Robot system for storing and processing tubular column and operation method of robot system

Abstract

The invention relates to a robot system for pipe column storage and treatment and an operation method of the robot system. The site robot system comprises a pipe column treatment robot, a multifunctional pipe row frame, a power slip, a power rat hole, a traveling and hoisting assembly and a buffering mechanical arm. The pipe column processing robot is installed on one side of the drilling platform, the multifunctional pipe row frame is installed on the ground, the power slip is installed on a well mouth, the power mouse hole is installed on the drilling platform, and the multifunctional pipe row frame is used for conveying and connecting a pipe column to the pipe column processing robot in a vertical state after carrying out protection wire dismounting, drift diameter length measurement, buckle cleaning oil coating and code spraying on the pipe column. The pipe column processing robot can convey a pipe column to the position of a well mouth to build and disassemble a stand column, or build and disassemble the stand column at the position of a power mouse hole, and has the beneficial effects that the pipe column conveying path is optimized, integration and unmanned operation of stand column combination and disassembly are achieved, and the operation efficiency and safety are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas drilling, and in particular to a robot system for pipe string storage and processing and an operation method thereof. Background Art

[0002] The derrick is a device used to place overhead cranes, traveling blocks, hooks, lifting rings, elevators and other equipment during the drilling process of oil drilling rigs, as well as to lift and store pipe strings, oil pipes and sucker rods. The derrick is composed of a main body, overhead crane platform, overhead crane frame, second-level platform, riser platform and working ladder. The second-level platform is the workplace for derrick workers to carry out drilling operations, which includes a monkey platform for derrick workers and a finger beam for storing pipe strings. The pipe string is an important component in oil drilling as a rod that connects and transmits power in the drilling tool.

[0003] At present, with the improvement of the automation level of oil drilling operations, wellhead oil devices with high automation are being used more and more widely. Among them, the power catwalk is an indispensable and important equipment for the transportation of pipe strings between the drilling platform and the ground. During the operation of the drilling platform, it is necessary to connect and assemble single pipe strings into columns. Usually, it is necessary to manually clean and oil the pipe strings, remove the wire guards, and then transfer the single pipe strings to the drilling platform through the winch and power catwalk. The labor intensity is high and there are safety risks. In addition, the traditional power catwalk has the disadvantages of similar structure, low efficiency, low automation, high energy consumption, and large space occupation, which affects the efficiency of column assembly and disassembly. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a robot system for pipe storage and processing and an operating method thereof, which solves the technical problems of high labor intensity, safety risks and low operating efficiency of the prior art workers.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] On the one hand, the present invention provides a robot system for storing and processing pipe strings, including a pipe string processing robot, a multifunctional pipe rack, a power slip, a power rathole, a traveling hoist assembly and a buffer manipulator; the pipe string processing robot is installed on one side of a drilling platform, the multifunctional pipe rack is installed on the ground, the power slip is installed at the wellhead, the power rathole is installed on the drilling platform, and the traveling hoist assembly is installed on the derrick so as to be movable up and down; the buffer manipulator is installed on the derrick; the multifunctional pipe rack is used for handing over the pipe string to the pipe string processing robot in a vertical state after pre-processing; the pipe string processing robot can transport the pipe string to the wellhead or the power rathole position for buckling; the pipe string can be temporarily stored at the wellhead by means of the power slip; the power rathole can temporarily store, lift and straighten the pipe string.

[0009] Optionally, the pipe string handling robot includes a base, a lifting mechanism and a manipulator; the lifting mechanism is installed on the base, and the manipulator is installed on the lifting mechanism to drive the manipulator to lift vertically, and the manipulator can rotate and retract, thereby realizing the handover and transportation of pipe strings.

[0010] Optionally, the lifting mechanism includes a column, a mobile trolley, a drive assembly and a transmission assembly; the column is supported on the base, the mobile trolley is installed on the column so as to be movable up and down, the manipulator is installed on the mobile trolley, the drive assembly is installed on the base, and the drive assembly is connected to the mobile trolley through the transmission assembly installed on the column to drive the mobile trolley to move up and down along the column, thereby driving the manipulator to lift and lower vertically.

[0011] Optionally, two guide rails extending along the length direction are provided on the column; the moving trolley is supported on the two guide rails by two roller groups in a one-to-one correspondence; two first track plates extending along the length direction and a second track plate located at one end of the two first track plates are provided inside the guide rail; the roller group includes two first support rollers and two second support rollers; the two first support rollers are connected to the two second support rollers in a one-to-one correspondence to form two composite rollers; one side of the moving trolley is supported in a guide rail by two composite rollers, the first support roller is rollably supported on the first track plate, and the second support roller is rollably supported on the second track plate.

[0012] Optionally, the transmission assembly includes a driving sprocket, a chain and a driven sprocket; the driving sprocket is rotatably mounted on the base, the driven sprocket is rotatably mounted on the top of the column, the driving sprocket is connected to the driven sprocket through a chain, the moving trolley is connected to the chain, and the driving sprocket is connected to the driving assembly to drive the driving sprocket to rotate, and the rotation of the driving sprocket is converted into vertical lifting and lowering of the moving trolley along the column through the chain.

[0013] Optionally, the manipulator includes a manipulator arm assembly and a clamp assembly; the manipulator arm assembly includes a connecting arm, a swivel arm, a telescopic arm, a first rotation drive assembly and a second rotation drive assembly; the connecting arm is installed on the lifting mechanism, one end of the swivel arm is rotatably connected to the connecting arm through the first rotation drive assembly, the telescopic arm is rotatably connected to the other end of the swivel arm through the second rotation drive assembly, and the clamp assembly is installed on the telescopic end of the telescopic arm; the swivel arm can be driven to rotate in a horizontal plane through the first rotation drive assembly, and the telescopic arm can be driven to rotate in a horizontal plane through the second rotation drive assembly, and the telescopic arm can extend and contract to achieve the handover and transportation of pipe columns.

[0014] Optionally, the first rotary drive component includes a rotary driver, a rotary reducer, a driven shaft and a bearing assembly; the connecting arm has a first docking portion and a second docking portion; one end of the slewing arm has a first connecting portion and a second connecting portion; the rotary driver is connected to the rotary reducer, the rotary reducer is installed on the connecting arm, the transmission shaft of the rotary reducer passes through the first docking portion and the first connecting portion, and the transmission shaft of the rotary reducer and the first docking portion are rotatably connected through the bearing assembly, and the transmission shaft of the rotary reducer and the first connecting portion are fixedly connected; the driven shaft passes through the second docking portion and the second connecting portion, and the driven shaft and the second docking portion are rotatably connected through the bearing assembly, and the driven shaft and the second connecting portion are fixedly connected; the slewing arm is driven to rotate through the rotary driver via the rotary reducer.

[0015] Optionally, the bearing assembly includes a first cylindrical roller bearing and a second cylindrical roller bearing; the first cylindrical roller bearing is installed between the first docking portion and the transmission shaft of the rotary reducer, and the second cylindrical roller bearing is installed between the second docking portion and the driven shaft.

[0016] Optionally, the multifunctional pipe rack includes a bracket, a powered pipe racking leg, a pipe string transfer mechanism, two wire unloading and protecting mechanisms, a pipe string diameter adjustment mechanism, a pipe string length measuring mechanism, two cleaning and oiling mechanisms, a pipe feeding mechanism, a vertical track and a lifting manipulator; the powered pipe racking leg is arranged on one side of the bracket, the pipe string transfer mechanism is installed on the bracket, the two form a first station, a second station and a third station, the pipe feeding mechanism is installed on the bracket, the two form a fourth station, and the first station, the second station, the third station and the fourth station are arranged in sequence; the two wire unloading and protecting mechanisms are installed at both ends of the first station, the pipe string diameter adjustment mechanism and the pipe string length measuring mechanism are installed at both ends of the second station, and the two cleaning and oiling mechanisms are installed at both ends of the third station; the vertical track is installed at one end of the bracket, and the lifting manipulator is installed on the vertical track so as to be liftable, and the lifting manipulator can rotate in a vertical plane.

[0017] Optionally, the power rathole includes a rathole pipe body, a pipe string straightening mechanism, a pipe string lifting bottom support and a bottom support driving mechanism; the rathole pipe body is installed on the drilling platform, and the opening at the top thereof is flush with the platform surface of the drilling platform, the pipe string straightening mechanism is installed on the top of the rathole pipe body, the pipe string lifting bottom support is movably installed in the rathole pipe body, the bottom support driving mechanism is installed on the outside of the rathole pipe body, and the bottom support driving mechanism is connected to the pipe string lifting bottom support to drive the pipe string lifting bottom support to vertically rise and fall along the rathole pipe body

[0018] On the other hand, the present invention also provides an operation method of the above-mentioned field robot for oil and gas drilling, comprising the steps of:

[0019] S1. The multifunctional pipe rack delivers the pre-processed first pipe string to the pipe string processing robot in a vertical state; the pipe string processing robot inserts one end of the first pipe string into the power mouse hole and releases it, and the power mouse hole continues to lower the first pipe string to the buckling height and straightens it;

[0020] S2. The multifunctional pipe rack delivers the pre-processed second pipe string to the pipe string handling robot in a vertical state; the pipe string handling robot transports the second pipe string to the power mouse hole to be buckled with the first pipe string, and then the pipe string handling robot delivers the second pipe string to the traveling crane assembly;

[0021] S3, connect the first pipe string and the second pipe string to form a double pipe string by using the iron roughneck on the drilling platform; lift the double pipe string up and out of the power rathole by using the traveling hoist assembly, and during the lifting process, the double pipe string is hugged and straightened by the buffer manipulator on the derrick;

[0022] S4. The multifunctional pipe rack delivers the pre-processed third pipe string to the pipe string processing robot in a vertical state; the pipe string processing robot inserts one end of the third pipe string into the power mouse hole and releases it, and the power mouse hole continues to lower the third pipe string to the buckling height and straightens it;

[0023] S5. The traveling hoist assembly lowers the double pipe column and interlocks it with the third pipe column. The double pipe column and the third pipe column are connected to form a column through an iron drill.

[0024] On the other hand, the present invention also provides another operation method of the above-mentioned field robot for oil and gas drilling, comprising the steps of:

[0025] S1. The multifunctional pipe rack delivers the pre-treated first pipe string to the pipe string handling robot in a vertical state; the pipe string handling robot inserts one end of the first pipe string into the wellhead and delivers it to the traveling crane assembly, and the power slips clamp the first pipe string;

[0026] S2, the traveling and lifting assembly lifts the first tubular string until the power slip is released and the first tubular string is released, and then the traveling and lifting assembly lowers the first tubular string into the wellhead to the locking height, the power slip is clamped and clamps the first tubular string, and the traveling and lifting assembly releases the first tubular string;

[0027] S3, the multifunctional pipe rack delivers the pre-processed second pipe string to the pipe string processing robot in a vertical state; the pipe string processing robot drives the second pipe string to move to the wellhead and buckle with the first pipe string, and then delivers the second pipe string to the traveling crane assembly;

[0028] S4, the first pipe string and the second pipe string are connected by the iron roughneck near the wellhead to form a double pipe string, the traveling hoist assembly lifts the double pipe string until the power slip is released, and then the traveling hoist assembly lowers the double pipe string into the wellhead to the locking height, the power slip is clamped to clamp the double pipe string, and the traveling hoist assembly releases the double pipe string;

[0029] S5. The multifunctional pipe rack delivers the pre-processed third pipe string to the pipe string processing robot in a vertical state; the pipe string processing robot drives the third pipe string to move to the wellhead and buckles with the double pipe string, and then delivers the third pipe string to the traveling hoist assembly; the third pipe string and the double pipe string are connected by the iron roughneck buckle to form a column.

[0030] (III) Beneficial effects

[0031] The beneficial effects of the present invention are:

[0032] The present invention provides a robot system for pipe string storage and processing. The multifunctional pipe rack can hand over the pipe string to the pipe string processing robot in a vertical state after pre-processing, replacing manual pre-processing of the pipe string, thereby improving work efficiency and safety; the pipe string processing robot can grab the pipe string and transport it to the wellhead or power mouse hole position for interlocking, replacing the traditional power catwalk for pipe string transfer; the pipe string can be temporarily stored at the wellhead through the power slip seat; the power mouse hole can temporarily store, lift and straighten the pipe string. Compared with the existing technology, the field robot system optimizes the pipe string transportation path through overall structural innovation, realizes the integrated and unmanned operation of column assembly and disassembly, and greatly improves work efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 1 is a schematic diagram of the overall structure of a robot system for pipe string storage and processing according to embodiment 1 of the present invention;

[0034] Figure 2 2 is a schematic structural diagram of a robot system for storing and handling pipe strings from another angle according to Embodiment 1 of the present invention;

[0035] Figure 3 is a schematic structural diagram of a pipe string processing robot according to Embodiment 1 of the present invention;

[0036] Figure 4 is a front view of a partial structure of a pipe string processing robot according to Embodiment 1 of the present invention;

[0037] Figure 5 yes Figure 4 Schematic diagram of the AA section;

[0038] Figure 6 yes Figure 4 Schematic diagram of the CC section;

[0039] Figure 7 is a schematic structural diagram of a multifunctional pipe rack according to Example 1 of the present invention;

[0040] Figure 8 is a schematic structural diagram of the multifunctional pipe rack of embodiment 1 of the present invention from another angle;

[0041] Fig. 9 It is a schematic diagram of the structure of the power mouse hole of Example 1 of the present invention;

[0042] Fig.10 1 is a schematic diagram of a pipe string handler inserting a first pipe string into a power rat hole in step S1 of a rat hole establishment column operation method according to embodiment 2 of the present invention;

[0043] Fig.11 It is a schematic diagram of the power rathole continuing to lower the first pipe string and straightening it in step S1 of the rathole column establishment operation method of Example 2 of the present invention;

[0044] Fig.12 It is a schematic diagram of the step S2 of the rathole column establishment operation method of Example 2 of the present invention, in which the pipe string processing robot transports the second pipe string to the power rathole, interlocks with the first pipe string, and then delivers it to the traveling crane assembly;

[0045] Fig.13 It is a schematic diagram of the step S3 of the rathole establishment column operation method of Example 2 of the present invention, in which the upstream crane assembly lifts the double pipe column out of the power rathole;

[0046] Fig.14 It is a schematic diagram of a pipe string handler inserting a third pipe string into a power rat hole in step S4 of the rat hole establishment column operation method of Example 2 of the present invention;

[0047] Fig.15 It is a schematic diagram of the step S5 of the rathole erection column operation method of embodiment 2 of the present invention, in which the upstream crane assembly lifts the column out of the power rathole;

[0048] Fig.16 It is a schematic diagram of lowering the column by the traveling crane assembly in step S2 of the rat hole column removal operation method of embodiment 2 of the present invention;

[0049] Fig.17 Schematic diagram of a pipe column handling robot gripping a first pipe column in step S3 of a rat hole column removal operation method according to embodiment 2 of the present invention;

[0050] Fig.18In step S4 of the rat hole column removal operation method of embodiment 2 of the present invention, the upstream crane assembly delivers the second pipe string to the pipe string handling robot;

[0051] Fig.19 It is a schematic diagram of storing the third pipe string in the power rat hole in step S5 of the rat hole column removal operation method of embodiment 2 of the present invention;

[0052] Fig. 20 Schematic diagram of the pipe string handling robot gripping the third pipe string in step S5 of the rat hole column removal operation method of embodiment 2 of the present invention;

[0053] Fig.21 It is a schematic diagram of the step S1 of the wellhead establishment string operation method of Example 3 of the present invention, in which the pipe string handling robot inserts one end of the first pipe string into the wellhead and connects it to the traveling crane assembly, and the power slips are clamped to clamp the first pipe string;

[0054] Fig. 22 It is a schematic diagram of the step S2 of the wellhead establishment column operation method of embodiment 3 of the present invention, in which the upstream crane assembly lowers the first pipe string into the wellhead to the locking height;

[0055] Fig.23 It is a schematic diagram of the step S3 of the wellhead establishment string operation method of embodiment 3 of the present invention, in which the pipe string handling robot drives the second pipe string to move to the wellhead, interlocks with the first pipe string, and is connected to the traveling crane assembly;

[0056] Fig.24 Schematic diagram of forming a column in step S5 of the wellhead column establishment operation method of embodiment 3 of the present invention;

[0057] Fig.25 It is a schematic diagram of the step S2 of the wellhead column removal operation method of embodiment 3 of the present invention, in which the upstream crane assembly hands over the first pipe string to the pipe string handling robot;

[0058] Fig.26 It is a schematic diagram of lifting double pipe columns by the upstream crane assembly in step S3 of the wellhead column removal operation method of embodiment 3 of the present invention;

[0059] Fig. 27 It is a schematic diagram of the downstream crane assembly handing over the second pipe string to the pipe string handling robot in step S3 of the wellhead column removal operation method of embodiment 3 of the present invention.

[0060] [Description of Reference Numerals]

[0061] 1: pipe handling robot; 11: base; 12: column; 121: guide rail; 122: first track plate; 123: second track plate; 13: mobile trolley; 131: first supporting roller; 132: second supporting roller; 141: driving sprocket; 142: chain; 143: driven sprocket; 15: connecting arm; 16: rotating arm; 17: telescopic arm;

[0062] 2: Multifunctional pipe rack; 21: Bracket; 22: Powered pipe racking leg; 23: Pipe string transmission mechanism; 24: Wire unloading and protection mechanism; 25: Pipe string diameter mechanism; 26: Pipe string length measurement mechanism; 27: Clean buckle oiling mechanism; 28: Pipe delivery mechanism; 29: Lifting manipulator;

[0063] 3: Power slips;

[0064] 4: Power rathole; 41: Rathole pipe body; 42: Pipe column straightening mechanism; 43: Bottom support driving mechanism;

[0065] 5: Traveling crane assembly;

[0066] 6: Buffer manipulator. DETAILED DESCRIPTION

[0067] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0068] Embodiment 1:

[0069] like Figure 1 and Figure 2 As shown, a specific embodiment of the present invention provides a robot system for storing and processing pipe strings, including a pipe string processing robot 1, a multifunctional pipe rack 2, a power slip 3, a power mouse hole 4, a traveling and hanging assembly 5 and a buffer manipulator 6; the pipe string processing robot 1 is installed on one side of the drilling platform, the multifunctional pipe rack 2 is installed on the ground, the power slip 3 is installed at the wellhead, the power mouse hole 4 is installed on the drilling platform, and the traveling and hanging assembly 5 is installed on the derrick so as to be movable up and down; the buffer manipulator 6 is installed on the derrick; the multifunctional pipe rack 2 is used to hand over the pipe string to the pipe string processing robot 1 in a vertical state after pre-processing (removing protective wire, calibrating, measuring length, cleaning buckle and oiling); the pipe string processing robot 1 can transport the pipe string to the wellhead or the power mouse hole 4 for buckling; the pipe string can be temporarily stored at the wellhead by sitting on the power slip 3; the power mouse hole 4 can temporarily store, lift and straighten the pipe string.

[0070] Specifically, the multi-functional pipe rack 2 can hand over the pre-treated pipe columns to the pipe handling robot 1 in a vertical state, replacing manual pre-treatment of the pipe columns, and improving the operation efficiency and safety; the pipe handling robot 1 can grasp the pipe columns and transport them to the wellhead or the power mouse hole 4 for coupling, replacing the traditional power catwalk for pipe transfer; the pipe can be temporarily stored at the wellhead by the power slip 3; the power mouse hole 4 can temporarily store, lift and straighten the pipe columns. Compared with the prior art, through the overall structural innovation, this site robot system optimizes the pipe column conveying path, realizes the integration and unmanned operation of column combination and disassembly, and greatly improves the operation efficiency and safety.

[0071] Further, as Figure 3 shown, the pipe handling robot 1 includes a base 11, a lifting mechanism and a manipulator; the lifting mechanism is installed on the base 11, and the manipulator is installed on the lifting mechanism to drive the manipulator to vertically lift and lower. The manipulator can rotate and extend, thereby realizing the handover and transportation of the pipe columns.

[0072] Further, as Figure 3-Figure 6 shown, the lifting mechanism includes a column 12, a moving trolley 13, a driving component and a transmission component; the column 12 is supported on the base 11, the moving trolley 13 is installed on the column 12 so as to be movable up and down, the manipulator is installed on the moving trolley 13, the driving component is installed on the base 11, and the driving component is connected to the moving trolley 13 through the transmission component installed on the column 12 to drive the moving trolley 13 to move up and down along the column 12, driving the manipulator to vertically lift and lower. Specifically, two guide rails 121 extending along the length direction of the column 12 are provided on the column 12; the moving trolley 13 is supported by two roller groups corresponding to the two guide rails 121 one by one; two first track plates 122 extending along the length direction of the guide rail 121 and a second track plate 123 connected to one end of the two first track plates 122 are arranged inside the guide rail 121, and the three track plates are connected to form an anti-overturning track, and the cross-sectional shape of the anti-overturning track is "匚"-shaped; the roller group includes two first support rollers 131 and two second support rollers 132; the two first support rollers 131 are connected to the two second support rollers 132 corresponding to each other to form two composite rollers; one side of the moving trolley 13 is supported in one guide rail 121 by the two composite rollers, the first support roller 131 is rollably supported on the first track plate 122, and the second support roller 132 is rollably supported on the second track plate 123. So as to resist the overturning moment in the first direction through the first support roller 131 and the first track plate 122, and resist the overturning moment in the second direction through the second roller and the second track plate 123.

[0073] Further, as Figure 3-Figure 6As shown, the transmission assembly includes a driving sprocket 141, a chain 142 and a driven sprocket 143; the driving sprocket 141 is rotatably mounted on the base 11, the driven sprocket 143 is rotatably mounted on the top of the column 12, the driving sprocket 141 is connected to the driven sprocket 143 through the chain 142, the mobile trolley 13 is connected to the chain 142, the driving sprocket 141 is connected to the driving assembly to drive the driving sprocket 141 to rotate, and the rotation of the driving sprocket 141 is converted into the vertical lifting of the mobile trolley 13 along the column 12 through the chain 142. The driving assembly includes a motor and a reducer, the motor and the reducer are mounted on the base 11, and the motor is connected to the driving sprocket 141 through the reducer to drive the driving sprocket 141 to rotate.

[0074] Furthermore, if Figure 3 As shown, the manipulator includes a manipulator arm assembly and a clamp assembly; the manipulator arm assembly includes a connecting arm 15, a swivel arm 16, a telescopic arm 17, a first rotation drive assembly and a second rotation drive assembly; the connecting arm 15 is installed on the lifting mechanism, one end of the swivel arm 16 is rotatably connected to the connecting arm 15 through the first rotation drive assembly, the telescopic arm 17 is rotatably connected to the other end of the swivel arm 16 through the second rotation drive assembly, and the clamp assembly is installed on the telescopic end of the telescopic arm 17; the swivel arm 16 can be driven to rotate in a horizontal plane through the first rotation drive assembly, and the telescopic arm 17 can be driven to rotate in a horizontal plane through the second rotation drive assembly, and the telescopic arm 17 can be extended and retracted to achieve the handover and transportation of pipe columns.

[0075] Further, the first rotary drive assembly includes a rotary driver, a rotary reducer, a driven shaft and a bearing assembly; the connecting arm 15 has a first docking portion and a second docking portion; one end of the slewing arm 16 has a first connecting portion and a second connecting portion; the rotary driver is connected to the rotary reducer, the rotary reducer is installed on the connecting arm 15, the transmission shaft of the rotary reducer is passed through the first docking portion and the first connecting portion, and the transmission shaft of the rotary reducer and the first docking portion are rotatably connected through the bearing assembly, and the transmission shaft of the rotary reducer and the first connecting portion are fixedly connected; the driven shaft is passed through the second docking portion and the second connecting portion, and the driven shaft and the second docking portion are rotatably connected through the bearing assembly, and the driven shaft and the second connecting portion are fixedly connected; the slewing arm 16 is driven to rotate through the rotary driver via the rotary reducer. The second rotary drive assembly and the first rotary drive assembly are basically the same in composition, and the only difference is that the objects connected are different, which will not be repeated here.

[0076] Furthermore, the bearing assembly includes a first cylindrical roller bearing and a second cylindrical roller bearing; the first cylindrical roller bearing is installed between the first docking portion and the transmission shaft of the rotary reducer, and the second cylindrical roller bearing is installed between the second docking portion and the driven shaft. Specifically, the first docking portion is formed by two first connecting ear plates, and the second docking portion is formed by two second connecting ear plates. The first connecting portion is located between the two first connecting ear plates, and the transmission shaft of the rotary reducer is passed through the two first connecting ear plates and the first connecting portion; the second connecting portion is located between the two second connecting ear plates, and the driven shaft is passed through the two second connecting ear plates and the second connecting portion. The number of the first cylindrical roller bearing and the second cylindrical roller bearing is two, and the two first cylindrical roller bearings are located one-to-one between the two first connecting ear plates and the transmission shaft of the rotary reducer, and the two second cylindrical roller bearings are located one-to-one between the two second connecting ear plates and the driven shaft. The bearing assembly further comprises two thrust bearings, which are arranged between the first connecting ear plate below and the transmission shaft of the rotary reducer, and the two thrust bearings are located above the first cylindrical roller bearing to bear the gravity of the entire slewing arm 16 .

[0077] Further, in this embodiment, the telescopic arm 17 includes an outer arm, an inner arm and a telescopic driver, the outer arm is slidably mounted on the inner arm, the telescopic driver is installed on the outer arm, and the driving end of the telescopic driver is connected to the inner arm to drive the inner arm to slide along the length direction of the outer arm to achieve the extension and contraction of the telescopic arm 17. The free end of the outer arm is rotatably connected to the other end of the swivel arm 16 through the second rotary drive assembly, and the clamp assembly is installed on the free end of the inner arm.

[0078] Specifically, Figure 7 and Figure 8As shown, in this embodiment, the multifunctional pipe rack 2 includes a bracket 21, a power pipe rack leg 22, a pipe string transmission mechanism 23, two unloading and protecting wire mechanisms 24, a pipe string diameter mechanism 25, a pipe string length measuring mechanism 26, two cleaning and oiling mechanisms 27, a pipe delivery mechanism 28, a vertical track and a lifting manipulator 29; the power pipe rack leg 22 is arranged on one side of the bracket 21, the pipe string transmission mechanism 23 is installed on the bracket 21, and the two form a first station, a second station and a third station, and the pipe delivery mechanism 28 is installed on the bracket 21, and the two form a fourth station, and the first station, the second station, the third station and the fourth station are arranged in sequence; the two unloading and protecting wire mechanisms 24 are installed at both ends of the first station, the pipe string diameter mechanism 25 and the pipe string length measuring mechanism 26 are installed at both ends of the second station, and the two cleaning and oiling mechanisms 27 are installed at both ends of the third station; the vertical track is installed at one end of the bracket 21, and the lifting manipulator 29 can be lifted and lowered on the vertical track, and the lifting manipulator 29 can rotate. When in use, the power pipe-laying support leg 22 transports the pipe string to the first station, the two unloading wire guarding mechanisms 24 remove the wire guarding at both ends of the pipe string, the pipe string transfer mechanism 23 sends the pipe string to the second station, the pipe string diameter mechanism 25 and the pipe string length measurement mechanism 26 perform diameter and length measurement on the pipe string, and then the pipe string transfer mechanism 23 sends the pipe string to the third station, the two thread oiling mechanisms clean and oil the threads at both ends of the pipe string, and then the pipe string transfer mechanism 23 sends the pipe string to the fourth station, thereby completing the pretreatment operation, and the pipe string is sent to the grabbing station of the lifting manipulator 29 through the pipe delivery mechanism 28, and the lifting manipulator 29 grabs the pipe string and rises, and then drives the pipe string to rotate from a horizontal state to a vertical state, and is ready for handover. In this embodiment, the fourth station is also provided with a coding marking mechanism for printing set text or patterns on the pipe string.

[0079] Furthermore, if Fig. 9 As shown, the power rathole includes a rathole pipe body 41, a pipe string straightening mechanism 42, a pipe string lifting bottom support and a bottom support driving mechanism 43; the rathole pipe body 41 is installed on the drilling platform, and the opening at the top thereof is flush with the platform surface of the drilling platform, the pipe string straightening mechanism 42 is installed on the top of the rathole pipe body 41, the pipe string lifting bottom support is movably installed in the rathole pipe body 41, the bottom support driving mechanism 43 is installed on the outside of the rathole pipe body 41, and the bottom support driving mechanism 43 is connected to the pipe string lifting bottom support to drive the pipe string lifting bottom support to vertically rise and fall along the rathole pipe body 41. The pipe string processing robot 1 inserts the pipe string into the rathole pipe body 41, the pipe string straightening mechanism 42 straightens the pipe string, the pipe string enters the rathole pipe body 41 and abuts against the pipe string lifting bottom support, and the bottom support driving mechanism 43 is started to drive the pipe string lifting bottom support to lower the pipe string into the rathole pipe body 41 to the buckling height.

[0080] Embodiment 2:

[0081] This embodiment provides an operation method of the robot system for pipe string storage and processing described in Embodiment 1, such as Figure 10-15 As shown, the two manipulators of the pipe string handling robot 1 shown in the figure are only to simulate the two working positions of the manipulator of the pipe string handling robot 1. The pipe string handling robot 1 actually has only one manipulator. The two lifting manipulators 29 of the multifunctional pipe rack 2 are also only to simulate the two working positions of the lifting manipulator 29 of the multifunctional pipe rack 2. The multifunctional pipe rack 2 actually has only one lifting manipulator 29. Figure 10-15 The following are flow charts of the rat hole column establishment operation method provided in this embodiment, and the operation method includes the following steps:

[0082] S1, the multifunctional pipe rack 2 hands over the pre-processed first pipe string in a vertical state to the pipe string processing robot 1; the pipe string processing robot 1 inserts one end of the first pipe string into the power mouse hole 4 and then releases it, and the power mouse hole 4 continues to lower the first pipe string to the buckle height and straightens it. Specifically, the multifunctional pipe rack 2 sequentially removes the wire guard, measures the length of the diameter, and oils the buckle, and then transports the first pipe string to the handover position, and rotates it from the horizontal state to the vertical state to prepare for the handover; according to the handover position, the lifting trolley of the pipe string processing robot 1 drives the manipulator to reach the handover height, and the manipulator rotates to grab the first pipe string in a vertical state, and transports it to the power mouse hole 4 and inserts it into the power mouse hole through the cooperation of the lifting trolley and the manipulator, and then releases the first pipe string, and the power mouse hole 4 continues to lower the first pipe string to the buckle height and straightens it.

[0083] S2, the multifunctional pipe rack 2 delivers the pre-processed second pipe string to the pipe string processing robot 1 in a vertical state; the pipe string processing robot 1 transports the second pipe string to the power mouse hole 4 to be buckled with the first pipe string, and then the pipe string processing robot 1 delivers the second pipe string to the travel hanging assembly 5. Specifically, the multifunctional pipe rack 2 sequentially removes the wire guard, measures the diameter, and applies oil to the buckle, and then delivers the second pipe string to the handover position, and rotates it from the horizontal state to the vertical state to prepare for the handover; according to the handover position, the lifting trolley of the pipe string processing robot 1 drives the manipulator to reach the handover height, and the manipulator rotates to grab the second pipe string in the vertical state, and transports it to the power mouse hole 4 position through the cooperation of the lifting trolley and the manipulator to be buckled with the first pipe string, and then the pipe string processing robot 1 delivers the second pipe string to the travel hanging assembly 5.

[0084] S3. Connect the first pipe string and the second pipe string to form a double pipe string by buckling the iron roughneck on the drilling platform; lift the double pipe string up and away from the power rat hole 4 by the traveling hoist assembly 5. During the lifting process, the double pipe string is hugged and straightened by the buffer manipulator 6 on the derrick.

[0085] S4, the multifunctional pipe rack 2 hands over the pre-processed third pipe string in a vertical state to the pipe string processing robot 1; the pipe string processing robot 1 inserts one end of the third pipe string into the power mouse hole 4 and releases it, and the power mouse hole 4 continues to lower the third pipe string to the buckle height and straightens it. Specifically, the multifunctional pipe rack 2 sequentially removes the wire guard, measures the length of the diameter, and oils the buckle, and then transports the third pipe string to the handover position, rotates it from the horizontal state to the vertical state to prepare for the handover; according to the handover position, the lifting trolley of the pipe string processing robot 1 drives the manipulator to reach the handover height, and the manipulator rotates to grab the third pipe string in a vertical state, and transports it to the power mouse hole 4 and inserts it into the power mouse hole 4 through the cooperation of the lifting trolley and the manipulator, and then releases the third pipe string, and the power mouse hole 4 continues to lower the third pipe string to the buckle height and straightens it.

[0086] S5, the traveling hoist assembly 5 lowers the double pipe column to be buckled with the third pipe column, and connects the double pipe column and the third pipe column to form a column through the iron drill.

[0087] This enables pipe pretreatment, handover and transportation, integrated assembly of columns and unmanned operation, greatly improving operational efficiency and safety, and has extremely high market promotion value.

[0088] The operation process of removing the column of the rat hole in this embodiment is as follows: Figure 16-Figure 20 , including the steps of:

[0089] S1. The column is taken out from the finger beam by the second-floor platform manipulator located at the second-floor platform height and the drilling platform manipulator located on the drilling platform.

[0090] S2. The column is transported to the power mouse hole 4 by the second-layer platform manipulator and the drilling table manipulator and the column is inserted into the power mouse hole 4, and then the column is handed over to the traveling hoist assembly 5; the column is lowered to the shackle height by the traveling hoist assembly 5.

[0091] S3. Separate the first pipe string and the double pipe string through the iron roughneck shackle, and transport the double pipe string away from the power rat hole 4 through the travel hoist assembly 5 and the buffer manipulator 6; the power rat hole 4 lifts the first pipe string to a certain height, and the pipe string handling robot 1 clamps the first pipe string and lifts it away from the power rat hole 4; then the first pipe string is handed over to the multifunctional pipe rack 2.

[0092] S4, the traveling hoist assembly 5 lowers the double pipe string into the power rathole 4 to the shackle height, separates the second pipe string and the third pipe string by the iron drill, and the traveling hoist assembly 5 delivers the second pipe string to the pipe string handling robot 1, and the pipe string handling robot 1 delivers the second pipe string to the multifunctional pipe rack 2.

[0093] S5, the power mouse hole 4 lifts the third pipe string to a certain height, the pipe string handling robot 1 clamps the third pipe string and lifts it up and out of the power mouse hole 4; and then delivers the third pipe string to the multifunctional pipe rack 2.

[0094] The column can be disassembled through the power mouse hole 4 to achieve a fast and efficient integrated operation process.

[0095] Embodiment 3:

[0096] This embodiment provides another operation method of the robot system for pipe string storage and processing described in Embodiment 1, such as Figure 21-24 As shown, it is a flow chart of the wellhead column establishment operation method provided by this embodiment. The two manipulators of the pipe string processing robot 1 shown in the figure only simulate the two working positions of the manipulator of the pipe string processing robot 1. The pipe string processing robot 1 has only one manipulator. The two lifting manipulators 29 of the multifunctional pipe rack 2 also only simulate the two working positions of the lifting manipulator 29 of the multifunctional pipe rack 2. The multifunctional pipe rack 2 actually has only one lifting manipulator 29. The operation method includes the steps of:

[0097] S1. The multifunctional pipe rack 2 delivers the pre-treated first pipe string to the pipe string processing robot 1 in a vertical state; the pipe string processing robot 1 inserts one end of the first pipe string into the wellhead and delivers it to the traveling and hanging assembly 5, and the power slip 3 clamps the first pipe string.

[0098] S2, the traveling hoisting assembly 5 lifts the first tubular string up to the power slip 3 to release the first tubular string, and then the traveling hoisting assembly 5 lowers the first tubular string into the wellhead to the locking height, the power slip 3 clamps the first tubular string, and the traveling hoisting assembly 5 releases the first tubular string.

[0099] S3, the multifunctional pipe rack 2 delivers the pre-processed second pipe string to the pipe string processing robot 1 in a vertical state; the pipe string processing robot 1 drives the second pipe string to move to the wellhead to buckle with the first pipe string, and then delivers the second pipe string to the traveling hoist assembly 5.

[0100] S4. The first pipe string and the second pipe string are connected by the iron roughneck near the wellhead to form a double pipe string. The traveling hoisting assembly 5 lifts the double pipe string to the power slip 3 to release the double pipe string. Then the traveling hoisting assembly 5 lowers the double pipe string into the wellhead to the locking height. The power slip 3 clamps the double pipe string, and the traveling hoisting assembly 5 releases the double pipe string.

[0101] S5. The multifunctional pipe rack 2 delivers the pre-processed third pipe string to the pipe string processing robot 1 in a vertical state; the pipe string processing robot 1 drives the third pipe string to move to the wellhead and buckles with the double pipe string, and then delivers the third pipe string to the traveling hoist assembly 5; the third pipe string and the double pipe string are connected by the iron roughneck buckle to form a column.

[0102] The operating method provided in this embodiment is different from the operating method provided in Example 2 in that a power rat hole 4 is not used, but the wellhead is used to combine the columns, which can also realize the pretreatment, handover and transportation of the pipe column, the integration of the combined columns and unmanned operation. The two column combination methods can be selected and used according to the on-site conditions.

[0103] like Figure 25-27 As shown, it is a schematic diagram of the process flow of the wellhead column removal operation method provided in this embodiment, and the operation method includes the following steps:

[0104] S1, the second-layer platform manipulator and the drilling table manipulator take the column out of the finger beam, and the second-layer platform manipulator connects the column to the traveling crane assembly 5.

[0105] S2, the traveling hoisting assembly 5 and the drilling table manipulator send the column to the wellhead, and the traveling hoisting assembly 5 lowers the column into the height of the double pipe string in the wellhead, leaving only the first pipe string above the wellhead, and the column is clamped by the power slip 3, and then the first pipe string and the double pipe string are separated by the iron roughneck shackle; the traveling hoisting assembly 5 delivers the first pipe string to the pipe string handling robot 1, and the pipe string handling robot 1 delivers the first pipe string to the multifunctional pipe rack 2.

[0106] S3, the traveling hoisting assembly 5 lifts the double pipe string to the height of the second pipe string, leaving only the second pipe string above the wellhead, clamps the double pipe string through the power slip 3, and separates the second pipe string and the third pipe string through the iron roughneck shackle; the traveling hoisting assembly 5 delivers the second pipe string to the pipe string handling robot 1, and the pipe string handling robot 1 delivers the second pipe string to the multifunctional pipe rack 2.

[0107] S4, the traveling hoist assembly 5 lifts the third pipe string away from the wellhead, and then delivers the third pipe string to the pipe string handling robot 1, and the pipe string handling robot 1 delivers the third pipe string to the multifunctional pipe rack 2.

[0108] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0109] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0110] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0111] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0112] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A robot system for pipe storage and handling, characterized in that: It comprises a pipe column processing robot (1), a multifunctional pipe rack (2), a power slip (3), a power mouse hole (4), a traveling crane assembly (5) and a buffer manipulator (6); The pipe string handling robot (1) is installed on one side of the drilling platform, the multifunctional pipe rack (2) is installed on the ground, the power slip (3) is installed on the wellhead, the power mouse hole (4) is installed on the drilling platform, and the traveling crane assembly (5) is installed on the derrick so as to be movable up and down; the buffer manipulator (6) is installed on the derrick; The multifunctional pipe rack (2) is used to hand over the pipe string to the pipe string processing robot (1) in a vertical state after pre-processing; the pipe string processing robot (1) can transport the pipe string to the wellhead or the power mouse hole (4) for fastening; the pipe string can be temporarily stored at the wellhead by the power slip (3); the power mouse hole (4) can temporarily store, lift and straighten the pipe string.

2. The robot system for pipe string storage and processing according to claim 1, characterized in that: The pipe column processing robot (1) comprises a base (11), a lifting mechanism and a manipulator; The lifting mechanism is installed on the base (11), and the manipulator is installed on the lifting mechanism to drive the manipulator to lift vertically. The manipulator can rotate and extend, thereby realizing the handover and transportation of the pipe column.

3. The robot system for pipe string storage and processing according to claim 2, characterized in that: The lifting mechanism comprises a column (12), a moving trolley (13), a driving assembly and a transmission assembly; The column (12) is supported on the base (11), the moving trolley (13) is installed on the column (12) so as to be movable up and down, the manipulator is installed on the moving trolley (13), the driving component is installed on the base (11), and the driving component is connected to the moving trolley (13) through a transmission component installed on the column (12) to drive the moving trolley (13) to move up and down along the column (12), thereby driving the manipulator to move vertically up and down.

4. The robot system for pipe string storage and processing according to claim 3, characterized in that: The column (12) is provided with two guide rails (121) extending along its length direction; the moving trolley (13) is supported on the two guide rails (121) in a one-to-one correspondence through two roller groups; The guide rail (121) is provided with two first track plates (122) extending along the length direction thereof, and a second track plate (123) located at one end of the two first track plates (122); The roller assembly comprises two first supporting rollers (131) and two second supporting rollers (132); Two first support rollers (131) are connected to two second support rollers (132) in a one-to-one correspondence to form two composite rollers; one side of the moving trolley (13) is supported in a guide rail (121) through the two composite rollers, the first support roller (131) is rollably supported on a first track plate (122), and the second support roller (132) is rollably supported on a second track plate (123).

5. The robot system for pipe string storage and processing according to claim 3, characterized in that: The transmission assembly comprises a driving sprocket (141), a chain (142) and a driven sprocket (143); A driving sprocket (141) is rotatably mounted on a base (11), a driven sprocket (143) is rotatably mounted on a top of a column (12), the driving sprocket (141) is connected to the driven sprocket (143) via a chain (142), a moving trolley (13) is connected to the chain (142), and the driving sprocket (141) is connected to a driving assembly to drive the driving sprocket (141) to rotate, and the rotation of the driving sprocket (141) is converted into vertical lifting of the moving trolley (13) along the column (12) via the chain (142).

6. The robot system for pipe string storage and processing according to claim 2, characterized in that: The manipulator includes a manipulator arm assembly and a clamp assembly; The mechanical arm assembly comprises a connecting arm (15), a rotating arm (16), a telescopic arm (17), a first rotating drive component and a second rotating drive component; The connecting arm (15) is installed on the lifting mechanism, one end of the swivel arm (16) is rotatably connected to the connecting arm (15) through a first rotation drive assembly, the telescopic arm (17) is rotatably connected to the other end of the swivel arm (16) through a second rotation drive assembly, and the clamp assembly is installed on the telescopic end of the telescopic arm (17); The first rotary drive assembly can drive the slewing arm (16) to rotate in a horizontal plane, and the second rotary drive assembly can drive the telescopic arm (17) to rotate in a horizontal plane. The telescopic arm (17) can be extended and retracted to achieve the handover and transportation of pipe strings.

7. The robot system for pipe string storage and processing according to claim 1, characterized in that: The multifunctional pipe rack (2) comprises a bracket (21), a power pipe rack support leg (22), a pipe string transmission mechanism (23), two wire unloading and protecting mechanisms (24), a pipe string diameter mechanism (25), a pipe string length measuring mechanism (26), two cleaning and oiling mechanisms (27), a pipe delivery mechanism (28), a vertical track and a lifting manipulator (29); The power pipe laying support leg (22) is arranged on one side of the bracket (21), the pipe column transmission mechanism (23) is installed on the bracket (21), and the two form a first station, a second station and a third station. The pipe delivery mechanism (28) is installed on the bracket (21), and the two form a fourth station. The first station, the second station, the third station and the fourth station are arranged in sequence; two wire unloading and protecting mechanisms (24) are installed at both ends of the first station, the pipe column diameter mechanism (25) and the pipe column length measuring mechanism (26) are installed at both ends of the second station, and two button cleaning and oiling mechanisms (27) are installed at both ends of the third station; a vertical track is installed at one end of the bracket (21), and a lifting manipulator (29) is installed on the vertical track in a liftable manner, and the lifting manipulator (29) can rotate in a vertical plane.

8. The robot system for pipe string storage and processing according to claim 1, characterized in that: The power mousehole (4) comprises a mousehole pipe body (41), a pipe column straightening mechanism (42), a pipe column lifting base and a base driving mechanism (43); The rathole pipe body (41) is installed on the drilling platform, and the opening at the top of the rathole pipe body (41) is flush with the platform surface of the drilling platform. The pipe column straightening mechanism (42) is installed on the top of the rathole pipe body (41). The pipe column lifting base is movably installed in the rathole pipe body (41). The base driving mechanism (43) is installed on the outside of the rathole pipe body (41). The base driving mechanism (43) is connected to the pipe column lifting base to drive the pipe column lifting base to vertically lift along the rathole pipe body (41).

9. An operating method of a robot system for pipe string storage and processing according to any one of claims 1 to 8, characterized in that: Includes steps: S1, the multifunctional pipe rack (2) hands over the first pipe string that has been pre-processed to the pipe string processing robot (1) in a vertical state; the pipe string processing robot (1) inserts one end of the first pipe string into the power mouse hole (4) and releases it, and the power mouse hole (4) continues to lower the first pipe string to the buckling height and straightens it; S2, the multifunctional pipe rack (2) delivers the pre-processed second pipe string to the pipe string processing robot (1) in a vertical state; the pipe string processing robot (1) transports the second pipe string to the power mouse hole (4) to be buckled with the first pipe string, and then the pipe string processing robot (1) delivers the second pipe string to the traveling crane assembly (5); S3, connecting the first pipe string and the second pipe string to form a double pipe string by means of the iron roughneck on the drilling platform; lifting the double pipe string up and away from the power mouse hole (4) by means of the traveling hoist assembly (5), and during the lifting process, the double pipe string is embraced and straightened by means of the buffer manipulator (6) on the derrick; S4, the multifunctional pipe rack (2) hands over the pre-processed third pipe string to the pipe string processing robot (1) in a vertical state; the pipe string processing robot (1) inserts one end of the third pipe string into the power mouse hole (4) and releases it, and the power mouse hole (4) continues to lower the third pipe string to the buckling height and straightens it; S5. The traveling hoist assembly (5) lowers the double pipe string and interlocks it with the third pipe string. The double pipe string and the third pipe string are connected to form a column by an iron roughneck.

10. An operating method of a robot system for pipe string storage and processing according to any one of claims 1 to 8, characterized in that: Includes steps: S1, the multifunctional pipe rack (2) delivers the pre-treated first pipe string to the pipe string processing robot (1) in a vertical state; the pipe string processing robot (1) inserts one end of the first pipe string into the wellhead and delivers it to the traveling crane assembly (5), and the power slip (3) sits and clamps the first pipe string; S2, the traveling hoisting assembly (5) lifts the first pipe string up to the power slip (3) to release the first pipe string, and then the traveling hoisting assembly (5) lowers the first pipe string into the wellhead to the locking height, the power slip (3) clamps the first pipe string, and the traveling hoisting assembly (5) releases the first pipe string; S3, the multifunctional pipe rack (2) delivers the pre-processed second pipe string to the pipe string processing robot (1) in a vertical state; the pipe string processing robot (1) drives the second pipe string to move to the wellhead to be buckled with the first pipe string, and then delivers the second pipe string to the traveling crane assembly (5); S4, the first pipe string and the second pipe string are connected by the iron roughneck near the wellhead to form a double pipe string, the traveling hoist assembly (5) lifts the double pipe string to the power slip (3) to release the double pipe string, and then the traveling hoist assembly (5) lowers the double pipe string into the wellhead to the locking height, the power slip (3) clamps the double pipe string, and the traveling hoist assembly (5) releases the double pipe string; S5, the multifunctional pipe rack (2) delivers the pre-processed third pipe string to the pipe string processing robot (1) in a vertical state; the pipe string processing robot (1) drives the third pipe string to move to the wellhead and buckles with the double pipe string, and then delivers the third pipe string to the traveling hoist assembly (5); the third pipe string and the double pipe string are buckled together by the iron roughneck to form a column.

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