Ground pipe column treatment system

Abstract

The invention belongs to the technical field of petroleum drilling, and particularly relates to a ground pipe column processing system. The ground pipe column processing system comprises a pipe column transferring device, the pipe column transferring device comprises a pipe column box, a screw thread cleaning device and a screw thread oiling device which are sequentially arranged in the direction perpendicular to a pipe column, the pipe column box contains the pipe column, and the pipe column box, the screw thread cleaning device and the screw thread oiling device are all parallel to the pipe column; the lifting robot is arranged on the side, away from the screw thread cleaning device, of the screw thread oiling device, and the lifting robot comprises a main base, an overturning base arranged on the main base in a hinged mode and an overturning frame rotationally arranged on the overturning base; and the gripper assembly is movably arranged on the overturning frame.

Description

Technical Field

[0001] The present invention belongs to the technical field of oil drilling, and specifically relates to a surface pipe string processing system. Background Art

[0002] An oil pipe string is a steel pipe used to support the wellbore of an oil or gas well to ensure the progress of the drilling process and the normal operation of the entire oil well after completion. For each well, multiple pipe strings need to be connected in series according to different drilling depths and geological conditions. Currently, a pipe rack and a power catwalk are mostly used in combination to send the pipe string to the drill floor.

[0003] In the prior art, it is necessary to manually clean the threads and then push the pipe string out of the pipe rack, and then enter the power catwalk and lift it to the drill floor. In particular, for casing pipes, thread greasing and length measurement need to be manually completed on the ground, and the entire process takes a lot of time. In addition, the current workflow for moving a horizontal pipe string to a lifting device perpendicular to the ground is cumbersome, which is not conducive to the rapid processing of surface pipe strings.

[0004] Therefore, there is an urgent need to develop a surface pipe string processing system. Summary of the Invention

[0005] In view of the above technical problems, the present invention aims to provide a surface pipe string processing system that can solve at least one of the above technical problems.

[0006] According to the present invention, there is provided a surface pipe string processing system, including a pipe string transfer device, the pipe string transfer device includes a pipe box, a thread cleaning device, and a thread greasing device arranged in sequence along a direction perpendicular to the pipe string. The pipe box contains a pipe string, and the pipe box, the thread cleaning device, and the thread greasing device are all parallel to the pipe string; a lifting robot, the lifting robot is arranged on a side of the thread greasing device away from the thread cleaning device, the lifting robot includes a main base, a flipping base hinged to the main base, a flipping frame rotatably arranged on the flipping base, and a gripper assembly movably arranged on the flipping frame.

[0007] In a specific embodiment, the pipe string transfer device further includes a moving rail perpendicular to the pipe string, and a robotic arm is movably arranged on the moving rail. The robotic arm is configured to be able to grab the pipe string in the pipe box and move the pipe string into the thread cleaning device and the thread greasing device.

[0008] In a specific embodiment, the thread cleaning device includes cleaning assemblies provided at both axial ends, and a plurality of driving mechanisms are arranged at intervals along the axis between the two cleaning assemblies. The thread oiling device includes an oiling assembly provided at an axial end and a plurality of driving mechanisms arranged at intervals along the axis. The driving mechanism is configured with an upper opening structure and can support and drive the pipe string to rotate.

[0009] In a specific embodiment, a pipe turning mechanism is arranged between any two adjacent driving mechanisms. The pipe turning mechanism is configured to transfer the pipe string in the thread cleaning device to the thread oiling device.

[0010] In a specific embodiment, the pipe turning mechanism includes a pipe turning oil cylinder and a pipe turning plate that are hinged to each other. After the pipe turning oil cylinder extends, one end of the pipe turning plate can be tilted upward, so that the pipe string in the thread cleaning device can be lifted upward from the driving mechanism and transferred to the thread oiling device along the pipe turning plate.

[0011] In a specific embodiment, a transfer joint is hingedly arranged on the side of the main base. The end of the transfer structure away from the main base is located below the pipe string in the thread oiling device.

[0012] In a specific embodiment, a slewing bearing is arranged on the turning base. The turning frame is rotatably arranged on the turning base through the slewing bearing. The rotation axis of the turning frame is perpendicular to the hinge axis of the turning base.

[0013] In a specific embodiment, the two pipe string transfer devices are symmetrically arranged on both sides of the lifting robot.

[0014] In a specific embodiment, the ground pipe string processing system further includes a bottom plate. The pipe string transfer device and the lifting robot are both arranged on the bottom plate. A plurality of stepping mechanisms are arranged on the side of the bottom plate. The stepping mechanism includes: a stepping frame leg fixedly connected to the bottom plate; a lifting cylinder arranged vertically on the stepping frame leg; a cushion plate arranged at the lower telescopic end of the lifting cylinder; a support plate movably arranged horizontally below the cushion plate; and a transverse cylinder arranged on the support plate. The transverse cylinder is arranged horizontally, and the end of the transverse cylinder away from the support plate is connected to the cushion plate.

[0015] In a specific embodiment, a ball joint is arranged at the telescopic end of the lifting cylinder, and a ball groove for accommodating the ball joint is arranged on the cushion plate, so that the cushion plate can adjust the angle relative to the lifting cylinder. Description of the Drawings

[0016] The present invention will be described below with reference to the accompanying drawings.

[0017] Figure 1 Shows a front view of an embodiment of a pipe string transfer device according to the present invention;

[0018] Figure 2 Shows a top view of a pipe string transfer device according to the present invention;

[0019] Figure 3 Shows a sectional view of a pipe string transfer device according to the present invention;

[0020] Figure 4 Shows a schematic diagram of an embodiment of a thread cleaning device according to the present invention;

[0021] Figure 5 Shows a side structural schematic diagram of an embodiment of a thread cleaning device according to the present invention;

[0022] Figure 6 Shows a schematic diagram of an embodiment of a cleaning assembly of a thread cleaning device according to the present invention;

[0023] Figure 7 Shows a sectional structural schematic diagram of a cleaning assembly;

[0024] Figure 8 Shows a top view structural schematic diagram of a cleaning assembly according to the present invention;

[0025] Figure 9 Shows a front view structural schematic diagram of a drive mechanism according to the present invention;

[0026] Figure 10 Shows a top view structural schematic diagram of a drive mechanism according to the present invention;

[0027] Figure 11 Shows a sectional schematic diagram of a partial structure of a drive mechanism according to the present invention;

[0028] Figure 12 Shows a schematic diagram of an embodiment of a thread oiling device according to the present invention;

[0029] Figure 13 Shows a schematic diagram of an embodiment of an oiling assembly;

[0030] Figure 14 Shows a top view structural schematic diagram of an oiling assembly according to the present invention;

[0031] Figure 15 Shows a side view structural schematic diagram of an oiling assembly according to the present invention;

[0032] Figure 16Shows a schematic diagram of an embodiment of a lifting robot according to the present invention;

[0033] Figure 17 Shows according to the present invention Figure 1 Top view structural schematic diagram;

[0034] Figure 18 Shows a schematic diagram of an embodiment of a flipping frame according to the present invention;

[0035] Figure 19 Shows a side view structural schematic diagram of the flipping frame according to the present invention;

[0036] Figure 20 Shows Figure 18 Cross-sectional schematic diagram in the B-B direction in;

[0037] Figure 21 Shows Figure 18 Cross-sectional schematic diagram in the D-D direction in;

[0038] Figure 22 Shows Figure 4 Enlarged schematic diagram of the gripper assembly in;

[0039] Figure 23 Shows Figure 7 Left view structural schematic diagram of the gripper assembly in;

[0040] Figure 24 Shows Figure 7 Top view structural schematic diagram of the gripper assembly in;

[0041] Figure 25 Shows a schematic diagram of a stepping mechanism according to the present invention;

[0042] Figure 26 Shows a cross-sectional structural schematic diagram of the stepping mechanism according to the present invention;

[0043] Figure 27 Shows a schematic diagram of an embodiment of a surface pipe string handling system according to the present invention;

[0044] Figure 28 Shows Figure 27 Left view of;

[0045] Figure 29 Shows Figure 27 Top view of.

[0046] In the figure: 100, pipe string transfer device;

[0047] 11, moving rail;

[0048] 12, robotic arm; 121, main arm; 122, lifting arm; 123, mechanical claw;

[0049] 13. Pipe column box; 131. Partition board; 132. Slot;

[0050] 14. Pipe turning mechanism; 141. Pipe turning oil cylinder; 142. Pipe turning plate;

[0051] 20. Thread cleaning device; 21. Driving mechanism; 211. Base; 212. Telescopic rod; 213. Fixed frame; 214. Roller; 215. Driven wheel; 216. Driving wheel; 217. Driving machine;

[0052] 22. Cleaning assembly; 221. Cleaning rod; 222. Cleaning brush; 223. Water spraying port; 224. First channel; 225. Housing; 226. Motor; 227. Second channel; 228. Annulus; 229. Water inlet pipe;

[0053] 23. Water tank; 231. Rack; 232. Gear; 233. Traveling motor;

[0054] 24. Protection cylinder; 241. Water return port;

[0055] 25. Lifting mechanism; 251. Lifting rod; 252. Supporting roller;

[0056] 26. Tubular part; 261. Thread;

[0057] 27. Measuring mechanism; 271. Photoelectric switch; 272. Photoelectric switch reflector;

[0058] 281. Fixed plate; 282. Adjusting bolt; 283. Connecting plate; 284. Base plate; 285. Slide rail;

[0059] 30. Thread oiling device;

[0060] 32. Oiling assembly; 321. Oil spraying pipe; 3211. Oil spraying port; 3212. Oiling brush; 3213. Air inlet; 322. Oil spraying mechanism; 323. Air spraying pipe; 3231. Air spraying port; 324. Moving frame; 3241. Fixed part; 3242. Adjusting plate; 3243. Adjusting bolt;

[0061] 325. Motor; 3. Gear; 328. Water tank; 329. Slide rail;

[0062] 33. Inclined support frame; 331. Lifting rod; 332. Supporting roller;

[0063] 50. Lifting robot; 51. Total base; 511. Pipe column lifting mechanism; 512. Adapter;

[0064] 52. Tipping base; 521. First hinge ear; 522. Second hinge ear; 523. Tipping hydraulic cylinder;

[0065] 53. Tipping frame;

[0066] 54. Gripper assembly; 540. Slide rail; 541. Gripper frame; 542. Gripper slider; 543. Lifting frame; 545. Traveling wheel; 546. Fixed bracket; 547. Gripper telescopic cylinder; 548. Photoelectric switch; 549. Reflector;

[0067] 55. Slewing bearing; 56. Lifting sprocket; 57. Lifting chain;

[0068] 571. Motor; 572. Output sprocket; 573. Intermediate sprocket; 574. Reducer; 575. Encoder; 576. Inner chain; 577. Drag chain box;

[0069] 58. Leveling leg;

[0070] 59. Stepping mechanism; 590. Pressure plate; 591. Stepping frame leg; 592. Support plate; 593. Track plate; 594. Pad; 595. Guide plate; 596. Guide rod; 597. Lifting cylinder; 598. Transverse cylinder; 599. Ball joint;

[0071] 60. Bottom plate; 600. Subsurface pipe string handling system.

[0072] In this application, all the drawings are schematic drawings, only used to illustrate the principle of the present invention and not drawn to actual scale. Detailed implementation manners

[0073] The present invention will be introduced below with reference to the drawings.

[0074] It should be noted that the directional terms or qualifiers "up", "down", "front", "back", "left", "right", etc. used in this application are all with reference to the drawings. They do not limit the absolute positions of the components involved, but can vary according to specific situations.

[0075] Figures 27 to 29 Shows the structure of the subsurface pipe string handling system 600 provided according to the present invention. In this embodiment, the subsurface pipe string handling system 600 includes two pipe string transfer devices 100 and a lifting robot 50. As Figure 27 shown, the two pipe string transfer devices 100 are symmetrically arranged on both sides of the lifting robot 50 respectively, and the length directions of the pipe string transfer device 100 and the lifting robot 50 are parallel to each other. It is easy to understand that the length directions of the pipe string transfer device 100 and the lifting robot 50 are the placement directions of the pipe string, that is, Figure 27 the front-back direction.

[0076] In this embodiment, the pipe columns in the two pipe column transfer devices 100 on the left and right can be alternately transferred to the lifting robot 50, and then the lifting robot 50 flips the pipe columns from the horizontal state to the vertical state, and then sends them to the drilling platform to realize the thread connection of multiple pipe columns.

[0077] In a preferred embodiment, the ground pipe column processing system 600 includes a bottom plate 60, and the pipe column transfer device 100 and a lifting robot 50 are both fixedly arranged on the bottom plate 60. A plurality of stepping mechanisms 59 are arranged on the side surface of the bottom plate 60, and the stepping mechanisms 59 can drive the bottom plate 60 to move relative to the ground, so as to realize the movement of the ground pipe column processing system 600.

[0078] In a specific embodiment, Figure 1 shows the structure of the pipe column transfer device 100 according to the present invention. As Figure 1 shown, the pipe column transfer device 100 includes a moving rail 11, and a robotic arm 12 is movably arranged on the moving rail 11. As Figure 1 and Figure 2 shown, in this embodiment, the two moving rails 11 are parallel to each other and are respectively arranged on the left and right sides. Robotic arms 12 are respectively arranged on the two moving rails 11, and the two robotic arms 12 form a left-right symmetric structure.

[0079] A pipe column box 13, a thread cleaning device 20 and a thread oiling device 30 are sequentially arranged between the two moving rails 11 along the length direction of the moving rails 11. Among them, the inside of the pipe column box 13 is used to accommodate pipe columns, the thread cleaning device 20 is used to clean the threads of the pipe columns, and the thread oiling device 30 is used to oil the threads of the pipe columns.

[0080] During the working process, the robotic arm 12 grabs the pipe columns in the pipe column box 13 and moves the pipe columns into the thread cleaning device 20 and the thread oiling device 30 to realize the transfer, cleaning and oiling of the pipe columns.

[0081] In a specific embodiment, the robotic arm 12 includes a main arm 121 movably arranged on the moving rail 11, a lifting arm 122 movably arranged on the main arm 121 in the vertical direction, and a robotic claw 123 arranged at the lower end of the lifting arm 122.

[0082] Further, the main arm 121 is arranged in an L shape. One end of the main arm 121 is vertically arranged and movably arranged on the moving rail 11, and the other end of the main arm 121 is horizontally arranged and extends towards the pipe column box 13. The lifting arm 122 is movably arranged in the vertical direction at the horizontally arranged end of the main arm 121. In this setting, after the lifting arm 122 drives the mechanical claw 123 to move downward, it can grab the pipe column in the pipe column box 13. Then the lifting arm 122 rises and resets, so that the mechanical claw 123 can drive the pipe column to move upward. Then the main arm 121 moves along the moving rail 11, so that the mechanical claw 123 drives the pipe column to move towards the thread cleaning device 20 and the thread oiling device 30, and finally places the pipe column into the thread cleaning device 20 or the thread oiling device 30.

[0083] In a preferred embodiment, as Figure 3 shown, a plurality of vertical partition plates 131 are arranged at intervals in the pipe column box 13. The plurality of partition plates 131 are arranged in sequence along the length direction of the moving rail 11. The distance between two adjacent partition plates 131 can accommodate a row of pipe columns, and the distance between two adjacent rows of pipe columns can accommodate the mechanical claw 123. Combining Figure 2 shown, the length of the partition plate 131 is less than the length of the pipe column, that is to say, the partition plate 131 only occupies a part of the length of the pipe column box 13. Through this setting, when the lifting arm 122 drives the mechanical claw 123 to move downward into the pipe column box 13, the distance between two adjacent rows of pipe columns can provide space for the mechanical claw 123 to move downward, so that the mechanical claw 123 can grab the pipe column more conveniently.

[0084] In a preferred embodiment, a plurality of slots 132 for inserting the partition plates 131 are arranged at intervals in the pipe column box 13. Through this setting, the partition plates 131 can be inserted into different slots 132 to change the distance between two adjacent partition plates 131, so as to be applicable to pipe columns with different diameters.

[0085] Figure 4 shows the structure of the thread cleaning device 20 according to the present invention. As Figure 4 shown, the thread cleaning device 20 includes a driving mechanism 21 and a cleaning assembly 22. The driving mechanism 21 is drivingly connected to the threaded part 26 of the tubular part. The cleaning assembly 22 is in contact with the thread. The driving mechanism 21 drives the thread 261 of the tubular part 26 to rotate relative to the cleaning assembly 22. It is easy to understand that the tubular part 26 is the pipe column.

[0086] The present invention adopts the method of rotating the tubular member 26 to clean the thread 261 of the tubular member 26. In this way, it can be applied to threads 261 of various different calibers and can be applied to male threads and female threads. When it is necessary to clean the male thread, the cleaning assembly 22 is arranged outside the tubular member 26, so that the male thread contacts the cleaning assembly 22. The driving mechanism 21 drives the tubular member 26 to rotate, so that the male thread rotates relative to the cleaning assembly 22, and the entire circumferential direction of the male thread is cleaned by the cleaning assembly 22. When replacing male threads of different calibers, only the relative position height of the driving mechanism 21 and the cleaning assembly 22 needs to be adjusted. When it is necessary to clean the female thread, the cleaning assembly 22 is inserted into the inner side of the tubular member 26, so that the female thread contacts the cleaning assembly 22. The driving mechanism 21 drives the tubular member 26 to rotate, so that the female thread rotates relative to the cleaning assembly 22, and the entire circumferential direction of the female thread is cleaned by the cleaning assembly 22. When replacing female threads of different calibers, only the relative position height of the driving mechanism 21 and the cleaning assembly 22 needs to be adjusted.

[0087] As Figure 4 shown, in a specific embodiment, the thread cleaning device 20 includes two driving mechanisms 21 and two cleaning assemblies 22, which are respectively arranged at both ends of the tubular member 26 for simultaneously cleaning the threads 261 at both ends of the tubular member 26. The two driving mechanisms 21 are located between the two cleaning assemblies 22.

[0088] As Figure 7 shown, the cleaning assembly 22 includes a cleaning rod 221, and the cleaning rod 221 is parallel to the tubular member. Cleaning brushes 222 are arranged on the circumferential side surface of the cleaning rod 221, at least one water spraying port 223 is arranged on the side surface of the cleaning rod 221, and a first channel 224 is arranged axially inside the cleaning rod 221. The water spraying port 223 is communicated with the first channel 224.

[0089] By arranging the cleaning brushes 222, the impurities on the thread 261 can be brushed off by friction. By arranging the water spraying ports 223, water can be sprayed on the thread 261 to enhance the cleaning effect.

[0090] Preferably, this embodiment is provided with a plurality of cleaning brushes 222 and a plurality of water spraying ports 223, and the plurality of cleaning brushes 222 and the plurality of water spraying ports 223 are alternately arranged axially on the cleaning rod 221. Through this arrangement, the water spraying ports 223 can evenly spray water on the cleaning brushes 222, so that each cleaning brush 222 is fully wetted with water, enhancing the cleaning effect.

[0091] In a preferred embodiment, the cleaning assembly 22 includes a housing 225 which is configured to be generally cylindrical in shape. One end of the cleaning rod 221 without the cleaning brush 222 is rotatably disposed within the housing 225. A motor 226 is provided on the housing 225, and the motor 226 is drivingly connected to the cleaning rod 221. During the process of cleaning the thread 261, the motor 226 drives the cleaning rod 221 to rotate, enhancing the cleaning effect.

[0092] Further, an annulus 228 is provided between the housing 225 and the cleaning rod 221 in a dynamic sealing manner. Specifically, two sealing rings (not shown in the figure) are axially spaced along the outer wall of the cleaning rod 221, and the annulus 228 is formed between the two sealing rings. The housing 225 is provided with a second channel 227 within the cleaning rod 221 that communicates the first channel 224 and the annulus 228. As Figure 7 shown, the second channel 227 is disposed radially. A water inlet pipe 229 communicating with the annulus 228 is provided on the outer side of the housing 225. The water inlet pipe 229 is connected to a water source. While the cleaning rod 221 is rotating, water from the water source passes through the water inlet pipe 229, the annulus 228, the second channel 227, the first channel 224, and the water spray nozzle 223, achieving the effect of water spraying.

[0093] In a preferred embodiment, a protective cylinder 24 is provided on the housing 225. As Figure 7 shown, the protective cylinder 24 is coaxially and clearance-fitted outside the cleaning rod 221. That is to say, there is a space between the inner wall of the protective cylinder 24 and the outer wall of the cleaning rod 221, and this space is used to accommodate the thread 261 to be cleaned. By providing the protective cylinder 24, sewage and impurities during the cleaning process can be prevented from splashing.

[0094] Further, a water return port 241 is provided at the lower part of the protective cylinder 24. The water sprayed from the water spray nozzle 223 can finally flow out of the protective cylinder 24 through the water return port 241 and flow into the water tank 23, realizing recycling and reuse.

[0095] In a preferred embodiment, the thread cleaning device further includes a water tank 23. As shown in combination with Figure 4 the figure, two water tanks 23 respectively correspond to two cleaning assemblies 22. The cleaning assemblies 22 are movably disposed on the corresponding water tanks 23, and the moving direction of the cleaning assemblies 22 is parallel to the axis of the tubular member 26. With this arrangement, the distance between the two cleaning assemblies 22 can be quickly adjusted to adapt to tubular members 26 of different lengths.

[0096] In a preferred embodiment, as Figure 6 and Figure 8As shown in the figure, a rack 231 is provided on the water tank 23. The rack 231 is parallel to the axis of the tubular member 26. Below the housing 225 of the cleaning assembly 22, a gear 232 is rotatably provided. The axis of rotation of the gear 232 is perpendicular to the length direction of the rack 231. The rack 231 meshes with the gear 232. Below the housing 225 of the cleaning assembly 22, a traveling motor 233 is provided. The traveling motor 233 is drivingly connected to the gear 232. Further, the gear 232 and the rack 231 are provided on the front side of the cleaning assembly 22, and the traveling motor 233 is provided on the rear side of the cleaning assembly 22.

[0097] In a preferred embodiment, the driving mechanism 21 is configured to be height-adjustable. With this arrangement, by adjusting the height of the driving mechanism 21, the tilting angle of the tubular member 26 can be adjusted. By tilting the tubular member 26, the water that enters the tubular member 26 during the cleaning process can be discharged.

[0098] Specifically, as Figures 9 to 11 shown, the driving mechanism 21 includes a base 211, a telescopic rod 212, a fixed frame 213, rollers 214, driven wheels 215, a driving wheel 216, and a driving machine 217.

[0099] Combined with Figure 4 、 Figures 9 to 11 , the base 211 is fixedly provided on the side of the water tank 23. The telescopic rod 212 is provided in the middle of the base 211, and the central axis of the telescopic rod 212 is arranged in the vertical direction. The fixed frame 213 is configured as a square housing and is fixedly provided on the top of the telescopic rod 212. Two parallel rollers 214 are rotatably provided in the fixed frame 213, and the central axes of the two rollers 214 are located on the same horizontal plane. A driven wheel 215 is provided at the same end of the two rollers 214. The driving wheel 216 is provided at a position slightly below the middle of the two driven wheels 215. The driving wheel 216 is rotatably connected to the fixed frame 213 and meshes with the two driven wheels 215. The driving machine 217 is fixedly provided outside the fixed frame 213. The output shaft of the driving machine 217 extends into the inside of the fixed frame 213 and is drivingly connected to the driving wheel 216.

[0100] During the working process, the tubular member 26 is placed above the two rollers 214 under the action of gravity, and the outer wall surface of the tubular member 26 contacts the two rollers 214. After the driving machine 217 is started, it can drive the driving wheel 216 to rotate. The driving wheel 216 then drives the two rollers 214 to rotate through the two driven wheels 215, so that the tubular member 26 rotates.

[0101] As Figure 4As shown, the thread cleaning device 20 further includes a lifting mechanism 25. The lifting mechanism 25 includes a lifting rod 251 and a support roller 252 provided at the top of the lifting rod 251 for supporting the tubular member 26. The lifting rod 251 adjusts the height of the support roller 252. The support roller 252 mainly functions to support the tubular member 26. By adjusting the height of the support roller 252, the purpose of adjusting the inclination angle of the tubular member 26 can also be achieved. Further, the specific structure of the lifting mechanism 25 is similar to that of the driving mechanism 21, except that the lifting mechanism 25 does not have a driving motor 217, a driven wheel 215, and a driving wheel 216.

[0102] In a preferred embodiment, as Figure 4 shown, a measuring mechanism 27 is further provided above the water tank 23 on one side of the cleaning assembly 22 close to the tubular member 26. The measuring mechanism 27 measures the position of the tubular member 26 relative to the cleaning assembly 22, so as to judge whether the thread 261 of the tubular member 26 has reached the position, and at the same time blocks the feedback signal of the photoelectric switch 271 to complete the length measurement of the tubular member 26.

[0103] Specifically, as Figure 5 shown, the measuring mechanism 27 includes a photoelectric switch 271 and a photoelectric switch reflector 272. The photoelectric switch 271 and the photoelectric switch reflector 272 are respectively arranged on the left and right sides of the cleaning assembly 22.

[0104] In a specific embodiment, as Figure 5 shown, a slide rail 285 is provided on the upper part of the water tank 23. The sliding direction of the slide rail 285 is parallel to the axial direction of the tubular member 26. A bottom plate 284 is provided above the slide rail 285. The bottom plate 284 can move along the length direction of the slide rail 285. A fixing plate 281 is fixedly provided above the bottom plate 284. The fixing plate 281 is arranged vertically. Two slotted holes are provided on the fixing plate 281. Adjusting bolts 282 are arranged in both of the two slotted holes. The connecting plate 283 is connected to the fixing plate 281 through the adjusting bolts 282. The housing 225 is fixedly provided on the connecting plate 283. In this setting, after loosening the adjusting bolts 282, the connecting plate 283 can move vertically relative to the fixing plate 281, so as to adjust the height of the housing 225 relative to the water tank 23, that is, adjust the height of the cleaning assembly 22 relative to the water tank 23.

[0105] Figure 12 shows the structure of the thread oiling device 30 according to the present invention. As Figure 12 shown, the thread oiling device 30 includes a driving mechanism 21 and an oiling assembly 32.

[0106] In this embodiment, two driving mechanisms 21 and two oiling assemblies 32 are provided. Among them, the two driving mechanisms 21 are symmetrically arranged on the left and right sides, and the two oiling assemblies 32 are symmetrically arranged at the left and right end parts of a tubular member (not shown). During the working process, the tubular member is placed on the two driving mechanisms 21. After the driving mechanisms 21 are started, they can drive the tubular member to rotate. The oiling assembly 32 is located beside the thread at the end of the tubular member. While the tubular member is rotating, the oiling assembly 32 sprays grease on the thread, so that the grease covers the entire circumferential direction of the thread.

[0107] The present invention oils the thread of the tubular member by rotating the tubular member, which can be applicable to tubular members with different diameters and can be applicable to male threads and female threads at the same time. When it is necessary to clean the male thread, the oiling assembly 32 is arranged on the circumferential outer side of the tubular member, so that the oiling assembly 32 can spray grease onto the male thread. The driving mechanism 21 drives the tubular member to rotate, so that the male thread rotates relative to the oiling assembly 32, and the entire circumferential direction of the male thread is sprayed with grease by the oiling assembly 32. When replacing male threads with different diameters, only the relative position height of the driving mechanism 21 and the oiling assembly 32 needs to be adjusted so that the oiling assembly 32 can spray grease onto the male thread. When it is necessary to clean the female thread, the oiling assembly 32 is inserted into the circumferential inner side of the tubular member, so that the oiling assembly 32 can spray grease onto the female thread. The driving mechanism 21 drives the tubular member to rotate, so that the female thread rotates relative to the oiling assembly 32, and the entire circumferential direction of the female thread is sprayed with grease by the oiling assembly 32. When replacing female threads with different diameters, only the relative position height of the driving mechanism 21 and the oiling assembly 32 needs to be adjusted so that the oiling assembly 32 can spray grease onto the female thread.

[0108] It should be noted that although two driving mechanisms 21 and two oiling assemblies 32 are provided in this embodiment, the protection scope of the present application is not limited thereto. Those skilled in the art can adjust the number of the driving mechanism 21 and the oiling assembly 32 according to the actual situation of the present application.

[0109] The structure of the driving mechanism 21 is the same as that of the driving mechanism 21 in the thread cleaning device 20 of the present invention, and will not be described in detail here.

[0110] As Figure 12As shown, the thread greasing device 30 further includes an inclined support frame 33. The inclined support frame 33 includes a lifting rod 331 and a support roller 332 provided at the top of the lifting rod 331 for supporting the tubular member. The lifting rod 331 adjusts the height of the support roller 332. The support roller 332 mainly functions to support the tubular member. By adjusting the height of the support roller 332, the purpose of adjusting the inclination angle of the tubular member can also be achieved. Further, the specific structure of the inclined support frame 33 is similar to that of the drive mechanism 21, except that the inclined support frame 33 is not provided with a drive motor 217, a driven wheel 215, and a driving wheel 216.

[0111] In a specific embodiment, as Figure 12 and Figure 13 shown, the greasing assembly 32 includes an oil spraying mechanism 322 and an oil spraying pipe 321 connected to the oil spraying mechanism 322. An oil spraying port 3211 and a greasing brush 3212 are provided at the end of the oil spraying pipe 321.

[0112] In this embodiment, the oil spraying mechanism 322 is respectively connected to the oil spraying pipes 321 of the left and right greasing assemblies 32 through pipelines. The specific structure of the oil spraying mechanism 322 is prior art and will not be elaborated here.

[0113] Figure 13 For Figure 12 the enlarged schematic view of the right greasing assembly 32 in

[0114] In a preferred embodiment, an air inlet 3213 is provided on the oil spraying pipe 321. As Figure 13 shown, the air inlet 3213 is provided on the side of the oil spraying pipe 321. During the working process, gas can be mixed into the grease in the oil spraying pipe 321 through the air inlet 3213, so that the oil-gas mixture fluid is ejected from the oil spraying port 3211, and the grease can be more evenly dispersed on the surface of the thread.

[0115] In a preferred embodiment, the oiling assembly 32 further includes a jet pipe 323. The jet pipe 323 is arranged above the oil injection pipe 321 and is parallel to the oil injection pipe 321. A jet orifice 3231 is provided at the left end of the jet pipe 323. By providing the jet pipe 323, it is possible to purge the residual water or other impurities on the thread, thereby improving the oiling and screwing quality of the thread.

[0116] In a preferred embodiment, as Figure 12 and Figure 13 shown, the oiling assembly 32 further includes a moving frame 324 and a water tank 328. The oil injection pipe 321 is fixedly arranged on the moving frame 324. The moving frame 324 is movably arranged on the water tank 328, and the moving direction of the moving frame 324 is parallel to the length direction of the oil injection pipe 321. With this arrangement, in combination with Figure 12 , the oil injection pipes 321 of the left and right oiling assemblies 32 in this embodiment can move left and right, so as to be applicable to tubular parts of different lengths.

[0117] Specifically, a slide rail 329 for movably connecting with the water tank 328 is provided at the bottom of the moving frame 324. Correspondingly, a component for adapting to the slide rail 329 is provided on the water tank 328.

[0118] In a preferred embodiment, as Figure 13 shown, the jet orifice 3231 is located on the left side of the oil injection pipe 321, that is to say, the left end of the jet pipe 323 extends beyond the left end of the oil injection pipe 321. With this arrangement, after the tubular part is placed on the driving mechanism 21, during the process of the moving frame 324 moving leftward until the oiling brush 3212 contacts the thread of the tubular part, the jet orifice 3231 will first pass through the thread to purge the thread, and then the oiling work will be carried out. During the process of the jet orifice 3231 purging the thread, the tubular part can be set in an inclined state by adjusting the height of the driving mechanism 21 or the inclined support frame 33, which is beneficial to discharging the impurities from the tubular part.

[0119] In a specific embodiment, as Figures 13 to 15 shown, a motor 325 is fixedly arranged on the moving frame 324, and a gear 3 is connected to the output end of the motor 325. As Figure 15 shown, the motor 325 and the gear 3 are respectively arranged on both sides of the moving frame 324. A rack is arranged on the water tank 328 along the moving direction of the moving frame 324, and the rack meshes with the gear 3. After the motor 325 is started, it can drive the gear 3 to rotate. Under the meshing action of the gear 3 and the rack, the moving frame 324 moves relative to the rack, and further the oil injection pipe 321 moves relative to the water tank 328.

[0120] In a preferred embodiment, as Figure 13As shown, the moving frame 324 includes a fixing member 3241 and an adjusting plate 3242 movably arranged on the fixing member 3241 in the vertical direction. The fixing member 3241 and the adjusting plate 3242 are fixed by an adjusting bolt 3243. The air spray pipe 323 and the oil spray pipe 321 are both fixedly arranged on the adjusting plate 3242. When the adjusting bolt 3243 is loosened, the adjusting plate 3242 can move relative to the fixing member 3241 in the height direction, so as to adjust the heights of the air spray pipe 323 and the oil spray pipe 321. After adjusting the air spray pipe 323 and the oil spray pipe 321 to appropriate heights, tightening the adjusting bolt 3243 can fix the adjusting plate 3242 to the fixing member 3241.

[0121] According to the present invention, a pipe turning mechanism 14 is arranged between any two adjacent driving mechanisms 21. The pipe turning mechanism 14 is configured to transfer the pipe string in the thread cleaning device 20 to the thread oiling device 30.

[0122] As Figure 3 shown, the pipe turning mechanism 14 includes a pipe turning oil cylinder 141 and a pipe turning plate 142 which are hinged to each other. The pipe turning oil cylinder 141 is located between the pipe string box 13 and the thread cleaning device 20. The lower end of the pipe turning oil cylinder 141 is hinged to the thread cleaning device 20, the upper end of the pipe turning oil cylinder 141 is hinged to the pipe turning plate 142, the right end of the pipe turning plate 142 is hinged to the thread cleaning device 20, and the left and right ends of the pipe turning plate 142 are respectively located on the left and right sides of the thread cleaning device 20.

[0123] In Figure 3 the state shown, the pipe turning plate 142 is in a horizontal position. After the pipe string is placed on the driving mechanism 21 of the thread cleaning device 20, the pipe turning plate 142 is located below the pipe string. When it is necessary to move the pipe string from the thread cleaning device 20 to the thread oiling device 30, the pipe turning oil cylinder 141 extends, making the left side of the pipe turning plate 142 tilt upward, so that the pipe string on the thread cleaning device 20 disengages from above the driving mechanism 21, and then rolls to the right along the pipe turning plate 142 and finally falls into the driving mechanism 21 of the thread oiling device 30.

[0124] By arranging the pipe turning mechanism 14, the moving process of the pipe string from the thread cleaning device 20 to the thread oiling device 30 can be simplified, and the time for pipe string transfer can be saved.

[0125] Figure 16 shows the structure of the lifting robot 50 according to the present invention. As Figure 16 shown, the lifting robot 50 includes a general base 51, a flipping base 52, a flipping frame 53 and a gripper assembly 54.

[0126] Among them, the general base 51 is used to support the pipe string. Specifically, as Figure 16 and Figure 17As shown, the overall base 51 is configured as a frame structure in the shape of a cuboid. In this embodiment, the length of the overall base 51 is greater than the length of the pipe column, so that the pipe column can be better supported by the overall base 51.

[0127] In a specific embodiment, a plurality of pipe column lifting mechanisms 511 are arranged at intervals along the length direction inside the overall base 51. During the working process, the plurality of pipe column lifting mechanisms 511 jointly support the pipe column, so that the pipe column can be placed parallel on the overall base 51.

[0128] Furthermore, as Figure 17 shown, transfer connectors 512 are symmetrically arranged on the front and rear sides of the overall base 51. Specifically, the transfer connectors 512 are inclinedly arranged on the overall base 51 by means of hinges. The end of the transfer connector 512 far from the overall base 21 extends below the pipe column inside the thread greasing device 30. When it is necessary to move the pipe column inside the thread greasing device 30 onto the overall base 51, the transfer connector 512 swings upward, so as to take out the pipe column from above the driving mechanism 21 of the thread greasing device 30. Then, under the inclination of the transfer connector 512, the pipe column rolls along the inclined transfer connector 512 onto the overall base 51.

[0129] According to the present invention, the flipping base 52 is arranged on the overall base 51 by means of hinges. As Figure 16 shown, the flipping base 52 is configured as a frame structure substantially in the shape of a trapezoid. A first hinge ear 521 is arranged at the right lower end of the flipping base 52, and the flipping base 52 is hingedly arranged at the left lower end of the overall base 51 through the first hinge ear 521. A second hinge ear 522 is arranged at the upper part of the flipping base 52.

[0130] One end of the flipping hydraulic cylinder 523 is hinged to the overall base 51, and the other end is hinged to the second hinge ear 522. And the hinge point of the flipping hydraulic cylinder 523 and the overall base 51 is located on the right side of the first hinge ear 521. With this setting, by the telescoping of the flipping hydraulic cylinder 523, the flipping of the flipping base 52 relative to the overall base 51 can be realized.

[0131] According to the present invention, the flipping frame 53 is rotatably arranged on the flipping base 52. Specifically, as Figure 16 shown, a slewing bearing 55 is arranged at the upper end of the flipping base 52, and the flipping frame 53 is rotatably arranged on the flipping base 52 through the slewing bearing 55, and the rotation axis of the flipping frame 53 is perpendicular to the ground.

[0132] The gripper assembly 54 is movably arranged on the flipping frame 53. In the first state, the flipping hydraulic cylinder 523 is in a contracted state, the flipping base 52 is perpendicular to the main base 51, the flipping frame 53 is parallel to the main base 51, and the gripper assembly 54 grabs the pipe column located on the main base 51. In the second state, the flipping hydraulic cylinder 523 extends, the flipping base 52 is parallel to the main base 51, the flipping frame 53 is perpendicular to the main base 51, and the flipping frame 53 rotates 180° under the action of the slewing bearing 55, so that the gripper assembly 54 flips the grabbed pipe column to the side of the flipping frame 53 away from the main base 51.

[0133] According to the present invention, in a specific embodiment, as Figure 18 shown, a lifting sprocket 56 is rotatably arranged in the flipping frame 53. In this embodiment, a lifting sprocket 56 is arranged at the upper part of the flipping frame 53, and a lifting sprocket 56 is arranged at the lower part of the flipping frame 53. A lifting chain 57 is connected between these two lifting sprockets 56, and the gripper assembly 54 is fixedly connected to the lifting chain 57. The rotation of the lifting sprocket 56 can drive the gripper assembly 54 to move along the flipping frame 53 through the lifting chain 57.

[0134] The structure of the lifting sprocket 56 arranged at the lower part of the flipping frame 53 will be described in detail. As Figure 20 shown, two lifting sprockets 56 are symmetrically arranged on the front and rear sides of the flipping frame 53. Correspondingly, two lifting sprockets 56 are also arranged at the upper part of the flipping frame 53. Arranging two lifting sprockets 56 can make the gripper assembly 54 move more smoothly during the movement.

[0135] Furthermore, a motor 571 and a speed reducer 574 are fixedly arranged on the flipping frame 53. The output end of the motor 571 is drivingly connected to the input end of the speed reducer 574, and the output end of the speed reducer 574 is connected with an output sprocket 572. After the motor 571 is started, it can drive the output sprocket 572 to rotate. An intermediate sprocket 573 is arranged in the flipping frame 53. The intermediate sprocket 573 is coaxially and fixedly arranged between the two lifting sprockets 56, and the intermediate sprocket 573 meshes with the output sprocket 572. After the motor 571 drives the output sprocket 572 to rotate, the output sprocket 572 can drive the lifting sprocket 56 to rotate through the intermediate sprocket 573, and then drive the gripper assembly 54 to move along the length direction of the flipping frame 53 through the lifting chain 57. Through this setting, on the one hand, when grabbing the pipe columns placed in parallel on the main base 51, the position can be adjusted according to the length of the pipe columns. On the other hand, after the gripper assembly 54 grabs the pipe columns, it can drive the pipe columns to move relative to the flipping frame 53 together.

[0136] As Figure 18 shown, the output sprocket 572 is connected to the intermediate sprocket 573 through an inner chain 576, so as to realize power transmission.

[0137] In a preferred embodiment, an encoder 575 for recording the number of rotations of the output sprocket 572 is provided on the flipping frame 53. The encoder 575 and the motor 571 are respectively arranged on the front and rear sides of the output sprocket 572, and are kept as symmetric as possible front and back. By providing the encoder 575, the number of rotations of the output sprocket 572 can be detected, and thus the position of the gripper assembly 54 relative to the flipping frame 53 at this time can be known.

[0138] In a preferred embodiment, two gripper assemblies 54 are provided on the flipping frame 53. Among them, the gripper assembly 54 located at the top of the flipping frame 53 is fixedly connected to the flipping frame 53, and the gripper assembly 54 located at the lower part of the flipping frame 53 is movably arranged on the flipping frame 53 through the above-mentioned lifting chain 57.

[0139] As Figure 19 and Figure 22 shown, the gripper assembly 54 includes a gripper frame 541. On one side of the gripper frame 541 facing away from the flipping frame 53, two gripper sliders 542 are arranged to move horizontally. Specifically, the gripper sliders 542 in this embodiment are configured in a V shape, and the V-shaped openings of the two gripper sliders 542 face each other. With this setting, when the two gripper sliders 542 move closer to grasp the pipe string, automatic centering of the pipe string can be achieved. Preferably, as Figure 22 shown, the two gripper sliders 542 are arranged with a vertical offset. With this setting, the gripper sliders 542 can grasp a variety of pipe strings with different outer diameters. Compared with the structure where the two gripper sliders 542 are not offset, the outer diameter range of the pipe strings used in this structure is wider. In this embodiment, the two gripper sliders 542 can hold pipe strings with a diameter range of 2 - 20 inches.

[0140] In a specific embodiment, a structure for driving the gripper slider 542 to move is provided on the gripper frame 541. Taking one of the gripper sliders 542 as an example for illustration, as Figure 22 shown, a slider guide rail 540 is arranged on the gripper frame 541 in the left - right direction, and the gripper slider 542 is slidably arranged on the slider guide rail 540. A fixed bracket 546 is provided on the gripper frame 541, and a gripper telescopic cylinder 547 is fixedly arranged on the fixed bracket 546. The telescopic end of the gripper telescopic cylinder 547 is fixedly connected to the gripper slider 542. With this setting, the telescopic movement of the gripper telescopic cylinder 547 can drive the gripper slider 542 to move, realizing the grasping action of the pipe string.

[0141] This embodiment is provided with two gripper assemblies 54. Among them, the gripper frame 541 of the upper gripper assembly 54 is directly fixedly connected to the flipping frame 53, and the lower gripper assembly 54 is also provided with other mechanisms for realizing movement relative to the flipping frame 53, which are as follows.

[0142] A lifting frame 543 is fixedly arranged on one side of the gripper frame 541 close to the flipping frame 53. As Figure 24 shown, two lifting frames 543 are symmetrically arranged on the left and right sides of the gripper frame 541, and the two lifting frames 543 are respectively fixedly connected to two lifting chains 57. During the working process, the flipping frame 53 is located between the two lifting frames 543.

[0143] Furthermore, as Figure 23 shown, a plurality of traveling wheels 545 are arranged on the lifting frame 543. Taking Figure 23 the orientation as an example, the two lifting frames 543 limit the front - rear direction, and the plurality of traveling wheels 545 on the lifting frame 543 limit the left - right direction. The two act together to enable the gripper frame 541 to only move relative to the length direction of the flipping frame 53.

[0144] In this embodiment, four traveling wheels 545 are respectively arranged on each lifting frame 543. As Figure 23 shown, the four traveling wheels 545 are respectively arranged around the lifting frame 543. Combining Figure 18 shown, the flipping base 52 is configured in an I - shape. The two traveling wheels 545 on the left side of the lifting frame 543 are in rolling contact with the left side of the flipping base 52, and the two traveling wheels 545 on the right side of the lifting frame 543 are in rolling contact with the right side of the flipping base 52.

[0145] In a preferred embodiment, as Figure 22 shown, a photoelectric switch 548 and a reflector 549 are respectively arranged on the lower left and right sides of the gripper frame 541. The photoelectric switch 548 and the reflector 549 are mutually adapted. When the pipe column is located between the photoelectric switch 548 and the reflector 549, the pipe column will block the space between the photoelectric switch 548 and the reflector 549, thereby determining whether the gripper assembly 54 successfully grabs the pipe column.

[0146] In a preferred embodiment, leveling legs 58 are arranged on both the main base 51 and the flipping base 52. By adjusting the height of the leveling legs 58, the Figure 16 main base 51 and the flipping base 52 in the shown state can be made parallel to the ground.

[0147] The process of lifting the pipe column by the present invention is as follows.

[0148] First, when the flipping frame 53 is not parallel to the main base 51, the pipe column is moved to the pipe column lifting mechanism 511 of the main base 51, and at this time, the pipe column is in a horizontal state. Then, the flipping frame 53 rotates relative to the flipping base 52 to make the gripper assembly 54 face the orientation where the main base 51 is located, that is Figure 16At the position shown. Then, the flipping base 52 drives the flipping frame 53 to rotate relative to the total base 51, thereby changing the tilting angle of the flipping frame 53 relative to the total base 51 until the flipping frame 53 is parallel to the total base 51. Then, the pipe column lifting mechanism 511 adjusts the height of the pipe column so that the pipe column is within the grasping range of the gripper assembly 54, and the gripper assembly 54 grasps the pipe column. Then, the flipping base 52 drives the flipping frame 53 to rotate relative to the total base 51, thereby changing the tilting angle of the flipping frame 53 relative to the total base 51 until the flipping frame 53 is perpendicular to the ground. At the same time, under the action of the slewing bearing 55, the flipping frame 53 rotates 180° relative to the flipping base 52 until the side of the flipping frame 53 holding the pipe column rotates to the side away from the total base 51, that is Figure 16 the left side in

[0149] Thereafter, the above working process is cycled to realize the lifting of multiple pipe columns.

[0150] During the above working process, the process of moving the pipe column onto the total base 51 will not interfere with the process of the flipping frame 53 lifting the pipe column, thereby saving the time required for the entire process.

[0151] In a preferred embodiment, a plurality of stepping mechanisms 59 are symmetrically arranged on both sides of the bottom plate 60, such as Figure 27 and Figure 28 shown.

[0152] As Figure 26 shown, the stepping mechanism 59 includes a stepping frame leg 591 and a support plate 592. Specifically, the left end of the stepping frame leg 591 is fixedly connected to the side surface of the bottom plate 60. A lifting cylinder 597 is fixedly arranged at the lower part of the stepping frame leg 591. The lifting cylinder 597 is arranged in the vertical direction, and the telescopic end of the lifting cylinder 597 extends below the stepping frame leg 591. A transverse movement cylinder 598 is arranged above the left side of the support plate 592 in a hinged manner. A backing plate 594 is arranged at the telescopic end of the lifting cylinder 597. The right end of the transverse movement cylinder 598 is connected to the backing plate 594 in a hinged manner. A track plate 593 is arranged at the upper right part of the support plate 592. The track plate 593 is horizontally arranged in the left-right direction. The backing plate 594 is slidably arranged on the track plate 593.

[0153] The present invention provides a working mode of the stepping mechanism 59.

[0154] First, the lifting cylinders 597 of all the stepping mechanisms 59 are in the contracted state. At this time, the support plate 592 does not contact the ground, and the bottom plate 60 contacts the ground.

[0155] Then, the transverse movement cylinder 598 of the stepping mechanism 59 contracts or extends, so that the support plate 592 moves laterally relative to the stepping frame leg 591, and further the support plate 592 moves laterally relative to the bottom plate 60.

[0156] After the transverse movement cylinder 598 stops operating, the lifting cylinder 597 extends, making the support plate 592 contact the ground and supporting the bottom plate 60 to be separated from the ground.

[0157] After that, the transverse movement cylinder 598 of the stepping mechanism 59 extends or contracts, making the support plate 592 move laterally relative to the stepping frame leg 591, and further the support plate 592 moves laterally relative to the bottom plate 60. Since the support plate 592 is in contact with the ground at this time, the support plate 592 is relatively stationary with respect to the ground, and the bottom plate 60 moves relative to the ground.

[0158] The stepping mechanism 59 repeatedly executes the above actions, and the bottom plate 60 can be moved.

[0159] In a preferred embodiment, a guide rod 596 is fixedly arranged on the cushion plate 594. The guide rod 596 is arranged in the vertical direction. A guide plate 595 is fixedly arranged on the stepping frame leg 591. The guide rod 596 and the guide plate 595 are in sliding fit in the vertical direction. Through this arrangement, it can play a guiding role in the process of the lifting cylinder 597 lifting and lowering.

[0160] In a preferred embodiment, as Figure 26 shown, a ball joint 599 is fixedly arranged at the lower end of the lifting cylinder 597. A ball groove for adapting to the ball joint 599 is arranged at the upper part of the cushion plate 594. The ball joint 599 is inserted into the ball groove of the cushion plate 594. When it is necessary to change the traveling direction of the stepping mechanism 59, the angle of the support plate 592 and the transverse movement cylinder 598 relative to the stepping frame leg 591 can be adjusted by rotating the cushion plate 594 relative to the ball joint 599.

[0161] Furthermore, a pressing plate 590 is arranged at the upper end of the cushion plate 594. The ball joint 599 passes through the pressing plate 590. When the pressing plate 590 is fastened to the cushion plate 594 by bolts, the pressing plate 590 can abut against the ball joint 599, thereby preventing the ball joint 599 and the cushion plate 594 from rotating relative to each other by increasing friction.

[0162] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0163] In the present invention, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected to", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0164] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection 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 a suitable manner in any one or more embodiments or examples.

[0165] Finally, it should be noted that the above are only the preferred implementation schemes of the present invention and do not constitute any limitation to the present invention. Although the present invention has been described in detail with reference to the foregoing implementation schemes, for those skilled in the art, it is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A surface pipe string processing system, characterized in that, Comprising: A pipe string transfer device (100), the pipe string transfer device (100) includes a pipe string box (13), a thread cleaning device (20) and a thread greasing device (30) arranged in sequence along a direction perpendicular to the pipe string. The pipe string box (13) contains pipe strings, and the pipe string box (13), the thread cleaning device (20) and the thread greasing device (30) are all parallel to the pipe string; A lifting robot (50), the lifting robot (50) is arranged on the side of the thread greasing device (30) away from the thread cleaning device (20). The lifting robot (50) includes a main base (51), a flipping base (52) arranged on the main base (51) by means of hinge, a flipping frame (53) rotatably arranged on the flipping base (52), and a gripper assembly (54) movably arranged on the flipping frame (53).

2. The surface pipe string processing system according to claim 1, characterized in that, The pipe string transfer device (100) further includes a moving rail (11), the moving rail (11) is perpendicular to the pipe string, and a robotic arm (12) is movably arranged on the moving rail (11). The robotic arm (12) is configured to be able to grab the pipe string in the pipe string box (13) and move the pipe string into the thread cleaning device (20) and the thread greasing device (30).

3. The surface pipe string processing system according to claim 1 or 2, characterized in that, The thread cleaning device (20) includes cleaning assemblies (22) arranged at both axial ends, and a plurality of driving mechanisms (21) are arranged at intervals along the axis between the two cleaning assemblies (22); The thread greasing device (30) includes a greasing assembly (32) arranged at the axial end and a plurality of driving mechanisms (21) arranged at intervals along the axis; The driving mechanism (21) is configured to have a structure with an upper opening and can support and drive the pipe string to rotate.

4. The surface pipe string processing system according to claim 3, characterized in that, A pipe turning mechanism (14) is arranged between any two adjacent driving mechanisms (21). The pipe turning mechanism (14) is configured to be able to transfer the pipe string in the thread cleaning device (20) into the thread greasing device (30).

5. The surface pipe string processing system according to claim 4, characterized in that, The pipe turning mechanism (14) includes a pipe turning oil cylinder (141) and a pipe turning plate (142) hinged to each other. After the pipe turning oil cylinder (141) extends, one end of the pipe turning plate (142) can be tilted upward, so that the pipe string in the thread cleaning device (20) is lifted upward from the driving mechanism (21) and transferred along the pipe turning plate (142) into the thread greasing device (30).

6. The surface pipe string processing system according to any one of claims 1 to 5, characterized in that, A transfer joint (512) is hingedly arranged on the side of the main base (51), and the end of the transfer joint (512) away from the main base (51) is located below the pipe string in the thread greasing device (30).

7. The surface pipe string processing system according to any one of claims 1 to 6, characterized in that, A slewing bearing (55) is arranged on the flipping base (52). The flipping frame (53) is rotatably arranged on the flipping base (52) through the slewing bearing (55). The rotation axis of the flipping frame (53) is perpendicular to the hinge axis of the flipping base (52).

8. The surface pipe string processing system according to any one of claims 1 to 7, characterized in that, Two pipe string transfer devices (100) are symmetrically arranged on both sides of the lifting robot (50).

9. The surface pipe string processing system according to any one of claims 1 to 8, characterized in that, The ground pipe string processing system further includes a bottom plate (60), the pipe string transfer device (100) and the lifting robot (50) are both arranged on the bottom plate (60), and a plurality of stepping mechanisms (59) are arranged on the side surface of the bottom plate (60). The stepping mechanism (59) includes: A stepping frame leg (591) fixedly connected to the bottom plate (60); A lifting cylinder (597) arranged on the stepping frame leg (591) in the vertical direction; A backing plate (594) arranged at the lower telescopic end of the lifting cylinder (597); A support plate (592) movably arranged in the horizontal direction below the backing plate (594); and A transverse cylinder (598) arranged on the support plate (592), the transverse cylinder (598) is arranged transversely, and one end of the transverse cylinder (598) away from the support plate (592) is connected to the backing plate (594).

10. The surface pipe string processing system according to claim 9, characterized in that, A ball joint (599) is arranged at the telescopic end of the lifting cylinder (597), and a ball groove for accommodating the ball joint (599) is arranged on the backing plate (594), so that the backing plate (594) can adjust the angle relative to the lifting cylinder (597).

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