Multi-directional pipe column supporting manipulator

Abstract

The drilling floor multidirectional moving type pipe column supporting mechanical hand disclosed by the application comprises a walking track and a offset track which are vertically connected, an offset trolley is connected to the offset track through an offset drag chain, the offset trolley is the end of the walking track as a whole, a walking trolley is installed on the walking track, a mechanical arm is fixedly connected to the top of the walking trolley, a supporting clamp is fixedly connected to the side wall of the mechanical arm, and the walking trolley is connected with the offset trolley through a pipeline groove I and a pipeline groove II. The drilling floor multidirectional moving type pipe column supporting mechanical hand can walk back and forth on the wellhead center line of the drilling floor along the walking track and the offset trolley track to perform pipe column supporting operation, and can offset and avoid the stand platform passage on the left and right sides of the wellhead center line of the drilling floor along the offset track as a whole, has strong adaptability to oilfield operation sites, can meet the requirements of different operation conditions, and effectively eliminates the collision risk caused by the narrow space of the drilling floor operation.

Description

Technical Field

[0001] This invention belongs to the field of oil drilling equipment technology, specifically relating to a multi-directional movable tubing support robot on the drilling platform. Background Technology

[0002] Automated drilling rigs represent the future direction of oil drilling equipment development and are an effective measure to improve the on-site working environment, increase drilling efficiency, reduce labor intensity, and enhance equipment automation. One of the main components of an automated drilling rig is the automated tubing handling system. This system includes multiple automated devices installed on the ground, drilling platform, and secondary platform. The drilling platform has the most devices installed, especially the tubing manipulators installed in the middle channel of the riser box on the drilling platform, which have various structural forms. This equipment must meet the requirements of supporting the drilling tools while also avoiding other operations around the riser platform.

[0003] A large portion of the drilling rig string handling tasks are located on the drilling platform, with nearly half of the work on the platform taking place in the middle of the riser box channel. This includes single string support, string riser placement, lifting and shorting grabbing, and power catwalk string delivery. How the pipe-handling robot installed in the middle of the riser box channel can operate efficiently and conveniently avoid other operations has become an important indicator for evaluating this equipment at the drilling site. Existing drilling platform manipulators mainly avoid the working area of ​​the riser box by sinking below the drilling platform or shifting entirely to one side of the riser box channel. However, the following problems still exist in field applications: 1) After sinking to the drilling platform, the manipulator is easily contaminated by mud, which seriously affects the appearance and reliability of the equipment. At the same time, the sinking process is labor-intensive, which seriously affects the operating efficiency and user experience of the equipment; 2) The space cleared by shifting the manipulator entirely to one side of the riser box channel is limited. When the power catwalk is used to transport the pipe column, it is easy to collide with the manipulator. At the same time, after the overall shift, the track of the manipulator will occupy the riser storage space of the riser box, affecting the capacity of the riser box. Especially when transporting large-size casing or hoisting drilling platform equipment, the manipulator needs to be removed, which is a lot of work. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-directional movable pipe support robot on the drilling platform, which solves the problem of the narrow space on the drilling platform and the risk of collision during operation.

[0005] The technical solution adopted in this invention is: a multi-directional movable pipe support robot on the drilling platform, including a vertically connected traveling track and an offset track. An offset trolley is connected to the offset track by an offset drag chain. The offset trolley is the end of the traveling track. A traveling trolley is installed on the traveling track. A robot arm is fixed to the top of the traveling trolley. A support clamp is fixed to one side wall of the robot arm. The traveling trolley is connected to the offset trolley through pipe groove I and pipe groove II.

[0006] The invention is further characterized by:

[0007] The traveling trolley includes a traveling trolley frame, a rotary drive device is installed on the top of the traveling trolley frame, a robotic arm is installed on the rotary drive device, traveling rollers I are installed on both sides of the traveling trolley frame, a traveling drive device is set at the bottom of the traveling trolley frame, a gear is installed at the output end of the traveling drive device, and a double-ear seat I is installed on one side of the traveling trolley frame, which is hinged to the pipeline groove I.

[0008] The offset trolley includes an offset trolley frame, with tracks on both sides of the top of the offset trolley frame for the trolley to run on, a traveling rack II in the middle of the offset trolley frame, traveling rollers II on both sides of the bottom of the offset trolley frame, a double ear seat II on one side of the offset trolley frame, the double ear seat II being hinged to the pipeline groove II, an offset drive device on the bottom of the offset trolley frame, and a rectangular through hole pre-drilled in the upper panel of the offset trolley frame. A connecting ear plate is provided at one end of the through hole, and double ear seats III are provided on both sides of the other end. The double ear seats III are hinged to the offset trolley limit plate, and the offset trolley limit plate is connected to the connecting ear plate by a return spring.

[0009] The traveling track includes a traveling track frame, a traveling rack I is installed in the middle of the traveling track frame, and flip-up cover plates are installed on the upper sides of both sides of the traveling track frame.

[0010] The offset track includes an offset track frame, an offset rack installed in the middle of the offset track frame, a symmetrical limiting mechanism installed in the middle of the offset track base plate, and travel trolley limiting plates at both ends above one side of the offset track.

[0011] Pipeline trough I is hinged at one end to a traveling trolley and at the other end to pipeline trough II. Pipeline trough II is hinged at one end to an offset trolley and at the other end to pipeline trough I.

[0012] The offset trolley is installed on the offset track, the output gear of the offset drive device meshes with the offset rack, the track above the offset trolley is flush with the travel track, the upper surface of travel rack II is flush with the upper surface of travel rack I, the travel trolley is installed on the travel track, and the output gear of the travel drive device meshes with travel rack II and travel rack I.

[0013] The robotic arm is a multi-link mechanism, and its extension and retraction are achieved through electric cylinders or hydraulic cylinders.

[0014] The beneficial effects of this invention are:

[0015] 1) The multi-directional movable tubing support manipulator of the drilling platform of the present invention has the ability to move in multiple directions. The device is equipped with a traveling trolley, an offset trolley, and vertically arranged traveling and offset tracks. The manipulator can move back and forth along the traveling track and the offset trolley track on the center line of the wellhead on the drilling platform to perform tubing support operations. It can also move left and right along the offset track on both sides of the center line of the wellhead on the drilling platform to avoid the support platform channel. It has strong adaptability to oilfield operation sites, meets the requirements of different operating conditions, and effectively eliminates the collision risk caused by the confined space in drilling platform operations.

[0016] 2) The multi-directional movable tubing support manipulator of this invention features an innovative "V"-shaped pipeline groove I and pipeline groove II in the front and rear directions of the wellhead centerline. This effectively solves the problem of moving and storing cables and pipelines when the traveling pulley moves over a wide range in the confined space of the drilling platform (the platform in front of the support box). If a cable chain is used, it will cause the cable chain to protrude beyond the drilling platform when it moves, resulting in interference between equipment. The "V"-shaped pipeline groove converts the cables and pipelines in the front and rear directions of the traveling pulley to the vertical direction when it moves, which greatly reduces the front and rear distance requirements of this invention on the drilling platform. It meets the matching requirements of new drilling rigs as well as the matching requirements of oilfield drilling rigs for upgrading and transformation.

[0017] 3) The traveling track, offset track, and offset trolley of the multi-directional moving pipe column support robot of the present invention are all installed below the drilling platform, ensuring that the surface of the traveling track and the surface of the offset trolley are flush with the drilling platform. In addition, a flip cover plate is provided above the traveling track, which can ensure that the drilling platform is flat when the robot is not working, thus ensuring the safety of personnel working on the drilling platform.

[0018] 4) The multi-directional moving tubing support robot of this invention has a high degree of automation when working. The offset trolley moves to the wellhead centerline through servo motor + PLC control, which accurately realizes the docking of the track and rack on the offset trolley with the traveling track, ensuring the movement of the traveling trolley on the traveling track and the offset trolley. In addition, the offset trolley can only move after the traveling trolley has accurately moved onto the offset trolley through servo motor + PLC control.

[0019] 5) The multi-directional movable pipe support manipulator of the drilling platform of this invention adopts a modular design to meet the requirements of quick disassembly, relocation and installation on the oilfield site. In the offset state, the manipulator can be hoisted and transported as a whole except for the travel track. The travel track is a skid and can be hoisted and transported independently.

[0020] 6) The multi-directional moving pipe support manipulator of this invention has high inherent safety. In addition to program protection, each action and component position has mechanical protection in non-powered state. When the traveling trolley has not fully moved onto the offset trolley, the traveling trolley cannot release the mechanical limit between the offset trolley and the offset track. This prevents misalignment and jamming of pipe groove I and pipe groove II even in case of misoperation, ensuring the alignment requirements between the traveling track and the offset trolley track. When the manipulator is in the left or right offset avoidance position, the mechanical limit at both ends of the offset track can effectively prevent the traveling trolley from moving in case of misoperation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the multi-directional movable pipe support robot on the drilling platform of the present invention;

[0022] Figure 2 This is a schematic diagram of the walking trolley structure of the multi-directional moving pipe column support robot on the drilling platform of the present invention;

[0023] Figure 3 This is a schematic diagram of the offset trolley structure of the multi-directional moving pipe support manipulator on the drilling platform of the present invention;

[0024] Figure 4 This is a schematic diagram of the offset trolley structure of the multi-directional movable pipe support manipulator on the drilling platform of the present invention along section AA;

[0025] Figure 5 This is a schematic diagram of the walking track structure of the multi-directional moving pipe column support robot on the drilling platform of the present invention;

[0026] Figure 6 This is a schematic diagram of the offset track structure of the multi-directional moving pipe column support robot on the drilling platform of the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of the multi-directional movable pipe column support manipulator of the present invention when the trolley is on the travel track;

[0028] Figure 8 This is a schematic diagram of the structure of the multi-directional movable pipe support robot on the drilling platform of the present invention when the traveling trolley is on the offset trolley;

[0029] Figure 9 This is a schematic diagram of the structure of the traveling trolley and the offset trolley when the traveling trolley of the multi-directional moving pipe column support robot on the drilling platform is on the offset trolley.

[0030] In the picture, 1. Support clamp, 2. Robotic arm;

[0031] 3. Traveling trolley, 301. Traveling trolley frame, 302. Traveling roller I, 303. Double ear seat I, 304. Rotary drive device, 305. Gear, 306. Traveling drive device;

[0032] 4. Offset trolley, 401. Offset trolley frame, 402. Traveling rack II, 403. Traveling roller II, 404. Double ear seat II, 405. Connecting ear plate, 406. Double ear seat III, 407. Offset trolley limit plate, 408. Return spring, 409. Offset drive device;

[0033] 5. Traveling track; 501. Traveling track frame; 502. Traveling rack I; 503. Flip-up cover plate;

[0034] 6. Offset track; 601. Offset track frame; 602. Offset rack; 603. Limiting mechanism; 604. Traveling trolley limit plate;

[0035] 7. Pipeline trench I, 8. Pipeline trench II, 9. Offset cable chain. Detailed Implementation

[0036] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0037] This invention provides a multi-directional moving tubing support robot on the drilling platform, such as... Figure 1 As shown, it includes a vertically connected traveling track 5 and an offset track 6. An offset trolley 4 is connected to the offset track 6 via an offset drag chain 9. The offset trolley 4 is the end of the traveling track 5. A traveling trolley 3 is installed on the traveling track 5. A robotic arm 2 is fixed to the top of the traveling trolley 3. A support clamp 1 is fixed to one side wall of the robotic arm 2. The traveling trolley 3 is connected to the offset trolley 4 via a pipeline groove I 7 and a pipeline groove II 8.

[0038] The support clamp 1 is mounted on the robotic arm 2 by bolts or pins to realize the detection, support and transfer of the tubing. The robotic arm 2 is mounted on the rotary drive device 304 of the traveling trolley 3. The robotic arm 2 is a multi-link mechanism, and the extension and retraction of the robotic arm are realized by electric cylinder or hydraulic cylinder.

[0039] like Figure 2 As shown, the traveling trolley 3 includes a traveling trolley frame 301, a rotary drive device 304 is installed on the top of the traveling trolley frame 301, the robotic arm 2 is installed on the rotary drive device 304, traveling rollers I302 are installed on both sides of the traveling trolley frame 301, a traveling drive device 306 is provided inside the traveling trolley frame 301, a gear 305 is installed at the output end of the traveling drive device 306, and a double-ear seat I303 is installed on one side of the traveling trolley frame 301, the double-ear seat I303 is hinged to the pipeline groove I7.

[0040] like Figure 3 and 4 As shown, the offset trolley 4 includes an offset trolley frame 401. Tracks for the travel trolley 3 are provided on both sides of the upper part of the offset trolley frame 401. A traveling rack II 402 is provided in the middle of the offset trolley frame 401. One end face of the traveling rack II 402 is flush with the same end face of the offset trolley frame 401. Traveling rollers II are installed on both sides of the offset trolley frame 401. 403. A double-ear seat II 404 is installed on one side of the offset trolley frame 401. The double-ear seat II 404 is used to hinge the pipeline groove II 8. An offset drive device 409 is installed below the offset trolley frame 401. A rectangular through hole is reserved on the upper panel of the offset trolley frame 401. A connecting ear plate 405 is provided on one side of the rectangular hole, and double-ear seats III 406 are provided on both sides in the other direction. An offset trolley limiting plate 407 is hinged on the double-ear seat III 406. One end of the return spring 408 is hung on the connecting ear plate 405, and the other end is hung on the offset trolley limiting plate 407. Under the action of the initial installation preload of the return spring 408, the offset trolley limiting plate 407 is in a vertical state, that is, the lower end of the offset trolley limiting plate 407 rotates around the hinge point of the double-ear seat III 406 to the bottom of the rectangular hole on the upper panel of the offset trolley frame 401.

[0041] like Figure 5 As shown, the traveling track 5 includes a traveling track frame 501, a traveling rack I 502 is installed in the middle of the traveling track frame 501, the end face of the traveling rack I 502 is aligned with one end face of the traveling track frame 501, and flip-up cover plates 503 are provided on the upper sides of both sides of the traveling track frame 501. The flip-up cover plates 503 ensure the flatness of the upper part of the track and ensure the safety of personnel working on the drilling platform.

[0042] like Figure 6 As shown, the offset track 6 includes an offset track frame 601, an offset rack 602 is installed in the middle of the offset track frame 601, a symmetrical limiting mechanism 603 is installed in the middle of the bottom plate of the offset track 6, and a traveling trolley limiting plate 604 is provided at both ends above the single-sided track.

[0043] The traveling track 5, offset track 6, and offset trolley 4 are all installed below the drilling platform surface, ensuring that the surfaces of the traveling track 5 and the offset trolley 4 are flush with the drilling platform surface.

[0044] One end of pipeline trough I 7 is hinged to the traveling trolley 3, and the other end is hinged to pipeline trough II 8. One end of pipeline trough II 8 is hinged to the offset trolley 4, and the other end is hinged to pipeline trough I 7. Pipeline trough I 7 and pipeline trough II 8 form a "V" shaped structure.

[0045] The travel track 5 is recessed and installed in the middle of the support box channel. The upper surface of the travel track 5 is flush with the drill platform surface. The flip-up plates 503 on both sides of the travel track 5 can be placed in the support box channel after opening. The offset track 6 is recessed and installed under the platform in front of the drill rig support box. The offset trolley 4 is installed on the offset track 6. The output gear of the offset drive device 409 on the offset trolley 4 meshes with the offset rack 602 on the offset track 6. The track above the offset trolley 4 is flush with the travel track 5. The upper surface of the travel rack II 402 on the offset trolley 4 is flush with the upper surface of the travel rack I 502 on the travel track 5. The travel trolley 3 is installed on the travel track 5. The output gear 305 of the travel drive device 306 on the travel trolley 3 meshes with the travel rack I 502 on the travel track 5. The output gear 305 of the travel drive device 306 on the travel trolley 3 can also mesh with the travel rack II 402 on the offset trolley 4.

[0046] One end of the offset drag chain 9 is fixed on the offset track 6, and the other end is fixed on the offset trolley 4.

[0047] The offset trolley 4 is controlled by a servo motor and PLC to move to the center line of the wellhead, which accurately realizes the docking of the track and rack on the offset trolley with the traveling track, ensuring the movement of the traveling trolley on the traveling track and the offset trolley. In addition, the offset trolley can only move after the traveling trolley is accurately moved onto the offset trolley by the servo motor and PLC control.

[0048] like Figure 7 , 8 As shown in Figures 9 and 1, the support clamp 1, the robotic arm 2, and the traveling trolley 3 can move back and forth along the tracks on the traveling track 5 and the offset trolley 4 on the wellhead centerline of the drilling platform to perform pipe string support operations. The support clamp 1, the robotic arm 2, the traveling trolley 3, the offset trolley 4, the pipeline groove I 7, and the pipeline groove II 8 can move left and right along the offset track 6 on both sides of the wellhead centerline of the drilling platform to avoid the support platform channel.

[0049] The multi-directional moving pipe support robot of the drilling platform of this invention achieves multi-directional movement as follows:

[0050] like Figure 7 , 8 As shown in Figure 9, the device is equipped with a traveling trolley 3, an offset trolley 4, and vertically arranged traveling tracks 5 and offset tracks 6. The robot can move back and forth along the tracks on the traveling tracks 5 and offset trolley 4 on the center line of the wellhead on the drilling platform to perform pipe string support operations. It can also move left and right along the offset tracks 6 on both sides of the center line of the wellhead on the drilling platform to avoid the support platform channel.

[0051] The cable pipeline movement mode of the multi-directional movable pipe support manipulator on the drilling platform of this invention during its forward and backward movement is as follows:

[0052] like Figure 7 , 8 As shown in Figure 9, a "V"-shaped pipeline groove I 7 and pipeline groove II 8 were innovatively designed in the front and rear directions of the wellhead centerline. This effectively solved the problem of moving and storing the cables and pipelines dragged by the traveling trolley 3 when it moves over a large range in the narrow space of the drilling platform (the platform in front of the support box). If a drag chain is used, it will cause the drag chain to protrude beyond the drilling platform when it moves, resulting in interference between the equipment. The "V"-shaped pipeline groove converts the cables and pipelines in the front and rear directions of the traveling trolley 3 to the height direction when it moves.

[0053] The mechanical protection measures adopted by the multi-directional moving pipe support robot on the drilling platform of this invention to cope with misoperation are as follows:

[0054] like Figure 7 , 8 As shown in Figure 9, when the traveling trolley 3 has not fully moved onto the offset trolley 4, the mounting plate of the traveling drive device 306 inside the traveling trolley 3 cannot squeeze and rotate the offset trolley limit plate 407 on the offset trolley 4, and fails to disengage the offset trolley limit plate 407 from the middle of the limit mechanism 603 on the offset track 6, thus keeping the offset trolley 4 on the wellhead centerline. In this way, even in the event of misoperation, there will be no misalignment or jamming of the pipeline groove I and pipeline groove II, ensuring the alignment requirements of the traveling track and the offset trolley track. Conversely, when the traveling trolley 3 moves from the offset trolley 4 toward the wellhead, the reset spring 408 on the offset trolley 4 will pull the offset trolley limit plate 407 to the limit state.

[0055] When the robotic arm is in the left offset avoidance position or the right offset avoidance position, the travel trolley limit plates 604 set at both ends of the offset track 6 can effectively prevent the travel trolley 3 from moving in case of misoperation.

[0056] Through the above methods, the multi-directional moving pipe support robot of the present invention has the ability to move in multiple directions, has high adaptability to operation in complex environments on the drilling platform, has a modular design, is quick and convenient to disassemble and install, has a high degree of automation, and has good inherent safety.

Claims

1. A multi-directional moving pipe support robot on a drilling platform, characterized in that, It includes a vertically connected walking track (5) and an offset track (6). An offset trolley (4) is connected to the offset track (6) via an offset drag chain (9). The offset trolley (4) is the end of the walking track (5). A walking trolley (3) is installed on the walking track (5). A robotic arm (2) is fixed to the top of the walking trolley (3). A support clamp (1) is fixed to one side wall of the robotic arm (2). The walking trolley (3) is connected to the offset trolley (4) via a pipeline groove I (7) and a pipeline groove II (8). The bottom of the traveling trolley (3) is provided with a traveling drive device (306). The upper panel of the offset trolley (4) has a rectangular through hole. A connecting ear plate (405) is provided at one end of the through hole, and double ear seats III (406) are provided on both sides of the other end. The double ear seats III (406) are hinged to the offset trolley limit plate (407). The offset trolley limit plate (407) and the connecting ear plate (405) are connected by a return spring (408). One end of the pipeline groove I (7) is hinged to the traveling trolley (3), and the other end is hinged to the pipeline groove II (8). One end of the pipeline groove II (8) is hinged to the offset trolley (4), and the other end is hinged to the pipeline groove I (7). A symmetrical limiting mechanism (603) is installed in the middle of the base plate of the offset track (6). When the traveling trolley (3) is fully on the offset trolley (4), the traveling drive device (306) squeezes and rotates the offset trolley limit plate (407), causing the offset trolley limit plate (407) to disengage from the middle of the limit mechanism (603) on the offset track (6); when the traveling trolley (3) is not fully on the offset trolley (4), the offset trolley limit plate (407) is in the limit state.

2. The multi-directional moving pipe support robot on the drilling platform according to claim 1, characterized in that, The traveling trolley (3) includes a traveling trolley frame (301), a rotary drive device (304) is installed on the top of the traveling trolley frame (301), the robotic arm (2) is installed on the rotary drive device (304), traveling rollers I (302) are installed on both sides of the traveling trolley frame (301), a traveling drive device (306) is provided at the bottom of the traveling trolley frame (301), a gear (305) is installed at the output end of the traveling drive device (306), and a double-ear seat I (303) is installed on one side of the traveling trolley frame (301), the double-ear seat I (303) is hinged to the pipeline groove I (7).

3. The multi-directional moving pipe support robot on the drilling platform according to claim 2, characterized in that, The offset trolley (4) includes an offset trolley frame (401). Tracks for the running of the traveling trolley (3) are provided on both sides of the upper part of the offset trolley frame (401). A traveling rack II (402) is provided in the middle of the offset trolley frame (401). Traveling rollers II (403) are installed on both sides of the bottom of the offset trolley frame (401). A double-ear seat II (404) is installed on one side of the offset trolley frame (401). The double-ear seat II (404) is hinged to the pipeline groove II (8). An offset driving device (409) is installed at the bottom of the offset trolley frame (401). The rectangular through hole is opened on the upper panel of the offset trolley frame (401).

4. The multi-directional moving pipe support robot on the drilling platform according to claim 3, characterized in that, The walking track (5) includes a walking track frame (501), a walking rack I (502) is installed in the middle of the walking track frame (501), and flip-up cover plates (503) are provided on the upper sides of the walking track frame (501).

5. The multi-directional moving pipe support robot on the drilling platform according to claim 4, characterized in that, The offset track (6) includes an offset track frame (601), an offset rack (602) is installed in the middle of the offset track frame (601), and a traveling trolley limit plate (604) is provided at both ends above the track on one side of the offset track (6).

6. The multi-directional moving pipe support robot on the drilling platform according to claim 5, characterized in that, The offset trolley (4) is mounted on the offset track (6), the output gear of the offset drive device (409) meshes with the offset rack (602), the track above the offset trolley (4) is flush with the travel track (5), the upper surface of the travel rack II (402) is flush with the upper surface of the travel rack I (502), the travel trolley (3) is mounted on the travel track (5), and the output gear (305) of the travel drive device (306) meshes with the travel rack II (402) and the travel rack I (502).

7. The multi-directional moving pipe support robot on the drilling platform as described in any one of claims 1-6, characterized in that, The robotic arm (2) is a multi-link mechanism, and the extension and retraction of the robotic arm (2) are achieved by electric cylinder or hydraulic cylinder.

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