Drilling machine tubular column automation system capable of independently building three-joint unit and three-joint unit processing method

Abstract

The invention discloses an independent root building drilling machine pipe column automation system which comprises a power catwalk arranged on the ground right in front of a drilling machine, a power double-mouse hole formed in the front side of a wellhead and beside a rotating disc, a portal frame arranged at the front end of a drilling platform face, and a pipe grabbing mechanical arm installed on the portal frame. A drill floor mechanical arm is installed in a channel between a left three-joint unit box and a right three-joint unit box of a drill floor face, a racking platform mechanical arm is installed at the position of a derrick racking platform, an iron roughneck is installed on the right side of the drill floor face, a buffering mechanical arm is installed on a derrick back cross beam, a power slip is installed on a wellhead, and a hydraulic elevator is installed below a top drive hanging ring. And an electro-hydraulic control unit is arranged on the drill floor surface side room. The invention further discloses a three-joint unit processing method which is divided into a three-joint unit establishing method and a three-joint unit disassembling method according to the working process by utilizing the drilling machine tubular column automatic system for independently establishing the three-joint unit. According to the device and the method, operation automation is achieved, and the device is simple, reliable, good in safety and high in operation efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of oil drilling equipment, and relates to an independent root-setting drilling rig pipe string automation system. The invention also relates to a root-setting processing method using the drilling rig pipe string automation system. Background Art

[0002] With the development of automated drilling rig technology, some new drilling rigs and in-service drilling rigs have been equipped with automated pipe string equipment such as power catwalks, iron roughnecks, second-level platform manipulators, and drilling platform manipulators, which have realized the automated operations of pipe string transportation, disconnection, and pipe stand discharge from the ground yard to the stand platform. However, there is no mature solution for automated independent stand establishment for conventional K-type derricks and in-service drilling rigs.

[0003] With the extensive use of top drive devices for the development of directional wells and horizontal wells, the demand for stand drilling is becoming increasingly urgent to improve drilling efficiency. At present, there are usually two ways to establish roots: one is to occupy the wellhead before drilling begins to build the stand required for this drilling depth in advance. The disadvantages of this method are: establishing roots requires occupying the wellhead, and establishing roots and drilling cannot be carried out at the same time, requiring additional root establishment time, affecting normal drilling operations, and low work efficiency. The other is to use a dual wellhead and tubing handling system on offshore platforms to establish an offline root establishment system that does not occupy the wellhead. The disadvantages of this method are: the overall structure is complex, the cost is high, and the operation is complex. Summary of the invention

[0004] The purpose of the present invention is to provide a drilling rig pipe automation system for independently establishing roots, which solves the problems of unreasonable structural design, low working efficiency and complex operation existing in the prior art.

[0005] Another object of the present invention is to provide a stand pipe processing method, which utilizes the above-mentioned drilling rig pipe automation system to solve the problems existing in the prior art such as complex operation process, long operation waiting time, long working cycle and low work efficiency.

[0006] The technical solution adopted by the present invention is an independent drilling rig pipe automation system, including a power catwalk on the ground directly in front of the drilling rig, a power double mouse hole arranged at the front side of the wellhead and next to the turntable, a gantry is arranged at the front end of the drilling table, a pipe grabbing manipulator is installed on the gantry, a drilling table manipulator is installed in the middle channel of the left and right root boxes of the drilling table, a second-floor table manipulator is installed at the second-floor position of the derrick, an iron roughneck is installed on the right side of the drilling table, a buffer manipulator is installed on the back crossbeam of the derrick, a power slip is installed at the wellhead, a hydraulic elevator is installed below the top drive lifting ring, and an electro-hydraulic control unit is installed in the side room of the drilling table.

[0007] Another technical solution adopted by the present invention is a rooting processing method, which utilizes the above-mentioned drilling rig pipe string automation system for independent rooting and is divided into a rooting method and a rooting removal method according to the work flow.

[0008] The beneficial effects of the present invention are: 1) it is suitable for both newly manufactured drilling rigs and the installation and use requirements of in-service drilling rigs, and not only realizes the simultaneous establishment of the land drilling rig and drilling, but also reduces the waiting time for operations, greatly shortens the work cycle, improves work efficiency, and has a simple overall structure, easy operation, and low cost. 2) It realizes the automated handling of pipe strings between the ground, drilling platform and second-floor platform; it realizes independent root establishment operation while the land drilling rig is drilling, and the entire root establishment process does not occupy the wellhead and top drive, realizing the automation of the operation; 3) It is simple and reliable, which not only meets the requirements of supporting new drilling rigs, but also meets the requirements of upgrading and transforming the in-service drilling rigs, with less changes to the original drilling rig base and derrick, and does not affect the load-bearing structure; 4) The drilling platform manipulator and the second-floor platform manipulator are installed, and the lower clamp and upper support mode is adopted for root discharge. The weight of the pipe string is borne entirely by the drilling rig base, the derrick is subjected to little force and has good safety. In addition, the upper and lower manipulators work synchronously, the process is closely connected, and the operation efficiency is high; 5) All equipment can be controlled in the driller's room, and independent root establishment, drilling, drilling, casing and other operations adopt the one-button control mode of the process. Only one person is needed to complete the current operation, which improves the automation degree of the drilling rig, reduces labor intensity, and reduces the total number of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a front view of the drilling rig pipe string automation system of the present invention;

[0010] Figure 2 is a side view of the drilling rig pipe string automation system of the present invention;

[0011] Figure 3 is a top view of the drilling rig pipe string automation system of the present invention;

[0012] Figure 4a This is a schematic diagram of the installation status of step 1 of the independent root establishment method of the present invention. Figure 1 ;

[0013] Figure 4b This is a schematic diagram of the installation status of step 1 of the independent root establishment method of the present invention. Figure 2 ;

[0014] Figure 5a This is a schematic diagram of the installation status of step 2 of the independent root establishment method of the present invention. Figure 1 ;

[0015] Figure 5b This is a schematic diagram of the installation status of step 2 of the independent root establishment method of the present invention. Figure 2 ;

[0016] Figure 6a This is a schematic diagram of the installation status of step 3 of the independent root establishment method of the present invention. Figure 1 ;

[0017] Figure 6b This is a schematic diagram of the installation status of step 3 of the independent root establishment method of the present invention. Figure 2 ;

[0018] Figure 7a This is a schematic diagram of the installation status of step 4 of the independent root establishment method of the present invention. Figure 1 ;

[0019] Figure 7b This is a schematic diagram of the installation status of step 4 of the independent root establishment method of the present invention. Figure 2 ;

[0020] Figure 8a This is a schematic diagram of the installation status of step 5 of the independent root establishment method of the present invention. Figure 1 ;

[0021] Figure 8b This is a schematic diagram of the installation status of step 5 of the independent root establishment method of the present invention. Figure 2 .

[0022] In the figure, 1. power catwalk, 101. base, 102. drill string delivery, 103. ramp, 104. pipe rack, 105. lifting winch, 106. small pulley; 2. power double mouse holes, 201. No. 1 mouse hole, 202. No. 2 mouse hole, 203. translation mechanism; 3. pipe grabbing manipulator, 301. pulley frame, 302. mechanical arm, 303. clamp frame, 304. clamping clamp, 305. supporting clamp, 306. angle adjustment cylinder, 307. amplitude change cylinder, 308. winch, 309. pulley mechanism; 4. gantry, 401. column, 402. support beam; 5. drilling platform manipulator, 6. second-layer platform manipulator, 7. iron driller, 8. buffer manipulator, 9. power slips, 10. hydraulic elevator, 11. electro-hydraulic control unit. DETAILED DESCRIPTION

[0023] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] The upper, lower, left and right positions of the components and equipment involved in the following description are all the positions shown in the relevant drawings, and the actual installation positions at the drilling site are similar.

[0025] Reference Figure 1 , Figure 2 , Figure 3The overall structure of the drilling rig pipe automation system of the present invention is that a power catwalk 1 capable of transporting multiple pipes is arranged on the ground directly in front of the drilling rig, a power double mouse hole 2 is arranged at the front side of the wellhead and next to the turntable, a gantry 4 is arranged at the front end of the drilling table, a pipe grabbing manipulator 3 is installed on the gantry 4, and the gantry 4 serves as a running track and installation basis for the pipe grabbing manipulator 3, a clamping drilling table manipulator 5 is installed in the middle channel of the left and right root boxes of the drilling table, a push-type second-level platform manipulator 6 is installed at the second-level platform position of the derrick, an iron roughneck 7 is installed on the right side of the drilling table, a buffer manipulator 8 is installed on the back crossbeam of the derrick, a power slip 9 is installed at the wellhead, a hydraulic elevator 10 is installed below the top drive lifting ring, and an electro-hydraulic control unit 11 is installed in the side room (driller's room) of the drilling table.

[0026] The structure of the power catwalk 1 is that it includes a base 101 and a ramp 103. The base 101 plays a major supporting role. The upper end of the ramp 103 is overlapped at the front end of the drilling platform. A drill delivery column 102 is arranged along the ramp 103, and a small pulley 106 is installed on the drill delivery column 102. Pipe racks 104 are arranged in pairs on both sides of the base 101. The pipe racks 104 on each side are each connected to a deflecting cylinder on the outside. The angle of the pipe rack 104 is tilted by the telescopic deflecting cylinder, so that a single drill rod on it can be automatically rolled in (rolled out). The drill delivery column 102 can transport three drill rods at a time along the ramp 103 through the lifting winch 105, and the separation mechanism in the drill delivery column 102 can separate the three drill rods, ensuring that the small pulley 106 pushes one drill rod to the drilling platform at a time.

[0027] The structure of the power double mouse hole 2 is composed of a No. 1 mouse hole 201 and a No. 2 mouse hole 202. The No. 1 mouse hole 201 and the No. 2 mouse hole 202 are respectively configured with a lifting unit. The No. 1 mouse hole 201 and the No. 2 mouse hole 202 can automatically move left and right along the translation mechanism 203 to achieve the switching of the mouse hole positions.

[0028] The structure of the gantry 4 is that it includes two columns 401, which are hingedly arranged at the left and right sides of the front end of the drilling platform. The two columns 401 are respectively provided with guide rails on the inner sides close to the center line of the wellhead. The upper and middle sections of the two columns 401 are firmly hinged to the derrick through three groups of support beams 402 to ensure overall stability.

[0029] The structure of the pipe grabbing manipulator 3 is as follows: the pulley frame 301 and the mechanical arm 302. The pulley frame 301 serves as the installation base of the pipe grabbing manipulator 3. Rollers are arranged on both sides of the pulley frame 301. The pulley frame 301 can move up and down along the guide rail in the gantry 4 through the rollers. The rear end of the mechanical arm 302 is hinged on the pulley frame 301. One end of the variable amplitude hydraulic cylinder 307 is hinged to the pulley frame 301, and the other end is hinged to the mechanical arm 302. The variable amplitude hydraulic cylinder 307 can realize the variable amplitude swing arm of the mechanical arm 302 to adjust the working radius. The front end of the mechanical arm 302 is hinged to the middle part of the clamp frame 303. The mechanical arm 302 The middle part is hinged to one end of the angle adjustment cylinder 306, and the other end of the angle adjustment cylinder 306 is hinged to the clamp frame 303. The angle adjustment cylinder 306 can adjust the angle of the clamp frame 303 when grasping the pipe; a clamp 304 is provided in the middle and lower parts of the clamp frame 303, and a supporting clamp 305 is provided on the upper part of the clamp frame 303; it also includes a pulley mechanism 309, the pulley mechanism 309 is composed of two groups of fixed pulleys and a steel wire rope, one end of the steel wire rope passes through the fixed pulley and is connected to the pulley frame 301, and the other end of the steel wire rope is connected to the drill table winch 308. When the winch 308 is running, the pulley mechanism 309 is used to realize the lifting or lowering of the pipe grabbing manipulator 3.

[0030] When the power catwalk 1 delivers the pipe string to the drilling floor, the drilling floor manipulator 5 is offset to the front platform on the right side of the drilling floor through the L-shaped track to avoid it. The drilling floor manipulator 5 has a clamping function to realize the clamping and transfer of the pipe string stand between the wellhead, the mouse hole, and the stand box. The weight of the pipe string is completely borne by the drilling floor manipulator 5, which reduces the requirements of the stand load on the derrick strength.

[0031] The second-floor platform manipulator 6 is used to realize the support and transfer of the pipe string stand between the wellhead, rathole and second-floor platform. The iron roughneck 7 is used to realize the make-up and make-out, make-up, thread oil application and mud blowout prevention of the pipe string. The buffer manipulator 8 is used to realize the buffering and straightening of the drill pipe, drill collar, casing and other pipe strings between the power catwalk 1 and the wellhead. The power slip 9 is used to realize the automatic clamping of the pipe string at the wellhead. The hydraulic elevator 10 is used to realize the automatic buckling and suspension of the pipe string. The electro-hydraulic control unit 11 is used to realize the centralized control of the above-mentioned related automation equipment.

[0032] The above-mentioned power catwalk 1, power double mousehole 2, pipe grabbing manipulator 3, drilling platform manipulator 5, second-layer platform manipulator 6, iron roughneck 7, buffer manipulator 8, power slips 9, and hydraulic elevator 10 are all connected with the signal control of the electro-hydraulic control unit 11 to achieve coordinated work.

[0033] The root processing method of the present invention is divided into a root establishment method and a root removal method according to the work flow.

[0034] First, establish the root method, using the above-mentioned drilling rig string automation system, and implement it according to the following steps:

[0035] Step 1: Deliver the first drill pipe.

[0036] Reference Figure 4a , Figure 4b The pipe rack 104 rolls three drill rods into the drill delivery column 102 of the power catwalk 1 at a time. The power catwalk 1 transports the three drill rods to the drilling table. The small pulley 106 pushes the first drill rod out of the drill delivery column. The pipe grabbing manipulator 3 descends to the appropriate position on the drilling table. The clamp frame 303 is parallel to the first drill rod through the automatic action of the amplitude cylinder 307 and the angle adjustment cylinder 306. The clamping clamp 304 and the supporting clamp 305 are opened, and the pipe grabbing manipulator 3 grabs the first drill rod. The two clamps 304 are closed, the pipe grabbing manipulator 3 is lifted, and the first drill pipe reaches the top of the No. 1 rat hole 201 located on the center line of the wellhead and is in a vertical state through the automatic action of the amplitude cylinder 307 and the angle adjustment cylinder 306. The pipe grabbing manipulator 3 is lowered to make the first drill pipe enter the No. 1 rat hole 201, the two clamps 304 are opened, and the No. 1 rat hole 201 is lifted by the lifting unit so that the upper end of the first drill pipe is exposed about 1 meter above the drilling table, and the pipe grabbing manipulator 3 returns to the standby position again;

[0037] Step 2: Deliver the second drill pipe.

[0038] Reference Figure 5a , Figure 5b , the power double mouse hole 2 moves to the left through the translation mechanism 203 so that the No. 2 mouse hole 202 is on the center line of the wellhead, the small pulley 106 pushes the second drill rod out to deliver the drill string, and the pipe grabbing manipulator 3 descends to a suitable position on the drilling table, and the clamp frame 303 is parallel to the second drill rod through the automatic action of the variable amplitude cylinder 307 and the angle adjustment cylinder 306, the clamping clamp 304 and the supporting clamp 305 are both opened, the pipe grabbing manipulator 3 grabs the second drill rod, the two clamping clamps 304 are closed, and the pipe grabbing manipulator 3 is lifted up, and the second drill rod reaches the top of the No. 2 mouse hole 202 and is in a vertical state through the automatic action of the variable amplitude cylinder 307 and the angle adjustment cylinder 306, the pipe grabbing manipulator 3 is lowered to make the second drill rod enter the No. 2 mouse hole 202, the two clamping clamps 304 are opened, and the No. 2 mouse hole 202 makes the upper end of the first drill rod exposed about 1 meter from the drilling table through the lifting unit, and the pipe grabbing manipulator 3 returns to the standby position again;

[0039] Step 3: Deliver the third drill pipe and build two single columns.

[0040] Reference Figure 6a , Figure 6b, the small pulley 106 pushes out the third drill rod to deliver the drill string, the pipe grabbing manipulator 3 descends to a suitable position on the drilling table, and the clamp frame 303 is parallel to the third drill rod through the automatic action of the variable amplitude hydraulic cylinder 307 and the angle adjustment hydraulic cylinder 306, the clamping clamp 304 and the supporting clamp 305 are both opened, the pipe grabbing manipulator 3 grabs the third drill rod, the two clamping clamps 304 are closed, and the pipe grabbing manipulator 3 is lifted up, and the third drill rod reaches the top of the No. 2 mouse hole 202 and is in a vertical state through the automatic action of the variable amplitude hydraulic cylinder 307 and the angle adjustment hydraulic cylinder 306, the pipe grabbing manipulator 3 is lowered to align the male buckle of the third drill rod with the female buckle of the second drill rod in the No. 2 mouse hole 202, the supporting clamp 305 is closed, and the two clamping clamps 304 are opened, and the iron driller 7 runs to the No. 2 mouse hole 202 to complete the buckling, and the two single columns are built.

[0041] Step 4: Build three single columns.

[0042] Reference Figure 7a , Figure 7b , rat hole No. 202 lifts two single columns, the two clamping tongs 304 of the pipe grabbing manipulator 3 are closed, and the supporting tongs 305 are opened. The pipe grabbing manipulator 3 lifts the two single columns out of rat hole No. 202, and the power double rat hole 2 moves to the right through the translation mechanism 203 to make rat hole No. 1 201 on the center line of the wellhead, and the pipe grabbing manipulator 3 is lowered to make the male buckles at the lower ends of the two single columns aligned with the female buckle of the first drill pipe in rat hole No. 1 201, the supporting tongs 305 are closed, and the two clamping tongs 304 are opened. The iron driller 7 runs to rat hole No. 1 201 to complete the buckling, and three single columns are built; rat hole No. 1 201 lifts three single columns.

[0043] Step 5: Three single columns are arranged.

[0044] Reference Figure 8a , Figure 8b , the two clamps 304 of the pipe grabbing manipulator 3 are closed, the supporting clamps 305 are opened, and the pipe grabbing manipulator 3 lifts the three single columns out of the No. 1 rat hole 201. The drilling platform manipulator 5 and the second-floor platform manipulator 6 move synchronously to the No. 1 rat hole 201, the drilling platform manipulator 5 clamps the lower end of the column, the second-floor platform manipulator 6 supports the upper end of the column, and the two clamps 304 of the pipe grabbing manipulator 3 are opened and returned to the standby position; the drilling platform manipulator 5 and the second-floor platform manipulator 6 move synchronously to discharge the three single columns from the top of the No. 1 rat hole 201 to the second-floor platform finger beam and the drilling platform surface root box, so far, a complete three-single root establishment process is completed.

[0045] Second, the root removal method,

[0046] The method of dismantling the stand in the present invention is basically the reverse process of the above-mentioned method of establishing the stand. It should be noted that when it is necessary to trip the drill, it is only necessary to take out the drill pipe in the wellhead and dismantle it into three single columns and store them in the second-level platform and the stand box area. In addition, when running the casing, it is only necessary to transport the power catwalk 1 to the wellhead and buckle it with the iron roughneck 7.

[0047] Based on the above considerations, the root removal method of the present invention is briefly described as follows:

[0048] A) When drilling, the drilling floor manipulator 5 and the second-level platform manipulator 6 operate synchronously, and the bottom clamping and top supporting mode is adopted to hand over the stand pipes with the hydraulic elevator 10 and the power slip 9 at the wellhead, and the stand pipes are discharged or grabbed to the second-level platform and the stand pipe platform, and the iron roughneck 7 performs the make-up and break-out operations;

[0049] During this process, the power catwalk 1, the power double mouse hole 2, the pipe grabbing manipulator 3, and the buffer manipulator 8 do not participate in the work;

[0050] B) When running casing, the power catwalk 1 delivers the casing to the drilling table, the hydraulic elevator 10 engages the upper end of the casing and lifts it up, the buffer manipulator 8 performs buffering and straightening to the wellhead, and the iron roughneck 7 performs the buckling operation;

[0051] During this process, other devices do not participate in the work.

[0052] Example 1

[0053] This embodiment 1 is a method for establishing three single roots, which is implemented according to the following steps:

[0054] Step 1: Deliver the first drill pipe.

[0055] Reference Figure 4a , Figure 4b The pipe rack 104 rolls three drill rods into the drill delivery column 102 of the power catwalk 1 at a time. The power catwalk 1 transports the three drill rods to the drilling table. The small pulley 106 pushes the first drill rod out of the drill delivery column. The pipe grabbing manipulator 3 descends to the appropriate position on the drilling table. The clamp frame 303 is parallel to the first drill rod through the automatic action of the amplitude cylinder 307 and the angle adjustment cylinder 306. The clamping clamp 304 and the supporting clamp 305 are opened, and the pipe grabbing manipulator 3 grabs the first drill rod. The two clamps 304 are closed, the pipe grabbing manipulator 3 is lifted, and the first drill pipe reaches the top of the No. 1 rat hole 201 located on the center line of the wellhead and is in a vertical state through the automatic action of the amplitude cylinder 307 and the angle adjustment cylinder 306. The pipe grabbing manipulator 3 is lowered to make the first drill pipe enter the No. 1 rat hole 201, the two clamps 304 are opened, and the No. 1 rat hole 201 is lifted by the lifting unit so that the upper end of the first drill pipe is exposed about 1 meter above the drilling table, and the pipe grabbing manipulator 3 returns to the standby position again;

[0056] Step 2: Deliver the second drill pipe.

[0057] Reference Figure 5a , Figure 5b , the power double mouse hole 2 moves to the left through the translation mechanism 203 so that the No. 2 mouse hole 202 is on the center line of the wellhead, the small pulley 106 pushes the second drill rod out to deliver the drill string, and the pipe grabbing manipulator 3 descends to a suitable position on the drilling table, and the clamp frame 303 is parallel to the second drill rod through the automatic action of the variable amplitude cylinder 307 and the angle adjustment cylinder 306, the clamping clamp 304 and the supporting clamp 305 are both opened, the pipe grabbing manipulator 3 grabs the second drill rod, the two clamping clamps 304 are closed, and the pipe grabbing manipulator 3 is lifted up, and the second drill rod reaches the top of the No. 2 mouse hole 202 and is in a vertical state through the automatic action of the variable amplitude cylinder 307 and the angle adjustment cylinder 306, the pipe grabbing manipulator 3 is lowered to make the second drill rod enter the No. 2 mouse hole 202, the two clamping clamps 304 are opened, and the No. 2 mouse hole 202 makes the upper end of the first drill rod exposed about 1 meter from the drilling table through the lifting unit, and the pipe grabbing manipulator 3 returns to the standby position again;

[0058] Step 3: Deliver the third drill pipe and build two single columns.

[0059] Reference Figure 6a , Figure 6b , the small pulley 106 pushes out the third drill rod to deliver the drill string, the pipe grabbing manipulator 3 descends to a suitable position on the drilling table, and the clamp frame 303 is parallel to the third drill rod through the automatic action of the variable amplitude hydraulic cylinder 307 and the angle adjustment hydraulic cylinder 306, the clamping clamp 304 and the supporting clamp 305 are both opened, the pipe grabbing manipulator 3 grabs the third drill rod, the two clamping clamps 304 are closed, and the pipe grabbing manipulator 3 is lifted up, and the third drill rod reaches the top of the No. 2 mouse hole 202 and is in a vertical state through the automatic action of the variable amplitude hydraulic cylinder 307 and the angle adjustment hydraulic cylinder 306, the pipe grabbing manipulator 3 is lowered to align the male buckle of the third drill rod with the female buckle of the second drill rod in the No. 2 mouse hole 202, the supporting clamp 305 is closed, and the two clamping clamps 304 are opened, and the iron driller 7 runs to the No. 2 mouse hole 202 to complete the buckling, and the two single columns are built.

[0060] Step 4: Build three single columns.

[0061] Reference Figure 7a , Figure 7b , rat hole No. 202 lifts two single columns, the two clamping tongs 304 of the pipe grabbing manipulator 3 are closed, and the supporting tongs 305 are opened. The pipe grabbing manipulator 3 lifts the two single columns out of rat hole No. 202, and the power double rat hole 2 moves to the right through the translation mechanism 203 to make rat hole No. 1 201 on the center line of the wellhead, and the pipe grabbing manipulator 3 is lowered to make the male buckles at the lower ends of the two single columns aligned with the female buckle of the first drill pipe in rat hole No. 1 201, the supporting tongs 305 are closed, and the two clamping tongs 304 are opened. The iron driller 7 runs to rat hole No. 1 201 to complete the buckling, and three single columns are built; rat hole No. 1 201 lifts three single columns.

[0062] Step 5: Three single columns are arranged.

[0063] Reference Figure 8a , Figure 8b , the two clamps 304 of the pipe grabbing manipulator 3 are closed, the supporting clamps 305 are opened, and the pipe grabbing manipulator 3 lifts the three single columns out of the No. 1 rat hole 201. The drilling platform manipulator 5 and the second-floor platform manipulator 6 move synchronously to the No. 1 rat hole 201, the drilling platform manipulator 5 clamps the lower end of the column, the second-floor platform manipulator 6 supports the upper end of the column, and the two clamps 304 of the pipe grabbing manipulator 3 are opened and then return to the standby position; the drilling platform manipulator 5 and the second-floor platform manipulator 6 move synchronously to discharge the three single columns from the top of the No. 1 rat hole 201 to the second-floor platform finger beam and the drilling platform surface root box, completing a complete three-single root establishment process.

[0064] Example 2

[0065] Different from Example 1, this Example 2 only needs to build three single columns and is implemented according to the following steps:

[0066] Step 1: Deliver the first drill pipe.

[0067] Reference Figure 4a , Figure 4b The pipe rack 104 rolls three drill rods into the drill delivery column 102 of the power catwalk 1 at a time. The power catwalk 1 transports the three drill rods to the drilling table. The small pulley 106 pushes the first drill rod out of the drill delivery column. The pipe grabbing manipulator 3 descends to the appropriate position on the drilling table. The clamp frame 303 is parallel to the first drill rod through the automatic action of the amplitude cylinder 307 and the angle adjustment cylinder 306. The clamping clamp 304 and the supporting clamp 305 are opened, and the pipe grabbing manipulator 3 grabs the first drill rod. The two clamps 304 are closed, the pipe grabbing manipulator 3 is lifted, and the first drill pipe reaches the top of the No. 1 rat hole 201 located on the center line of the wellhead and is in a vertical state through the automatic action of the amplitude cylinder 307 and the angle adjustment cylinder 306. The pipe grabbing manipulator 3 is lowered to make the first drill pipe enter the No. 1 rat hole 201, the two clamps 304 are opened, and the No. 1 rat hole 201 is lifted by the lifting unit so that the upper end of the first drill pipe is exposed about 1 meter above the drilling table, and the pipe grabbing manipulator 3 returns to the standby position again;

[0068] Step 2: Deliver the second drill pipe.

[0069] Reference Figure 5a , Figure 5b, the power double mouse hole 2 moves to the left through the translation mechanism 203 so that the No. 2 mouse hole 202 is on the center line of the wellhead, the small pulley 106 pushes the second drill rod out to deliver the drill string, and the pipe grabbing manipulator 3 descends to a suitable position on the drilling table, and the clamp frame 303 is parallel to the second drill rod through the automatic action of the variable amplitude cylinder 307 and the angle adjustment cylinder 306, the clamping clamp 304 and the supporting clamp 305 are both opened, the pipe grabbing manipulator 3 grabs the second drill rod, the two clamping clamps 304 are closed, and the pipe grabbing manipulator 3 is lifted up, and the second drill rod reaches the top of the No. 2 mouse hole 202 and is in a vertical state through the automatic action of the variable amplitude cylinder 307 and the angle adjustment cylinder 306, the pipe grabbing manipulator 3 is lowered to make the second drill rod enter the No. 2 mouse hole 202, the two clamping clamps 304 are opened, and the No. 2 mouse hole 202 makes the upper end of the first drill rod exposed about 1 meter from the drilling table through the lifting unit, and the pipe grabbing manipulator 3 returns to the standby position again;

[0070] Step 3: Deliver the third drill pipe and build two single columns.

[0071] Reference Figure 6a , Figure 6b , the small pulley 106 pushes out the third drill rod to deliver the drill string, the pipe grabbing manipulator 3 descends to a suitable position on the drilling table, and the clamp frame 303 is parallel to the third drill rod through the automatic action of the variable amplitude hydraulic cylinder 307 and the angle adjustment hydraulic cylinder 306, the clamping clamp 304 and the supporting clamp 305 are both opened, the pipe grabbing manipulator 3 grabs the third drill rod, the two clamping clamps 304 are closed, and the pipe grabbing manipulator 3 is lifted up, and the third drill rod reaches the top of the No. 2 mouse hole 202 and is in a vertical state through the automatic action of the variable amplitude hydraulic cylinder 307 and the angle adjustment hydraulic cylinder 306, the pipe grabbing manipulator 3 is lowered to align the male buckle of the third drill rod with the female buckle of the second drill rod in the No. 2 mouse hole 202, the supporting clamp 305 is closed, and the two clamping clamps 304 are opened, and the iron driller 7 runs to the No. 2 mouse hole 202 to complete the buckling, and the two single columns are built.

[0072] Step 4: Build three single columns.

[0073] Reference Figure 7a , Figure 7b , rat hole No. 202 lifts two single columns, the two clamping tongs 304 of the pipe grabbing manipulator 3 are closed, and the supporting tongs 305 are opened. The pipe grabbing manipulator 3 lifts the two single columns out of rat hole No. 202, and the power double rat hole 2 moves to the right through the translation mechanism 203 to make rat hole No. 1 201 on the center line of the wellhead, and the pipe grabbing manipulator 3 is lowered to make the male buckles at the lower ends of the two single columns aligned with the female buckle of the first drill pipe in rat hole No. 1 201, the supporting tongs 305 are closed, and the two clamping tongs 304 are opened. The iron driller 7 runs to rat hole No. 1 201 to complete the buckling, and three single columns are built; rat hole No. 1 201 lifts three single columns.

[0074] Example 3

[0075] Different from Example 1, Example 3 only needs to build two single columns and is implemented according to the following steps:

[0076] Step 1: Deliver the first drill pipe.

[0077] Reference Figure 4a , Figure 4b The pipe rack 104 rolls three drill rods into the drill delivery column 102 of the power catwalk 1 at a time. The power catwalk 1 transports the three drill rods to the drilling table. The small pulley 106 pushes the first drill rod out of the drill delivery column. The pipe grabbing manipulator 3 descends to the appropriate position on the drilling table. The clamp frame 303 is parallel to the first drill rod through the automatic action of the amplitude cylinder 307 and the angle adjustment cylinder 306. The clamping clamp 304 and the supporting clamp 305 are opened, and the pipe grabbing manipulator 3 grabs the first drill rod. The two clamps 304 are closed, the pipe grabbing manipulator 3 is lifted, and the first drill pipe reaches the top of the No. 1 rat hole 201 located on the center line of the wellhead and is in a vertical state through the automatic action of the amplitude cylinder 307 and the angle adjustment cylinder 306. The pipe grabbing manipulator 3 is lowered to make the first drill pipe enter the No. 1 rat hole 201, the two clamps 304 are opened, and the No. 1 rat hole 201 is lifted by the lifting unit so that the upper end of the first drill pipe is exposed about 1 meter above the drilling table, and the pipe grabbing manipulator 3 returns to the standby position again;

[0078] Step 2: Deliver the second drill pipe.

[0079] Reference Figure 5a , Figure 5b , the power double mouse hole 2 moves to the left through the translation mechanism 203 so that the No. 2 mouse hole 202 is on the center line of the wellhead, the small pulley 106 pushes the second drill rod out to deliver the drill string, and the pipe grabbing manipulator 3 descends to a suitable position on the drilling table, and the clamp frame 303 is parallel to the second drill rod through the automatic action of the variable amplitude cylinder 307 and the angle adjustment cylinder 306, the clamping clamp 304 and the supporting clamp 305 are both opened, the pipe grabbing manipulator 3 grabs the second drill rod, the two clamping clamps 304 are closed, and the pipe grabbing manipulator 3 is lifted up, and the second drill rod reaches the top of the No. 2 mouse hole 202 and is in a vertical state through the automatic action of the variable amplitude cylinder 307 and the angle adjustment cylinder 306, the pipe grabbing manipulator 3 is lowered to make the second drill rod enter the No. 2 mouse hole 202, the two clamping clamps 304 are opened, and the No. 2 mouse hole 202 makes the upper end of the first drill rod exposed about 1 meter from the drilling table through the lifting unit, and the pipe grabbing manipulator 3 returns to the standby position again;

[0080] Step 3: Deliver the third drill pipe and build two single columns.

[0081] Reference Figure 6a , Figure 6b, the small pulley 106 pushes out the third drill rod to deliver the drill string, the pipe grabbing manipulator 3 descends to a suitable position on the drilling table, and the clamp frame 303 is parallel to the third drill rod through the automatic action of the variable amplitude hydraulic cylinder 307 and the angle adjustment hydraulic cylinder 306, the clamping clamp 304 and the supporting clamp 305 are both opened, the pipe grabbing manipulator 3 grabs the third drill rod, the two clamping clamps 304 are closed, and the pipe grabbing manipulator 3 is lifted up, and the third drill rod reaches the top of the No. 2 mouse hole 202 and is in a vertical state through the automatic action of the variable amplitude hydraulic cylinder 307 and the angle adjustment hydraulic cylinder 306, the pipe grabbing manipulator 3 is lowered to align the male buckle of the third drill rod with the female buckle of the second drill rod in the No. 2 mouse hole 202, the supporting clamp 305 is closed, and the two clamping clamps 304 are opened, and the iron driller 7 runs to the No. 2 mouse hole 202 to complete the buckling, and the two single columns are built.

[0082] Example 4

[0083] This embodiment 4 is a method for removing roots, and the process is briefly described as follows:

[0084] A) When drilling, the drilling floor manipulator 5 and the second-level platform manipulator 6 operate synchronously, and the bottom clamping and top supporting mode is adopted to hand over the stand pipes with the hydraulic elevator 10 and the power slip 9 at the wellhead, and the stand pipes are discharged or grabbed to the second-level platform and the stand pipe platform, and the iron roughneck 7 performs the make-up and break-out operations;

[0085] During this process, the power catwalk 1, the power double mouse hole 2, the pipe grabbing manipulator 3, and the buffer manipulator 8 do not participate in the work;

[0086] B) When running casing, the power catwalk 1 delivers the casing to the drilling table, the hydraulic elevator 10 engages the upper end of the casing and lifts it up, the buffer manipulator 8 performs buffering and straightening to the wellhead, and the iron roughneck 7 performs the buckling operation;

[0087] During this process, other devices do not participate in the work.

Claims

1. An automated system for drilling rig pipe strings that independently establishes roots, characterized in that: The invention comprises a power catwalk (1) arranged on the ground in front of the drilling rig, a power double mouse hole (2) arranged in front of the wellhead and beside the turntable, a gantry (4) arranged in front of the drilling table, a pipe grabbing manipulator (3) installed on the gantry (4), a drilling table manipulator (5) installed in the middle channel between the left and right root boxes of the drilling table, a second-floor platform manipulator (6) installed at the second-floor platform position of the derrick, an iron roughneck (7) installed on the right side of the drilling table, a buffer manipulator (8) installed on the back crossbeam of the derrick, a power slip (9) installed at the wellhead, a hydraulic elevator (10) installed below the top drive lifting ring, and an electro-hydraulic control unit (11) installed in the side room of the drilling table.

2. The drilling rig pipe string automation system for independently establishing roots according to claim 1 is characterized in that: The structure of the power catwalk (1) comprises a base (101) and a ramp (103), wherein the upper end of the ramp (103) is overlapped at the front end of the drilling platform, a drill delivery column (102) is arranged along the ramp (103), and a small pulley (106) is installed on the drill delivery column (102); pipe racks (104) are arranged in pairs on both sides of the base (101), and the outside of each pipe rack (104) is respectively connected to a deflection cylinder.

3. The drilling rig pipe string automation system for independently establishing roots according to claim 1 is characterized in that: The structure of the gantry (4) is that it includes two columns (401), which are hingedly arranged at the left and right sides of the front end of the drilling platform, and the inner sides of the two columns (401) close to the center line of the wellhead are respectively provided with guide rails, and the upper and middle sections of the two columns (401) are hingedly connected to the derrick through three groups of support beams (402).

4. The drilling rig pipe string automation system for independently establishing roots according to claim 1 is characterized in that: The structure of the pipe grabbing manipulator (3) is as follows: it comprises a pulley frame (301) and a mechanical arm (302), and rollers are arranged on both sides of the pulley frame (301); the rear end of the mechanical arm (302) is hinged on the pulley frame (301), one end of the variable amplitude hydraulic cylinder (307) is hinged to the pulley frame (301), and the other end is hinged to the mechanical arm (302); the front end of the mechanical arm (302) is hinged to the middle part of the clamp frame (303), the middle part of the mechanical arm (302) is hinged to one end of the angle adjustment hydraulic cylinder (306), and the other end of the angle adjustment hydraulic cylinder (306) is hinged to the clamp frame (303); a clamping clamp (304) is arranged in the middle and lower parts of the clamp frame (303), and a supporting clamp (305) is arranged on the upper part of the clamp frame (303); The pulley mechanism (309) is also included. The pulley mechanism (309) is composed of multiple groups of fixed pulleys and steel wire ropes. One end of the steel wire rope is connected to the pulley frame (301) after passing through the fixed pulleys, and the other end of the steel wire rope is connected to the drilling table winch (308).

5. The drilling rig pipe string automation system for independently establishing roots according to claim 1 is characterized in that: The drilling floor manipulator (5) has a clamping function to realize the clamping and transfer of the pipe column stand between the wellhead, the mouse hole and the stand box; The second-layer platform manipulator (6) is used to realize the support and transfer of the pipe column stand between the wellhead, the mouse hole and the second-layer platform; The iron roughneck (7) is used to realize the make-up and make-out, make-up, thread oil application and mud blowout prevention of the pipe string; The buffer manipulator (8) is used to achieve buffering and straightening of the drill pipe, drill collar and casing between the power catwalk (1) and the wellhead; The power slip (9) is used to realize automatic clamping of the pipe string at the wellhead; The hydraulic elevator (10) is used to realize automatic buckling and suspension of the pipe column; The electro-hydraulic control unit (11) is used to control the above-mentioned related equipment.

6. The drilling rig pipe string automation system for independently establishing roots according to claim 1 is characterized in that: The power catwalk (1), the power double mousehole (2), the pipe grabbing manipulator (3), the drilling platform manipulator (5), the second-layer platform manipulator (6), the iron roughneck (7), the buffer manipulator (8), the power slips (9), and the hydraulic elevator (10) are all connected to the signal control of the electro-hydraulic control unit (11) to achieve coordinated work.

7. A root processing method, using the drilling rig pipe string automation system for independently establishing roots according to any one of claims 1 to 6, characterized in that: According to the workflow, it is divided into root establishment method and root removal method.

8. The method for treating pipe roots according to claim 7, characterized in that: The method for establishing a root is implemented according to the following steps: Step 1: Deliver the first drill pipe. The pipe rack (104) rolls three drill rods into the drill delivery column (102) of the power catwalk (1) at a time. The power catwalk (1) transports the three drill rods to the drilling table. The small pulley (106) pushes the first drill rod out of the drill delivery column. The pipe grabbing manipulator (3) descends to a suitable position on the drilling table. The variable amplitude hydraulic cylinder (307) and the angle adjustment hydraulic cylinder (306) automatically move the clamp frame (303) parallel to the first drill rod. The clamping clamp (304) and the supporting clamp (305) are both opened. The pipe grabbing manipulator (3) grabs the first drill rod. A drill pipe, two clamps (304) are closed, the pipe grabbing manipulator (3) is lifted up, and the first drill pipe reaches the top of the No. 1 rat hole (201) located on the center line of the wellhead and is in a vertical state through the automatic action of the amplitude change hydraulic cylinder (307) and the angle adjustment hydraulic cylinder (306), the pipe grabbing manipulator (3) is lowered to make the first drill pipe enter the No. 1 rat hole (201), the two clamps (304) are opened, the No. 1 rat hole (201) is lifted by the lifting unit so that the upper end of the first drill pipe is exposed 1 meter above the drilling table, and the pipe grabbing manipulator (3) returns to the standby position; Step 2: Deliver the second drill pipe. The power double mouse hole (2) moves to the left through the translation mechanism (203) so that the No. 2 mouse hole (202) is located on the center line of the wellhead. The small pulley (106) pushes the second drill pipe out of the drill string. The pipe grabbing manipulator (3) descends to a suitable position on the drilling table. The clamp frame (303) is parallel to the second drill pipe through the automatic action of the variable amplitude hydraulic cylinder (307) and the angle adjustment hydraulic cylinder (306). The clamping clamp (304) and the supporting clamp (305) are both opened. The pipe grabbing manipulator (3) grabs the second drill pipe. The clamps (304) at the two locations are closed, the pipe grabbing manipulator (3) is lifted, and the second drill rod reaches the top of the No. 2 mouse hole (202) and is in a vertical state through the automatic action of the amplitude-changing hydraulic cylinder (307) and the angle-adjusting hydraulic cylinder (306), the pipe grabbing manipulator (3) is lowered to allow the second drill rod to enter the No. 2 mouse hole (202), the two clamps (304) are opened, and the No. 2 mouse hole (202) is lifted by the lifting unit so that the upper end of the first drill rod is exposed 1 meter above the drilling table, and the pipe grabbing manipulator (3) returns to the standby position again; Step 3: Deliver the third drill pipe and build two single columns. The small pulley (106) pushes the third drill rod out of the drill string, and the pipe grabbing manipulator (3) is lowered to a suitable position on the drilling table. The clamp frame (303) is parallel to the third drill rod through the automatic action of the amplitude cylinder (307) and the angle adjustment cylinder (306). The clamping clamp (304) and the supporting clamp (305) are both opened, and the pipe grabbing manipulator (3) grabs the third drill rod. The two clamping clamps (304) are closed, and the pipe grabbing manipulator (3) is lifted up. The automatic action of the variable amplitude hydraulic cylinder (307) and the angle adjustment hydraulic cylinder (306) causes the third drill rod to reach the top of the No. 2 mouse hole (202) and be in a vertical state. The pipe grabbing manipulator (3) is lowered to align the male buckle of the third drill rod with the female buckle of the second drill rod in the No. 2 mouse hole (202). The supporting clamp (305) is closed, and the two clamping clamps (304) are opened. The iron driller (7) moves to the No. 2 mouse hole (202) to complete the buckling, and the two single columns are built. Step 4: Build three single columns. The No. 2 rat hole (202) lifts up two single columns, the two clamping tongs (304) of the pipe grabbing manipulator (3) are closed, the supporting tongs (305) are opened, the pipe grabbing manipulator (3) lifts up the two single columns out of the No. 2 rat hole (202), the power double rat hole (2) moves to the right through the translation mechanism (203) so that the No. 1 rat hole (201) is located on the wellhead center line, the pipe grabbing manipulator (3) is lowered so that the male buckles at the lower ends of the two single columns are aligned with the female buckle of the first drill pipe in the No. 1 rat hole (201), the supporting tongs (305) are closed, the two clamping tongs (304) are opened, the iron driller (7) moves to the No. 1 rat hole (201) to complete the buckling, and the three single columns are built; the No. 1 rat hole (201) lifts up three single columns; Step 5: Three single columns are arranged. The two clamping tongs (304) of the pipe grabbing manipulator (3) are closed, the supporting tongs (305) are opened, and the pipe grabbing manipulator (3) lifts the three single columns out of the No. 1 rat hole (201); the drilling platform manipulator (5) and the second-floor platform manipulator (6) synchronously run to the No. 1 rat hole (201), the drilling platform manipulator (5) clamps the lower end of the column, the second-floor platform manipulator (6) supports the upper end of the column, and the two clamping tongs (304) of the pipe grabbing manipulator (3) are opened and then returned to the standby position; the drilling platform manipulator (5) and the second-floor platform manipulator (6) synchronously run to discharge the three single columns from the top of the No. 1 rat hole (201) to the second-floor platform finger beam and the drilling platform surface root box, completing a complete three-single root establishment process.

9. The method for treating pipe roots according to claim 7, characterized in that: The process of the root removal method is briefly described as follows: A) When drilling, the drilling floor manipulator (5) and the second-level platform manipulator (6) operate synchronously, and adopt the lower clamping and upper supporting mode to connect the stand with the hydraulic elevator (10) and the power slip (9) at the wellhead, discharge or grab the stand to the second-level platform and the stand platform, and the iron driller (7) performs the make-up and break-out operation; B) When lowering the casing, the power catwalk (1) conveys the casing to the drilling table, the hydraulic elevator (10) engages the upper end of the casing and then lifts it up, the buffer manipulator (8) performs buffering and straightening to the wellhead, and the iron roughneck (7) performs the buckling operation.

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