Multifunctional modular drill pipe salvage robot

Abstract

The present invention relates to the technical field of salvage robots, and discloses a multifunctional modular drill pipe salvage robot, comprising an outer tube, a conical butt joint is rotatably mounted on the bottom end of the outer tube, the conical butt joint is a hollow structure, and a plurality of scraping teeth are evenly fixedly mounted on the outer periphery of the conical butt joint, an inner tube is fixedly mounted on the top end of the conical butt joint, the inner tube is inserted inside the outer tube, a connecting ring is threadedly connected to the top end of the outer tube, and a portal frame is fixedly mounted on the top end of the connecting ring. In the present invention, after the conical butt joint is aligned with the docking port of the drill pipe to be salvaged, the servo motor is started, and the inner tube is driven to rotate forward through the transmission shaft and the fixed plate, so that the inner tube can drive the conical butt joint to rotate, and since the scraping teeth are mounted on the outer periphery of the conical butt joint, the conical butt joint can scrape the mud and sand in the docking port of the drill pipe to be salvaged when rotating, so as to avoid mud and sand blocking the docking port, resulting in the conical butt joint being unable to be inserted into the docking port, affecting the salvage operation of the drill pipe.

Description

Technical Field

[0001] The invention relates to the technical field of salvage robots, and in particular to a multifunctional modular drill rod salvage robot. Background Art

[0002] Drill pipe is a steel pipe with a threaded tail that is used to connect the surface equipment of the drilling rig to the drilling and grinding equipment or bottom hole device at the bottom of the well. The purpose of the drill pipe is to transport drilling mud to the drill bit and to raise, lower or rotate the bottom hole device together with the drill bit. The drill pipe must be able to withstand huge internal and external pressure, twisting, bending and vibration.

[0003] The existing garden irrigation device (publication number: CN210959787U) has at least the following disadvantages: the above patent obtains and locates the upper end of the drill rod to be salvaged through a positioning cover, and then fine-adjusts the position of the salvaged drill rod so that the upper end of the drill rod to be salvaged in the positioning groove is connected to the joint, so as to facilitate the subsequent salvage operation of the drill rod; since the tail of the drill rod is a hollow structure, after the drill rod falls off, the mud and sand in the underwater borehole can easily enter the tail of the drill rod, causing blockage to the docking port at the tail of the drill rod, thereby affecting the subsequent docking operation between the salvage equipment and the docking port. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings in the prior art and to propose a multifunctional modular drill pipe salvaging robot.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A multifunctional modular drill pipe salvage robot comprises an outer tube, the bottom end of which is rotatably mounted with a conical butt joint, the conical butt joint being a hollow structure, and a plurality of scraping teeth being evenly and fixedly mounted on the outer periphery of the conical butt joint, an inner tube being fixedly mounted on the top end of the conical butt joint, the inner tube being inserted into the outer tube, a connecting ring being threadedly connected to the top end of the outer tube, a portal frame being fixedly mounted on the top end of the connecting ring, a connecting mechanism being mounted on the portal frame, and an expansion mechanism being mounted between the outer tube and the inner tube.

[0007] As a further solution of the present invention, the expansion mechanism includes a plurality of slide grooves uniformly penetrating the outer surface of the outer tube in the circumferential direction, a stop block is slidably installed on the inner wall of each slide groove, and a moving component is installed between the stop block and the inner tube.

[0008] As a further solution of the present invention, the moving component includes an external thread arranged on the outer surface of the inner tube, the outer surface of the inner tube is threadedly connected to a lifting ring via the external thread, a plurality of push rods are evenly and fixedly installed on the top circumferential direction of the lifting ring, guide columns are fixedly installed on the opposite sides of the top of the push rods, a rectangular groove matching the push rod is provided on the outer surface of the block close to the inner tube, the push rod is slidably installed on the inner wall of the rectangular groove, an inclined groove is penetrated on one side of the block adjacent to the rectangular groove, the guide column is slidably installed on the inner wall of the inclined groove, and a tensioning component is installed on the bottom of the lifting ring.

[0009] As a further solution of the present invention, the tensioning assembly includes a plurality of spring rods evenly fixedly installed at the bottom end of the lifting ring in the circumferential direction, and a moving ring is fixedly installed at the bottom ends of the plurality of spring rods, and the moving ring is sleeved on the inner tube.

[0010] As a further solution of the present invention, a plurality of limit blocks are evenly and fixedly installed on the outer circumference of the movable ring, and the inner wall of the outer tube is provided with limit grooves matching the limit blocks, and the limit blocks are slidably installed on the inner wall of the limit grooves.

[0011] As a further solution of the present invention, a bracket is fixedly installed on the inner wall of the outer tube near the top thereof, a servo motor is fixedly installed on the top of the bracket, the output end of the servo motor passes through the lower surface of the bracket and is fixedly installed with a transmission shaft, the inner wall of the inner tube near the top thereof is fixedly installed with a fixing plate, the transmission shaft passes through the outer surface of the fixing plate and is fixedly installed therewith, and a turbine blade is fixedly installed on the end of the transmission shaft away from the servo motor.

[0012] As a further solution of the present invention, the connecting mechanism includes two guide rods inserted through the top of the portal frame, the tops of the two guide rods are fixedly installed with connecting buckles, the bottom ends of the two guide rods are fixedly installed with limiting rings, the outer surfaces of the guide rods are sleeved with buffer springs, the buffer springs are arranged between the limiting rings and the top wall of the portal frame, and the outer surface of the limiting rings is fixedly installed with limiting sleeves.

[0013] As a further solution of the present invention, a waterproof cover is fixedly installed on the top of the bracket, and the waterproof cover is arranged on the servo motor.

[0014] As a further solution of the present invention, a plurality of underwater cameras are fixedly mounted on the bottom end of the connecting ring.

[0015] The beneficial effects of the present invention are:

[0016] 1. After the conical joint is aligned with the joint of the drill pipe to be salvaged, the servo motor is started, and the inner tube is driven to rotate forward through the transmission shaft and the fixed plate, so that the inner tube can drive the conical joint to rotate. Since scraping teeth are installed on the outer periphery of the conical joint, the conical joint can scrape the mud and sand in the joint of the drill pipe to be salvaged when rotating, so as to avoid mud and sand blocking the joint, resulting in the conical joint being unable to be inserted into the joint, affecting the salvage operation of the drill pipe;

[0017] 2. When the transmission shaft rotates, the turbine blades will be driven to rotate, so that the turbine blades can generate suction, and the water and sediment in the docking port will be sucked into the inner tube from the bottom end of the tapered docking port and discharged from the top end of the outer tube, so as to remove the sediment and facilitate the insertion of the tapered docking port;

[0018] 3. After the tapered joint and the outer tube are fully inserted into the docking port of the drill pipe to be salvaged, the servo motor drives the inner tube to reverse through the transmission shaft and the fixed plate, so that the lifting ring provided on the outer surface of the inner tube and connected by the external thread can move upward, so that the lifting ring can drive the push rod and the guide column to move upward accordingly, so that the guide column pushes the stop block outward along the slide groove through the inclined groove, so that the stop block can press against the inner wall of the docking port of the drill pipe to be salvaged, so as to connect the outer tube with the drill pipe to be salvaged, and then the drill pipe is lifted and salvaged by hoisting equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a front view structural schematic diagram of the multifunctional modular drill pipe salvage robot proposed by the present invention;

[0020] Figure 2 This is a schematic diagram of the bottom structure of the multifunctional modular drill pipe salvage robot proposed by the present invention;

[0021] Figure 3 A schematic diagram of the internal structure of the multifunctional modular drill pipe salvage robot proposed by the present invention;

[0022] Figure 4 This is a schematic diagram of the inner tube structure of the multifunctional modular drill pipe salvage robot proposed by the present invention;

[0023] Figure 5 This is a schematic diagram of the lifting ring structure of the multifunctional modular drill pipe salvage robot proposed by the present invention;

[0024] Figure 6 This is a schematic diagram of the block structure of the multifunctional modular drill pipe salvage robot proposed by the present invention;

[0025] Figure 7 This is a schematic diagram of the internal structure of the outer tube of the multifunctional modular drill pipe salvage robot proposed in the present invention;

[0026] Figure 8 for Figure 3A magnified view of the structure in the middle.

[0027] In the figure: 1. outer tube; 2. conical joint; 3. inner tube; 4. connecting ring; 5. portal frame; 6. guide rod; 7. limit ring; 8. connecting buckle; 9. buffer spring; 10. underwater camera; 11. bracket; 12. fixing plate; 13. servo motor; 14. transmission shaft; 15. turbine blade; 16. waterproof cover; 17. lifting ring; 18. spring rod; 19. moving ring; 20. limit block; 21. limit groove; 22. slide groove; 23. stop block; 24. rectangular groove; 25. inclined groove; 26. push rod; 27. guide column; 28. limit sleeve. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] Refer to the attached Figure 1 -Attached Figure 8 The multifunctional modular drill pipe salvage robot comprises an outer tube 1, a conical butt joint 2 is rotatably mounted on the bottom end of the outer tube 1, the conical butt joint 2 is a hollow structure, and a plurality of scraping teeth are evenly fixedly mounted on the outer periphery of the conical butt joint 2, an inner tube 3 is fixedly mounted on the top end of the conical butt joint 2, the inner tube 3 is inserted into the inner part of the outer tube 1, a connecting ring 4 is threadedly connected to the top end of the outer tube 1, a portal frame 5 is fixedly mounted on the top end of the connecting ring 4, a connecting mechanism is mounted on the portal frame 5, an expansion mechanism is mounted between the outer tube 1 and the inner tube 3, and the outer tube A bracket 11 is fixedly installed on the inner wall near the top thereof, a servo motor 13 is fixedly installed on the top of the bracket 11, an output end of the servo motor 13 penetrates the lower surface of the bracket 11 and is fixedly installed with a transmission shaft 14, a fixing plate 12 is fixedly installed on the inner wall near the top of the inner tube 3, the transmission shaft 14 penetrates the outer surface of the fixing plate 12 and is fixedly installed therewith, and a turbine blade 15 is fixedly installed on one end of the transmission shaft 14 away from the servo motor 13, and a plurality of underwater cameras 10 are fixedly installed on the bottom end of the connecting ring 4.

[0031] After the conical joint 2 is aligned with the docking port of the drill pipe to be salvaged, the servo motor 13 is started, and the inner tube 3 is driven to rotate forward through the transmission shaft 14 and the fixed plate 12, so that the inner tube 3 can drive the conical joint 2 to rotate. Since the outer periphery of the conical joint 2 is equipped with scraping teeth, the conical joint 2 can scrape the mud and sand in the docking port of the drill pipe to be salvaged when rotating, so as to avoid the mud and sand blocking the docking port, resulting in the conical joint 2 being unable to be inserted into the docking port, affecting the salvage operation of the drill pipe; while the transmission shaft 14 rotates, the turbine blades 15 are driven to rotate, so that the turbine blades 15 can generate suction, and the water and mud in the docking port are sucked into the inner tube 3 from the bottom end of the conical joint 2 and discharged from the top end of the outer tube 1, so as to achieve the removal of mud and sand, and facilitate the insertion of the conical joint 2 into the docking port; at the same time, the discharge of mud and sand by the turbine blades 15 can generate a certain reverse thrust underwater, so that the conical joint 2 can be pushed into the inside of the docking port, further improving the docking effect between the conical joint 2 and the docking port of the drill pipe to be salvaged.

[0032] In this embodiment, the expansion mechanism includes a plurality of slide grooves 22 uniformly penetrating the outer surface of the outer tube 1 in the circumferential direction, a stopper 23 is slidably installed on the inner wall of each slide groove 22, a moving component is installed between the stopper 23 and the inner tube 3, and the moving component includes an external thread arranged on the outer surface of the inner tube 3, and the outer surface of the inner tube 3 is threadedly connected with a lifting ring 17 through the external thread, and a plurality of push rods 26 are uniformly fixedly installed on the top of the lifting ring 17 in the circumferential direction, and guide columns 27 are fixedly installed on the opposite sides of the top of the push rod 26, a rectangular groove 24 matching the push rod 26 is opened on the outer surface of the stopper 23 close to the inner tube 3, and the push rod 26 is slidably installed on the inner wall of the rectangular groove 24, an inclined groove 25 is opened on one side of the stopper 23 adjacent to the rectangular groove 24, the guide column 27 is slidably installed on the inner wall of the inclined groove 25, and a tensioning component is installed at the bottom of the lifting ring 17.

[0033] After the conical joint 2 and the outer tube 1 are fully inserted into the docking port of the drill pipe to be salvaged, the servo motor 13 drives the inner tube 3 to reverse through the transmission shaft 14 and the fixing plate 12, so that the lifting ring 17 provided on the outer surface of the inner tube 3 connected by an external thread can move upward, so that the lifting ring 17 can drive the push rod 26 and the guide column 27 to move upward accordingly, so that the guide column 27 pushes the stop block 23 outward along the slide groove 22 through the inclined groove 25, so that the stop block 23 can be pressed against the inner wall of the docking port of the drill pipe to be salvaged, so as to connect the outer tube 1 with the drill pipe to be salvaged, and then the drill pipe can be hoisted and salvaged by hoisting equipment respectively; after the drill pipe is salvaged, the servo motor 13 drives the inner tube 3 to reverse, so that the lifting ring 17 drives the push rod 26 and the guide column 27 to move downward, and the stop block 23 can be pulled back into the outer tube 1 through the inclined groove 25, thereby separating the outer tube 1 from the drill pipe.

[0034] In this embodiment, the tensioning assembly includes a plurality of spring rods 18 evenly fixedly installed at the bottom end of the lifting ring 17 in the circumferential direction, and a moving ring 19 is fixedly installed at the bottom end of the plurality of spring rods 18 , and the moving ring 19 is sleeved on the inner tube 3 .

[0035] When the inner tube 3 continues to rotate forward, the lifting ring 17 will drop to the bottom of the external thread outside the inner tube 3 and separate from its external thread. When the lifting ring 17 moves downward, the spring rod 18 will drive the moving ring 19 to move downward until the moving ring 19 abuts against the top of the tapered joint 2. At the same time, due to the elastic effect of the spring rod 18, the lifting ring 17 can always be close to the bottom of the external thread, so as to ensure that when the inner tube 3 is reversed, the lifting ring 17 is engaged with the external thread at any time to pull the lifting ring 17 upward.

[0036] In this embodiment, a plurality of limit blocks 20 are evenly and fixedly installed on the outer circumference of the movable ring 19, and a limit groove 21 matching the limit block 20 is opened on the inner wall of the outer tube 1, and the limit block 20 and the inner wall of the limit groove 21 are slidably installed; the movable ring 19 is limited by the limit block 20 and the limit groove 21 to prevent the movable ring 19 from rotating and can only move axially. At the same time, the movable ring 19 is connected to the lifting ring 17 by a plurality of spring rods 18, so that the lifting ring 17 can also only move axially.

[0037] In this embodiment, the connecting mechanism includes two guide rods 6 inserted through the top of the portal frame 5, the tops of the two guide rods 6 are fixedly installed with connecting buckles 8, the bottoms of the two guide rods 6 are fixedly installed with limiting rings 7, the outer surfaces of the guide rods 6 are sleeved with buffer springs 9, the buffer springs 9 are arranged between the limiting rings 7 and the top wall of the portal frame 5, and the outer surface of the limiting ring 7 is fixedly installed with a limiting sleeve 28.

[0038] In this embodiment, a waterproof cover 16 is fixedly installed on the top of the bracket 11, and the waterproof cover 16 is arranged on the servo motor 13; the servo motor 13 is waterproofed by the waterproof cover 16 to prevent the servo motor 13 from being damaged by water.

[0039] From the above description, it can be seen that the above-mentioned embodiment of the present invention achieves the following technical effects: when in use, the lock buckle on the steel cable on the hoisting equipment is buckled with the connecting buckle 8, and the position of the underwater drill pipe is photographed by multiple underwater cameras 10 installed below the connecting ring 4, and the photographed images are transmitted back to the operating machine, so that the salvage personnel can adjust the position of the tapered butt joint 2 so that the tapered butt joint 2 is aligned with the docking port of the drill pipe to be salvaged, which is convenient for the subsequent salvage operation of the drill pipe;

[0040] After the conical joint 2 is aligned with the docking port of the drill pipe to be salvaged, the servo motor 13 is started, and the inner tube 3 is driven to rotate forward through the transmission shaft 14 and the fixed plate 12, so that the inner tube 3 can drive the conical joint 2 to rotate. Since the outer periphery of the conical joint 2 is equipped with scraping teeth, the conical joint 2 can scrape the mud and sand in the docking port of the drill pipe to be salvaged when rotating, so as to avoid the mud and sand blocking the docking port, resulting in the conical joint 2 being unable to be inserted into the docking port, affecting the salvage operation of the drill pipe; while the transmission shaft 14 rotates, the turbine blades 15 are driven to rotate, so that the turbine blades 15 can generate suction, and the water and mud and sand in the docking port are sucked into the inner tube 3 from the bottom end of the conical joint 2 and discharged from the top end of the outer tube 1, so as to achieve the removal of mud and sand, and facilitate the insertion of the conical joint 2 into the docking port; at the same time, the discharge of mud and sand by the turbine blades 15 can generate a certain reverse thrust underwater, so that the conical joint 2 can be pushed into the inside of the docking port, further improving the docking effect between the conical joint 2 and the docking port of the drill pipe to be salvaged;

[0041] After the conical joint 2 and the outer tube 1 are completely inserted into the docking port of the drill pipe to be salvaged, the servo motor 13 drives the inner tube 3 to reverse through the transmission shaft 14 and the fixing plate 12, so that the lifting ring 17 provided on the outer surface of the inner tube 3 connected by the external thread can move upward, so that the lifting ring 17 can drive the push rod 26 and the guide column 27 to move upward accordingly, so that the guide column 27 pushes the block 23 outward along the slide groove 22 through the inclined groove 25, so that the block 23 can press against the inner wall of the docking port of the drill pipe to be salvaged, so as to connect the outer tube 1 with the drill pipe to be salvaged, and then the drill pipe is hoisted and salvaged by hoisting equipment respectively;

[0042] After the drill pipe is salvaged, the servo motor 13 drives the inner tube 3 to reverse, so that the lifting ring 17 drives the push rod 26 and the guide column 27 to move downward, and the stop block 23 can be pulled back into the outer tube 1 through the inclined slot 25, so that the outer tube 1 is separated from the drill pipe.

[0043] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A multifunctional modular drill pipe salvaging robot, comprising an outer tube (1), characterized in that: A conical joint (2) is rotatably mounted on the bottom end of the outer tube (1), the conical joint (2) being a hollow structure, and a plurality of scraping teeth are evenly and fixedly mounted on the outer circumference of the conical joint (2), an inner tube (3) is fixedly mounted on the top end of the conical joint (2), the inner tube (3) is inserted into the outer tube (1), a connecting ring (4) is threadedly connected to the top end of the outer tube (1), a portal frame (5) is fixedly mounted on the top end of the connecting ring (4), a connecting mechanism is mounted on the portal frame (5), and an expansion mechanism is mounted between the outer tube (1) and the inner tube (3); The expansion mechanism comprises a plurality of slide grooves (22) uniformly penetrating the outer surface of the outer tube (1) in the circumferential direction, a stopper (23) being slidably mounted on the inner wall of each slide groove (22), and a moving component being mounted between the stopper (23) and the inner tube (3); The moving assembly comprises an external thread provided on the outer surface of the inner tube (3); the outer surface of the inner tube (3) is threadedly connected to a lifting ring (17) via the external thread; a plurality of push rods (26) are evenly fixedly installed on the top circumferential direction of the lifting ring (17); guide pillars (27) are fixedly installed on opposite sides of the top of the push rods (26); a rectangular groove (24) matching the push rods (26) is provided on the outer surface of the side of the stop block (23) close to the inner tube (3); the push rods (26) are slidably installed on the inner wall of the rectangular groove (24); an inclined groove (25) is penetrated through one side of the stop block (23) adjacent to the rectangular groove (24); the guide pillars (27) are slidably installed on the inner wall of the inclined groove (25); and a tensioning assembly is installed at the bottom of the lifting ring (17).

2. The multifunctional modular drill pipe salvage robot according to claim 1, characterized in that: The tensioning assembly comprises a plurality of spring rods (18) uniformly fixedly mounted on the bottom end of a lifting ring (17) in a circumferential direction, a moving ring (19) being fixedly mounted on the bottom ends of the plurality of spring rods (18), and the moving ring (19) being sleeved on the inner tube (3).

3. The multifunctional modular drill pipe salvage robot according to claim 2, characterized in that: A plurality of limit blocks (20) are evenly and fixedly mounted on the outer circumference of the movable ring (19); a limit groove (21) matching the limit blocks (20) is formed on the inner wall of the outer tube (1); and the limit blocks (20) are slidably mounted on the inner wall of the limit groove (21).

4. The multifunctional modular drill pipe salvage robot according to claim 1, characterized in that: A bracket (11) is fixedly mounted on the inner wall of the outer tube (1) near the top thereof, a servo motor (13) is fixedly mounted on the top of the bracket (11), an output end of the servo motor (13) passes through the lower surface of the bracket (11) and is fixedly mounted with a transmission shaft (14), a fixing plate (12) is fixedly mounted on the inner wall of the inner tube (3) near the top thereof, the transmission shaft (14) passes through the outer surface of the fixing plate (12) and is fixedly mounted thereto, and a turbine blade (15) is fixedly mounted on one end of the transmission shaft (14) away from the servo motor (13).

5. The multifunctional modular drill pipe salvage robot according to claim 1, characterized in that: The connection mechanism comprises two guide rods (6) inserted through the top of the portal frame (5), the tops of the two guide rods (6) are fixedly mounted with connection buckles (8), the bottoms of the two guide rods (6) are fixedly mounted with limit rings (7), the outer surfaces of the guide rods (6) are sleeved with buffer springs (9), the buffer springs (9) are arranged between the limit rings (7) and the top wall of the portal frame (5), and the outer surface of the limit rings (7) is fixedly mounted with a limit sleeve (28).

6. The multifunctional modular drill pipe salvaging robot according to claim 4, characterized in that: A waterproof cover (16) is fixedly mounted on the top end of the bracket (11), and the waterproof cover (16) is disposed on the servo motor (13).

7. The multifunctional modular drill pipe salvaging robot according to claim 1, characterized in that: A plurality of underwater cameras (10) are fixedly mounted on the bottom end of the connecting ring (4).

Images