L-shaped rail type drill floor robot

Abstract

The L-shaped rail type drill floor robot comprises a storage rail and a working rail, the two ends of the storage rail and the two ends of the working rail are in close contact, and the end, away from the working rail, of the storage rail is connected with a control system; the device further comprises a walking tackle, the walking tackle is matched with the storage track and the working track, a mechanical arm is connected to the walking tackle, the mechanical arm and the walking tackle are connected with a control system through pipelines, and a pair of supporting pliers is connected to the middle of the mechanical arm. According to the working condition of field operation, the working rail and the storage rail can continuously move between the three-joint box channel and the drill floor front laying table to switch positions, the adaptability of the oil field operation field is high, the requirements of different operation working conditions are met, and the collision risk caused by narrow space of drill floor operation is effectively eliminated.

Description

Technical Field

[0001] This invention belongs to the field of oil drilling equipment technology, specifically relating to an L-shaped track-mounted drilling rig robot. Background Technology

[0002] The development of oil drilling equipment towards automation and intelligence is an effective way to improve the working environment of oilfield workers, shorten drilling cycles, reduce the labor intensity of workers, and improve the automation level of equipment. The main measure to improve the automation and intelligence level of drilling equipment is to equip it with automated tubing handling equipment, including tubing conveying equipment installed on the ground, tubing support equipment, coupling and uncoupling equipment, and wellhead automation equipment installed on the drilling platform, and tubing arrangement equipment installed on the second-level platform. Among these, there are many devices installed on the drilling platform, especially robots or manipulators installed in the middle channel of the standpipe box. This equipment must not only meet the operational needs of supporting the drilling tools, but also meet the requirements of avoiding other operations around the standpipe.

[0003] During drilling, the main work of handling the drill string is concentrated on the drill table. Operations such as single-string support, drill string stand-up placement, hoisting and short-joint grabbing, and drill string transport via the power catwalk must be completed in the stand-up box passage. Therefore, the reliable operation and rapid avoidance of other drill string handling tasks by the robot or robotic arm installed in the stand-up box passage has become a crucial indicator of the equipment's acceptability. Domestic drill table robots or robotic arms have made significant progress in recent years, particularly in avoiding the stand-up box passage by exploring different approaches, including whole-machine sinking and whole-machine offset methods. However, in field applications, problems remain, such as susceptibility to mud contamination, limited avoidance space, susceptibility to collisions, poor integration with the drill table, and inconvenience in disassembly and relocation. Summary of the Invention

[0004] The purpose of this invention is to provide an L-shaped track-type drilling robot to solve the problem of limited obstacle avoidance space in existing drilling platform robots.

[0005] The technical solution adopted in this invention is an L-shaped track-type drilling robot, which includes a storage track and a working track. The two ends of the storage track and the working track are in close contact, and the end of the storage track away from the working track is connected to a control system.

[0006] It also includes a traveling trolley, which is matched with the storage track and the working track. A robotic arm is connected to the traveling trolley. The robotic arm and the traveling trolley are connected to the control system through pipelines. A support clamp is connected to the middle of the robotic arm.

[0007] The invention is further characterized by:

[0008] The traveling trolley includes a traveling trolley frame. A rotary drive device is connected to the center of the top surface of the traveling trolley frame. The rotary drive device is connected to the robotic arm. A front axle slewing bearing and a rear axle slewing bearing are connected to the two ends of the bottom surface of the traveling trolley frame, respectively. The front axle slewing bearing is hinged to the side away from the traveling trolley frame, and the rear axle slewing bearing is hinged to the side away from the traveling trolley frame. Both the front axle and the rear axle are connected to a traveling mechanism, which is matched with the storage track and the working track, respectively. The traveling trolley frame is connected to a traveling drive device, which is connected to the control system through a pipeline. The output end of the traveling drive device passes through the middle of the rear axle slewing bearing and the rear axle. The output end of the traveling drive device is connected to a traveling gear, which is matched with the storage track and the working track, respectively.

[0009] The traveling mechanism includes two opposing double-ear seats. The front axle and the rear axle are connected to the double-ear seats on opposite sides. Each double-ear seat is connected to a traveling roller, which is matched with the storage track and the working track respectively.

[0010] Each double-ear seat is connected to an anti-tipping roller on its outer side, which is matched with the storage track and the working track respectively.

[0011] The working track includes a working track frame, which is divided into a straight working section and a turning section. The end of the turning section away from the straight working section is in close contact with the storage track. A working rack is connected to the top of the bottom surface of the straight working section along its length, and the working rack meshes with the traveling gear. A turning rack is connected to the top of the bottom surface of the turning section, and the end of the turning rack is connected to one end of the working rack, which meshes with the traveling gear. An inner working guide rail and an outer working guide rail are connected to the bottom of the straight working section along its length, and the working rack is positioned between the inner and outer working guide rails. Both the inner and outer working guide rails are matched with the traveling rollers. An inner turning guide rail and an outer turning guide rail are connected to the bottom of the turning section, and the turning rack is positioned between the inner and outer turning guide rails, which are matched with the traveling rollers. One end of the inner turning guide rail is connected to the end of the inner working guide rail, and one end of the outer turning guide rail is connected to the end of the outer working guide rail.

[0012] The cross-sections of the opposite side walls of the working track frame are both set as "U" shaped structures, and the inner sides of the opposite side walls of the working track frame are respectively matched with anti-tipping rollers.

[0013] The top of the two side walls of the straight section of the working track frame are connected by hinges to a left cover plate and a right cover plate along its length, respectively. The top of the outer side wall of the working track frame is connected by hinges to a turning cover plate.

[0014] The storage track includes a storage track frame, one end of which is connected to a support plate. The surface of the support plate is connected to the control system. The end of the storage track frame away from the support plate is in close contact with the turning section of the working track frame. A storage rack is connected to the surface of the bottom plate of the storage track along its length. The storage rack meshes with a traveling gear. One end of the storage rack is in close contact with the end of the turning rack away from the working rack. Inner storage guide rails and outer storage guide rails are respectively connected to each other along the surface of the bottom plate of the storage track along its length. The storage rack is located between the inner storage guide rails and the outer storage guide rails. One end of the inner storage guide rail is in close contact with the end of the inner turning guide rail away from the inner working guide rail. One end of the outer storage guide rail is in close contact with the end of the outer turning guide rail away from the outer working guide rail. Both the inner and outer storage guide rails are matched with traveling rollers. The inner sides of the opposite side walls of the storage track frame are matched with anti-tipping rollers.

[0015] The beneficial effects of this invention are:

[0016] 1) The L-shaped track-type drilling robot of this invention can continuously move and switch positions between the stand box channel and the drilling platform in front of the drilling rig according to the on-site working conditions through the working track and storage track. It has strong adaptability to oilfield working sites, meets the requirements of different working conditions, and effectively eliminates the collision risk caused by the narrow space of the drilling rig.

[0017] 2) The L-shaped track of the present invention is a single-layer structure with a height of about 200mm. It can be installed below the drilling platform to meet the need for a flat drilling platform, or the L-shaped track can be placed directly above the drilling platform to meet the installation needs of old drilling rigs where the drilling platform cannot be modified, thus reducing the amount of installation and modification work for old drilling rigs.

[0018] 3) The traveling trolley of the present invention is hinged to two slewing bearings below, which are axles for traveling and turning, traveling rollers and anti-tipping rollers. The mechanism has the characteristics of flexible rotation, strong load-bearing capacity, low running resistance and strong environmental adaptability. In particular, during the turning process, the traveling rollers are subjected to rolling friction and are guided by the wheel flanges on both sides of the traveling rollers, which greatly reduces the demand on the traveling drive device.

[0019] 4) The working track and storage track of the device of the present invention are both U-shaped structures. All mechanisms are installed on the inner side of the track. The traveling trolley does not occupy the outer space of the track during movement. There is no gap between the track and the drilling platform surface, and the integration is good. In the non-working state, the flip-top plate above the working track can be closed to ensure the integrity and flatness of the drilling platform surface, eliminate the risk of manual operation, and avoid the contamination of the outer side of the track by mud.

[0020] 5) The device of this invention adopts a modular design to meet the requirements of quick disassembly, relocation and installation on the oilfield site. After the robot arm moves to the storage track, it is hoisted and transported as a whole with the storage track. The working track is a skid on its own and is hoisted and transported independently. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the L-shaped track-mounted drilling robot of the present invention;

[0022] Figure 2 This is a schematic diagram of the L-shaped track-mounted drilling robot of the present invention in a standby and avoidance state after installation on the drilling rig platform.

[0023] Figure 3 This is a schematic diagram of the L-shaped track-mounted drilling robot of the present invention in its working state after installation on the drilling rig platform.

[0024] Figure 4 This is a schematic diagram of the structure of the L-shaped track-type drilling robot's traveling trolley of the present invention;

[0025] Figure 5 This is a schematic diagram of the bottom structure of the L-shaped track-type drilling robot's traveling trolley of the present invention;

[0026] Figure 6 This is a schematic diagram of the track of the L-shaped track-type drilling robot of the present invention in its working state;

[0027] Figure 7 This is a partial enlarged view of the contact between the walking trolley and the track of the L-shaped track-type drilling robot of the present invention;

[0028] Figure 8 This is a schematic diagram of the L-shaped track-mounted drilling robot of the present invention after the track cover is closed during the avoidance and standby state.

[0029] In the diagram: 1. Support clamp, 2. Robotic arm, 3. Traveling trolley, 301. Traveling trolley frame, 302. Rotary drive unit, 303. Traveling drive unit, 304. Traveling gear, 305. Rear axle slewing bearing, 306. Front axle slewing bearing, 307. Rear axle, 308. Front axle, 309. Traveling roller, 310. Anti-tipping roller, 311. Double lug seat, 4. Working rail, 401. Working rail frame. 402. Inner working guide rail; 403. Outer working guide rail; 404. Working rack; 405. Inner turning guide rail; 406. Outer turning guide rail; 407. Turning rack; 408. Left cover plate; 409. Right cover plate; 410. Turning cover plate; 5. Storage rail; 501. Storage rail frame; 502. Inner storage guide rail; 503. Outer storage guide rail; 504. Storage rack; 505. Support plate; 6. Control system. Detailed Implementation

[0030] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0031] The present invention relates to an L-shaped orbital drilling robot, such as... Figure 1 As shown, it includes a storage track 5 and a working track 4. The two ends of the storage track 5 and the working track 4 are in close contact. The end of the storage track 5 away from the working track 4 is connected to a control system 6.

[0032] It also includes a traveling trolley 3, which matches the storage track 5 and the working track 4. A robotic arm 2 is connected to the traveling trolley 3. The robotic arm 2 and the traveling trolley 3 are connected to the control system 6 via pipelines. A support clamp 1 is connected to the middle of the robotic arm 2. The storage track 5 and the working track 4 are assembled into an "L"-shaped track along which the traveling trolley 3 slides. The working track 4 is located between two support boxes. The support clamp 1 is bolted to the robotic arm 2 to realize the detection, support, and transfer of the tubing. The robotic arm 2 is a multi-link mechanism, and the extension and retraction of the robotic arm are achieved through hydraulic cylinders installed inside. The hydraulic cylinders are controlled by the control system 6. Figure 2-3 As shown.

[0033] Example 1

[0034] like Figure 4-5 As shown, the traveling trolley 3 includes a traveling trolley frame 301. A rotary drive device 302 is connected to the center of the top surface of the traveling trolley frame 301. The rotary drive device 302 is connected to the robotic arm 2. A front axle slewing bearing 306 and a rear axle slewing bearing 305 are respectively connected to the two ends of the bottom surface of the traveling trolley frame 301. A front axle 308 is hinged to the side of the front axle slewing bearing 306 away from the traveling trolley frame 301, and a rear axle 307 is hinged to the side of the rear axle slewing bearing 305 away from the traveling trolley frame 301. Both the front axle 308 and the rear axle 307 are connected to a traveling mechanism, which is matched with the storage rail 5 and the working rail 4, respectively. The traveling trolley frame 301 is connected to a traveling drive device 303, which is connected to the control system 6 via a pipeline. The output end of the traveling drive device 303 passes through the middle of the rear axle slewing bearing 305 and the rear axle 307. The output end of the traveling drive device 303 is connected to a traveling gear 304, which is matched with the storage rail 5 and the working rail 4, respectively. The slewing drive device 302 is connected to the control system 6 via a pipeline. The control system 6 drives the robotic arm 2 to rotate through the slewing drive device 302. The traveling drive device 303 is a motor, which drives the traveling gear 304 to rotate. The traveling gear 304 meshes with the storage rail 5 and the working rail 4, thereby driving the traveling trolley 3 to move. The hinged connection between the front axle 308 and the rear axle 307 and the front axle slewing bearing 306 and the rear axle slewing bearing 305 ensures that the traveling trolley 3 can turn while traveling on the rails.

[0035] The traveling mechanism includes two opposing double-ear seats 311. The front axle 308 and the rear axle 307 are connected to the opposite sides of the double-ear seats 311 respectively. Each double-ear seat 311 is connected to a traveling roller 309, which is matched with the storage track 5 and the working track 4 respectively. The front axle 308 and the rear axle 307 are respectively connected to two opposing double-ear seats 311, which serve as the support structure for the traveling rollers 309.

[0036] Each of the two ear-shaped bases 311 is connected to an anti-tipping roller 310 on its outer side, which is matched with the storage track 5 and the working track 4 respectively. The anti-tipping roller 310 prevents the traveling trolley 3 from tipping over or overturning during movement.

[0037] Example 2

[0038] like Figure 6-7 As shown, the working track 4 includes a working track frame 401, which is divided into a straight working section and a turning section. The end of the turning section away from the straight working section is in close contact with the storage track 5. A working rack 404 is connected to the top of the bottom surface of the straight working section along its length, and the working rack 404 meshes with the traveling gear 304. A turning rack 407 is connected to the top of the bottom surface of the turning section of the working track frame 401, and the end of the turning rack 407 is connected to one end of the working rack 404. The turning rack 407 meshes with the traveling gear 304. The bottom of the straight working section of the working track frame 401 is connected to parallel inner working racks along its length. The inner working guide rail 402 and the outer working guide rail 403 are provided. The working rack 404 is located between the inner working guide rail 402 and the outer working guide rail 403. Both the inner working guide rail 402 and the outer working guide rail 403 are matched with the traveling roller 309. The bottom of the turning section of the working track frame 401 is connected to the inner turning guide rail 405 and the outer turning guide rail 406. The turning rack 407 is located between the inner turning guide rail 405 and the outer turning guide rail 406. Both the inner turning guide rail 405 and the outer turning guide rail 406 are matched with the traveling roller 309. One end of the inner turning guide rail 405 is connected to the end of the inner working guide rail 402, and one end of the outer turning guide rail 406 is connected to the end of the outer working guide rail 403. The turning rack 407 and the working rack 404 are connected as a whole. The traveling gear 304 meshes with the turning rack 407 and the working rack 404, which can drive the traveling trolley frame 301 to move. The inner working guide rail 402 and the inner turning guide rail 405 are connected as a whole. The outer working guide rail 403 and the outer turning guide rail 406 are connected as a whole. The traveling roller 309 moves along the guide rail.

[0039] The cross-sections of the opposite side walls of the working track frame 401 are both designed as "U" shapes, and the inner sides of the opposite side walls of the working track frame 401 are respectively matched with anti-tipping rollers 310. The anti-tipping rollers 310 are locked into the inner side walls of the working track frame 401 to prevent the traveling trolley 3 from tipping over during travel.

[0040] like Figure 8 As shown, the top of the two side walls of the working straight section of the working track frame 401 are respectively connected to a left cover plate 408 and a right cover plate 409 along its length direction via hinges. The top of the outer side wall of the working track frame 401 is connected to a turning cover plate 410 via hinges. The working track 4 is installed in the middle of the riser box channel. The upper surface of the working track 4 is flush with the drill table surface. When the left cover plate 408, right cover plate 409 and turning cover plate 410 are opened, they can be placed in the riser box channel. When the robotic arm 2 is waiting to move aside, the left cover plate 409, right cover plate 408 and turning cover plate 410 on both sides of the working track 4 are closed to ensure the flatness of the drill table surface.

[0041] Example 3

[0042] Storage track 5 includes a storage track frame 501. One end of the storage track frame 501 is connected to a support plate 505. The surface of the support plate 505 is connected to the control system 6. The end of the storage track frame 501 away from the support plate 505 is in close contact with the turning section of the working track frame 401. A storage rack 504 is connected to the bottom plate surface of the storage track 5 along its length. The storage rack 504 meshes with a traveling gear 304. One end of the storage rack 504 is in close contact with the end of the turning rack 407 away from the working rack 404. The bottom plate surface of the storage track 5 along its length... The inner storage guide rail 502 and the outer storage guide rail 503 are respectively connected to each other. The storage rack 504 is disposed between the inner storage guide rail 502 and the outer storage guide rail 503. One end of the inner storage guide rail 502 is in close contact with the end of the inner turning guide rail 405 away from the inner working guide rail 402. One end of the outer storage guide rail 503 is in close contact with the end of the outer turning guide rail 406 away from the outer working guide rail 403. Both the inner storage guide rail 502 and the outer storage guide rail 503 are matched with the traveling rollers 309. The inner sides of the opposite side walls of the storage track frame 501 are matched with the anti-tipping rollers 310. After the storage track 5 is connected to the working track 4, the storage rack 504 is connected to the turning rack 407 to form a whole. The inner storage guide rail 502 and the outer storage guide rail 503 are connected to the inner turning guide rail 405 and the outer turning guide rail 406 respectively to form a whole. The upper surface of the storage track 5 is flush with the drilling platform surface. After installation, the working track 4 and the storage track 5 are connected to form a complete and continuous L-shaped track. When the equipment is disassembled and moved, only the two types of tracks need to be transported independently.

[0043] The working principle of the L-shaped track-mounted drilling robot of this invention is as follows:

[0044] The walking gear 304 at the output end of the walking drive device 303 on the walking trolley 3 meshes with the working rack 404, turning rack 407 and storage rack 504 on the working track 4 and storage track 5 respectively. The walking roller 309 below the walking trolley 3 rolls on the inner and outer guide rails of the working track 4 and storage track 5. At the same time, the walking roller 309 has rims on both sides and is locked on both sides of the combined L-shaped guide rail to achieve follow-up walking and turning according to the shape of the inner and outer guide rails. The anti-tipping roller 310 below the walking trolley 3 is located on the inner side of the side wall on both sides of the working track 4 and storage track 5 to prevent the walking trolley 3 from tipping over.

[0045] This invention relates to an L-shaped track-type drilling robot, which can continuously switch positions between the riser box channel and the drilling platform front surface via the working track and storage track, depending on the on-site working conditions. The L-shaped track is a single-layer structure, which can be installed either below the drilling platform surface or directly above it. The traveling trolley is hinged to two slewing bearings below it, with axles for walking and turning, traveling rollers, and anti-tipping rollers. This mechanism features flexible rotation, high load-bearing capacity, low running resistance, and strong environmental adaptability. Both the working track and the storage track are U-shaped structures, and all mechanisms are installed on the inner side of the track. The traveling trolley does not occupy the outer space of the track during movement, and there is no gap between the track and the drilling platform surface.

Claims

1. An L-shaped track-mounted drilling robot, characterized in that, It includes a storage track (5) and a working track (4), with the two ends of the storage track (5) and the working track (4) in close contact, and the end of the storage track (5) away from the working track (4) is connected to a control system (6); It also includes a traveling trolley (3), which is matched with the storage track (5) and the working track (4). A robotic arm (2) is connected to the traveling trolley (3). The robotic arm (2) and the traveling trolley (3) are respectively connected to the control system (6) through pipelines. A support clamp (1) is connected to the middle of the robotic arm (2).

2. The L-shaped track-mounted drilling robot according to claim 1, characterized in that, The traveling trolley (3) includes a traveling trolley frame (301). A rotary drive device (302) is connected to the middle of the top surface of the traveling trolley frame (301). The rotary drive device (302) is connected to the robotic arm (2). A front axle slewing bearing (306) and a rear axle slewing bearing (305) are respectively connected to both ends of the bottom surface of the traveling trolley frame (301). A front axle (308) is hinged to the side of the front axle slewing bearing (306) away from the traveling trolley frame (301). A rear axle (307) is hinged to the side of the rear axle slewing bearing (305) away from the traveling trolley frame (301). Both the bridge (308) and the rear axle (307) are connected to a traveling mechanism, which is matched with the storage track (5) and the working track (4) respectively. The traveling trolley frame (301) is connected to a traveling drive device (303), which is connected to the control system (6) through a pipeline. The output end of the traveling drive device (303) passes through the middle of the rear axle slewing bearing (305) and the rear axle (307). The output end of the traveling drive device (303) is connected to a traveling gear (304), which is matched with the storage track (5) and the working track (4) respectively.

3. The L-shaped track-mounted drilling robot according to claim 2, characterized in that, The walking mechanism includes two opposing double-ear seats (311). The front axle (308) and the rear axle (307) are respectively connected to the double-ear seats (311) on opposite sides. Each double-ear seat (311) is connected to a walking roller (309). The walking roller (309) is matched with the storage track (5) and the working track (4) respectively.

4. The L-shaped track-mounted drilling robot according to claim 3, characterized in that, Each of the two ear seats (311) is connected to an anti-tipping roller (310) on its outer side, and the anti-tipping roller (310) is matched with the storage track (5) and the working track (4) respectively.

5. The L-shaped track-mounted drilling robot according to claim 4, characterized in that, The working track (4) includes a working track frame (401), which is divided into a straight working section and a turning section. The end of the turning section away from the straight working section is in close contact with the storage track (5). A working rack (404) is connected to the top of the bottom surface of the straight working section of the working track frame (401) along its length direction. The working rack (404) meshes with the traveling gear (304). A turning rack (407) is connected to the top of the bottom surface of the turning section of the working track frame (401). The end of the turning rack (407) is connected to one end of the working rack (404). The turning rack (407) meshes with the traveling gear (304). Parallel inner working guides (407) are connected to the bottom of the straight working section of the working track frame (401) along its length direction. 2) and outer working guide rail (403), the working rack (404) is disposed between the inner working guide rail (402) and the outer working guide rail (403), the inner working guide rail (402) and the outer working guide rail (403) are both matched with the traveling roller (309), the bottom of the turning section of the working track frame (401) is connected to the inner turning guide rail (405) and the outer turning guide rail (406), the turning rack (407) is disposed between the inner turning guide rail (405) and the outer turning guide rail (406), the inner turning guide rail (405) and the outer turning guide rail (406) are both matched with the traveling roller (309), one end of the inner turning guide rail (405) is connected to the end of the inner working guide rail (402), and one end of the outer turning guide rail (406) is connected to the end of the outer working guide rail (403).

6. The L-shaped track-mounted drilling robot according to claim 5, characterized in that, The cross-sections of the opposite side walls of the working track frame (401) are all set as "U" shaped structures, and the inner sides of the opposite side walls of the working track frame (401) are respectively matched with anti-tipping rollers (310).

7. The L-shaped track-mounted drilling robot according to claim 5, characterized in that, The top of the two side walls of the working straight section of the working track frame (401) are respectively connected by hinges to a left cover plate (408) and a right cover plate (409) along its length direction. The top of the outer side wall of the working track frame (401) is connected by hinges to a turning cover plate (410).

8. The L-shaped track-mounted drilling robot according to claim 4, characterized in that, The storage track (5) includes a storage track frame (501), one end of which is connected to a support plate (505). The surface of the support plate (505) is connected to the control system (6). The end of the storage track frame (501) away from the support plate (505) is in close contact with the turning section of the working track frame (401). A storage rack (504) is connected to the bottom plate surface of the storage track (5) along its length. The storage rack (504) meshes with a traveling gear (304). One end of the storage rack (504) is in close contact with the end of the turning rack (407) away from the working rack (404). The bottom plate surface of the storage track (5) is connected to the storage rack (504) along its length. An inner storage guide rail (502) and an outer storage guide rail (503) are connected to each other along the length direction. The storage rack (504) is located between the inner storage guide rail (502) and the outer storage guide rail (503). One end of the inner storage guide rail (502) is in close contact with the end of the inner turning guide rail (405) away from the inner working guide rail (402). One end of the outer storage guide rail (503) is in close contact with the end of the outer turning guide rail (406) away from the outer working guide rail (403). Both the inner storage guide rail (502) and the outer storage guide rail (503) are matched with the traveling rollers (309). The inner sides of the opposite side walls of the storage track frame (501) are matched with anti-tipping rollers (310).

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