A casing centralizing robot and system thereof

Abstract

The present application relates to the field of drilling rig casing handling equipment, in particular to a casing righting manipulator and system thereof, comprising a swing mechanism, one end of the swing mechanism is provided with a slewing mechanism, one end of the slewing mechanism is provided with a steering cylinder, the other end is provided with a first telescopic cylinder, one end of the first telescopic cylinder is connected with the slewing mechanism, the other end is connected with the swing mechanism, the other end of the swing mechanism is connected with a support, and the support is connected with a jaw head, a turnover cylinder is arranged between the swing mechanism and the support, the turnover cylinder is used for rotating the support, a translation device is arranged between the support and the jaw head, and the translation device is used for realizing the relative movement between the support and the jaw head, the manipulator is connected with a godwin lifting tackle, and the lifting tackle is connected with a mounting frame, so that the casing gripped by the jaw head can be better righted automatically, and the jaw head can be ensured to be in a horizontal state.

Description

Technical Field

[0001] This invention relates to the field of casing handling equipment for drilling rigs, and in particular to a casing straightening robot and its system. Background Technology

[0002] Casing straightening devices are typically mounted on the derrick for casing running operations. In recent years, automated casing handling technology and equipment have received widespread attention from drilling companies both domestically and internationally. Compared to traditional manual operations, they offer significant advantages in improving operational safety, increasing casing string processing efficiency, and reducing labor intensity. However, current automated casing handling technology primarily targets conventional drill pipe tripping and running operations. Furthermore, traditional casing running devices suffer from low operational precision, and personnel still largely need to operate from a casing straightening platform during casing running. To address the issues of high labor intensity and low efficiency in casing straightening operations, automatic or semi-automatic casing straightening devices have been widely adopted both domestically and internationally. However, current casing straightening devices suffer from limited operational methods and structures. Traditional devices consist of a hydraulic or pneumatic winch and pulley system forming a lifting mechanism, with a telescopic mechanism mounted on the pulley. These products often suffer from poor performance due to the inability of the tongs to maintain a horizontal position and the lack of rotational functionality, failing to meet the demands of automated casing running operations. Summary of the Invention

[0003] The purpose of this invention is to address the problem that the clamp head in the existing technology cannot achieve horizontal and rotational functions during casing straightening, thus failing to meet the needs of automatic casing lowering operations, and to provide a casing straightening robot and its system.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A cannula straightening manipulator includes a swing mechanism. One end of the swing mechanism is provided with a rotary mechanism, and one end of the rotary mechanism is provided with a steering cylinder. The other end is provided with a first telescopic cylinder. One end of the first telescopic cylinder is connected to the rotary mechanism, and the other end is connected to the swing mechanism. The other end of the swing mechanism is connected to a bracket, and is connected to a clamp head through the bracket. A tilting cylinder is provided between the swing mechanism and the bracket. The tilting cylinder is used to rotate the bracket. A translation device is provided between the bracket and the clamp head. The translation device is used to realize the relative movement between the bracket and the clamp head.

[0006] This invention relates to a manipulator for straightening cannulas. By incorporating a rotary mechanism on the manipulator, a steering cylinder and a first telescopic cylinder are connected to the rotary mechanism for controlling its rotation. One end of the first telescopic cylinder is connected to a swing mechanism, further enabling the manipulator to automatically control its rotation and swing, thereby driving the clamp head to rotate for straightening and to swing at an angle. The swing mechanism of the manipulator is also connected to the clamp head via a bracket, and a tilting cylinder for flipping is provided between the swing mechanism and the bracket. The tilting cylinder controls the bracket, and thus controls the rotation of the clamp head, thereby allowing for more... The multi-space top drive and left-right translation significantly improve the adjustment accuracy of the clamp head. A translation device between the support and the clamp head allows for relative movement between them. This means that during the pipe straightening process, the robotic arm can rotate the clamp head using a steering cylinder and a slewing mechanism, improving efficiency and straightening the pipe. Furthermore, a first telescopic cylinder and a tilting cylinder ensure the clamp head remains horizontal, preventing rotation with the swing mechanism. This eliminates the need for operators to consider the actual angle of the clamp head, further facilitating pipe straightening.

[0007] As a preferred embodiment of the present invention, the rotary mechanism includes a rotary support, and a rotary bracket is sleeved on the outside of the rotary support. The rotary bracket drives the rotary support to rotate, and the rotary support is connected to the steering cylinder. The rotary bracket is hinged to the first telescopic cylinder. This arrangement allows the robot to perform rotary adjustment, which can better straighten the sleeve and improve efficiency.

[0008] As a preferred embodiment of the present invention, the swing mechanism includes a swing arm, which has a double-layer structure and is divided into an upper arm and a lower arm. The upper arm and the lower arm are parallel to each other and are respectively provided with a first through groove and a second through groove. The lower end face of the upper arm is hinged to the first telescopic cylinder, so that the swing mechanism can move relative to the rotary mechanism through the first telescopic cylinder.

[0009] As a preferred embodiment of the present invention, the end of the swing arm away from the slewing support is provided with a joint frame. The joint frame, the upper arm, the lower arm and the slewing support form a parallelogram mechanism. The swing arm is connected to the bracket through the joint frame. This arrangement enables the clamp head connected to the swing arm to rotate relative to the swing arm.

[0010] As a preferred embodiment of the present invention, the joint frame is hinged to the bracket, and the joint frame is provided with the flipping cylinder at both ends. One end of the flipping cylinder is connected to the joint frame and the other end is connected to the bracket. The flipping cylinder can realize the flipping of the clamp head, thereby making more space for the top drive.

[0011] As a preferred embodiment of the present invention, the lower end of the bracket is provided with the pliers head, and the end of the pliers head connected to the bracket is provided with a translation device. The translation device includes a sliding frame, an inward side of the sliding frame is connected to a translation cylinder, the other end of the translation cylinder is connected to the bracket, the outward side of the sliding frame is provided with a second composite roller, and the bracket is provided with a guide rail matching the second composite roller in the direction of the pliers head, so as to ensure that the pliers head can achieve left and right translation.

[0012] As a preferred embodiment of the present invention, the clamp head includes a clamp frame, the upper end face of which is provided with a movable guide block. A pair of first connecting rods are symmetrically connected to the guide block. A steering rod is rotatably connected to the end of the first connecting rod away from the guide block. The steering rod is connected to a clamping finger. A second telescopic hydraulic cylinder is provided on the clamp frame. One end of the second telescopic hydraulic cylinder is connected to the guide block, and the other end is connected to the clamp frame. A limiting member is provided at the connection between the second telescopic hydraulic cylinder and the guide block. The linear motion of the hydraulic cylinder is converted into the rotational motion of the clamping finger through the cooperation of the first connecting rod and the rotating connecting rod to achieve clamping of the tubing.

[0013] As a preferred embodiment of the present invention, the clamping fingers are provided with several rollers on one side for clamping, which ensures that the tubing can rotate while being clamped.

[0014] As a preferred embodiment of the present invention, the upper end of the clamp frame is provided with a clamp cover, and the clamp cover is provided with a limiting groove. The limiting groove is located at the upper end of the limiting member. The limiting groove is used to ensure the linear movement of the limiting member and to restrict the linear movement of the guide block to prevent it from detaching.

[0015] As a preferred embodiment of the present invention, the rotary mechanism, the swing mechanism, and the clamp head are all equipped with sensors to determine the position of each mechanism.

[0016] As a preferred embodiment of the present invention, the sleeve straightening robot is externally connected to an electronic control system, which sets up logical interlocks through sensors to improve the safety and efficiency of the device.

[0017] A casing straightening system includes a casing straightening robot as described above, and also includes a mounting frame. The mounting frame has a pair of slide rails in the middle, and a lifting trolley is slidably connected on the slide rails. The lower end of the lifting trolley is connected to the rotary mechanism. The lifting trolley is provided with a first composite roller, which is matched and connected to the slide rails. The lower end of the lifting trolley is provided with a third telescopic cylinder, one end of which is connected to the lifting trolley and the other end of which is connected to the mounting frame.

[0018] This invention relates to a sleeve straightening system. A robotic arm is connected to a lifting trolley via a rotary mechanism. The lifting trolley is connected to a mounting frame via pulleys on both sides and a third telescopic cylinder at the bottom. This allows the robotic arm to move up and down on the mounting frame via the lifting trolley. The cooperation between the cylinder and the slide rail makes the lifting and lowering of the sleeve straightening system more stable and reliable. Since the robotic arm itself can rotate and translate the clamping head, the entire sleeve straightening system can automatically lift, lower, and adjust the clamping angle, replacing manual labor to clamp the sleeve and guide it in four directions: front, back, left, and right.

[0019] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0020] 1. This invention relates to a manipulator for straightening sleeves. A rotary mechanism is installed on the manipulator, connected to a steering cylinder and a first telescopic cylinder for controlling its rotation. One end of the first telescopic cylinder is connected to a swing mechanism, further enabling the manipulator to automatically control its rotation and swing, thereby driving the clamp head to rotate for straightening and to swing at an angle. The swing mechanism of the manipulator is also connected to the clamp head via a bracket, and a tilting cylinder for flipping is provided between the swing mechanism and the bracket. The tilting cylinder controls the bracket, thereby controlling the rotation of the clamp head, thus allowing the clamp head to... More space is allocated to the top drive, and left and right translation can significantly improve the adjustment accuracy of the clamp head. A translation device is also provided between the support and the clamp head, which allows the clamp head and the support to move relative to each other. That is, during the process of straightening the sleeve, the robot can rotate the clamp head through the steering cylinder and the rotation mechanism, which can better straighten the sleeve and improve its efficiency. The first telescopic cylinder and the tilting cylinder are also set to keep the clamp head in a horizontal position and prevent it from rotating with the rotation of the swing mechanism. In this way, the operator does not need to consider the actual angle of the clamp head, which is more conducive to the straightening of the sleeve.

[0021] 2. This invention is a sleeve straightening system. The aforementioned robotic arm is connected to a lifting trolley via a rotary mechanism. The lifting trolley is connected to the mounting frame via pulleys on both sides and a telescopic cylinder at the bottom. This allows the robotic arm to move up and down on the mounting frame via the lifting trolley. The cooperation between the cylinder and the slide rail makes the lifting and lowering of the sleeve straightening system more stable and reliable. Since the robotic arm itself can rotate and translate the clamping head, the entire sleeve straightening system can automatically lift and adjust the clamping angle, replacing manual labor to clamp the sleeve and guide it in four directions: front, back, left, and right. Attached Figure Description

[0022] Figure 1 This is an isometric view of the casing straightening system of the present invention;

[0023] Figure 2 This is a schematic diagram of the usage state of the casing straightening system of the present invention;

[0024] Figure 3 This is an isometric view of the sleeve straightening robot of the present invention;

[0025] Figure 4 This is a schematic diagram showing the connection between the rotary device and the swing device of the present invention;

[0026] Figure 5 This is a side view schematic diagram of the connection between the rotary device and the swing device of the present invention;

[0027] Figure 6 This is an equiaxial side schematic diagram of the connection between the rotary device and the swing device of the present invention;

[0028] Figure 7 This is a schematic diagram of the pliers head in a horizontal position according to the present invention;

[0029] Figure 8 This is a schematic diagram of the pliers head rotation state of the present invention;

[0030] Figure 9 This is a schematic diagram of the pliers head of the present invention with a pliers cap;

[0031] Figure 10 This is a schematic diagram of the pliers head of the present invention without the pliers cap.

[0032] Icons: 1-Pliers head; 11-Translation device; 111-Sliding frame; 112-Second compound roller; 12-Pliers frame; 121-Guide block; 1211-Limiting component; 122-First connecting rod; 123-Steering tie rod; 13-Pliers cover; 131-Limiting groove; 14-Pliers finger; 2-Bracket; 3-Swing mechanism; 31-Swing arm; 311-Upper arm; 3111-First through groove; 312-Lower arm; 3121-Second through groove; 32-Joint frame; 4-Rotation mechanism; 41-Rotation support; 42-Rotation support; 5-Steering cylinder; 6-First telescopic cylinder; 7-Tilting cylinder; 8-Translation cylinder; 9-Second telescopic cylinder; 101-Mounting frame; 102-Slide rail; 103-Lifting trolley; 104-First compound roller; 105-Third telescopic cylinder. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings.

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0035] Example 1

[0036] like Figure 2-6 The sleeve straightening manipulator shown includes a rotary mechanism 4, one end of which is connected to a swing mechanism 3. A first telescopic cylinder 6 is provided between the rotary mechanism 4 and the swing mechanism 3. The rotary mechanism 4 is also provided with a steering cylinder 5. The steering cylinder 5 drives the rotary mechanism 4 to rotate. Since the rotary mechanism 4 is connected to the swing mechanism 3, the swing mechanism 3 rotates due to the rotation of the rotary mechanism 4. This can better achieve the straightening of the sleeve.

[0037] Furthermore, one end of the first telescopic cylinder 6 is movably connected to the rotary mechanism 4, and the other end is movably connected to the swing mechanism 3. The first telescopic cylinder 6 can realize the mutual movement between the swing mechanism 3 and the rotary mechanism 4.

[0038] Furthermore, a bracket 2 is installed at the other end of the swing mechanism 3, and the bracket 2 is rotatably connected to the swing mechanism 3. A tilting cylinder 7 is provided on both sides of the swing mechanism 3. One end of the tilting cylinder 7 is connected to the swing mechanism 3, and the other end is connected to the bracket 2. The lower end of the bracket 2 is connected to the pliers 1. This allows the swing mechanism 3 to control the rotation of the bracket 2 through the tilting cylinder 7, and then realize the rotation of the pliers 1 through the rotation of the bracket 2. The pliers 1 can also keep itself in a horizontal state through the tilting cylinder 7 and the bracket 2.

[0039] As described above, the rotary mechanism 4 includes a rotary support 42 connected to the swing mechanism 3, and a rotary bearing 41 is sleeved inside the rotary support 42. One end of the rotary bearing 41 is equipped with a steering cylinder 5, which allows the rotary bearing 41 to drive the rotary support 42 to rotate. One end of the steering cylinder 5 is hinged to the rotary bearing 41, and the other end is connected to a fixed foundation. The fixed foundation has a fixed cavity, the rotary bearing 41 is located inside the fixed cavity, and the rotary support 42 is outside the fixed cavity. Specifically, the bottom plate of the fixed cavity has mounting holes, and the bottom plate is positioned between the rotary bearing 41 and the rotary bearing 42. The steering cylinder 5 provides power for the rotation of the rotary mechanism 4. Figure 3 As shown.

[0040] As mentioned above, the swing mechanism 3 includes a swing arm 31 composed of an upper arm 311 and a lower arm 312. The upper arm 311 and the lower arm 312 are arranged in parallel and are both connected to the rotary support 42. The upper arm 311 and the lower arm 312 are respectively provided with a first through groove 3111 and a second through groove 3121. The first through groove 3111 and the second through groove 3121 are used to place the first telescopic cylinder 6.

[0041] Furthermore, one end of the first telescopic cylinder 6 is hinged to the slewing support 42, and the other end is hinged to the lower end face of the upper arm 311.

[0042] Optionally, the lower end face of the upper arm 311 is provided with a hinge seat, which is located at the end of the first through groove 3111 away from the rotary support 42. This allows the swing mechanism 3 to rotate the swing arm 31 by rotating the first telescopic cylinder 6 on the swing mechanism 3 and the rotary support 42.

[0043] Optionally, the end of the first telescopic cylinder 6 connected to the rotary support 42 is hinged, while the end of the first telescopic cylinder 6 connected to the swing mechanism 3 is specifically hinged to the hinge seat at the lower end of the upper arm 311 through the second through groove 3121. Figure 4-6 As shown.

[0044] As mentioned above, a joint frame 32 is provided between the swing mechanism 3 and the support 2. The joint frame 32, together with the upper arm 311, the lower arm 312 and the slewing support 42, forms a parallelogram structure. The upper arm 311 and the lower arm 312 can rotate through the parallelogram structure. That is, a joint frame 32 is provided between the swing arm 31 and the support 2, and the joint frame 32 and the swing arm 31 are rotatably connected.

[0045] Furthermore, one end of the tilting cylinder 7 on the swing mechanism 3 is connected to the joint frame 32, and the other end is connected to the support 2. This allows the tilting cylinder 7 to be controlled to tilt the support 2, further achieving the tilting of the jaw 1 at the lower end of the support 2. The rotation of the jaw 1 reduces the space occupied by the jaw 1 in the tilted state, thus providing more space for the top drive to move. Figure 4 and Figure 7 As shown.

[0046] As mentioned above, a translation device 11 is provided below the support 2, and the translation device 11 is located on the upper end face of the clamp head 1. The translation device 11 includes a sliding frame 111, and a second composite roller 112 is connected to the outward side of the sliding frame 111. The support 2 is provided with a guide rail that matches the second composite roller 112. This allows the sliding frame 111 to move in translation along the extension direction of the guide rail, and further allows the translation device 11 to move in translation on the support 2.

[0047] Furthermore, a translation cylinder 8 is connected to the inward side of the sliding frame 111. One end of the translation cylinder 8 is connected to the sliding frame 111, and the other end is connected to the support 2. This allows the sliding frame 111 to be driven by the translation cylinder 8, thereby pushing the second composite roller 112 on one side to cooperate with the guide rail for movement, further realizing the translational movement of the sliding frame 111 relative to the support 2. This also drives the clamp head 1 connected to the lower end of the sliding frame 111 to perform translational movement. Figure 7-8 As shown.

[0048] As mentioned above, the clamp head 1 includes a clamp frame 12 for connection, and the upper end face of the clamp frame 12 is provided with a guide block 121. The two ends of the guide block 121 are respectively provided with a first connecting rod 122 and a steering tie rod 123 rotatably connected to the first connecting rod 122, and each steering tie rod 123 is provided with a clamping finger 14 at one end.

[0049] Furthermore, a second telescopic cylinder 9 is provided in the middle of the guide block 121. One end of the second telescopic cylinder 9 is connected to the middle of the guide block 121, and the connection is located between the two first connecting rods 122. The other end of the second telescopic cylinder 9 is connected to the clamp frame 12 for fixation. The movement of the second telescopic cylinder 9 causes the guide block 121 to move linearly, and then the first connecting rod 122 and the steering tie rod 123 change it into rotational motion, so that the clamp finger 14 connected to the steering tie rod 123 starts to work.

[0050] Optionally, a limiting element is provided at the connection between the second telescopic cylinder 9 and the guide block 121;

[0051] Furthermore, the pliers head 1 is also provided with a pliers cover 13 for shielding, and the pliers cover 13 is provided with a limiting groove. The limiting groove matches the limiting member, so that when the second telescopic cylinder 9 pushes the guide block 121 to move, it can ensure the linear movement of the guide block 121. Figure 9-10 As shown.

[0052] As mentioned above, the clamp finger 14 has a roller on the side for clamping, which is used to ensure that the tubing can rotate while being clamped.

[0053] Example 2

[0054] like Figure 1-2 The sleeve straightening system shown includes a mounting frame 101, which contains a slide rail 102 and a lifting trolley 103. The slide rail 102 and the lifting trolley 103 move relative to each other through a first composite roller 104. The mounting frame 101 is equipped with a third telescopic cylinder 105, one end of which is connected to the mounting frame 101 and the other end is connected to the lower end face of the lifting trolley 103, thereby realizing the automatic lifting and lowering of the lifting trolley 103.

[0055] Furthermore, the lifting trolley 103 is connected to the rotary mechanism 4, which enables the sleeve straightening robot in Embodiment 1 to automatically control its lifting and lowering.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cannula straightening robot, characterized in that, The device includes a swing mechanism (3), one end of which is provided with a rotary mechanism (4). One end of the rotary mechanism (4) is provided with a steering cylinder (5), and the other end is provided with a first telescopic cylinder (6). One end of the first telescopic cylinder (6) is connected to the rotary mechanism (4), and the other end is connected to the swing mechanism (3). The other end of the swing mechanism (3) is connected to a bracket (2), and is connected to the pliers head (1) through the bracket (2). A tilting cylinder (7) is provided between the swing mechanism (3) and the bracket (2). (7) A translation device (11) is provided between the support (2) and the clamp head (1) for rotating the support (2). The translation device (11) is used to realize the relative movement between the support (2) and the clamp head (1). The clamp head (1) is provided at the lower end of the support (2). The translation device (11) is provided at the end of the clamp head (1) connected to the support (2). The translation device (11) includes a sliding frame (111). A translation cylinder (8) is connected to the inward side of the sliding frame (111). The translation cylinder (8) The other end is connected to the bracket (2). The sliding frame (111) is provided with a second composite roller (112) on the outward side, and the bracket (2) is provided with a guide rail matching the second composite roller (112) in the direction of the clamp head (1). The clamp head (1) includes a clamp frame (12). The upper end face of the clamp frame (12) is provided with a movable guide block (121). A pair of first connecting rods (122) are symmetrically connected on the guide block (121). The end of the first connecting rod (122) away from the guide block (121) is rotatably connected. A steering tie rod (123) is connected to a clamp finger (14). A second telescopic cylinder (9) is provided on the clamp frame (12). A limiting member (1211) is provided at the connection between the second telescopic cylinder (9) and the guide block (121). A clamp cover (13) is provided at the upper end of the clamp frame (12). A limiting groove (131) is provided on the clamp cover (13). The limiting groove (131) is used to ensure the linear movement of the limiting member (1211). A roller is provided on the side of the clamp finger (14) used for clamping.

2. The sleeve straightening robot according to claim 1, characterized in that, The slewing mechanism (4) includes a slewing support (41), and a slewing bracket (42) is sleeved on the outside of the slewing support (41). The slewing bracket (42) drives the slewing support (41) to rotate, and the slewing support (41) is connected to the steering cylinder (5). The slewing bracket (42) is hinged to the first telescopic cylinder (6).

3. The sleeve straightening robot according to claim 2, characterized in that, The swing mechanism (3) includes a swing arm (31), which has a double-layer structure and is divided into an upper arm (311) and a lower arm (312). The upper arm (311) and the lower arm (312) are parallel to each other and are respectively provided with a first through groove (3111) and a second through groove (3121). The lower end face of the upper arm (311) is hinged to the first telescopic cylinder (6).

4. The sleeve straightening robot according to claim 3, characterized in that, The swing arm (31) is provided with a joint frame (32) at one end away from the rotary support (42). The joint frame (32) forms a parallelogram mechanism with the upper arm (311), the lower arm (312) and the rotary support (42). The swing arm (31) is connected to the bracket (2) through the joint frame (32).

5. A cannula straightening robot according to claim 4, characterized in that, The joint frame (32) is hinged to the support (2). The joint frame (32) is provided with the tilting cylinder (7) at both ends. One end of the tilting cylinder (7) is connected to the joint frame (32), and the other end is connected to the support (2).

6. A casing straightening robot according to claim 1, characterized in that, One end of the second telescopic cylinder (9) is connected to the guide block (121), and the other end is connected to the clamp (12).

7. A casing straightening robot according to claim 6, characterized in that, The limiting groove (131) is located at the upper end of the limiting member (1211).

8. A cannula straightening robot according to any one of claims 1-7, characterized in that, Sensors are provided on the rotary mechanism (4), the swing mechanism (3), and the clamp head (1).

9. A casing straightening system, comprising a casing straightening manipulator as described in any one of claims 1-8, and further comprising a mounting frame (101), wherein a pair of slide rails (102) are provided in the middle of the mounting frame (101), a lifting trolley (103) is slidably connected on the slide rails (102), the lower end of the lifting trolley (103) is connected to the rotary mechanism (4), a first composite roller (104) is provided on the lifting trolley (103), the first composite roller (104) is matched and connected to the slide rails (102), and a third telescopic cylinder (105) is provided at the lower end of the lifting trolley (103), one end of the third telescopic cylinder (105) is connected to the lifting trolley (103) and the other end is connected to the mounting frame (101).

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