Drilling floor surface manipulator and using method thereof

Abstract

The invention relates to the technical field of petroleum equipment, in particular to a drill floor face manipulator which comprises a base assembly, a telescopic arm assembly and a pushing and holding clamping piece, the pushing and holding clamping piece is used for pushing and holding or clamping a drilling tool, the base assembly is used for being arranged on a drill floor face, the telescopic arm assembly is arranged on the base assembly, and the pushing and holding clamping piece is arranged on the telescopic arm assembly. The base assembly can drive the telescopic arm assembly to reciprocate in the first direction and is used for avoiding a catwalk, and the telescopic arm assembly can drive the pushing and holding clamping piece to reciprocate in the second direction and move to a preset position. The installation space and the installation position of the drill floor face mechanical arm on the drill floor face can be flexible and variable, and the drill floor face mechanical arm is not affected by a derrick, a top drive and a top drive guide rail.

Description

Technical Field

[0001] The present invention relates to the technical field of petroleum equipment, and in particular to a drilling floor manipulator and a use method thereof. Background Art

[0002] In oil and gas drilling systems, a wide variety of drilling tools are used during the drilling process. Many of these tools need to be transported to the drill floor through the drilling rig's catwalk and then lifted to the drill floor through a lifting system (such as a top drive or winch). The moment the lower end of the drill tool leaves the catwalk, it experiences a large impact force toward the wellhead.

[0003] In the prior art, a buffering manipulator is installed on the derrick back beam to receive the drill string and achieve a buffering function. The buffering manipulator cooperates with the drilling rig's hoisting system to receive the drill string. When the drill string needs to be transported to the catwalk, the buffering manipulator works with the hoisting system to push the lower end of the drill string onto the catwalk, thus preventing the drill string from being thrown off. However, since the buffering manipulator is installed on the derrick, its installation location and space are easily affected by the derrick, top drive, and top drive rails, resulting in limited installation space and location. Summary of the Invention

[0004] The purpose of the present invention is to solve the defects in the prior art and provide a drilling floor manipulator and a method of using the same, so that the installation space and installation position of the drilling floor manipulator on the drilling floor can be flexibly changed without being affected by the derrick, top drive and top drive guide rail.

[0005] To achieve the above-mentioned object, the present invention provides a drilling floor manipulator, comprising a base assembly, a telescopic arm assembly and a pushing and supporting clamping member, wherein the pushing and supporting clamping member is used to push or clamp a drilling tool;

[0006] The base assembly is used to be arranged on the drilling table, the telescopic arm assembly is arranged on the base assembly, and the pushing and supporting clamping member is arranged on the telescopic arm assembly;

[0007] The base assembly can drive the telescopic arm assembly to reciprocate along a first direction and be used to avoid the catwalk, and the telescopic arm assembly can drive the pushing and supporting clamping member to reciprocate along a second direction and move to a preset position.

[0008] In the present invention, by arranging the base assembly and the telescopic arm assembly on the drilling floor, and swinging the base assembly and the telescopic arm assembly in two different directions, while ensuring that they can cooperate with the drilling rig to lift and move the drilling tools, the installation positions of the base assembly and the telescopic arm assembly can be reasonably set, avoiding the influence of the derrick, top drive and top drive guide rail on the installation position of the base assembly and the telescopic arm assembly, and avoiding the problem of limited installation position and installation space of the drilling floor manipulator.

[0009] Optionally, the telescopic arm assembly includes a mounting seat, a main rear arm, a secondary rear arm, a main forearm, a secondary forearm and a joint seat, the mounting seat is detachably mounted on the base assembly, the main rear arm and the secondary rear arm are arranged in parallel and spaced apart, the first ends of the main rear arm and the secondary rear arm are both rotatably connected to the mounting seat, and the second ends are rotatably connected to the joint seat, the main forearm and the secondary forearm are arranged in parallel and spaced apart, the first ends of the main forearm and the secondary forearm are both rotatably connected to the joint seat, and the second ends are used to install the push-and-hold clamp, and the main rear arm and the main forearm are driven to rotate by setting a first oil cylinder.

[0010] In the present invention, the mounting seat is used to provide a mounting base for the main part of the telescopic arm assembly, the joint seat is used to rotatably connect the main rear arm and the auxiliary rear arm with the main forearm and the auxiliary forearm, and the first oil cylinder is used to drive the main forearm and the auxiliary forearm to extend or retract relative to the main rear arm and the auxiliary rear arm, thereby changing the positional relationship between the push-holding clamp and the drilling tool.

[0011] Optionally, the telescopic arm assembly also includes a first connecting rod, a first swing arm and a second connecting rod, the first connecting rod is rotationally connected to the first swing arm, the end of the first connecting rod away from the first swing arm is rotationally connected to the main rear arm, the end of the first swing arm away from the first connecting rod is rotationally connected to the main forearm, and the second connecting rod is rotationally arranged between the main forearm and the second end of the auxiliary forearm.

[0012] In the present invention, a second connecting rod is provided to connect the second ends of the main forearm and the auxiliary forearm, so that the second connecting rod, the main forearm, the auxiliary forearm, and the joint seat form a parallelogram-like structure, which makes the extension and retraction of the main forearm and the auxiliary forearm more stable. By providing a first connecting rod and a first swing arm, when the first oil cylinder contracts, the first connecting rod and the first swing arm can further pull the main forearm and the main rear arm to gradually close and rotate to a vertical position. When the first oil cylinder extends, the first connecting rod and the first swing arm can further push the main forearm and the main rear arm to gradually expand and tilt.

[0013] Optionally, the pushing and supporting clamping member includes a roller assembly and a pressure wheel assembly, the roller assembly is arranged on the main forearm, and the pressure wheel assembly is arranged on the auxiliary forearm; the roller assembly and the pressure wheel assembly can be used to provide pushing and supporting support for the drilling tool respectively, and the roller assembly and the pressure wheel assembly can also cooperate with each other and be used to clamp and fix the drilling tool.

[0014] In the present invention, by arranging the roller assembly and the pressure wheel assembly, not only can the drill tool be pushed and supported, but also after the surface of the drill tool contacts the roller assembly or the pressure wheel assembly, the drill tool can be moved more smoothly through the rolling action of the roller assembly or the pressure wheel assembly. The drill tool is clamped by the mutual cooperation of the pressure wheel assembly and the roller assembly, making the movement of the drill tool more stable.

[0015] Optionally, the roller assembly includes a second cylinder, a second swing arm and a roller body, the second cylinder is arranged on the main forearm, the second swing arm is rotatably arranged on the main forearm, and the first end is drive-connected to the second cylinder, the roller body is arranged at the second end of the second swing arm, and the second cylinder is used to drive the roller body to rotate to be parallel or perpendicular to the length direction of the main forearm.

[0016] In the present invention, the first end of the second swing arm can rotate about its rotation center under the extension and retraction action of the second oil cylinder, thereby causing the roller body located at the second end of the second swing arm to rotate synchronously. When the second oil cylinder is in a retracted state, it can pull the roller body to a position parallel to the main forearm, preventing the position of the roller body from affecting the main forearm's pushing and supporting of the drill tool during its approach. When the roller body is moved into position, the second oil cylinder is extended, pushing the roller body to a position perpendicular to the main forearm. During the retraction of the main forearm, the roller body can be abutted against the side of the drill tool to achieve pushing and supporting of the drill tool.

[0017] Optionally, the pressure wheel assembly includes a third oil cylinder, a third swing arm and a pressure wheel body, the third oil cylinder is arranged on the auxiliary forearm, the third swing arm is rotatably arranged on the auxiliary forearm, and the first end is drive-connected to the third oil cylinder, the pressure wheel body is arranged at the second end of the third swing arm, and the third oil cylinder is used to drive the pressure wheel body to rotate to be parallel or perpendicular to the length direction of the auxiliary forearm.

[0018] In the present invention, the first end of the third rotary arm can rotate about its rotation center under the extension and retraction action of the third oil cylinder, thereby causing the pressure roller body located at the second end of the third rotary arm to rotate synchronously. When the third oil cylinder is in a retracted state, it can pull the pressure roller body to rotate to a position parallel to the auxiliary forearm. When the drill tool and the roller body are pushed into place, the third oil cylinder is driven to an extended state, which can push the pressure roller body to rotate to a position perpendicular to the auxiliary forearm. At the same time, the pressure roller body contacts the side of the drill tool, and the pressure roller body and the roller body cooperate to clamp and fix the drill tool.

[0019] Optionally, the pressure wheel assembly also includes a fourth oil cylinder, a slide rail and a slide seat, the slide rail is arranged in the length direction of the auxiliary forearm, the slide seat is slidably arranged on the slide rail, the fourth oil cylinder is arranged on the auxiliary forearm and drives the slide seat to move along the slide rail, and the third oil cylinder and the third swing arm are both arranged on the slide seat.

[0020] In the present invention, the fourth oil cylinder is used to drive the slide to move on the slide rail, thereby changing the position of the pressure wheel body in the length direction of the auxiliary forearm, so that when the pressure wheel body rotates to be perpendicular to the auxiliary forearm and the roller body rotates to be perpendicular to the main forearm, the distance between the pressure wheel body and the roller body can be adjusted to adapt to the clamping requirements of drilling tools with different diameters.

[0021] Optionally, the base assembly includes a base component, an upper frame, a fifth oil cylinder and two groups of parallel and spaced swing arms, the lower ends of the two groups of swing arms are rotatably connected to the base component, the upper ends of the two groups of swing arms are rotatably connected to the upper frame, the two ends of the fifth oil cylinder are respectively rotatably connected to the two groups of swing arms one by one, the upper frame is used to install the telescopic arm assembly, and the base assembly, the upper frame and the two groups of swing arms form a parallelogram structure.

[0022] In the present invention, the telescopic movement of the fifth oil cylinder is used to drive two sets of parallel and spaced-apart swing arms to swing cyclically, so as to drive the telescopic arm assembly to approach or move away from the catwalk along the swing direction of the swing arm, thereby achieving approach and avoidance of the catwalk. Since the base assembly, the upper frame and the two sets of swing arms form a parallelogram structure, when the swing arm swings, the plane where the upper frame is located always remains parallel to the plane where the base assembly is located, so as to improve the stability of the swinging of the base assembly.

[0023] Optionally, the base assembly further includes a transport rod, and ear plates are provided on the base assembly and the swing arm. One end of the transport rod is connected to the ear plate of the base assembly, and the other end of the transport rod can be connected to the ear plate of the swing arm to lock the swing arm on the base assembly.

[0024] The present invention provides a method for using a drilling floor manipulator, including a drilling operation method, wherein the drilling operation method includes the following steps:

[0025] S1: The rod is sent to the work surface, the manipulator is in the initial position, the lifting mechanism moves to the low position and clamps the rod;

[0026] S2: The lifting mechanism lifts the rod. When the lifting mechanism is lifted to a certain height, the base of the manipulator swings to the working position.

[0027] S3: After the base is swung into position, the telescopic arm of the manipulator is swung a certain distance so that the push-support member at the end of the telescopic arm is located between the rod and the working position of the rod and close to the rod;

[0028] S4: The lifting mechanism continues to lift the rod until the telescopic arm can smoothly drive the rod to extend, and at the same time, the clamping member at the end of the telescopic arm moves to contact the rod;

[0029] S5: The telescopic arm continues to extend the rod until it reaches the working position. During the extension of the telescopic arm, the movement of the pusher and the clamping member will automatically adjust according to the angle between the rod and the vertical direction, ensuring that the rod is always stably clamped by the pusher and the clamping member;

[0030] S6: When the rod reaches the working position, the pushing member and the clamping member release the clamping from the rod, and the clamping member and the pushing member are retracted into the telescopic arm in turn, and the telescopic arm is retracted to the initial position. After the telescopic arm is retracted into place, the base swings to the initial position, completing the working cycle.

[0031] The method for using the drilling table manipulator of the present invention further includes a drill-throwing operation method, which includes the following steps:

[0032] S1: The manipulator is in the initial position, the rod is in the working position, and is in a state where it can be lifted;

[0033] S2: The lifting mechanism drives the rod to move to a certain height from the work surface. After the base swings to the working position, the telescopic arm extends;

[0034] S3: When the telescopic arm drives the rod to retract, the pushing member and the clamping member move toward the rod and press the rod;

[0035] S4: The lifting mechanism drives the rod downward, and the manipulator retracts until the rod is placed in the recovery position;

[0036] S5: After the lower end of the rod is placed in place, the clamping member and the pushing member release the clamp and push the rod in turn. When the clamping member and the pushing member swing into place, the telescopic arm retracts to its initial position. After the telescopic arm is retracted into place, the base swings to its initial position, completing the working cycle.

[0037] Beneficial effects:

[0038] 1. The present invention provides a base assembly to drive the telescopic arm assembly to reciprocate in a first direction, so that the telescopic arm assembly can swing toward or away from the catwalk, ensuring that the position of the telescopic arm assembly can avoid the catwalk.

[0039] 2. The present invention provides a telescopic arm assembly to drive the pushing and supporting clamping member to reciprocate along the second direction, so that the pushing and supporting clamping member can swing toward or away from the drilling tool, ensuring that the pushing and supporting clamping member can provide pushing and clamping functions for the drilling tool.

[0040] 3. The present invention arranges the base assembly and the telescopic arm assembly on the drilling floor, and the base assembly and the telescopic arm assembly swing in two different directions. While ensuring that they can cooperate with the drilling rig to lift and move the drilling tools, the installation positions of the base assembly and the telescopic arm assembly can be reasonably set, avoiding the influence of the derrick, top drive and top drive guide rail on the installation position of the base assembly and the telescopic arm assembly, and avoiding the problem of limited installation position and installation space of the drilling floor manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0042] Figure 1 This is a diagram of the initial state of the drilling floor manipulator disclosed in the present invention;

[0043] Figure 2 This is a working state diagram of the drilling floor manipulator disclosed in the present invention;

[0044] Figure 3 This is a schematic diagram of the installation of the drilling floor manipulator disclosed in the present invention;

[0045] Figure 4 This is a schematic diagram of the folded state of the base assembly disclosed in the present invention;

[0046] Figure 5 This is a schematic diagram of the base assembly disclosed in the present invention in the extended state;

[0047] Figure 6 This is a schematic diagram of the telescopic arm assembly disclosed in the present invention in a folded state;

[0048] Figure 7 This is a schematic diagram of the telescopic arm assembly disclosed in the present invention in an expanded state;

[0049] Figure 8 It is a cross-sectional view of the telescopic arm assembly disclosed in the present invention;

[0050] Figure 9 It is a structural schematic diagram of the roller assembly and the pressure wheel assembly disclosed in the present invention;

[0051] Figure 10 This is a diagram of the first working state of the drill connection and the buckle disclosed in the present invention;

[0052] Figure 11 This is a diagram of the second working state of the drill connection and the buckle disclosed in the present invention;

[0053] Figure 12 This is a diagram of the third working state of the drill connection and the buckle disclosed in the present invention;

[0054] Figure 13 This is a diagram of the fourth working state of the drill connection and the buckle disclosed in the present invention;

[0055] Figure 14 This is a diagram of the fifth working state of the drill connection and the buckle disclosed in the present invention;

[0056] Figure 15 This is a diagram of the first working state of the drill throw disclosed in the present invention;

[0057] Figure 16 This is a diagram of the second working state of the drill throw disclosed in the present invention;

[0058] Figure 17 This is a diagram of the third working state of the drill bit disclosed in the present invention.

[0059] Reference numerals:

[0060] 1. Base assembly; 11. Base assembly; 12. Upper frame; 13. Fifth cylinder; 14. Swing arm; 15. Transport pull rod; 2. Telescopic arm assembly; 21. Mounting seat; 22. Main rear arm; 23. Auxiliary rear arm; 24. Main front arm; 25. Auxiliary front arm; 26. Joint seat; 27. First cylinder; 281. First connecting rod; 282. First swing arm; 29. Second connecting rod; 3. Push-and-hold clamp; 31. Roller assembly; 311. Second cylinder; 312. Second swing arm; 313. Roller body; 32. Pressure roller assembly; 321. Third cylinder; 322. Third swing arm; 323. Pressure roller body; 324. Fourth cylinder; 325. Slide rail; 326. Slide seat; 4. Drilling tools; 5. Drilling table; 6. Catwalk.

[0061] The realization of the objectives, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0062] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0063] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0064] In the description of the present invention, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0065] See also Figures 1 to 3 A drilling floor manipulator according to an embodiment of the present invention includes a base assembly 1, a telescopic arm assembly 2, and a pushing and holding member 3, wherein the pushing and holding member 3 is used to push or clamp a drilling tool 4;

[0066] The base assembly 1 is used to be arranged on the drilling floor 5, the telescopic arm assembly 2 is arranged on the base assembly 1, and the pushing and supporting clamping member 3 is arranged on the telescopic arm assembly 2;

[0067] The base assembly 1 can drive the telescopic arm assembly 2 to reciprocate along the first direction and be used to avoid the catwalk 6. The telescopic arm assembly 2 can drive the pushing and clamping member 3 to reciprocate along the second direction and move to a preset position.

[0068] In the present invention, by arranging the base assembly 1 and the telescopic arm assembly 2 on the drilling floor 5, and swinging the base assembly 1 and the telescopic arm assembly 2 in two different directions, while ensuring that they can cooperate with the drilling rig to lift and move the drilling tool 4, the installation positions of the base assembly 1 and the telescopic arm assembly 2 can be reasonably set, avoiding the influence of the derrick, top drive and top drive guide rail on the installation position of the base assembly 1 and the telescopic arm assembly 2, and avoiding the problem of limited installation position and installation space of the drilling floor manipulator.

[0069] Specifically, a middle mouse hole, a right mouse hole and a wellbore center are provided on the drilling table 5. The right mouse hole is arranged at intervals on the right side of the middle mouse hole, and the direction of the line connecting the right mouse hole and the middle mouse hole is parallel to the swing direction of the base assembly 1. The swing direction of the base assembly 1 is the above-mentioned first direction, and the direction of the line connecting the middle mouse hole and the wellbore center is parallel to the telescopic direction of the telescopic arm assembly 2. The telescopic direction of the telescopic arm assembly 2 is the above-mentioned second direction. The first direction and the second direction are perpendicular to each other, so that the base assembly 1 drives the movement of the telescopic arm assembly 2 and the telescopic wall assembly drives the movement of the push-and-holding member 3 more accurately, and can avoid the position interference of the telescopic arm assembly 2 and the catwalk 6. The preset position is the position when the telescopic arm assembly 2 drives the push-and-holding member 3 to move to the middle mouse hole, the right mouse hole or the wellbore center.

[0070] See also Figures 6 to 8In some embodiments of the present invention, the telescopic arm assembly 2 includes a mounting seat 21, a main rear arm 22, a secondary rear arm 23, a main forearm 24, a secondary forearm 25 and a joint seat 26. The mounting seat 21 is detachably mounted on the base assembly 1. The main rear arm 22 and the secondary rear arm 23 are arranged in parallel and spaced apart. The first ends of the main rear arm 22 and the secondary rear arm 23 are both rotatably connected to the mounting seat 21, and the second ends are rotatably connected to the joint seat 26. The main forearm 24 and the secondary forearm 25 are arranged in parallel and spaced apart. The first ends of the main forearm 24 and the secondary forearm 25 are both rotatably connected to the joint seat 26, and the second ends are used to install the pushing and supporting clamping member 3. The main rear arm 22 and the main forearm 24 are driven to rotate by setting a first oil cylinder 27.

[0071] In the present invention, the mounting seat 21 is used to provide a mounting base for the main part of the telescopic arm assembly 2, the joint seat 26 is used to rotatably connect the main rear arm 22 and the auxiliary rear arm 23 with the main forearm 24 and the auxiliary forearm 25, and the first oil cylinder 27 is used to drive the main forearm 24 and the auxiliary forearm 25 to extend or retract relative to the main rear arm 22 and the auxiliary rear arm 23, thereby changing the positional relationship between the push-holding clamp 3 and the drilling tool 4.

[0072] Specifically, the mounting seat 21 is detachably connected to the base assembly 1 through a flange and screws. Two groups of ear plates are provided on the mounting seat 21. The first ends of the main rear arm 22 and the auxiliary rear arm 23 are rotatably connected to the two groups of ear plates through pins, and the second ends of the main rear arm 22 and the auxiliary rear arm 23 are rotatably connected to the joint seat 26 through pins. The mounting seat 21, the joint seat 26, the main rear arm 22 and the auxiliary rear arm 23 form a structure similar to a parallelogram.

[0073] See also Figure 8 In some embodiments of the present invention, the telescopic arm assembly 2 further includes a first link 281, a first swing arm 282 and a second link 29, the first link 281 is rotatably connected to the first swing arm 282, the end of the first link 281 away from the first swing arm 282 is rotatably connected to the main rear arm 22, the end of the first swing arm 282 away from the first link 281 is rotatably connected to the main forearm 24, and the second link 29 is rotatably arranged between the main forearm 24 and the second end of the auxiliary forearm 25.

[0074] In the present invention, a second connecting rod 29 is provided to connect the second ends of the main forearm 24 and the auxiliary forearm 25, so that the second connecting rod 29, the main forearm 24, the auxiliary forearm 25 and the joint seat 26 form a parallelogram-like structure, which makes the extension and retraction of the main forearm 24 and the auxiliary forearm 25 more stable. By providing a first connecting rod 281 and a first swing arm 282, when the first oil cylinder 27 contracts, the main forearm 24 and the main rear arm 22 can be further pulled together and rotated to a vertical position through the first connecting rod 281 and the first swing arm 282. When the first oil cylinder 27 extends, the main forearm 24 and the main rear arm 22 can be further pushed to gradually expand and tilt through the first connecting rod 281 and the first swing arm 282.

[0075] See also Figures 7 and 8 In some embodiments of the present invention, the pushing and supporting clamping member 3 includes a roller assembly 31 and a pressure wheel assembly 32, the roller assembly 31 is arranged on the main forearm 24, and the pressure wheel assembly 32 is arranged on the auxiliary forearm 25; the roller assembly 31 and the pressure wheel assembly 32 can be used to provide pushing and supporting support for the drilling tool 4 respectively, and the roller assembly 31 and the pressure wheel assembly 32 can also cooperate with each other and be used to clamp and fix the drilling tool 4.

[0076] In the present invention, by providing the roller assembly 31 and the pressure wheel assembly 32, not only can the roller assembly 31 or the pressure wheel assembly 32 play a role in pushing and supporting the drill tool 4, but also after the surface of the drill tool 4 contacts the roller assembly 31 or the pressure wheel assembly 32, the drill tool 4 can be moved more smoothly by the rolling action of the roller assembly 31 or the pressure wheel assembly 32, and the drill tool 4 can be clamped by the mutual cooperation of the pressure wheel assembly 32 and the roller assembly 31, so that the movement of the drill tool 4 is more stable.

[0077] See also Figure 9 In some embodiments of the present invention, the roller assembly 31 includes a second cylinder 311, a second swing arm 312 and a roller body 313. The second cylinder 311 is arranged on the main forearm 24, and the second swing arm 312 is rotatably arranged on the main forearm 24, and the first end is drive-connected to the second cylinder 311. The roller body 313 is arranged at the second end of the second swing arm 312, and the second cylinder 311 is used to drive the roller body 313 to rotate to be parallel or perpendicular to the length direction of the main forearm 24.

[0078] In the present invention, the first end of the second swing arm 312 can rotate about its rotation center under the extension and retraction action of the second oil cylinder 311, thereby causing the roller body 313 located at the second end of the second swing arm 312 to rotate synchronously. When the second oil cylinder 311 is in a retracted state, it can pull the roller body 313 to rotate to a position parallel to the main forearm 24, preventing the position of the roller body 313 from affecting the pushing and supporting of the drill tool 4 when the main forearm 24 approaches the drill tool 4. When the roller body 313 is moved into place, the second oil cylinder 311 is extended, pushing the roller body 313 to a position perpendicular to the main forearm 24. During the process of retracting the main forearm 24, the roller body 313 can be abutted against the side of the drill tool 4, thereby pushing and supporting the drill tool 4.

[0079] See also Figure 9 In some embodiments of the present invention, the pressure wheel assembly 32 includes a third oil cylinder 321, a third rotary arm 322 and a pressure wheel body 323. The third oil cylinder 321 is arranged on the auxiliary forearm 25, and the third rotary arm 322 is rotatably arranged on the auxiliary forearm 25, and the first end is drive-connected to the third oil cylinder 321. The pressure wheel body 323 is arranged at the second end of the third rotary arm 322. The third oil cylinder 321 is used to drive the pressure wheel body 323 to rotate to be parallel or perpendicular to the length direction of the auxiliary forearm 25.

[0080] In the present invention, the first end of the third rotary arm 322 can rotate about its rotation center under the extension and retraction action of the third oil cylinder 321, thereby causing the pressure roller body 323 located at the second end of the third rotary arm 322 to rotate synchronously. When the third oil cylinder 321 is in a retracted state, it can pull the pressure roller body 323 to rotate to a position parallel to the auxiliary forearm 25. When the drilling tool 4 and the roller body 313 are pushed into place, the third oil cylinder 321 is driven to an extended state, which can push the pressure roller body 323 to rotate to a position perpendicular to the auxiliary forearm 25. At the same time, the pressure roller body 323 contacts the side of the drilling tool 4, and the pressure roller body 323 and the roller body 313 cooperate to clamp and fix the drilling tool 4.

[0081] See also Figure 9 In some embodiments of the present invention, the pressure wheel assembly 32 also includes a fourth oil cylinder 324, a slide rail 325 and a slide seat 326. The slide rail 325 is arranged in the length direction of the auxiliary forearm 25, and the slide seat 326 is slidably arranged on the slide rail 325. The fourth oil cylinder 324 is arranged on the auxiliary forearm 25 and drives the slide seat 326 to move along the slide rail 325. The third oil cylinder 321 and the third rotary arm 322 are both arranged on the slide seat 326.

[0082] In the present invention, the fourth oil cylinder 324 is used to drive the slide 326 to move on the slide rail 325, thereby changing the position of the pressure roller body 323 in the length direction of the auxiliary forearm 25, so that when the pressure roller body 323 rotates to be perpendicular to the auxiliary forearm 25 and the roller body 313 rotates to be perpendicular to the main forearm 24, the distance between the pressure roller body 323 and the roller body 313 can be adjusted to adapt to the clamping requirements of drilling tools 4 with different diameters, thereby improving the applicability of the present invention.

[0083] See also Figure 4 and Figure 5 In some embodiments of the present invention, the base assembly 1 includes a base component 11, an upper frame 12, a fifth oil cylinder 13 and two groups of parallel and spaced swing arms 14, the lower ends of the two groups of swing arms 14 are rotatably connected to the base component 11, the upper ends of the two groups of swing arms 14 are rotatably connected to the upper frame 12, the two ends of the fifth oil cylinder 13 are respectively rotatably connected to the two groups of swing arms 14 one by one, the upper frame 12 is used to install the telescopic arm assembly 2, and the base component 11, the upper frame 12 and the two groups of swing arms 14 constitute a parallelogram structure.

[0084] In the present invention, the telescopic movement of the fifth oil cylinder 13 is used to drive the two sets of parallel and spaced swing arms 14 to swing cyclically, so as to drive the telescopic arm assembly 2 to approach or move away from the catwalk 6 along the swinging direction of the swing arms 14, thereby achieving approach and avoidance of the catwalk 6. Since the base assembly 11, the upper frame 12 and the two sets of swing arms 14 form a parallelogram structure, when the swing arms 14 swing, the plane where the upper frame 12 is located always remains parallel to the plane where the base assembly 11 is located, so as to improve the swinging stability of the base assembly 1.

[0085] Specifically, the base assembly 11 includes a base body and a fixed steel plate. The fixed steel plate is welded to the drill table 5. The base body is connected to the fixed steel plate by screws. Two groups of ear plates are provided on the top surface of the base body. The lower ends of the two groups of swing arms 14 are respectively connected to the two groups of ear plates through pins for corresponding rotation.

[0086] Specifically, a mounting bracket is connected to the fixed steel plate via screws. The mounting bracket is used to mount an electric control box and a multi-way valve. The electric control box is used to control the multi-way valve to control, distribute, and adjust the hydraulic oil to the first cylinder 27, the second cylinder 311, the third cylinder 321, the fourth cylinder 324, and the fifth cylinder 13. Of course, the present invention is not limited to this, and the device structure of the present invention can also be driven by an electric drive system or a pneumatic drive system.

[0087] See also Figure 5In some embodiments of the present invention, the base assembly 1 further includes a transport rod 15, and both the base assembly 11 and the swing arm 14 are provided with ear plates. One end of the transport rod 15 is connected to the ear plate of the base assembly 11, and the other end of the transport rod 15 can be connected to the ear plate of the swing arm 14 to lock the swing arm 14 on the base assembly 11.

[0088] A method for using a drill floor manipulator according to an embodiment of the present invention includes a drill connection operation method, wherein the drill connection operation method includes the following steps:

[0089] S1: The rod is sent to the work surface, the manipulator is in the initial position, the lifting mechanism moves to the low position and clamps the rod;

[0090] S2: The lifting mechanism lifts the rod. When the lifting mechanism is lifted to a certain height, the base of the manipulator swings to the working position.

[0091] S3: After the base is swung into position, the telescopic arm of the manipulator is swung a certain distance so that the push-support member at the end of the telescopic arm is located between the rod and the working position of the rod and close to the rod;

[0092] S4: The lifting mechanism continues to lift the rod until the telescopic arm can smoothly drive the rod to extend, and at the same time, the clamping member at the end of the telescopic arm moves to contact the rod;

[0093] S5: The telescopic arm continues to extend the rod until it reaches the working position. During the extension of the telescopic arm, the movement of the pusher and the clamping member will automatically adjust according to the angle between the rod and the vertical direction, ensuring that the rod is always stably clamped by the pusher and the clamping member;

[0094] S6: When the rod reaches the working position, the pushing member and the clamping member release the clamping from the rod, and the clamping member and the pushing member are retracted into the telescopic arm in turn, and the telescopic arm is retracted to the initial position. After the telescopic arm is retracted into place, the base swings to the initial position, completing the working cycle.

[0095] A method for using a drilling floor manipulator according to an embodiment of the present invention further includes a drill-throwing operation method, which includes the following steps:

[0096] S1: The manipulator is in the initial position, the rod is in the working position, and is in a state where it can be lifted;

[0097] S2: The lifting mechanism drives the rod to move to a certain height from the work surface. After the base swings to the working position, the telescopic arm extends;

[0098] S3: When the telescopic arm drives the rod to retract, the pushing member and the clamping member move toward the rod and press the rod;

[0099] S4: The lifting mechanism drives the rod downward, and the manipulator retracts until the rod is placed in the recovery position;

[0100] S5: After the lower end of the rod is placed in place, the clamping member and the pushing member release the clamp and push the rod in turn. When the clamping member and the pushing member swing into place, the telescopic arm retracts to its initial position. After the telescopic arm is retracted into place, the base swings to its initial position, completing the working cycle.

[0101] See also Figures 10 to 14 In a specific embodiment of the drilling operation method of the present invention, the work surface is specifically a drilling table 5, the rod is specifically a drilling tool 4, the lifting mechanism is specifically a top drive, the pushing member is the above-mentioned roller assembly 31 or the pressure wheel assembly 32, and the clamping member is the above-mentioned pressure wheel assembly 32 or the roller assembly 31, that is, the roller assembly 31 or the pressure wheel assembly 32 can both play the role of a pushing member, and the two cooperate to play a clamping role. For the sake of convenience, the pushing member is limited to the roller assembly 31, and the clamping member is limited to the pressure wheel assembly 32. The application scenario is to transport the drilling tool 4 placed on the catwalk to the working position. Of course, the present invention is not limited to this. The work surface can also be other engineering operation tables, the rod can also be other long rod-shaped or tubular structures, and the lifting mechanism can also be a winch or other equipment with a lifting function. The specific steps are as follows:

[0102] S1: The drilling tool 4 is sent to the drilling floor 5, the drilling floor manipulator is in the initial position, the top drive moves to the low position, and the drilling tool 4 enters the elevator;

[0103] S2: The elevator is closed, the top drive moves upward, and the drilling tool 4 is lifted. When the top drive is lifted to a certain height, the base assembly 1 swings to the working position.

[0104] S3: After the base assembly 1 is swung into position, the telescopic arm assembly 2 is swung a certain distance so that the roller body 313 of the roller assembly 31 is swung to be perpendicular to the main front arm 24. The roller body 313 is located between the drilling tool 4 and the center of the wellbore and close to the drilling tool 4. The roller body 313 is swung to be perpendicular to the main front arm 24.

[0105] S4: The top drive continues to lift until the drilling tool 4 is out of the catwalk 6 and is above the highest point of the catwalk 6. The telescopic arm assembly 2 drives the drilling tool 4 to extend. At the same time, the pressure wheel body 323 of the pressure wheel assembly 32 first deflects to be perpendicular to the auxiliary forearm 25 and then moves to contact the drilling tool 4.

[0106] S5: The telescopic arm assembly 2 continues to extend the drill tool 4 until the drill tool 4 is delivered to the working position. During the extension of the telescopic arm assembly 2, the movement of the pressure roller body 323 is automatically adjusted according to the angle of the drill tool 4 with the vertical direction, ensuring that the drill tool 4 is always pressed tightly and stably on the roller body 313 by the pressure roller body 323, ensuring the safety of the drill tool 4 during the drilling process;

[0107] S6: When the drilling tool 4 reaches the working position, it can be coupled with the top drive according to the actual situation to complete the buckling;

[0108] S7: After completing the drilling or fastening, the pressure wheel body 323 first swings to a position parallel to the auxiliary forearm 25, and then moves away from the roller body 313. At the same time, the roller body 313 swings to a position parallel to the main forearm 24. After the pressure wheel body 323 and the roller body 313 swing into place, the telescopic arm assembly 2 retracts to the initial position. After the telescopic arm assembly 2 retracts into place, the base assembly 1 swings to the initial position, thus completing the working cycle of drilling or fastening.

[0109] See also Figures 15 to 17 In a specific embodiment of the drilling operation method of the present invention, the work surface is specifically a drilling table 5, the rod is specifically a drilling tool 4, the lifting mechanism is specifically a top drive, the pushing member is the above-mentioned roller assembly 31 or the pressure wheel assembly 32, and the clamping member is the above-mentioned pressure wheel assembly 32 or the roller assembly 31, that is, the roller assembly 31 or the pressure wheel assembly 32 can both play the role of a pushing member, and the two cooperate to play a clamping role. For the sake of convenience, the pushing member is defined as the roller assembly 31, and the clamping member is defined as the pressure wheel assembly 32. The application scenario is to transfer the drilling tool at the center of the wellbore to the catwalk. The specific steps are as follows:

[0110] S1: The manipulator on the drilling floor is in the initial position, the drilling tool 4 is in the center of the wellbore, and the drilling tool 4 is shackled;

[0111] S2: The top drive drives the drilling tool 4 to a certain height from the drilling floor 5. After the base assembly 1 swings to the working position, the telescopic arm assembly 2 extends to a suitable position. This position enables the roller body 313 to swing to a perpendicular position with the main front arm 24. The roller body 313 is located behind the drilling tool 4 and close to the drilling tool 4.

[0112] S3: When the telescopic arm assembly 2 drives the drilling tool 4 to be retracted, the pressure wheel body 323 deflects to a position perpendicular to the auxiliary forearm 25 and then moves forward to contact and press the drilling tool 4;

[0113] S4: The top drive drives the drilling tool 4 downward, and the drilling floor manipulator retracts until the drilling tool 4 is placed on the ramp;

[0114] S5: After the lower end of the drilling tool 4 is placed on the catwalk 6, the pressure roller body 323 first swings to a position parallel to the auxiliary forearm 25, and then moves away from the roller body 313. At the same time, the roller body 313 swings to a position parallel to the main forearm 24. After the pressure roller body 323 and the roller body 313 are swung into place, the telescopic arm assembly 2 is retracted to the initial position. After the telescopic arm assembly 2 is retracted into place, the base assembly 1 swings to the initial position, and the working cycle of the drilling is completed.

[0115] Specifically, in the present invention, the initial position refers to the position when the base assembly 1 and the telescopic arm assembly 2 are fully retracted and the roller body 313 and the pressure wheel body 323 are parallel to the arm, such as Figure 10 As shown; the working position refers to the position of the base assembly 1 when the push-holding clamp 3 moves to the preset position, that is, when the push-holding clamp 3 moves to the middle mouse hole or the right mouse hole or the center of the wellbore, and the position of the middle mouse hole or the right mouse hole or the center of the wellbore to which the drilling tool 4 is sent, as shown Figure 13 and Figure 14 shown.

[0116] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's description and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A drilling table manipulator, characterized in that: It comprises a base assembly (1), a telescopic arm assembly (2) and a pushing and holding member (3), wherein the pushing and holding member (3) is used for pushing or holding a drilling tool (4); The base assembly (1) is used to be arranged on a drilling table (5), the telescopic arm assembly (2) is arranged on the base assembly (1), and the pushing and holding member (3) is arranged on the telescopic arm assembly (2); The base assembly (1) can drive the telescopic arm assembly (2) to reciprocate along a first direction and be used to avoid the catwalk (6), and the telescopic arm assembly (2) can drive the pushing and holding member (3) to reciprocate along a second direction and move to a preset position.

2. A drilling floor manipulator according to claim 1, characterized in that: The telescopic arm assembly (2) comprises a mounting seat (21), a main rear arm (22), a secondary rear arm (23), a main forearm (24), a secondary forearm (25) and a joint seat (26); the mounting seat (21) is detachably mounted on the base assembly (1); the main rear arm (22) and the secondary rear arm (23) are arranged in parallel and spaced apart; the first ends of the main rear arm (22) and the secondary rear arm (23) are both rotatably connected to the mounting seat (21); and the second ends are rotatably connected to the joint seat (26); the main forearm (24) and the secondary forearm (25) are arranged in parallel and spaced apart; the first ends of the main forearm (24) and the secondary forearm (25) are both rotatably connected to the joint seat (26); and the second ends are used to mount the pushing and supporting clamping member (3); and the main rear arm (22) and the main forearm (24) are driven to rotate by setting a first oil cylinder (27).

3. The drilling floor manipulator according to claim 2, characterized in that: The telescopic arm assembly (2) further comprises a first connecting rod (281), a first swing arm (282) and a second connecting rod (29), wherein the first connecting rod (281) is rotatably connected to the first swing arm (282), the end of the first connecting rod (281) away from the first swing arm (282) is rotatably connected to the main rear arm (22), the end of the first swing arm (282) away from the first connecting rod (281) is rotatably connected to the main forearm (24), and the second connecting rod (29) is rotatably arranged between the main forearm (24) and the second end of the auxiliary forearm (25).

4. The drilling floor manipulator according to claim 2, characterized in that: The pushing and holding member (3) comprises a roller assembly (31) and a pressure wheel assembly (32), wherein the roller assembly (31) is arranged on the main forearm (24), and the pressure wheel assembly (32) is arranged on the auxiliary forearm (25); The roller assembly (31) and the pressure wheel assembly (32) can be used to provide pushing and supporting for the drilling tool (4), respectively. The roller assembly (31) and the pressure wheel assembly (32) can also cooperate with each other and be used to clamp and fix the drilling tool (4).

5. The drilling floor manipulator according to claim 4, characterized in that: The roller assembly (31) comprises a second oil cylinder (311), a second swing arm (312) and a roller body (313); the second oil cylinder (311) is arranged on the main forearm (24); the second swing arm (312) is rotatably arranged on the main forearm (24), and the first end of the second swing arm (312) is drivingly connected to the second oil cylinder (311); the roller body (313) is arranged at the second end of the second swing arm (312); the second oil cylinder (311) is used to drive the roller body (313) to rotate to be parallel or perpendicular to the length direction of the main forearm (24).

6. The drilling floor manipulator according to claim 4, characterized in that: The pressure wheel assembly (32) includes a third oil cylinder (321), a third rotary arm (322) and a pressure wheel body (323). The third oil cylinder (321) is provided on the auxiliary forearm (25). The third rotary arm (322) is rotatably provided on the auxiliary forearm (25), and the first end is drive-connected to the third oil cylinder (321). The pressure wheel body (323) is provided at the second end of the third rotary arm (322). The third oil cylinder (321) is used to drive the pressure wheel body (323) to rotate to be parallel or perpendicular to the length direction of the auxiliary forearm (25).

7. The drilling floor manipulator according to claim 6, characterized in that: The pressure wheel assembly (32) further includes a fourth oil cylinder (324), a slide rail (325) and a slide seat (326), wherein the slide rail (325) is arranged in the length direction of the auxiliary forearm (25), and the slide seat (326) is slidably arranged on the slide rail (325). The fourth oil cylinder (324) is arranged on the auxiliary forearm (25) and drives the slide seat (326) to move along the slide rail (325), and the third oil cylinder (321) and the third rotary arm (322) are both arranged on the slide seat (326).

8. A drilling floor manipulator according to any one of claims 1 to 7, characterized in that: The base assembly (1) comprises a base component (11), an upper frame (12), a fifth oil cylinder (13) and two groups of parallel and spaced swing arms (14), the lower ends of the two groups of swing arms (14) are rotatably connected to the base component (11), the upper ends of the two groups of swing arms (14) are rotatably connected to the upper frame (12), the two ends of the fifth oil cylinder (13) are rotatably connected to the two groups of swing arms (14) one by one, the upper frame (12) is used to install the telescopic arm assembly (2), and the base component (11), the upper frame (12) and the two groups of swing arms (14) form a parallelogram structure.

9. The drilling floor manipulator according to claim 8, characterized in that: The base assembly (1) further includes a transport rod (15), and ear plates are provided on the base assembly (11) and the swing arm (14). One end of the transport rod (15) is connected to the ear plate of the base assembly (11), and the other end of the transport rod (15) can be connected to the ear plate of the swing arm (14) to lock the swing arm (14) on the base assembly (11).

10. A method for using a drilling table manipulator, characterized in that: The invention comprises a drilling operation method, wherein the drilling operation method comprises the following steps: S1: The rod is sent to the work surface, the manipulator is in the initial position, the lifting mechanism moves to the low position and clamps the rod; S2: The lifting mechanism lifts the rod. When the lifting mechanism is lifted to a certain height, the base of the manipulator swings to the working position. S3: After the base is swung into position, the telescopic arm of the manipulator is swung a certain distance so that the push-support member at the end of the telescopic arm is located between the rod and the working position of the rod and close to the rod; S4: The lifting mechanism continues to lift the rod until the telescopic arm can smoothly drive the rod to extend, and at the same time, the clamping member at the end of the telescopic arm moves to contact the rod; S5: The telescopic arm continues to extend the rod until it reaches the working position. During the extension of the telescopic arm, the movement of the pusher and the clamping member will automatically adjust according to the angle between the rod and the vertical direction, ensuring that the rod is always stably clamped by the pusher and the clamping member; S6: When the rod reaches the working position, the pushing member and the clamping member release the clamping from the rod, and the clamping member and the pushing member are retracted into the telescopic arm in turn, and the telescopic arm is retracted to the initial position. After the telescopic arm is retracted into place, the base swings to the initial position, completing the working cycle.

11. The method for using a drilling floor manipulator according to claim 10, characterized in that: The invention also includes a drill-throwing operation method, which comprises the following steps: S1: The manipulator is in the initial position, the rod is in the working position, and is in a state where it can be lifted; S2: The lifting mechanism drives the rod to move to a certain height from the work surface. After the base swings to the working position, the telescopic arm extends; S3: When the telescopic arm drives the rod to retract, the pushing member and the clamping member move toward the rod and press the rod; S4: The lifting mechanism drives the rod downward, and the manipulator retracts until the rod is placed in the recovery position; S5: After the lower end of the rod is placed in place, the clamping member and the pushing member release the clamp and push the rod in turn. When the clamping member and the pushing member swing into place, the telescopic arm retracts to its initial position. After the telescopic arm is retracted into place, the base swings to its initial position, completing the working cycle.

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