the semi-gantry type assembly is perpendicular to the movability direction of the robotic arm assembly.

[0010] Optionally, the travel track assembly is provided with a first rack extending in a left-right direction, the second platform is provided with a guide rail extending in a left-right direction, and the guide rail is provided with a second rack extending in a left-right direction. The semi-gantry type track assembly includes a semi-gantry type track body, a first roller assembly, a second roller assembly, a first track driver, and a second track driver. The first end of the semi-gantry type track body is supported on the travel track assembly by the first roller assembly, the first track driver is installed on the first end of the semi-gantry type track body, and the first track driver meshes with the first rack through a first gear. The second end of the semi-gantry type track body is supported on the guide rail by the second roller assembly, the second track driver is installed on the second end of the semi-gantry type track body, and the second track driver meshes with the second rack through a second gear to drive the semi-gantry type track body to move left and right along the travel track assembly and the guide rail.

[0011] Optionally, the robotic arm assembly includes a trolley assembly, a telescopic arm assembly, and a clamp assembly. The trolley assembly is movably mounted on the semi-gantry type track assembly, the telescopic arm assembly is slidably mounted on the trolley assembly, and the clamp assembly is mounted on the telescopic arm assembly.

[0012] Optionally, the semi-gantry-type track body is provided with a third rack extending in the left-right direction. The trolley assembly includes a trolley body, a third roller assembly, a trolley driver, a rotary drive, and a lifting mechanism. The trolley body is supported on the semi-gantry-type track body by the third roller assembly. The trolley driver is mounted on the trolley body and drives the trolley body to move along the semi-gantry-type track body by meshing the third rack with a third gear. The lifting mechanism is mounted on the bottom of the trolley body by the rotary drive, and the telescopic arm assembly is slidably mounted on the lifting mechanism.

[0013] Optionally, the lifting mechanism includes a lifting column and a lifting driver. The lifting column is mounted on the bottom of the trolley body via the rotary drive, the telescopic arm assembly is slidably mounted on the lifting column, the lifting driver is mounted on the lifting column, and the lifting driver is connected to the telescopic arm assembly to drive the telescopic arm assembly to slide up and down along the lifting column.

[0014] Optionally, the telescopic arm assembly includes a support arm, a connecting arm, and a telescopic actuator. The support arm is slidably mounted vertically on the lifting column. A first end of the connecting arm is rotatably mounted on the support arm, and a second end of the connecting arm is rotatably connected to the clamp assembly. The telescopic actuator is mounted on the support arm, and its drive end is rotatably connected to the connecting arm to drive the connecting arm to rotate in a vertical plane, achieving the effects of extension and folding.

[0015] Optionally, the connecting arm includes a first connecting arm and a second connecting arm arranged in parallel.

[0016] Optionally, the lifting column is provided with a track extending in the vertical direction, and the support arm is connected to the track via a fourth roller assembly.

[0017] Optionally, the clamp assembly includes a connector and a clamping mechanism. The second end of the connecting arm is rotatably connected to the connector, and the clamping mechanism is mounted on the connector.

[0018] (III) Beneficial Effects

[0019] The beneficial effects of this invention are:

[0020] This invention provides a semi-gantry type pipe handling device for land drilling rigs. Through the semi-gantry type track assembly, during tripping operations, the second-level platform does not need to bear the entire weight of the robotic arm assembly and the load of the pipes. Therefore, the second-level platform can be lightweight, has lower requirements, and is suitable for retrofitting older land drilling rigs. The semi-gantry type track assembly can drive the robotic arm assembly to move left and right, and the robotic arm assembly can move back and forth along the semi-gantry type track assembly. The robotic arm assembly can clamp pipes and drive the drill string to be raised, lowered, rotated, and moved to transfer the drill string from its storage position in the finger beam magazine to the wellhead position, and to perform pipe handover with equipment at the wellhead position, or to clamp the drill string at the wellhead position and transfer it to the storage position in the finger beam magazine. Compared to existing technologies, this new method utilizes a semi-gantry-type rail assembly in conjunction with a robotic arm assembly to grab and release pipes, and then completes the pipe handover with equipment at the wellhead. The entire operation requires no manual assistance, resulting in a high degree of mechanization and eliminating the safety hazards associated with manual operations. This significantly improves both safety and operational efficiency. Furthermore, it is suitable for retrofitting both new and old land drilling rigs, making it widely applicable. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the installation of the semi-gantry type pipe handling device of the land drilling rig on the derrick in a specific embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the semi-gantry type pipe handling device for a land drilling rig in a specific embodiment of the present invention;

[0023] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0024] Figure 4 yes Figure 2 Enlarged view of point B in the middle;

[0025] Figure 5 yes Figure 2 Enlarged view of point C in the middle;

[0026] Figure 6 yes Figure 2 Enlarged view at point D;

[0027] Figure 7 This is a structural schematic diagram of the semi-gantry type track assembly in a specific embodiment of the present invention;

[0028] Figure 8 This is a front view of the semi-gantry type pipe handling device for a land drilling rig in a specific embodiment of the present invention;

[0029] Figure 9 This is a side view of the semi-gantry type pipe handling device of the land drilling rig in a specific embodiment of the present invention.

[0030] [Explanation of Labels in the Attached Image]

[0031] 1: Track assembly;

[0032] 2: Semi-gantry type track assembly; 21: Semi-gantry type track body; 22: First roller assembly; 23: Second roller assembly; 24: First track driver; 25: Second track driver;

[0033] 3: Robotic arm assembly; 31: Cart assembly; 311: Cart body; 312: Third roller assembly; 313: Cart driver; 314: Rotation drive; 315: Lifting column; 316: Lifting driver; 32: Telescopic arm assembly; 321: Support arm; 322: Connecting arm; 323: Telescopic driver; 324: First connecting arm; 325: Second connecting arm; 326: Fourth roller assembly; 33: Clamp assembly; 331: Connector; 332: Clamp mechanism;

[0034] 4: Derrick;

[0035] 5: Second-tier platform; 51: Guide rail. Detailed Implementation

[0036] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the invention to those skilled in the art. The terms "upper," "lower," "left," "right," "front," and "rear" as used herein refer to… Figure 2 The orientation is used as a reference.

[0037] like Figures 1-9 As shown, a specific embodiment of the present invention provides a semi-gantry type pipe handling device for a land drilling rig, including a traveling track assembly 1, a semi-gantry type track assembly 2, and a robotic arm assembly 3. The traveling track assembly 1 can be fixed on the derrick 4 of the land drilling rig and is located above the second-level platform 5 of the derrick 4. The first end of the semi-gantry type track assembly 2 is movably mounted on the traveling track assembly 1, and the second end of the semi-gantry type track assembly 2 can be movably supported on the second-level platform 5. The robotic arm assembly 3 is movably mounted on the semi-gantry type track assembly 2. The movable direction of the semi-gantry type assembly is perpendicular to the movable direction of the robotic arm assembly 3.

[0038] Specifically, through the semi-gantry-type rail assembly 2, during tripping operations, the second-level platform 5 does not need to bear the full weight of the robotic arm assembly 3 and the load of the drilling tools. Therefore, the second-level platform 5 can be lightweight, with lower requirements, making it suitable for retrofitting older land-based drilling rigs. The semi-gantry-type rail assembly 2 can drive the robotic arm assembly 3 to move left and right, and the robotic arm assembly 3 can move back and forth along the semi-gantry-type rail assembly 2. The robotic arm assembly 3 can grip the drilling tools and drive the drill string to lift, rotate, and move, transferring the drill string from its storage position in the finger beam magazine to the wellhead position for tool handover with equipment at the wellhead, or gripping the drill string at the wellhead position and transferring it to the storage position in the finger beam magazine. Compared to existing technologies, by using the semi-gantry-type rail assembly 2 in conjunction with the robotic arm assembly 3 to grip and release the drilling tools and complete the tool handover with equipment at the wellhead, the entire operation process requires no manual assistance, has a high degree of mechanization, eliminates the safety hazards of manual operation, and greatly improves both safety and operational efficiency. It is also suitable for retrofitting both new and old land drilling rigs, and has a wide range of applications.

[0039] Furthermore, such as Figures 2-4 as well as Figures 6-9As shown, in this specific embodiment, the travel track assembly 1 is provided with a first rack (not shown) extending in the left-right direction, and the second-level platform 5 is provided with a guide rail extending in the left-right direction, with a second rack extending in the left-right direction on the guide rail. The semi-gantry type track assembly 2 includes a semi-gantry type track body 21, a first roller assembly 22, a second roller assembly 23, a first track driver 24, and a second track driver 25. The first end of the semi-gantry type track body 21 is supported on the travel track assembly 1 by the first roller assembly 22. The first track driver 24 is installed on the first end of the semi-gantry type track body 21 and meshes with the first rack through a first gear. The second end of the semi-gantry type track body 21 is supported on the guide rail by the second roller assembly 23. The second track driver 25 is installed on the second end of the semi-gantry type track body 21 and meshes with the second rack through a second gear to drive the semi-gantry type track body 21 to move left and right along the travel track assembly 1 and the guide rail. During operation, the first track driver 24 and the second track driver 25 are activated simultaneously to drive the semi-gantry type track assembly 2 to move left and right.

[0040] Furthermore, such as Figure 2 , Figure 5 and Figure 9 As shown, the robotic arm assembly 3 includes a trolley assembly 31, a telescopic arm assembly 32, and a clamp assembly 33. The trolley assembly 31 is movably mounted on the semi-gantry type track assembly 2, the telescopic arm assembly 32 is slidably mounted on the trolley assembly 31, and the clamp assembly 33 is mounted on the telescopic arm assembly 32. Specifically, the semi-gantry type track body 21 is provided with a third rack extending in the left-right direction. The trolley assembly 31 includes a trolley body 311, a third roller assembly 312, a trolley driver 313, a rotary drive 314, and a lifting mechanism. The trolley body 311 is supported on the semi-gantry-type track body 21 by the third roller assembly 312. The trolley driver 313 is installed on the trolley body 311. The trolley driver 313 drives the trolley body 311 to move along the semi-gantry-type track body 21 by meshing a third gear with a third rack. The lifting mechanism is installed at the bottom of the trolley body 311 by a rotary drive 314. The rotary drive 314 can drive the lifting mechanism to rotate. The telescopic arm assembly 32 is slidably installed on the lifting mechanism. In this specific embodiment, the lifting mechanism includes a lifting column 315 and a lifting driver 316. The lifting column 315 is installed at the bottom of the trolley body 311 via a rotary drive 314. The telescopic arm assembly 32 is slidably installed on the lifting column 315. Specifically, the lifting column 315 has a track extending in the vertical direction. The support arm 321 is connected to the track via a fourth roller assembly 326. The lifting driver 316 is installed on the lifting column 315 and connected to the telescopic arm assembly 32 to drive the telescopic arm assembly 32 to slide up and down along the lifting column 315.

[0041] Furthermore, such as Figure 2 and Figure 9 As shown, the telescopic arm assembly 32 includes a support arm 321, a connecting arm 322, and a telescopic actuator 323. The support arm 321 is slidably mounted on the lifting column 315. The first end of the connecting arm 322 is rotatably mounted on the support arm 321, and the second end of the connecting arm 322 is rotatably connected to the clamp assembly 33. The telescopic actuator 323 is mounted on the support arm, and the driving end of the telescopic actuator 323 is rotatably connected to the connecting arm 322 to drive the connecting arm 322 to rotate in a vertical plane, achieving the effects of extension and folding. In this specific embodiment, the connecting arm 322 includes a first connecting arm 324 and a second connecting arm 325 arranged in parallel.

[0042] Furthermore, such as Figure 9 As shown, the clamp assembly 33 includes a connector 331 and a clamping mechanism 332. The clamping mechanism 332 is rotatably connected to the telescopic arm assembly 32 via the connector 331, and its rotation axis is laterally oriented. Specifically, the clamping mechanism 332 is capable of clamping pipes. The connector 331 is rotatably connected to the second end of the first connecting arm 324 and the second end of the second connecting arm 325, and the inclination of the connection point of the first connecting arm 324 and the second connecting arm 325 on the connector 331 matches the inclination of their connection point on the support arm 321. Thus, the clamp assembly 33 is kept horizontal on the one hand, and the first connecting arm 324 and the second connecting arm 325 are kept parallel on the other hand.

[0043] The operation of the semi-gantry type pipe handling device for the land drilling rig provided in this specific embodiment is as follows: During drilling operations, pipes need to be sequentially retrieved from the finger beam magazine on the second-level platform 5. Based on the storage position of the target pipe in the finger beam magazine, the semi-gantry type track assembly 2, via the trolley assembly 31 and telescopic arm assembly 32, drives the clamp assembly 33 to adjust its left-right position. The trolley assembly 31 drives the clamp assembly 33 to rotate and adjust its angle and front-back position, ensuring that the clamping mechanism 332 of the clamp assembly 33 is aligned with the target pipe. The telescopic arm assembly 32 moves the target pipe to its storage position. Based on the height of the target pipe's clamping joint, the lifting mechanism of the trolley assembly 31 drives the clamp assembly 33 to adjust its height, thus aligning the clamping mechanism. The clamping mechanism 332 can accurately clamp the target pipe below the joint. After clamping the target pipe, the clamping mechanism 332 lifts the target pipe by driving the clamping assembly 33 to rise through the lifting mechanism of the trolley assembly 31. The target pipe is then moved from the storage position to the position in front of the second-floor platform 5 through the telescopic arm assembly 32, the trolley assembly 31 and the semi-gantry type rail assembly 2. The target pipe is then lowered to the wellhead position through the lifting mechanism. The target pipe is then handed over to other equipment for subsequent operations through the clamping assembly 33. The robot arm assembly 3 resets and clamps the next target pipe.

[0044] During tripping, the semi-gantry type rail assembly 2, trolley assembly 31, and telescopic boom assembly 32 move the clamp assembly 33 from the standby position to the position in front of the second-level platform 5. The lifting mechanism lowers the clamp assembly 33 to the wellhead position, where it grips the target pipe. The lifting mechanism then raises the clamp assembly 33 to lift and transfer the target pipe to the position in front of the second-level platform 5. Based on the target pipe's storage position in the finger beam magazine, the semi-gantry type rail assembly 2, trolley assembly 31, and telescopic boom assembly 32 move the target pipe from the position in front of the hoist platform to the storage position. The lifting mechanism lowers the target pipe to support it in the storage position, and the clamp assembly 33 releases the target pipe. The process is then repeated to release the next target pipe.

[0045] When in standby mode, the semi-gantry type track assembly 2 moves along the travel track assembly 1 and the guide rail to the middle position, that is, above the monkey platform. The trolley assembly 31 moves backward along the semi-gantry type track body 21 to the end. The telescopic arm assembly 32 is in a folded state. The lifting mechanism drives the telescopic arm assembly 32 to rise to the highest position.

[0046] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0047] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0049] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0050] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A semi-gantry type pipe handling device for a land drilling rig, characterized in that, It includes a travel track assembly (1), a semi-gantry type track assembly (2), and a robotic arm assembly (3); The travel track assembly (1) can be fixed on the derrick (4) of the land drilling rig and located above the second platform (5) of the derrick (4). The first end of the semi-gantry type track assembly (2) is movably installed on the travel track assembly (1), and the second end of the semi-gantry type track assembly (2) can be movably supported on the second platform (5). The manipulator assembly (3) is movably installed on the semi-gantry type track assembly (2). The movable direction of the semi-gantry type track assembly (2) is perpendicular to the movable direction of the robot arm assembly (3); The travel track assembly (1) is provided with a first rack extending in the left and right direction, the second platform (5) is provided with a guide rail extending in the left and right direction, and the guide rail is provided with a second rack extending in the left and right direction. The semi-gantry type track assembly (2) includes a semi-gantry type track body (21), a first roller assembly (22), a second roller assembly (23), a first track driver (24), and a second track driver (25); The first end of the semi-gantry type track body (21) is supported on the travel track assembly (1) by the first roller assembly (22). The first track driver (24) is installed on the first end of the semi-gantry type track body (21). The first track driver (24) meshes with the first rack through the first gear. The second end of the semi-gantry type track body (21) is supported on the guide rail by the second roller assembly (23). The second track driver (25) is installed on the second end of the semi-gantry type track body (21). The second track driver (25) meshes with the second rack through the second gear to drive the semi-gantry type track body (21) to move left and right along the travel track assembly (1) and the guide rail. The robotic arm assembly (3) includes a trolley assembly (31), a telescopic arm assembly (32), and a clamp assembly (33). The trolley assembly (31) is movably mounted on the semi-gantry type track assembly (2), the telescopic arm assembly (32) is slidably mounted on the trolley assembly (31), and the clamp assembly (33) is mounted on the telescopic arm assembly (32). The semi-gantry type track body (21) is provided with a third rack extending in the left and right direction; The trolley assembly (31) includes a trolley body (311), a third roller assembly (312), a trolley driver (313), a rotary drive (314), and a lifting mechanism; The trolley body (311) is supported on the semi-gantry type track body (21) by the third roller assembly (312). The trolley driver (313) is installed on the trolley body (311). The trolley driver (313) engages the third rack through the third gear to drive the trolley body (311) to move along the semi-gantry type track body (21). The lifting mechanism is installed at the bottom of the trolley body (311) through the rotary drive (314). The telescopic arm assembly (32) is slidably installed on the lifting mechanism. The telescopic arm assembly (32) includes a support arm (321), a connecting arm (322), and a telescopic driver (323). The support arm (321) is slidably mounted on the lifting column (315) of the lifting mechanism. The first end of the connecting arm (322) is rotatably mounted on the support arm (321). The second end of the connecting arm (322) is rotatably connected to the clamp assembly (33). The telescopic driver (323) is mounted on the support arm (321). The driving end of the telescopic driver (323) is rotatably connected to the connecting arm (322) to drive the connecting arm (322) to rotate in the vertical plane, thereby achieving the effects of extension and folding. The connecting arm (322) includes a first connecting arm (324) and a second connecting arm (325) arranged in parallel. The lifting column (315) is provided with a track extending in the vertical direction, and the support arm (321) is connected to the track through the fourth roller assembly (326).

2. The semi-gantry type pipe handling device for a land drilling rig as described in claim 1, characterized in that, The lifting mechanism also includes a lifting drive (316). The lifting column (315) is mounted on the bottom of the trolley body (311) via the rotary drive (314). The telescopic arm assembly (32) is slidably mounted on the lifting column (315). The lifting driver (316) is mounted on the lifting column (315) and connected to the telescopic arm assembly (32) to drive the telescopic arm assembly (32) to slide up and down along the lifting column (315).

3. The semi-gantry type pipe handling device for a land drilling rig as described in claim 1, characterized in that, The clamp assembly (33) includes a connector (331) and a clamping mechanism (332). The second end of the connecting arm (322) is rotatably connected to the connector (331), and the clamping mechanism (332) is mounted on the connector (331).

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