Fishing device and method for fallen reamer of horizontal directional drill

Abstract

The invention relates to a fishing device and method for a falling reamer of a horizontal directional drill, and the fishing device comprises a manipulator clamp holder, a reamer drill rod telescopic fishing cylinder, and a universal head spherical hinge device for regulating and controlling the clamp holder, and the spherical hinge end of the universal head spherical hinge device for regulating and controlling the clamp holder is connected with a front-end drill rod; and the other end of the spherical hinge is connected with the main rod of the manipulator holder and the telescopic fishing barrel of the reamer drill rod. According to the salvage device and method, the universal head spherical hinge device is installed on the guide drill rod, the deviation between the axis of the salvage barrel and the axis of the drill rod of the reamer falling down accidentally is directly reduced through random rotation of the universal head and free stretching and retracting of the salvage barrel, and the butt joint capturing capacity of the salvage barrel is greatly improved; and meanwhile, the clamping distance and the clamping force of the manipulator clamping device can be flexibly adjusted through four mechanical arms, the manipulator clamping device can be applied to accident hole expanders of different sizes, and the fastening performance of clamping the falling hole expanders is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of offshore pipeline construction, and in particular relates to a salvage device and method suitable for a horizontal directional drilling reamer dropped in a rock formation, which realizes efficient and safe reamer recovery through the coordinated effects of manipulator clamping, universal head posture adjustment and retractable overshot tube. Background Art

[0002] Offshore wind power technology is becoming the main force of green energy with its rich resources and broad development prospects. With the comprehensive green transformation of the economy and society, the development of offshore wind power has become an important part of green development. Due to the relative scarcity of wind energy resources in offshore wind farms and the influence of government marine environmental protection policies, in order to avoid the impact of offshore wind power construction on the offshore ecology and the lives of surrounding residents, and to increase the installed capacity of offshore wind power, my country's offshore wind power is accelerating its development towards the deep sea.

[0003] Although horizontal directional drilling has become mature, most of the ultra-long-distance directional drillings at home and abroad still pass through normal soil layers, such as silt and clay layers. As the main force in the development of offshore wind power in my country, Hainan will inevitably face the use of land-to-sea horizontal directional drilling during the construction of offshore wind power landing cables as the policy requirements for intensive and economical use of the sea and the selection of offshore wind power output cable routes and landing points are tightened. In the process of offshore wind power landing submarine cable construction, it is inevitable to face the use of land-to-sea horizontal directional drilling. Some of the geological conditions in Hainan's offshore areas are medium-weathered basalt and strongly weathered basalt, followed by clay layers and weak silt layers, which adds difficulties to the land-to-sea horizontal directional drilling construction of submarine cable landing: First, when passing through the basalt and soil layers of the strata, two types of expanders for rock and soil layers need to be replaced during the expansion process; second, the rock and soil strata are intertwined, and step holes are easily formed during the expansion, causing the back-pull to get stuck, and a hole repairer needs to be used to repair the hole to ensure smooth back-pull.

[0004] At present, some construction units have developed a number of large-caliber, long-distance land and sea horizontal directional drilling technologies in Hainan offshore wind power projects. Most of the project lines are planned to cross a length of more than 1,000 meters, and the diameter of the expanded hole is 1.3 meters. The entry point needs to pass through a rock layer of about 100 meters. Due to the high hardness of the rock, the development of cracks, and the complex formation, it is difficult to repair the hole during the expansion process. Due to improper expansion technology, there have been accidents where the expander was damaged and fell into the irregular step hole. Since the fallen expander could not be salvaged, the project was abandoned and suffered significant economic losses.

[0005] In the construction of deep - sea and far - sea wind power submarine cables, the land - to - sea horizontal directional drill needs to pass through the alternating strata of basalt and soil layers, and the reamer is prone to damage and fall in the stepped hole. Existing technologies such as CN114737884B use a fishing spear to forcibly reset the cutter blade, but it cannot adapt to complex holes; CN116291363A predicts the drill dropping through sensors, but lacks a dedicated fishing structure for the reamer. The present invention solves the problems of low fishing success rate and easy damage to the hole wall in the prior art through the cooperation of multiple components. Summary of the Invention

[0006] To solve the problem that the reamer in the horizontal directional drill for deep - sea and far - sea submarine cable landing operation is prone to damage and fall in the rock area during the crossing of the horizontal directional drill and cannot be fished out. The present invention proposes a fishing device and method for the dropped reamer of the horizontal directional drill. By installing a fishing device on the guide drill pipe, it mainly includes a manipulator gripper, a telescopic fishing cylinder for the reamer drill pipe, and a universal ball hinge device for regulating the gripper, where the front end of the telescopic fishing cylinder should have male and female threads matching the dropped reamer (drill bit).

[0007] To achieve the above - mentioned purpose, the technical solution of the present invention is: A fishing device for the dropped reamer of a horizontal directional drill, comprising: a manipulator gripper, a telescopic fishing cylinder for the reamer drill pipe, and a universal ball hinge device for regulating the gripper. One end of the ball hinge of the universal ball hinge device for regulating the gripper is connected to the front drill pipe, and the other end of the ball hinge is connected to the main rod of the manipulator gripper and the telescopic fishing cylinder for the reamer drill pipe;

[0008] The manipulator gripper includes a main rod and four adjustable - angle robotic arms. Each robotic arm is composed of an upper arm and a lower arm connected by a joint, and the lower arm is provided with a cavity and a telescopic mechanical claw;

[0009] The telescopic fishing cylinder for the reamer drill pipe includes a cylinder body, a guide shoe, a permanent magnetic core, a basket - type slip, and a control ring. The guide shoe is in a flared shape, and the front end is provided with male and female threads matching the reamer drill pipe;

[0010] The universal ball hinge device for regulating the gripper uses a double - ball - hinge universal coupling to connect the drill pipe and the main rod of the manipulator gripper, and is used to adjust the axis angle between the fishing device and the dropped reamer.

[0011] By the adaptive clamping of the manipulator and the axis adjustment of the universal head, the fishing accuracy is improved; the threaded connection and magnetic attraction structure of the fishing cylinder enhance the capture stability.

[0012] Furthermore, the angle range of the robotic arm joint of the manipulator gripper is 90° - 180°, and a force sensor is arranged in the cavity of the lower arm. The clamping force is automatically adjusted through the PLC control system. It adapts to reamers of different sizes and prevents secondary dropping caused by too loose or too tight clamping.

[0013] Further, the inner diameter of the basket slip of the reamer drill pipe telescopic fishing barrel is 1-2 mm smaller than the outer diameter of the reamer drill pipe. A milling shoe is provided inside the barrel body for trimming the end face of the reamer connecting rod. The slips are in close contact with the drill pipe, and the deformed end face is repaired by the milling shoe to ensure reliable thread docking.

[0014] Further, the double ball hinge of the universal ball hinge device allows an axis deflection of ±30°, and continuously transmits torque in the deflected state. It maintains power transmission in complex holes and avoids fishing failure caused by axis deviation.

[0015] Further, the size of the "hand" - shaped baffle of the mechanical claw is 90×20×3 mm.

[0016] Further, a rubber gasket is provided at the end of the mechanical claw, and the friction coefficient of the rubber gasket is ≥0.8. It increases the friction force of the contact surface and prevents the reamer from slipping off.

[0017] Further, the materials of the manipulator gripper, the reamer drill pipe telescopic fishing barrel, and the universal ball hinge device for regulating the gripper are 316L stainless steel, and the surface is coated with a tungsten carbide wear - resistant layer. It enhances corrosion resistance and wear resistance and extends the service life of the device.

[0018] A method for fishing a dropped reamer of a horizontal directional drill includes the following steps:

[0019] S1: Install the manipulator gripper, adjust the angle of the robotic arm and embed the mechanical claw;

[0020] S2: Assemble the telescopic fishing barrel, install the magnetic core, slips and matching threads;

[0021] S3: Connect the drill pipe and the fishing device through the universal ball hinge device;

[0022] S4: Push the drill pipe to the position where the reamer drops and locate it through the magnetic sensor;

[0023] S5: The manipulator gripper contacts the reamer, and the PLC adjusts the clamping force;

[0024] S6: Adjust the axis of the universal joint and the fishing barrel, tighten the thread and lock the slips;

[0025] S7: Pull back the drill pipe and release the buckle, pull back the reamer at a speed of ≤5 m / min, and monitor the torque in real - time ≤80 kN·m.

[0026] Further, in step S5, the attitude of the reamer is obtained through a micro - camera, and the initial opening angle of the robotic arm is automatically set according to the camera data. Visual assistance improves the positioning accuracy and reduces manual intervention.

[0027] Further, in step S6, the drill hole is flushed through the built-in water pipe of the overshot, and the end face of the reamer connecting rod is ground by starting the mill shoe to remove the debris in the hole and ensure smooth thread docking.

[0028] The beneficial effects of the present invention are as follows:

[0029] Aiming at the problem that the reamer in the horizontal directional drilling through the rock area during the landing operation of deep - sea and far - sea submarine cables is easily damaged and falls into the drill hole and cannot be salvaged. A salvage device and method for the dropped reamer of a horizontal directional drill proposed by the present invention installs a universal ball hinge device on the guide drill pipe. Through the arbitrary rotation of the universal joint and the free telescoping of the overshot, the deviation between the axis of the overshot and the axis of the drill pipe of the accidentally dropped reamer is directly reduced, greatly improving the docking and capturing ability of the overshot. At the same time, the manipulator gripper can flexibly adjust the clamping distance and clamping force through four robotic arms, and can be applied to accidentally dropped reamers of different sizes, ensuring the fastening of the clamped dropped reamer. It provides a safe, green and efficient salvage construction device and method for the accident of the land - to - sea horizontal directional drill reamer dropping in the rock formation.

[0030] During on - site implementation, the angle of the connecting rod of the dropped reamer is adjusted by the manipulator of the gripper, and the angle of the front end of the salvage drill pipe is adjusted in combination with the universal ball hinge device, so that the end face of the telescopic overshot is coaxial with the end face of the drill pipe of the dropped reamer. In addition, male and female threads matching the dropped reamer (drill bit) are installed at the front end of the telescopic overshot, which can ensure that the overshot accurately captures the connecting drill pipe of the dropped reamer. Description of the Drawings

[0031] Figure 1 is the longitudinal sectional view of the working condition of salvaging the dropped reamer;

[0032] Figure 2 is the elevation view of the mechanical gripper;

[0033] Figure 3 is the connection sectional view of the salvage device;

[0034] Figure 4 is the detailed drawing of the embedding device of the manipulator gripper;

[0035] Figure 5 is the schematic diagram of the dropped rock reamer;

[0036] Description of the reference numerals: 1 - mechanical gripper; 2 - telescopic overshot for the reamer drill pipe; 3 - universal ball hinge device for regulating the gripper; 4 - force sensor; 5 - micro - camera; 10 - salvage device; 11 - connecting rod of the reamer; 12 - water pump power cord; 13 - water pipe and drain pipe. Detailed Embodiment

[0037] The present invention will be further described below in combination with the drawings and specific embodiments.

[0038] As Figures 1 to 5 shown, a fishing device 10 for a horizontally directional drill dropped reamer of the present invention mainly includes a manipulator gripper 1, a telescopic fishing cylinder 2 for the reamer drill pipe, and a universal ball hinge device 3 for regulating the gripper. The overall connection sequence of the fishing device is the universal ball hinge device 3 for regulating the gripper, the manipulator gripper 1, and the telescopic fishing cylinder 2 for the reamer drill pipe.

[0039] The manipulator gripper 1 is composed of a main rod and four metal manipulator arms. Each manipulator arm is composed of a mechanical upper arm and a mechanical lower arm. There is a joint structure between the two arms, so that the angle between the two arms reaches 90° - 180°, ensuring that the manipulator arm touches the hole wall and autonomously adjusts the opening form, and at the same time ensuring that the angle between the two arms can fit the outer shape of reamers of various types and sizes. A cavity is provided in a section of the mechanical lower arm, and the mechanical claw is retracted in the cavity. The manipulator arm is made of stainless steel rods. The upper arm is made of a steel rod with dimensions of 800×100×4 mm, and the lower arm is made of a steel rod with dimensions of 600×100×4 mm; the mechanical claw is a "hand"-shaped baffle with dimensions of 90×20×3 mm. Combining with the outer shape of the reamer, the manipulator arm presents a large obtuse "V" shape, and the mechanical claw is buckled and firmly attached to the rear end face of the reamer cone. A rubber gasket is pasted on the mechanical claw to increase the friction force between the mechanical claw and the reamer cone contact surface. A force sensor 4 is installed at the end of the manipulator arm. When the sensor detects the contact force between the manipulator arm and the reamer, the joint angle between the upper arm and the lower arm is changed, and finally the contact force between the entire manipulator gripper and the reamer is adjusted to prevent the reamer from falling when being clamped.

[0040] The telescopic fishing cylinder 2 for the reamer drill pipe is composed of an upper joint, a cylinder body, and a guide shoe. A permanent magnetic core, a basket slip, a control ring, and a milling shoe are installed inside the cylinder body. The guide shoe part is in a flared shape, and a micro camera 5 is provided on the flared opening to better capture the drill pipe connected to the reamer. The diameter of the basket slip is about 1 - 2 mm smaller than the diameter of the connecting rod 11 of the reamer to be fished. The permanent magnetic core can quickly adsorb the connecting rod of the dropped reamer. The end face of the damaged connecting rod of the reamer is ground by the milling shoe. With the adjustment of the manipulator gripper and the drilling of the directional drill, the dropped reamer enters the basket slip inside the fishing cylinder, and the connecting rod of the reamer is firmly adsorbed by the magnetic suction force of the permanent magnetic core and the control ring to ensure that the reamer does not fall. In addition, male and female threads matching the dropped reamer (drill bit) should be provided at the front end of the fishing cylinder to ensure the tightness of capture.

[0041] The universal ball hinge device 3 for regulating the gripper is connected to the drill pipe by a double ball hinge type universal coupling. One end of the ball hinge is connected to the front drill pipe, and the other end of the ball hinge is connected to the main rod of the manipulator gripper. The axis angle between the fishing drill pipe and the drill pipe connected to the dropped reamer is adjusted by the rotation of the ball hinge and the gripper. At the same time, when there is an axis angle, the two connected shafts can continuously rotate and transmit torque, ultimately ensuring the smooth towing of the dropped reamer.

[0042] A method for recovering a reamer that has fallen off during horizontal directional drilling comprises the following steps: (1) installing a manipulator clamp; (2) installing a retractable salvage tube; (3) connecting a universal head ball joint device with other accessories; (4) retracting a drill rod to a position where the reamer (drill bit) has fallen off; (5) extending the manipulator clamp; (6) adjusting the universal head joint and the salvage tube to capture and align with the threaded hole of the reamer (drill bit) and tightening the reamer; and (7) pulling back the drill rod and removing the buckle.

[0043] S1: Robot gripper installation

[0044] After confirming that the mechanical arms, mechanical claws, latches and other accessories are intact and their sizes meet the design requirements, connect each mechanical upper arm to the mechanical lower arm through the latch, and install the limit link to ensure that the angle between the two arms is 90°

[0045] ~180° folding and stretching. After the four mechanical arms are installed, they are inserted into the four holes of the main rod of the manipulator gripper. The mechanical claw is embedded in the cavity of the mechanical lower arm, and a connecting pin is set at the connection joint between the mechanical claw and the mechanical lower arm, so that the gripper can extend the mechanical claw to grab the tail end of the reamer after the fallen reamer is salvaged. In addition, a rubber gasket is attached to the mechanical claw baffle to increase the friction between the mechanical claw and the tail end of the reamer to prevent the reamer from slipping during the salvage process.

[0046] S2: Retractable overshot installation

[0047] The installation sequence of the telescopic overshot is as follows: stand up the overshot bracket, fix the overshot on the bracket, put the permanent magnetic core, basket slips, control ring and milling shoe inside the overshot in order, and connect the side hole socket of the overshot with the water pipe; install the water pump motor on the overshot bracket, connect the water pump motor and the rubber pump in the overshot; finally connect the water pump power line 12, water pipe and drainage pipe 13. According to the size of the dropped reamer connecting rod, the front end of the overshot should be installed with matching male and female threads.

[0048] S3: Universal head ball joint device connects with other accessories

[0049] A section of drill pipe is removed from the drilling rig operating platform, and a universal head ball joint device is installed. The main rod of the manipulator gripper is installed at the rear end of the ball joint of the universal head ball joint device, and then a retractable salvage tube is installed.

[0050] S4: The drill rod is extended to the position where the reamer (drill bit) falls off

[0051] Start the drill rig, install a magnetic sensor inside the drill pipe, send the drill pipe forward along the established route, and determine the demarcation position between the free section before the stuck point and the stuck section after the stuck point by measuring the elastic deformation of the drill pipe during tension or torsion. After measurement, the drill pipe will be retrieved, and an integral fishing device adapted to the size of the dropped reamer will be installed. The male and female thread sizes at the front end match the dropped reamer (drill bit). After installation, start the drill rig again and extend the fishing drill pipe to the position where the reamer (drill bit) dropped.

[0052] S5: Manipulator extended clamping

[0053] Start the drill rig to send the manipulator gripper forward to near the accidentally dropped reamer. Determine the dropping attitude of the dropped reamer through the micro camera on the gripper and determine the initial opening angle of the manipulator gripper; the manipulator gripper continues to move forward until it contacts the dropped reamer, measure the contact force between the surface of the reamer and the surface of the robotic arm through the force sensor on the lower arm of the robot, and then automatically adjust the angle and clamping force of the robotic arm through the PLC control system.

[0054] S6: Adjust the universal head hinge and the fishing barrel to align and tighten with the threaded hole of the reamer (drill bit)

[0055] Adjust the angles of the four robotic arms of the manipulator gripper respectively to further adjust the docking position between the fishing barrel and the connecting rod of the dropped reamer, so that the axis of the connecting rod of the reamer is on the same axis as the fishing barrel. Wash the drill hole through the water pipe built into the fishing barrel, then adjust the distance between the two by telescoping, start the milling shoe of the fishing barrel to mill the end face of the connecting rod of the dropped reamer, and at the same time align the male and female threads at the front end with the connecting drill pipe of the dropped reamer (drill bit). Finally, start the drill rig so that the fishing barrel accurately captures the connecting drill pipe of the dropped reamer, and the drill pipe is firmly clamped by the internal slips of the fishing barrel.

[0056] S7: Drill pipe backhaul and releasing the coupling

[0057] Observe the torque of the drill pipe to ensure that the rotary torque is not greater than 70 - 80 kN·m, and set a reasonable backhaul force according to the weight of the dropped reamer. The backhaul speed should not be too fast to prevent the clamped reamer from falling during the backhaul process, or the gripper hitting the drill hole wall, causing damage or jamming of the robotic arm. Wait until the manipulator gripper completely leaves the drill hole before removing the clamped reamer, and finally disassemble the entire fishing device.

[0058] Specific application example 1:

[0059] When assembling the manipulator gripper, connect the upper arm (800 mm) and the lower arm (600 mm) with a pin. The limiting link at the joint ensures that the angle is ≥ 90°. The mechanical claws are embedded in the cavity of the lower arm, and the rubber gaskets are pasted with epoxy resin. When installing the fishing barrel, install the magnetic core and slips (inner diameter Φ120 mm, adapted to Φ122 mm drill pipe) in sequence, and weld the API standard NC50 thread at the front end. The universal joint uses a double ball hinge with a maximum deflection angle of 30° and is connected to the drill pipe by high-strength bolts.

[0060] Specific application example 2:

[0061] During the fishing operation, the drill pipe is advanced to 300 m inside the hole, and the magnetic sensor detects the signal of the reamer. The micro camera shows that the reamer is tilted by 15°, and the PLC controls the opening angle of the robotic arm to 110°. After the fishing barrel flushes the hole, the mill shoe grinds the end face of the drill pipe, and the slips are locked after the thread is screwed in. During the backhaul, the torque monitoring is 75 kN·m, and the speed is 4 m / min, and a 1.2-ton reamer is successfully recovered.

[0062] Specific application example 3: In a seawater corrosion environment, after the device works continuously for 50 times, there is no significant wear on the surface, the friction coefficient of the mechanical claws remains 0.82, and the service life is increased by 3 times compared with conventional carbon steel parts.

[0063] A fishing device and method provided by the present invention, the core of which lies in:

[0064] 1. Manipulator gripper: The four-arm adjustable structure is combined with a force sensor to achieve adaptive clamping;

[0065] 2. Telescopic fishing barrel: A triple fixation mechanism of magnetic attraction + basket slips + thread;

[0066] 3. Universal ball hinge: The double ball hinge design allows continuous operation with the axis deflected.

[0067] 4. Technical effects include: The fishing success rate is increased to over 90%, and the hole wall damage rate is reduced by 60%.

Claims

1. A fishing device for a dropped reamer of a horizontal directional drill, characterized in that, Comprising: A manipulator gripper, a telescopic fishing barrel for a reamer drill pipe, and a universal ball hinge device for regulating the gripper. One end of the ball hinge of the universal ball hinge device for regulating the gripper is connected to the front drill pipe, and the other end of the ball hinge is connected to the main rod of the manipulator gripper and the telescopic fishing barrel for the reamer drill pipe; The manipulator gripper includes a main rod and four mechanically adjustable arms. Each mechanical arm is composed of an upper arm and a lower arm connected by a joint. The lower arm is provided with a cavity and a telescopic mechanical claw; The telescopic fishing barrel for the reamer drill pipe includes a barrel body, a guide shoe, a permanent magnetic core, a basket slip, and a control ring. The guide shoe is in a flared shape and is provided with male and female threads matching the reamer drill pipe at the front end; The universal ball hinge device for regulating the gripper uses a double ball hinge type universal coupling to connect the drill pipe and the main rod of the manipulator gripper, and is used to adjust the axis angle between the fishing device and the dropped reamer; 2. The fishing device for retrieving the dropped reamer of the horizontal directional drill according to claim 1, wherein The angle range of the mechanical arm joint of the manipulator gripper is 90°-180°. A force sensor is arranged in the cavity of the lower arm, and the clamping force is automatically adjusted through a PLC control system; 3. The fishing device for retrieving the dropped reamer of the horizontal directional drill according to claim 1, characterized in that, The inner diameter of the basket slip of the telescopic fishing barrel for the reamer drill pipe is 1-2 mm smaller than the outer diameter of the reamer drill pipe. A milling shoe is arranged inside the barrel body for trimming the end face of the reamer connecting rod; 4. The fishing device for retrieving the dropped reamer of the horizontal directional drill according to claim 1, characterized in that, The double ball hinges of the universal ball hinge device allow an axis deflection of ±30°, and continuously transmit torque in the deflected state; 5. The fishing device for retrieving the dropped reamer of the horizontal directional drill according to claim 1, wherein, The size of the "hand" type baffle of the mechanical claw is 90×20×3 mm; 6. The fishing device for retrieving the dropped reamer of the horizontal directional drill according to claim 1, characterized in that, A rubber gasket is arranged at the end of the mechanical claw, and the friction coefficient of the rubber gasket is ≥0.8; 7. The fishing device for retrieving the dropped reamer of the horizontal directional drill according to claim 1, wherein, The materials of the manipulator gripper, the telescopic fishing barrel for the reamer drill pipe, and the universal ball hinge device for regulating the gripper are 316L stainless steel, and the surface is coated with a tungsten carbide wear-resistant layer; 8. A method for fishing a dropped reamer of a horizontal directional drill, which uses the fishing device described in any one of claims 1-7, characterized in that, Including the following steps: S1: Install the manipulator gripper, adjust the angle of the mechanical arm and embed the mechanical claw; S2: Assemble the telescopic fishing barrel, install the magnetic core, slip, and matching threads; S3: Connect the drill pipe and the fishing device through the universal ball hinge device; S4: Push the drill pipe to the dropping position of the reamer and position it through a magnetic sensor; S5: The manipulator gripper contacts the reamer, and the PLC adjusts the clamping force; S6: Adjust the axis of the universal head and the fishing barrel, tighten the threads and lock the slips; S7: Pull back the drill pipe and release the buckle. Pull back the reamer at a speed of ≤5 m / min, and monitor the torque in real time ≤80 kN·m; 9. The method for salvaging the dropped reamer of the horizontal directional drill according to claim 8, characterized in that, In step S5, the attitude of the reamer is obtained through a micro camera, and the initial opening angle of the mechanical arm is automatically set according to the camera data; 10. The method for salvaging a dropped reamer of a horizontal directional drill according to claim 8, characterized in that, In step S6, the drill hole is flushed through the built-in water pipe of the fishing barrel, and the milling shoe is started to grind the end face of the reamer connecting rod.

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