Petroleum drilling and workover rig pipe tool operation method

Abstract

The invention relates to the technical field of petroleum drilling and workover treatment, in particular to a petroleum drilling and workover rig pipe tool operation method. The pushing and supporting robot is arranged between the wellhead of the drill floor surface and the power catwalk, and is matched with equipment such as a traveling and hoisting system and an iron roughneck to execute the steps of transferring, screwing, lowering and the like of pipes, so that the single pushing and supporting robot can simultaneously cover the transferring of the pipes from the catwalk to the wellhead and a rat hole and the transferring of the pipes from a racking platform to the wellhead, and a special drill floor pipe racking machine does not need to be additionally arranged; and furthermore, the operation method is suitable for various working conditions, and collaborative operation is simple and convenient.

Description

Technical Field

[0001] This invention relates to the field of oil drilling and well workover technology, and in particular to a method for operating oil drilling and workover rigs and tools. Background Technology

[0002] In the field of oil drilling and well workover operations, the placement and transportation of pipes, drill collars, casing, and other tools are core aspects of ensuring operational efficiency, safety, and the integrity of the tools.

[0003] During the pipe handling process on the drilling platform, the pusher manipulator mounted on the derrick can push the pipes transported through the catwalk to the mouse hole or wellhead. However, during tripping and descent, the pipes move between the second-level platform finger beam and the wellhead. Due to the limited working range and functions of the pusher manipulator, it cannot cover the pipe pushing conditions on the second-level platform finger beam. Therefore, a dedicated drilling platform pipe handling machine needs to be set up separately on the drilling platform, which increases equipment costs and drilling platform space occupancy, making it difficult to meet the needs of integrated operations. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a method for operating oil drilling and repair rigs, which solves the technical problems of existing equipment having large space occupation, single function, and complex collaborative operation.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] This invention provides a method for handling pipe tools on an oil drilling workover rig. The method utilizes a pipe tool handling device, which includes a traveling block system, a steel drill bit, a powered catwalk, powered slips, a pusher robot, a second-level manipulator, and a second-level finger beam. The pusher robot is positioned on the drilling platform between the wellhead and the powered catwalk. The method employs the following steps:

[0009] S1. When drilling is being performed, the hoisting clamp of the traveling crane system is engaged with the pipe on the power catwalk. When drilling is being performed, the hoisting clamp of the traveling crane system is engaged with the pipe on the second-floor platform finger beam.

[0010] S2. The pusher robot moves to the working position, and the pusher robot clamps the pipe and, together with the traveling hoist system, moves the pipe above the wellhead.

[0011] S3. Push the robot back to the standby position, clearing the wellhead position, and the traveling hoist system lowers to connect the pipe with the pipe inside the wellhead.

[0012] S4. The driller moves to the working position and, in coordination with the traveling hoist system, screws the pipes outside the wellhead to connect the pipes inside and outside the wellhead. After screwing, the driller returns to the standby position.

[0013] S5. After the traveling hoist system lowers the screwed pipe to the preset depth, the power chuck performs a clamping action, and the traveling hoist system's clamp is released from the connected pipe.

[0014] S6. Repeat steps S1-S5.

[0015] Preferably, when performing drilling operations, step Sa is included before step S1: Sa, the second-floor manipulator sends the pipe clamp assembly from the second-floor platform finger beam to the traveling hoist system, so as to cooperate with the traveling hoist system's clamp to fasten the pipe clamp.

[0016] Preferably, when performing drilling operations; the tooling in step S1 consists of at least two pre-tightened drill rods; in step S2, the lower part of the robot gripper is pushed.

[0017] Preferably, the push-support robot includes a walking mechanism and a push-support mechanism. The walking mechanism is set on the drilling platform and located between the wellhead and the power catwalk. The extension direction of the walking mechanism is perpendicular to the conveying direction of the power catwalk. The push-support mechanism is set on the walking mechanism. In step S2, the push-support mechanism, in conjunction with the lifting clamp of the traveling hoist system, clamps and supports the pipe during the movement of the pipe.

[0018] Preferably, the pushing mechanism includes a support, a rotating component, a telescopic component, and a robotic arm body; the bottom end of the support is disposed on the rotating component, which can drive the support to rotate along its own axis; the proximal end of the telescopic component is disposed on the support, and the distal end of the telescopic component is connected to the robotic arm body to drive the robotic arm body to move horizontally and telescopically; the walking end of the walking mechanism is connected to the rotating component to drive the robotic arm body at the distal end of the telescopic component on the support to move in a straight line.

[0019] Preferably, the telescopic assembly includes a telescopic forearm, a telescopic rear arm, and a telescopic actuator; the distal end of the telescopic forearm is connected to the robot body, the proximal end of the telescopic forearm is hinged to the distal end of the telescopic rear arm, and the proximal end of the telescopic rear arm is hinged to the support; the fixed end of the telescopic actuator is disposed on the support, and the driving end of the telescopic actuator is connected to the telescopic forearm to drive the telescopic forearm and the telescopic rear arm to extend and retract in the horizontal plane.

[0020] Preferably, the traveling hoist system includes a derrick, a traveling trolley, a crane, and an anti-sway device. The crane is located at the top of the derrick and is connected to the traveling trolley via a wire rope to drive the traveling trolley's lifting and lowering movement. The anti-sway device includes a guide rail, a guide assembly, a damping arm assembly, and a swing drive assembly. The guide rail is vertically positioned on one side of the derrick, with its top end hinged to the derrick. The guide assembly is fixed to one side wall of the traveling trolley and is slidably or rollingly connected to the guide rail. The damping arm assembly is positioned between the bottom end of the guide rail and the derrick, providing damping force for the swing of the guide rail relative to the derrick. The swing drive assembly is fixed relative to the traveling trolley and drives the lifting ring on the traveling trolley to swing, with the lifting clamp connected to the lifting ring.

[0021] Preferably, the damping arm assembly includes a connecting base and a damping rod, with the connecting base mounted on the derrick; one end of the damping rod is connected to the connecting base, and the other end of the damping rod is hinged to the bottom end of the guide rail.

[0022] Preferably, the damping arm assembly further includes a hinge frame mounted above the damping rod; the hinge frame includes a first hinge arm and a second hinge arm that are hinged together; the other end of the first hinge arm is hinged to the derrick, and the other end of the second hinge arm is hinged to the guide rail.

[0023] Preferably, the swing drive assembly includes a telescopic drive member, a rigid fork, and a connecting rod; the fixed end of the telescopic drive member is connected to the guide assembly, and the driving end of the telescopic drive member is connected to one side of the rigid fork; the first hinge point of the rigid fork is hinged to the traveling carriage, the second hinge point of the rigid fork is hinged to the first end of the connecting rod, and the second end of the connecting rod is hinged to the lifting ring; the telescopic drive member drives the rigid fork to rotate around the first hinge point so that the connecting rod drives the lifting clamp at the distal end of the lifting ring to swing.

[0024] (III) Beneficial Effects

[0025] The beneficial effects of this invention are:

[0026] The oil drilling workover rig tooling operation method of the present invention involves placing a pusher robot between the wellhead and the power catwalk on the drilling platform, and cooperating with a traveling crane system, steel drills, and other equipment to perform tooling transfer, tightening, and lowering steps. This allows a single pusher robot to simultaneously cover tooling transfer from the catwalk to the wellhead and the mouse hole, as well as tooling transfer from the second-level platform to the wellhead. There is no need to set up a dedicated drilling platform pipe laying machine, reducing equipment costs and space occupancy. Furthermore, this operation method is applicable to various working conditions and facilitates collaborative operations. Attached Figure Description

[0027] Figure 1 This is a structural diagram of the pipe processing equipment (drilling);

[0028] Figure 2 This is a structural schematic diagram of the pipe handling equipment (drilling down);

[0029] Figure 3 A schematic diagram of the structure of the iron driller, power slip, and pusher robot located on the drill platform;

[0030] Figure 4 A structural diagram of a drilling operation (pushing robot gripper);

[0031] Figure 5 This is a structural diagram of a drilling operation (a pusher robot, in conjunction with a traveling block, moves the pipe to above the wellhead);

[0032] Figure 6 This is a structural diagram of the drilling operation (pushing robot gripper);

[0033] Figure 7 This is a schematic diagram of the drilling operation (the process of the pusher robot working with the traveling block to move the pipe to the top of the wellhead);

[0034] Figure 8 This is a schematic diagram of the drilling operation (the pusher robot, in conjunction with the traveling block, moves the pipe to above the wellhead);

[0035] Figure 9 This is a structural schematic diagram of the floating crane system;

[0036] Figure 10 for Figure 9 An enlarged schematic diagram of part A in the middle;

[0037] Figure 11 for Figure 9 An enlarged schematic diagram of part B;

[0038] Figure 12 for Figure 9 A magnified schematic diagram of part C;

[0039] Figure 13 A schematic diagram of the structure of the guide assembly and the guide rail (the guide unit is a slider assembly);

[0040] Figure 14 A schematic diagram of the structure of the guide assembly and the guide rail (the guide unit is a roller assembly);

[0041] Figure 15 This is a schematic diagram showing the linkage between the damping arm assembly and the swing drive assembly when the wind blows to the left.

[0042] Figure 16 This is a schematic diagram of the linkage between the damping arm assembly and the swing drive assembly when the wind blows to the right.

[0043] Figure 17 This is a structural diagram of the push-assist robot (with the telescopic components retracted);

[0044] Figure 18 This is a structural diagram of the push-assist robot (with the telescopic components extended);

[0045] Figure 19 This is a schematic diagram of the pushing and supporting mechanism.

[0046] [Explanation of Labels in the Attached Image]

[0047] 1: Traveling hoist system; 11: Derrick; 12: Traveling trolley; 13: Hoisting clamp; 14: Hoisting ring; 15: Anti-sway device; 151: Guide rail; 152: Guide assembly; 1521: Slide seat; 1522: Guide unit; 15221: Slider assembly; 15222: Roller assembly; 153: Damping arm assembly; 1531: Connecting base; 1532: Damping rod; 1533: Hinge frame; 15331: First hinge arm; 15332: Second hinge arm; 154: Swing drive assembly; 1541: Telescopic drive component; 1542: Rigid fork; 1543: Connecting rod; 1544: First connecting seat; 1545: Second connecting seat; 155: Hinge seat;

[0048] 2: Iron driller;

[0049] 3: Powered catwalk;

[0050] 4: Power valve;

[0051] 5: Push-and-support robot; 51: Walking mechanism; 511: Walking drive unit; 512: Track; 513: Walking frame; 52: Push-and-support mechanism; 521: Support; 522: Rotating component; 523: Telescopic component; 5231: Telescopic forearm; 5232: Telescopic rear arm; 5233: Telescopic actuator; 524: Robotic arm body; 5241: Connecting frame; 5242: Robotic arm unit; 5243: Opening and closing drive unit;

[0052] 6: Second-floor platform beam;

[0053] 7: Wellhead;

[0054] 8: Mouse hole;

[0055] 9: Pipes and fittings. Detailed Implementation

[0056] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] This invention provides a method for operating oil drilling rig tools, employing methods such as... Figure 1 and Figure 2The pipe handling equipment shown includes a traveling crane system 1, a steel drill rig 2, a powered catwalk 3, a powered slip mechanism 4, a pushing robot 5, a second-floor manipulator (not shown), and a second-floor finger beam 6. Figure 3 As shown, the iron driller 2, the power slip 4, and the pusher robot 5 are all set on the drilling platform. The power cat walkway 3 is set horizontally at an incline with one end resting on the drilling platform. The second-level platform robot and the second-level platform finger beam 6 are both set on the second-level platform.

[0058] like Figure 1 As shown, the pusher robot 5 is positioned on the drilling platform and between the wellhead 7 and the power catwalk 3, as... Figure 17 As shown, the push-support robot 5 includes a walking mechanism 51 and a push-support mechanism 52. The walking mechanism 51 is set on the drilling platform and located between the wellhead 7 and the power catwalk 3. The extension direction of the walking mechanism 51 is perpendicular to the conveying direction of the power catwalk 3. The push-support mechanism 52 is set on the walking mechanism 51. The push-support mechanism 52 works with the lifting clamp 13 of the traveling hoist system 1 to clamp and support the pipe 9 during the movement of the pipe 9. The push-support mechanism 52 can rotate around itself and can move linearly along the walking mechanism 51, thus moving between the standby position and the working position.

[0059] like Figure 18 As shown, the pushing mechanism 52 includes a support 521, a rotating component 522, a telescopic component 523, and a robotic arm body 524. The bottom end of the support 521 is mounted on the rotating component 522, which can drive the support 521 to rotate along its own axis. The proximal end of the telescopic component 523 is mounted on the support 521, and the distal end of the telescopic component 523 is connected to the robotic arm body 524 to drive the robotic arm body 524 to move horizontally. The walking end of the walking mechanism 51 is connected to the rotating component 522 to drive the robotic arm body 524 at the distal end of the telescopic component 523 on the support 521 to move linearly.

[0060] It should be noted that in this embodiment, the proximal end refers to the side closer to the support 521, and the distal end refers to the side farther away from the support 521. The rotating component 522 can be a rotating slip ring, or other equivalent structures with the function of rotating around its own axis can be selected according to the actual working conditions, so as to drive the support 521 to rotate along its own axis.

[0061] like Figure 19As shown, the telescopic assembly 523 includes a telescopic forearm 5231, a telescopic rear arm 5232, and a telescopic actuator 5233. The distal end of the telescopic forearm 5231 is connected to the robot body 524. The proximal end of the telescopic forearm 5231 and the distal end of the telescopic rear arm 5232 can be directly hinged or hinged through a connecting frame. The proximal end of the telescopic rear arm 5232 is hinged to the support 521. The fixed end of the telescopic actuator 5233 is disposed on the support 521, and the driving end of the telescopic actuator 5233 is connected to the telescopic forearm 5231 to drive the telescopic forearm 5231 and the telescopic rear arm 5232 to extend and retract in the horizontal plane.

[0062] like Figure 18 As shown, the walking mechanism 51 includes a walking drive unit 511, a track 512, and a walking frame 513. The rotating component 522 of the pushing mechanism 52 is mounted on the walking frame 513. The walking drive unit 511 drives the walking frame 513 to reciprocate linearly along the track 512, thereby driving the pushing mechanism 52 to move linearly. In practical applications, the walking drive unit 511 can adopt various drive forms such as a motor screw, hydraulic cylinder, or linear motor, or other equivalent drive structures can be flexibly selected according to actual working conditions.

[0063] The robotic arm body 524 includes a connecting frame 5241, a robotic arm unit 5242, and an opening / closing drive unit 5243. The connecting frame 5241 is hinged to the distal end of the telescopic forearm 5231. The opening / closing drive unit 5243 is mounted on the connecting frame 5241 and drives the robotic arm unit 5242 to open and close to grip the pipe 9. The robotic arm unit 5242 consists of two opposing grippers connected by a hinge, enabling flexible opening and closing movements to grip the pipe 9. In practical applications, the specific structural form of the opening / closing drive unit 5243 is not limited; it can employ common linear drive devices such as electric push rods, hydraulic cylinders, or pneumatic cylinders. Regardless of the form used, as long as it can drive the hinged ends of the two grippers to move in opposite directions, thereby achieving stable and reliable gripping and releasing of the pipe 9, it can meet the operational needs under different working conditions.

[0064] like Figure 9 As shown, the traveling hoist system 1 includes a derrick 11, a traveling trolley 12, a crane (not shown), a hoisting clamp 13, a lifting ring 14, and an anti-sway device 15. The crane is located at the top of the derrick 11 and is connected to the traveling trolley 12 via a steel wire rope to drive the traveling trolley 12 to move up and down. The traveling trolley 12 is connected to the hoisting clamp 13 via the lifting ring 14.

[0065] like Figure 9 and Figure 10As shown, the anti-sway device 15 includes a guide rail 151, a guide assembly 152, a damping arm assembly 153, a swing drive assembly 154, and a hinge seat 155. The guide rail 151 is vertically disposed on one side of the derrick 11, and its top end is hinged to the derrick 11. The guide assembly 152 is fixedly disposed on one side wall of the traveling block 12 and is slidably or rollingly connected to the guide rail 151. Figure 12 As shown, the hinge seat 155 is mounted on the derrick 11, and the top side of the guide rail 151 is hinged to the derrick 11 through the hinge seat 155.

[0066] By setting a guide rail 151 that is vertically aligned and hinged to the top of the derrick 11, and cooperating with a guide component 152 that is fixed to the traveling trolley 12 and slidably or rollingly connected to the guide rail 151, the traveling trolley 12 can be effectively guided to move along the guide rail 151, fundamentally limiting the lateral displacement of the traveling trolley 12 relative to the guide rail 151, thereby enabling the pipe tool 9 to accurately enter the wellhead 7, mouse hole 8, and other positions.

[0067] like Figure 11 As shown, the damping arm assembly 153 is disposed between the bottom end of the guide rail 151 and the derrick 11. The damping arm assembly 153 is used to provide damping force for the swing of the bottom end of the guide rail 151 relative to the derrick 11, which can buffer the impact force generated by the movement of the traveling block 12 or under extreme working conditions, further improving the dynamic stability of the traveling block 12 and preventing its swing amplitude from exceeding the safety threshold. Furthermore, it avoids rigid reinforcement connecting the guide rail 151 and the derrick 11. When the traveling block 12 encounters extreme working conditions such as sudden gusts of wind or sudden jamming at the wellhead 7, the resulting huge impact force can cause the connection to break due to stress concentration, thus ensuring operational safety and construction efficiency.

[0068] like Figure 11 As shown, the damping arm assembly 153 includes a connecting base 1531, a damping rod 1532, and a hinge frame 1533. The connecting base 1531 is mounted on the derrick 11. One end of the damping rod 1532 is connected to the connecting base 1531, and the other end of the damping rod 1532 is hinged to the bottom end of the guide rail 151. The damping rod 1532 can be a TMD damping rod 1532, a hydraulic damping rod 1532, a magnetic damping rod 1532, or other types of damping rods.

[0069] The articulated frame 1533 is mounted above the damping rod 1532. The articulated frame 1533 includes a first articulated arm 15331 and a second articulated arm 15332, with one end of the first articulated arm 15331 hinged to the derrick 11 and the other end of the second articulated arm 15332 hinged to the guide rail 151. By setting the articulated frame 1533, the guide rail 151 can be prevented from shifting left or right relative to the derrick 11, thus guiding the guide rail 151 and allowing it to move along the extension and retraction direction of the damping rod 1532. This enhances the support and buffering effect of the damping arm assembly 153 on the guide rail 151, improving the stability of the entire device under complex working conditions.

[0070] In this embodiment, the swing drive assembly 154 is fixed relative to the traveling carriage 12, and the swing drive assembly 154 is used to drive the hanging ring 14 to swing. Figure 15 and Figure 16 As shown, when the impact is too great, the guide rail 151 deviates from its original position, causing the lifting ring 14 connected to the traveling carriage 12 to deviate from its working position. The position of the lifting ring 14 is adjusted in the opposite direction by the swing drive component 154 so that the lifting clamp 13 at the far end of the lifting ring 14 is reset, thereby ensuring the stability of the lifting clamp 13 in operation.

[0071] like Figure 10 As shown, the swing drive assembly 154 includes a telescopic drive member 1541, a rigid fork 1542, a connecting rod 1543, a first connecting seat 1544, and a second connecting seat 1545. The fixed end of the telescopic drive member 1541 is connected to the guide assembly 152, and the drive end of the telescopic drive member 1541 is hinged to one side of the rigid fork 1542. The first hinge point of the rigid fork 1542 is hinged to the traveling carriage 12, and the second hinge point of the rigid fork 1542 is hinged to the first end of the connecting rod 1543. The second end of the connecting rod 1543 is hinged to the rod portion of the lifting ring 14. The first hinge point of the rigid fork 1542 is located below the drive end of the telescopic drive member 1541 and close to the traveling carriage 12. The telescopic drive member 1541 can drive the rigid fork 1542 to rotate around the first hinge point so that the connecting rod 1543 drives the hanging clamp 13 at the far end of the lifting ring 14 to swing. When excessive wind causes the guide rail 151 to deviate, the swing drive assembly 154 can drive the lifting ring 14 to swing, thereby restoring the lifting ring 14 to its original working state. It should be noted that the swing drive assembly 154 can also be used to drive the lifting clamp 13 to swing towards positions such as the cat walkway and the second-floor platform finger beam 6 so that the lifting clamp 13 can clamp the pipe 9.

[0072] To facilitate hinged connection, the first connecting seat 1544 is sleeved on the traveling carriage 12, the first hinge point of the rigid shift fork 1542 is hinged to the first connecting seat 1544, the second connecting seat 1545 is fixedly set on the rod of the lifting ring 14, and the second end of the connecting rod 1543 is hinged to the second connecting seat 1545.

[0073] In practical applications, the guide rail 151 can be an integral structure. The corresponding guide component 152 includes a slide 1521 and a guide unit 1522. One end of the slide 1521 is fixedly connected to the traveling carriage 12. The guide unit 1522 is disposed on the slide 1521. The guide unit 1522 is slidably or rollingly connected to the guide rail 151 and moves along the extension direction of the guide rail 151.

[0074] To improve the guiding effect, the horizontal cross-section of the guide rail 151 is I-shaped, and grooves are formed on both sides of the guide rail 151, such as... Figure 13 As shown, the guide unit 1522 includes two slider groups 15221, which are respectively configured and slidably connected to the two grooves of the guide rail 151. Figure 14 As shown, the guide unit 1522 includes two roller groups 15222. The two roller groups 15222 of the guide unit 1522 are respectively configured to correspond one-to-one with the two slide grooves of the guide rail 151 and are rolledly connected.

[0075] like Figures 4-5 As shown, when using the above-mentioned pipe handling equipment for drilling operations, the following steps are taken:

[0076] S1, the hanging clamp 13 of the swing system 1 hooks the pipe 9 coming from the power cat walkway 3;

[0077] S2. The traveling hoist system 1 lifts the pipe tool 9, and the pushing robot 5 moves to the working position. The pushing robot 5 clamps the pipe tool 9 through linear, rotary and telescopic movements, and moves the pipe tool 9 above the wellhead 7 in conjunction with the traveling hoist system 1.

[0078] S3, push robot 5 returns to standby position, clearing the wellhead 7 position, and the traveling hoist system 1 lowers to connect pipe 9 with pipe 9 inside wellhead 7;

[0079] S4. Drill 2 moves to the working position and, in coordination with the traveling hoist system 1, screws the pipe 9 outside the wellhead 7 so that the pipe 9 inside and outside the wellhead 7 are screwed together. After screwing, Drill 2 returns to the standby position.

[0080] S5. After the swing system 1 lowers the screwed pipe 9 to the preset depth, the power chuck 4 performs a clamping action, and the hanging clamp 13 of the swing system 1 releases the connected pipe 9.

[0081] S6. Repeat steps S1-S5.

[0082] When performing a drilling operation, simply reverse the steps described above.

[0083] like Figures 6-8 As shown, when using the above-mentioned pipe handling equipment for drilling operations, the following steps are taken:

[0084] Sa, the second-floor robotic arm clamps the pipe fittings 9 from the second-floor finger beam 6 and sends them to the traveling hoisting system 1, so that the hoisting clamp 13 of the traveling hoisting system 1 can fasten the coupling of the pipe fittings 9;

[0085] S1, the hanging clamp 13 of the traveling system 1 is fastened to the pipe 9 on the power catwalk 3, at which time the pipe 9 is tilted;

[0086] S2. The push-support robot 5 moves to the working position. The push-support robot 5 clamps and supports the pipe 9 through linear, rotary and telescopic movements, and moves the pipe 9 above the wellhead 7 in conjunction with the hanging system 1.

[0087] S3, push robot 5 returns to standby position, clearing the wellhead 7 position, and the traveling hoist system 1 lowers the pipe 9 to connect with the pipe 9 inside the wellhead 7.

[0088] S4. Drill 2 moves to the working position and, in coordination with the traveling hoist system 1, screws the pipe 9 outside the wellhead 7 so that the pipe 9 inside and outside the wellhead 7 are screwed together. After screwing, Drill 2 returns to the standby position.

[0089] S5. After the swing system 1 lowers the screwed pipe 9 to the preset depth, the power chuck 4 performs a clamping action, and the hanging clamp 13 of the swing system 1 releases the connected pipe 9.

[0090] S6. Repeat steps S1-S5.

[0091] During the down-drilling operation, the pipes 9 in the second-level platform finger beam 6 consist of at least two pre-tightened drill rods. The tripping operation is the reverse of the down-drilling operation, i.e., the tripping and pipe routing is completed.

[0092] The oil drilling rig tooling operation method involves placing a pusher robot 5 between the wellhead 7 and the power catwalk 3 on the drilling platform. This robot, along with the traveling crane system 1 and the iron drill 2, performs steps such as tooling transfer, tightening, and lowering. A single pusher robot 5 can simultaneously cover the transfer of tooling 9 from the catwalk to the wellhead 7 and the mouse hole 8, as well as the transfer of tooling 9 from the second-level platform to the wellhead 7. This eliminates the need for a dedicated drilling platform pipe-laying machine, reducing equipment costs and space occupancy. Furthermore, this operation method is applicable to various working conditions and facilitates collaborative operations.

[0093] Meanwhile, in step S3, when the wind force is too strong and the guide rail 151 deviates from its original position, causing the lifting ring 14 connected to the traveling carriage 12 to deviate from its working position, the swing drive component 154 of the traveling hoist system 15 adjusts the position of the lifting ring 14 so that the lifting clip 13 at the far end of the lifting ring 14 is reset, thereby ensuring that the pipe 9 held by the traveling hoist system 1 is in a vertical state and can be smoothly connected with the pipe 9 inside the wellhead 7.

[0094] The traveling hoist system 1 used in this embodiment has windproof and anti-sway functions, which improves the positioning accuracy of the pipe tool 9 entering the wellhead 7, rat hole 8, etc., thereby improving the work efficiency.

[0095] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0096] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0097] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0098] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0099] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for handling pipe tools on an oil drilling rig, employing pipe tool processing equipment, said pipe tool processing equipment comprising a traveling crane system, a steel drill bit, a powered catwalk, powered slips, a push-support robot, a second-level platform manipulator, and a second-level platform finger beam, characterized in that, The pusher robot is positioned on the drilling platform, between the wellhead and the power catwalk, using the following steps: S1. When drilling is being performed, the hoisting clamp of the traveling crane system engages with the pipe on the power cat track. When drilling is being performed, the hoisting clamp of the traveling crane system engages with the pipe on the second-floor platform finger beam. S2. The pushing robot moves to the working position, and the pushing robot clamps the pipe and, together with the traveling hoist system, moves the pipe above the wellhead. S3. The pushing robot returns to the standby position, clearing the wellhead position, and the traveling hoist system lowers to connect the pipe with the pipe inside the wellhead. S4. The driller moves to the working position and, in coordination with the traveling hoist system, screws the pipe outside the wellhead so that the pipe inside and outside the wellhead are screwed together. After screwing, the driller returns to the standby position. S5. After the swing system lowers the screwed pipe to a preset depth, the power chuck performs a clamping action, and the swing system's clamp releases from the connected pipe. S6. Repeat steps S1-S5.

2. The method for operating oil drilling rig tools as described in claim 1, characterized in that: When drilling operations are performed, step Sa is included before step S1: Sa, the second-floor robotic arm delivers the pipe clamp assembly from the second-floor platform finger beam to the traveling hoist system, so that the traveling hoist system's clamps can secure the pipe clamps.

3. The method for operating oil drilling rig tools as described in claim 1, characterized in that: When drilling operations are being performed; The tubing in step S1 consists of at least two pre-tightened drill rods; In step S2, the pushing robot clamps and supports the lower part of the tube.

4. The method for operating oil drilling rig tools as described in claim 1, characterized in that: The push-support robot includes a walking mechanism and a pushing mechanism. The walking mechanism is disposed on the drilling platform and located between the wellhead and the power catwalk. The extension direction of the walking mechanism is perpendicular to the conveying direction of the powered cat walkway, and the pushing mechanism is disposed on the walking mechanism; In step S2, the pushing and supporting mechanism, in conjunction with the lifting clamp of the floating system, clamps and supports the pipe during the movement of the pipe.

5. The method for operating oil drilling rig tools as described in claim 4, characterized in that: The pushing mechanism includes a support, a rotating component, a telescopic component, and a robotic arm body; The bottom end of the support is disposed on the rotating component, and the rotating component can drive the support to rotate along its own axis; The proximal end of the telescopic component is disposed on the support, and the distal end of the telescopic component is connected to the robot body to drive the robot body to move horizontally. The walking end of the walking mechanism is connected to the rotating component to drive the robot body at the distal end of the telescopic component on the support to move in a straight line.

6. The method for operating oil drilling rig tools as described in claim 5, characterized in that: The telescopic assembly includes a telescopic forearm, a telescopic rear arm, and a telescopic actuator. The distal end of the telescopic forearm is connected to the robot body, the proximal end of the telescopic forearm is hinged to the distal end of the telescopic rear arm, and the proximal end of the telescopic rear arm is hinged to the support. The fixed end of the telescopic actuator is disposed on the support, and the driving end of the telescopic actuator is connected to the telescopic forearm to drive the telescopic forearm and the telescopic rear arm to extend and retract in the horizontal plane.

7. The method for operating oil drilling rig tools as described in claim 1, characterized in that: The traveling hoist system includes a derrick, a traveling trolley, a crane, and an anti-sway device. The crane is located at the top of the derrick and is connected to the traveling trolley via a steel wire rope to drive the traveling trolley to move up and down. The anti-sway device includes a guide rail, a guide assembly, a damping arm assembly, and a sway drive assembly; The guide rail is vertically disposed on one side of the derrick, and the top end of the guide rail is hinged to the derrick. The guide assembly is fixedly disposed on one side wall of the traveling trolley and is slidably or rollingly connected to the guide rail. The damping arm assembly is disposed between the bottom end of the guide rail and the derrick, and the damping arm assembly is used to provide damping force for the swing of the guide rail relative to the derrick; The swing drive assembly is fixed relative to the traveling carriage, and the swing drive assembly is used to drive the hanging ring on the traveling carriage to swing. The hanging clamp is connected to the hanging ring.

8. The method for operating oil drilling rig tools as described in claim 7, characterized in that: The damping arm assembly includes a connecting base and a damping rod, wherein the connecting base is disposed on the derrick; One end of the damping rod is connected to the connecting base, and the other end of the damping rod is hinged to the bottom end of the guide rail.

9. The method for operating oil drilling rig tools as described in claim 8, characterized in that: The damping arm assembly also includes a hinge frame, which is mounted above the damping rod; The hinge frame includes a hinged first hinge arm and a hinged second hinge arm; The other end of the first hinged arm is hinged to the derrick, and the other end of the second hinged arm is hinged to the guide rail.

10. The method for operating oil drilling rig tools as described in claim 7, characterized in that: The swing drive assembly includes a telescopic drive component, a rigid shift fork, and a connecting rod; The fixed end of the telescopic drive component is connected to the guide assembly, and the drive end of the telescopic drive component is connected to one side of the rigid shift fork. The first hinge point of the rigid shift fork is hinged to the traveling carriage, the second hinge point of the rigid shift fork is hinged to the first end of the connecting rod, and the second end of the connecting rod is hinged to the lifting ring; The telescopic drive unit drives the rigid shift fork to rotate about the first hinge point so that the connecting rod drives the hanging clamp at the far end of the lifting ring to swing.

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