Deepwater seabed unmanned iron roughneck

Abstract

The invention discloses a deepwater seabed unmanned iron roughneck. The deepwater seabed unmanned iron roughneck comprises a base mounting cylinder; an angle adjusting mechanism is arranged between the base and the base mounting cylinder; the vertical sliding guide rail is fixed on the base, and the guider is matched with a sliding groove of the vertical sliding guide rail through a rolling bearing assembly; the cylinder body is fixed on the guider, and the piston rod end is connected with the bottom of the vertical sliding guide rail; the V-shaped horizontal telescopic arm is connected with the guider and the hydraulic upper shackle pliers through a connecting rod mechanism and is driven by a horizontal telescopic oil cylinder to horizontally stretch out and draw back; the hydraulic spinner comprises an elastically suspended main support and a left-right spinner driven by a holding oil cylinder, and the left-right spinner drives the drilling tool to rotate through a hydraulic motor; a control element is packaged in the seabed electrical element bin by adopting a sealed pressure-resistant shell; and an external pressure balance valve and a hydraulic balance loop are integrated in the integrated valve box. The invention provides iron roughneck equipment which adapts to the seabed working condition environment and can be used for connecting and detaching a drilling tool.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of petroleum machinery automation equipment, and more particularly to a deepwater seabed unmanned iron roughneck. BACKGROUND

[0002] The iron roughneck is a tool for connecting and disassembling the pipe column such as drill pipe, drill collar, oil pipe, casing, casing milling barrel, etc. in the oil field drilling and workover operation. In the existing iron roughneck equipment, most of them are arranged on the drilling rig and workover rig platform according to the needs, and the operator can operate and maintain the equipment at any time according to the needs, and the use environment is relatively good. Due to the existence of a large number of automatic components and other limitations, the existing equipment cannot be applied to some special occasions, such as the currently developed seabed drilling machine.

[0003] In summary, in order to meet the needs of modern drilling and meet the needs of connecting and disassembling the drilling tool under various special working conditions, it is necessary to develop an unmanned iron roughneck equipment that can be used in the seabed. SUMMARY

[0004] The purpose of the present application is to provide a deepwater seabed unmanned iron roughneck, which can accurately adjust and lock the angle of the tong head and the wellhead, realize the action demand of the equipment in the vertical direction and the demand of approaching / away from the drilling tool, realize the functions of making up and breaking out the drilling tool through the hydraulic make and break tong, realize the functions of making up preparation and drilling tool separation of the drilling tool through the left and right spin-up device, and realize the full-automatic operation of the iron roughneck in the seabed through the integrated valve box and the electrical element warehouse for the seabed.

[0005] The technical scheme adopted by the present application to solve the technical problem is to provide a deepwater seabed unmanned iron roughneck, comprising: A base mounting cylinder is fixed to the seabed drilling platform; A base is rotatably connected to the base mounting cylinder through a cylindrical surface positioning, and an angle adjusting mechanism is arranged between the base and the base mounting cylinder to realize the fine adjustment of the circumferential angle of the base relative to the base mounting cylinder; A vertical sliding guide rail is fixed to the base, and a guide is arranged on the vertical sliding guide rail, wherein the guide is connected to the vertical sliding guide rail through a rolling bearing assembly; A vertical telescopic oil cylinder is fixed to the guide, and the piston rod end is connected to the bottom of the vertical sliding guide rail to drive the guide to ascend and descend along the vertical sliding guide rail; A V-shaped horizontal telescopic arm is connected to the guide and the hydraulic make and break tong through a connecting rod mechanism, and is driven to horizontally extend and retract by a horizontal telescopic oil cylinder; A hydraulic spin-up device comprises an elastic suspension main support and a left and right spin-up device driven by a clamping oil cylinder, and the left and right spin-up device drives the drilling tool to rotate through a hydraulic motor; Hydraulic make and break tong, comprising back tong, main tong and main tong rotary oil cylinder, the back tong is used for clamping down drilling tools, the main tong is used for clamping upper drilling tools, and the main tong rotary oil cylinder drives the main tong to rotate to realize the make and break of the drilling tools; The subsea electrical component bin adopts a sealed pressure-resistant shell to package control components, and a watertight plug is arranged on the surface of the shell to connect an external subsea cable. The integrated valve box is internally integrated with an external pressure balance valve and a hydraulic balance loop, the hydraulic balance loop is connected with each hydraulic component, and the influence of seawater pressure on the hydraulic components is synchronously compensated through the external pressure balance valve.

[0006] Preferably, the angle adjusting mechanism of the deepwater subsea unmanned iron roughneck comprises arc-shaped plates symmetrically welded on both sides of the circumference of the base mounting cylinder, two mounting blocks are welded on each arc-shaped plate, a positioning block is arranged on the base, and the angle is finely adjusted by adjusting the bolts screwed into the mounting blocks to top the positioning block, and the angle is fixed after adjustment through the locking nut.

[0007] Preferably, the deepwater subsea unmanned iron roughneck, the rolling bearing assembly is a ceramic bearing assembly, and the inner wall of the guider is fixed with four groups of rolling bearing assemblies, which are in rolling cooperation with the sliding grooves of the vertical sliding guide rail. The cylinder body of the vertical telescopic oil cylinder is fixed in the bearing hole of the guider through a cylindrical positioning step, and the piston rod is top-connected to the bottom of the vertical sliding guide rail through a pin shaft.

[0008] Preferably, the deepwater subsea unmanned iron roughneck, the connecting rod mechanism comprises: The first connecting rod group comprises a first connecting rod and a second connecting rod arranged in parallel, one end of each of the first connecting rod and the second connecting rod is hingedly connected to the guider, and the other end of each of the first connecting rod and the second connecting rod is hingedly connected to one end of the fifth connecting rod. The second connecting rod group comprises a third connecting rod and a fourth connecting rod arranged in parallel, one end of each of the third connecting rod and the fourth connecting rod is hingedly connected to the hydraulic make and break tong, and the other end of each of the third connecting rod and the fourth connecting rod is hingedly connected to the other end of the fifth connecting rod. The length ratio of the first connecting rod group and the second connecting rod group satisfies that when the horizontal telescopic oil cylinder drives the V-shaped horizontal telescopic arm, the hinged point of the hydraulic make and break tong and the hinged point of the guider always remain on the same horizontal line.

[0009] Preferably, the deepwater subsea unmanned iron roughneck, the hydraulic make and break tong comprises a back tong, a main tong, a main tong rotary oil cylinder and a large tong support, the back tong is mounted on the large tong support through a pin shaft, the main tong is connected with the back tong through an arc-shaped sliding buckle and rotates around the center of the drilling tools, the cylinder body of the main tong rotary oil cylinder is fixed on the large tong support, and the hydraulic rod is connected to the two sides of the main tong to drive the main tong to rotate and realize the make and break of the drilling tools. The back tong and the main tong are internally provided with a plurality of circumferentially distributed clamping oil cylinders.

[0010] Preferably, the deepwater seabed unmanned iron roughneck, the number of clamping oil cylinders is 3, which are distributed in 120° circumferentially.

[0011] Preferably, the deepwater seabed unmanned iron roughneck, the hydraulic spin buckle device comprises a buffer base, a spring guide rail, a main support, a mounting support, a clamping oil cylinder, a spin buckle arm, a right spin buckle device and a left spin buckle device. The spring guide rail is welded and fixed at the center of the buffer base, the main support is suspended on the spring guide rail through the two side ears and can slide freely in the vertical direction, the mounting support is hung on the main support through the buckle, the clamping oil cylinder, the spin buckle arm, the right spin buckle device and the left spin buckle device are fixed by pin shafts, the cylinder body of the clamping oil cylinder is connected with the left spin buckle arm by pin shaft, and the piston rod is connected with the right spin buckle arm by pin shaft, so as to drive the left and right spin buckle devices to clamp the drilling tool. There are four hydraulic motors on the left and right spin buckle devices, and a total of eight hydraulic motors drive the drilling tool to rotate.

[0012] Preferably, the deepwater seabed unmanned iron roughneck, the seabed electrical element warehouse comprises a pressure-resistant shell, control elements and a communication module encapsulated in the pressure-resistant shell by air. The surface of the pressure-resistant shell is provided with a water-tight plug, and the cables of the control elements and the communication module are connected with the water-tight plug respectively. The control elements comprise a PLC controller, which is used to control the iron roughneck to realize full-automatic operation. The communication module communicates with the sea surface master console through the cable, and is used to collect the running state of the iron roughneck through the control elements and feed back the real-time state to the sea surface master console.

[0013] Preferably, the deepwater seabed unmanned iron roughneck, the hydraulic balance circuit comprises a plurality of parallel circuits, which are connected with the vertical telescopic oil cylinder, the horizontal telescopic oil cylinder, the clamping oil cylinder of the hydraulic make and break wrench, the clamping oil cylinder of the hydraulic spin buckle device and the hydraulic motor respectively. The external pressure balance valve dynamically adjusts the circuit pressure by detecting the external seawater pressure, so that the internal pressure of the vertical telescopic oil cylinder, the horizontal telescopic oil cylinder, the clamping oil cylinder of the hydraulic make and break wrench, the clamping oil cylinder of the hydraulic spin buckle device and the hydraulic motor is balanced with the external seawater pressure.

[0014] Preferably, the deepwater seabed unmanned iron roughneck, the base mounting cylinder, the vertical sliding guide rail, the vertical telescopic oil cylinder, the guide, the V-shaped horizontal telescopic arm, the horizontal telescopic oil cylinder, the hydraulic make and break wrench, the hydraulic spin buckle device, the seabed electrical element warehouse and the structure side of the integrated valve box are all provided with zinc block mounting grooves, and the zinc block mounting grooves are used to mount the sacrificial anode zinc block. The piston rod of the vertical telescopic oil cylinder, the rolling bearing assembly of the guide and the output shaft of the hydraulic motor all adopt full ceramic structure or surface ceramic coating. The vertical sliding guide rail, the pin shaft hole of the V-shaped horizontal telescopic arm and the arc-shaped buckle of the hydraulic make-up and breakout tong are all arranged with copper bearings.

[0015] The base is installed in the mounting cylinder welded to the derrick, and under the action of the fine adjustment structure, the angle of the tong head and the wellhead can be accurately adjusted and locked; the guide is slid up and down along the vertical sliding guide rail under the action of the vertical telescopic oil cylinder, so as to realize the action demand of the equipment in the vertical direction; the V-shaped horizontal telescopic arm is connected with the guide and the hydraulic make-up and breakout tong, and under the power provided by the two horizontal telescopic oil cylinders, the hydraulic make-up and breakout tong can move horizontally to realize the requirement of approaching / away from the drilling tool; the back tong in the hydraulic make-up and breakout tong locks the lower drilling tool, the main tong locks the upper drilling tool, the main tong rotary oil cylinder pushes the main tong to rotate right / left to realize the make-up / breakout function of the drilling tool; the left and right rotary buckler clamps the drilling tool under the action of the clamping oil cylinder, the hydraulic motor in the rotary buckler starts to rotate to drive the drilling tool to rotate to realize the rotation of the drilling tool, so as to realize the make-up preparation of the drilling tool and the separation of the drilling tool; the integrated valve box provides hydraulic power for all the hydraulic cylinders and hydraulic motors of the subsea iron roughneck; the subsea electrical component bin is the control core of the whole subsea iron roughneck, and is used for controlling the iron roughneck to realize automatic operation.

[0016] Other advantages, objects and features of the present application will be apparent from the following description, and will be understood by persons skilled in the art. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of a deepwater subsea unmanned iron roughneck of the present application; Figure 2 is an explosion schematic view of a deepwater subsea unmanned iron roughneck of the present application.

[0018] Figure 3 is an explosion schematic view of a base and an angle adjustment device in a deepwater subsea unmanned iron roughneck of the present application; Figure 4 is a structural schematic view of a V-shaped horizontal telescopic arm in a deepwater subsea unmanned iron roughneck of the present application; Figure 5 is a structural schematic view of a hydraulic make-up and breakout tong in a deepwater subsea unmanned iron roughneck of the present application; Figure 6 is a structural schematic view of a hydraulic rotary buckler in a deepwater subsea unmanned iron roughneck of the present application; Explanation of reference signs: 1, base mounting cylinder, 2, base, 3, vertical sliding guide rail, 4, vertical telescopic oil cylinder, 5, guide, 6, V-shaped horizontal telescopic arm, 7, horizontal telescopic oil cylinder, 8, hydraulic unbuckling wrench, 9, hydraulic buckle, 10, electrical element bin for seabed, 11, integrated valve box, 12, arc plate, 13, bolt, 14, mounting block, 15, locking nut, 16, positioning block, 17, first connecting rod, 18, second connecting rod, 19, fifth connecting rod, 20, third connecting rod, 21, fourth connecting rod, 22, sixth connecting rod, 23, back wrench, 24, main wrench, 25, main wrench rotary oil cylinder, 26, large wrench support, 27, buffer base, 28, spring guide rail, 29, main support, 30, mounting support, 31, clamping oil cylinder, 32, buckle arm, 33, right buckle, 34, left buckle. DETAILED DESCRIPTION

[0019] The present application will be described in detail below with reference to the drawings. Those skilled in the art will be able to implement the present application based on these descriptions. Before the present application is described in detail with reference to the drawings, it should be pointed out that the technical solutions and technical features provided in each part of the present application, including the following description, can be combined with each other without conflict.

[0020] In addition, the embodiments of the present application involved in the following description are generally only a part of the embodiments of the present application, not all the embodiments. Therefore, all other embodiments obtained by those skilled in the art based on the embodiments in the present application without creative labor should belong to the scope of protection of the present application.

[0021] The present application will be described in detail below with reference to the drawings. Those skilled in the art will be able to implement the present application based on these descriptions. Before the present application is described in detail with reference to the drawings, it should be pointed out that the technical solutions and technical features provided in each part of the present application, including the following description, can be combined with each other without conflict. As Figures 1-6 shown, the present application provides a deepwater seabed unmanned iron driller, comprising: The base mounting cylinder 1 is fixed to the seabed drilling platform; The base 2 is rotationally matched with the base mounting cylinder 1 through cylindrical surface positioning, is not completely locked, and can realize relative rotation between the two by relying on the cylindrical surface positioning. An angle adjusting mechanism is arranged between the two, which is used to realize the circumferential angle fine adjustment of the base 2 relative to the base mounting cylinder 1; The vertical sliding guide rail 3 is fixed to the base 2, and the guide 5 is arranged on the vertical sliding guide rail 3. The guide 5 is matched with the sliding groove of the vertical sliding guide rail 3 through a rolling bearing assembly; The vertical telescopic oil cylinder 4 has a cylinder body fixed to the guide 5, and a piston rod end connected to the bottom of the vertical sliding guide rail 3, which drives the guide 5 to ascend and descend along the vertical sliding guide rail 3; V-shaped horizontal telescopic arm 6, connected to the guide 5 and the hydraulic make and break tong 8 through a linkage mechanism, and driven to horizontally telescope by the horizontal telescopic oil cylinder 7; the horizontal telescopic oil cylinder 7 is connected to the guide 5 and the V-shaped horizontal telescopic arm 6 through a pin, and with the action of the hydraulic rod, the V-shaped horizontal telescopic arm 6 expands or shrinks to meet the requirement of the hydraulic make and break tong 8 to approach / away from the drilling tools; Hydraulic spin tong 9, including the left and right spin tongs 33 / 34 driven by the elastic suspension main bracket 29 and the gripping oil cylinder 31, and the left and right spin tongs 33 / 34 drive the drilling tools to rotate through the hydraulic motor; Hydraulic make and break tong 8, including the back tong 23, the main tong 24 and the main tong rotating oil cylinder 25, the back tong 23 is used to clamp the lower drilling tools, the main tong 24 is used to clamp the upper drilling tools, and the main tong rotating oil cylinder 25 drives the main tong 24 to rotate to realize the make and break of the drilling tools; Subsea electrical component bin 10, using a sealed pressure-resistant shell to package the control components, and the surface of the shell is provided with a water-tight plug to connect the external subsea cable; Integrated valve box 11, integrating the external pressure balance valve and the hydraulic balance circuit inside, the hydraulic balance circuit communicates with each hydraulic component, and the influence of the seawater pressure on the hydraulic components is synchronously compensated through the external pressure balance valve.

[0022] In the above technical scheme, the base mounting cylinder 1 is welded on the subsea drilling platform, and the installation distance and angle with the wellhead are controlled; the base 2 and the angle adjusting mechanism are directly placed in the base mounting cylinder 1, the angle between the jaw head and the wellhead is precisely adjusted and locked through the angle adjusting mechanism; the vertical sliding guide rail 3 is connected with the base 2 through 20 groups of bolt fasteners, the guide 5 slides in the vertical sliding guide rail 3 along the vertical direction through 4 bearing assemblies, the power is provided by the vertical telescopic oil cylinder 4; the V-shaped horizontal telescopic arm 6 is connected with the guide 5 and the hydraulic make and break clamp 8, under the power provided by the two horizontal telescopic oil cylinders 7, the hydraulic make and break clamp 8 can move horizontally to realize the requirement of approaching / away from the drilling tool; the hydraulic make and break clamp 8 is mainly composed of four parts of the large clamp support 26, the main clamp 24, the back clamp 23 and the main clamp rotating oil cylinder 25, the back clamp 23 locks the lower drilling tool, the main clamp 24 locks the upper drilling tool, and the main clamp rotating oil cylinder 25 drives the main clamp 24 to rotate right / left to realize the functions of making and breaking the drilling tool; the hydraulic make-up and break-out device 9 is mainly composed of the cylindrical spring guide rail 28, the left rotating device 33, the right rotating device 34 and the make-up and break-out holding oil cylinder 32, the hydraulic make-up and break-out device 9 is connected with the hydraulic make and break clamp 8 through the cylindrical spring guide rail 28, the make-up and break-out device has a certain vertical degree of freedom, the left and right rotating devices 33 / 34 hold the drilling tool under the action of the holding oil cylinder 32, the hydraulic motor in the make-up and break-out device starts to rotate to drive the drilling tool to rotate to realize the functions of making and breaking the drilling tool to realize the preparation of making the drilling tool and separating the drilling tool, when the threads are made up / broken, the drilling tool will have a certain vertical displacement, and the cylindrical spring guide rail 28 can perfectly compensate the distance; the integrated valve box 11 provides hydraulic power for all the hydraulic cylinders and hydraulic motors of the subsea iron roughneck, and all the hydraulic elements are specially designed and adjusted to meet the special working conditions of high water pressure and seawater corrosion; the subsea electrical element bin 10 is the control core of the whole subsea iron roughneck, is used for controlling the iron roughneck to realize full-automatic operation, and feeds back the equipment operation state to the sea surface general control platform in real time.

[0023] Further, the deepwater subsea unmanned iron roughneck, the angle adjusting mechanism comprises arc-shaped plates 12 symmetrically welded on the circumferences of the base mounting cylinder 1, two mounting blocks 14 are welded on each arc-shaped plate 12, the arc-shaped plate 12 and the mounting block 14 are fixed on the circumference of the base mounting cylinder 1 through welding, the base 2 is provided with a positioning block 16, the angle is finely adjusted by adjusting the bolts 13 screwed into the mounting blocks 14 to press the positioning block 16, and the bolts 13 are fixed after adjustment. The bolts 13 press the positioning block 16 of the base 2, the rotation depths of the four bolts 13 are adjusted, the relative angle between the base 2 and the base mounting cylinder 1 can be controlled, the whole equipment can be controlled to rotate and move at a small angle, and the angle is locked after the actual requirement angle is reached.

[0024] Further, the deepwater seabed unmanned iron driller, the rolling bearing assembly is a ceramic bearing assembly, 4 groups of rolling bearing assemblies are fixed in the inner wall of the guide 5 to serve as rollers, and are rolled in the sliding groove of the vertical sliding guide rail 3 to roll in the vertical direction in the sliding groove of the vertical sliding guide rail 3. The cylinder body of the vertical telescopic oil cylinder 4 is fixed in the bearing hole of the guide 5 through a cylindrical positioning step, the piston rod is top-connected to the bottom of the vertical sliding guide rail 3 through a pin shaft, and under the action of hydraulic oil, the guide 5 is pushed to slide up and down along the vertical sliding guide rail 4.

[0025] Further, the deepwater seabed unmanned iron driller, the connecting rod mechanism comprises: A first connecting rod group comprises first and second connecting rods 17 and 18 arranged in parallel, one end of each of the first and second connecting rods 17 and 18 is hingedly connected to the guide 5 through a pin shaft, and the other end of each of the first and second connecting rods 17 and 18 is hingedly connected to one end of a fifth connecting rod 19 through a pin shaft. A second connecting rod group comprises third and fourth connecting rods 20 and 21 arranged in parallel, one end of each of the third and fourth connecting rods 20 and 21 is hingedly connected to the hydraulic make and break clamp 8 through a pin shaft, and the other end of each of the third and fourth connecting rods 20 and 21 is hingedly connected to the other end of the fifth connecting rod 19 through a pin shaft. In this embodiment, a preferred embodiment is that the third and fourth connecting rods 20 and 21 are hingedly connected to the hydraulic make and break clamp 8 through a sixth connecting rod 22, and the sixth connecting rod 22 is connected to the end of the third and fourth connecting rods 20 and 21 at both ends.

[0026] The length ratio of the first and second connecting rod groups satisfies that when the V-shaped horizontal telescopic arm 6 is driven by the horizontal telescopic oil cylinder 7, the hinged points of the hydraulic make and break clamp 8 and the guide 5 always remain on the same horizontal line, and the relative horizontal positions of the two end pin shaft holes are always unchanged, thereby ensuring the correct position of the hydraulic make and break clamp 8.

[0027] Further, the deepwater seabed unmanned iron driller, the hydraulic make and break clamp 8 comprises a back clamp 23, a main clamp 24, a main clamp rotating oil cylinder 25, and a main clamp support 26, the back clamp 23 is installed on the main clamp support 26 through two pin shafts, the main clamp 24 is connected to the back clamp 23 through an arc-shaped sliding buckle and rotates around the center of the drilling tool, the cylinder body of the main clamp rotating oil cylinder 25 is fixed on the main clamp support 26, and the hydraulic rod is connected to the two sides of the main clamp 24 to drive the main clamp 24 to rotate and realize the make and break of the drilling tool. The back clamp 23 and the main clamp 24 are both provided with a plurality of circumferentially distributed clamping oil cylinders. The clamping oil cylinders clamp two drilling tools under the action of hydraulic oil, and the main clamp rotating oil cylinder 25 starts to act (one side extends and the other side retracts) to push the main clamp 24 to rotate right or left to realize the make and break of the drilling tool. Further, the deepwater seabed unmanned iron roughneck has three clamping oil cylinders which are distributed in a 120° circumferential direction.

[0028] Further, the deepwater seabed unmanned iron roughneck has the hydraulic make-up and breakout wrench 9 which comprises a buffer base 27, a spring guide rail 28, a main support 29, a mounting support 30, a clamping oil cylinder 31, a make-up and breakout arm 32, a right make-up and breakout wrench 33 and a left make-up and breakout wrench 34. The spring guide rail 28 is welded and fixed at the center of the buffer base 27, the main support 29 is hung on the spring guide rail 28 through two side lugs and can freely slide in a vertical direction, so as to compensate for the vertical displacement when the drilling tool is screwed or unscrewed; the mounting support 30 is hung on the main support 29 through a breakout clamp, the clamping oil cylinder 31, the make-up and breakout arm 32, the right make-up and breakout wrench 33 and the left make-up and breakout wrench 34 are fixed through pin shafts, the cylinder body of the clamping oil cylinder 31 is connected with the left make-up and breakout arm 32 through a pin, the piston rod is connected with the right make-up and breakout arm 32 through a pin, and the left and right make-up and breakout wrenches 33 / 34 are driven to clamp the drilling tool; the make-up and breakout arm 32 serves as a lever support, so that the right make-up and breakout wrench 33 and the left make-up and breakout wrench 34 are close to each other and clamp the drilling tool, and after clamping, eight hydraulic motors on the two make-up and breakout wrenches start to drive the drilling tool to rotate, so as to screw or unscrew the drilling tool.

[0029] Four hydraulic motors are arranged on the left and right make-up and breakout wrenches 33 / 34 respectively, and eight hydraulic motors drive the drilling tool to rotate.

[0030] Further, the deepwater seabed unmanned iron roughneck has the seabed electrical element bin 10 which comprises a pressure-resistant shell, control elements and a communication module which are encapsulated in the pressure-resistant shell through air; the control elements are arranged in a centralized manner in the pressure-resistant shell with extremely high sealing performance.

[0031] The pressure-resistant shell is provided with watertight inserts, and the cables of the control elements and the communication module are connected with the watertight inserts; the cables exposed in seawater are all seabed cables which are connected with the watertight inserts and transmit power and signals; The control elements comprise a PLC controller which is used to control the iron roughneck to realize automatic operation; The communication module communicates with the surface master console through cables, is used to collect the operation state of the iron roughneck through the control elements and feed back the operation state to the surface master console in real time; in this embodiment, a preferred embodiment is that a user controls the integrated valve box 11, and the iron roughneck is controlled by a program to realize automatic operation; the seabed electrical element bin 10 is connected with the integrated valve box 11, a power supply and an underwater integrated control center.

[0032] Further, the deepwater seabed unmanned iron roughneck has the hydraulic balance circuit which comprises multiple parallel circuits which are connected with the vertical telescopic oil cylinder 4, the horizontal telescopic oil cylinder 7, the clamping oil cylinder of the hydraulic make-up and breakout wrench 8, the clamping oil cylinder 31 of the hydraulic make-up and breakout wrench 9 and the hydraulic motor. The outer pressure balance valve balances the internal pressure of the vertical telescopic oil cylinder 4, the horizontal telescopic oil cylinder 7, the clamping oil cylinder of the hydraulic make and break wrench 8, the gripping oil cylinder 31 of the hydraulic spin buckle device 9 and the hydraulic motor with the external seawater pressure by detecting the external seawater pressure and dynamically adjusting the loop pressure, so that the external water pressure at any seawater depth below the designed depth can be compensated synchronously, thereby avoiding the influence of seawater pressure on the equipment operation; Further, the deepwater seabed unmanned iron driller is provided with zinc block mounting grooves on the structural parts of the base mounting cylinder 1, the vertical sliding guide rail 3, the vertical telescopic oil cylinder 4, the guider 5, the V-shaped horizontal telescopic arm 6, the horizontal telescopic oil cylinder 7, the hydraulic make and break wrench 8, the hydraulic spin buckle device 9, the seabed electrical element bin 10 and the integrated valve box 11, and the zinc block mounting grooves are used for mounting sacrificial anode zinc blocks, and different sacrificial anode zinc blocks are selected according to the working time in seawater. The piston rod of the vertical telescopic oil cylinder 4, the rolling bearing assembly of the guider 5 and the output shaft of the hydraulic motor are all provided with full ceramic structures or ceramic coating layers, so that the best corrosion prevention effect can be obtained. The sliding groove of the vertical sliding guide rail 3, the pin shaft hole of the V-shaped horizontal telescopic arm 6 and the arc-shaped sliding buckle of the hydraulic make and break wrench 8 are all provided with copper bearings, Cu ions can be generated in seawater, and the attachment of seabed microorganisms can be effectively reduced, thereby affecting the equipment operation.

[0033] Finally, the whole equipment is sprayed with special seabed paint, so as to reduce the corrosion of seawater on the seabed iron driller equipment as much as possible.

[0034] The application also includes an anti-seabed high water pressure design structure. In the design of the structural parts of the main components, I-shaped steel, angle steel and channel steel are selected for the arrangement of the main structure, so that the problem that rectangular steel and square steel are prone to form internal cavities (which can cause structural deformation under high water pressure) after welding can be effectively avoided; in the structural parts, a certain number of communication holes are added, so that seawater can enter the periphery of all structural parts, thereby balancing the pressure of seawater.

[0035] The application can adapt to the drilling requirements of various depths below 1600m of the seabed, adapt to the connection and disassembly of pipe columns with specifications of 3 1 / 2"-7", the project is a seabed coiled tubing one-trip drilling project, 3 1 / 2 coiled tubing and 7-inch casing can be automatically made and broken, all pipe columns for underwater drilling can be automatically made and broken, and the deepwater seabed unmanned iron driller using the application can meet the operation requirements of coiled tubing drilling and casing lowering.

[0036] While embodiments of the application have been disclosed in connection with the above specification, it will be apparent to those skilled in the art that numerous modifications can be made thereto without departing from the overall concept of the application. Accordingly, it is intended that all such modifications be included within the scope of the claims and their equivalents.

Claims

1. A deep-sea unmanned iron drill, characterized in that, include: The base mounting cylinder is fixed to the subsea drilling platform; The base and the base mounting cylinder are positioned by a cylindrical surface to form a rotational fit. An angle adjustment mechanism is provided between the two to achieve fine adjustment of the circumferential angle of the base relative to the base mounting cylinder. A vertical sliding guide rail is fixed on the base. A guide is provided on the vertical sliding guide rail. The guide is engaged with the sliding groove of the vertical sliding guide rail through a rolling bearing assembly. A vertical telescopic hydraulic cylinder has its cylinder body fixed to the guide, and its piston rod end connected to the bottom of a vertical sliding guide rail, driving the guide rail to rise and fall along the vertical sliding guide rail. The V-shaped horizontal telescopic boom is connected to the guide and the hydraulic upper and lower buckle clamps through a linkage mechanism, and is driven to extend and retract horizontally by a horizontal telescopic cylinder. The hydraulic rotary joint includes a main support with elastic suspension and left and right rotary joints driven by a clamping cylinder. The left and right rotary joints drive the drill bit to rotate via a hydraulic motor. The hydraulic top-and-bottom pliers include a back pliers, a main pliers, and a main pliers rotating cylinder. The back pliers are used to hold the lower drill string, the main pliers are used to hold the upper drill string, and the main pliers rotating cylinder drives the main pliers to rotate to achieve the top-and-bottom connection of the drill string. The underwater electrical component compartment uses a sealed, pressure-resistant housing to encapsulate the control components, and the housing surface is equipped with water-sealed plugs for connecting external underwater cables. The integrated valve box incorporates an external pressure balancing valve and a hydraulic balancing circuit. The hydraulic balancing circuit connects all hydraulic components and synchronously compensates for the influence of seawater pressure on the hydraulic components through the external pressure balancing valve.

2. The deep-sea unmanned iron drill as described in claim 1, characterized in that, The angle adjustment mechanism includes arc-shaped plates symmetrically welded to both sides of the circumference of the base mounting cylinder. Two mounting blocks are welded to each arc-shaped plate. The base is provided with positioning blocks. The angle can be finely adjusted by adjusting the bolts screwed into the mounting blocks to tighten the positioning blocks. After adjustment, it is fixed by locking nuts.

3. The deep-sea unmanned iron drill as described in claim 1, characterized in that, The rolling bearing assembly is a ceramic bearing assembly, and four sets of rolling bearing assemblies are fixed to the inner wall of the guide, which roll in cooperation with the groove of the vertical sliding guide. The cylinder body of the vertical telescopic cylinder is fixed in the bearing hole of the guide by a cylindrical positioning step, and the piston rod is connected to the bottom of the vertical sliding guide rail by a pin.

4. The deep-sea unmanned iron drill as described in claim 1, characterized in that, The linkage mechanism includes: The first connecting rod group includes a first connecting rod and a second connecting rod arranged in parallel. One end of the first connecting rod and the second connecting rod are respectively hinged to the guide, and the other end is respectively hinged to one end of the fifth connecting rod. The second connecting rod group includes a third connecting rod and a fourth connecting rod arranged in parallel. One end of the third connecting rod and the fourth connecting rod are respectively hinged to the hydraulic upper unhooking pliers, and the other end is respectively hinged to the other end of the fifth connecting rod. The length ratio of the first connecting rod group to the second connecting rod group satisfies the following condition: when the horizontal telescopic cylinder drives the V-shaped horizontal telescopic arm, the hinge point of the hydraulic upper release clamp and the hinge point of the guide are always kept on the same horizontal line.

5. The deep-sea unmanned iron drill as described in claim 1, characterized in that, The hydraulic add / remove pliers include a back pliers, a main pliers, a main pliers rotating cylinder, and a large pliers support. The back pliers are mounted on the large pliers support via a pin. The main pliers are connected to the back pliers via an arc-shaped sliding buckle and rotate around the center of the drill bit. The cylinder body of the main pliers rotating cylinder is fixed on the large pliers support. The hydraulic rods are connected to both sides of the main pliers and drive the main pliers to rotate to achieve add / remove the drill bit. Both the back clamp and the main clamp are equipped with multiple circumferentially distributed clamping cylinders.

6. The deep-sea unmanned iron drill as described in claim 5, characterized in that, The clamping cylinders consist of three units, arranged in a 120° circumferential pattern.

7. The deep-sea unmanned iron drill as described in claim 1, characterized in that, The hydraulic rotary valve includes a buffer base, a spring guide rail, a main bracket, a mounting bracket, a clamping cylinder, a rotary arm, a right rotary valve, and a left rotary valve; The spring guide rail is welded and fixed to the center of the buffer base. The main bracket is suspended on the spring guide rail by the two side lugs and can slide freely in the vertical direction. The mounting bracket is hooked to the main bracket by a shackle. The clamping cylinder, the rotary arm, the right rotary arm, and the left rotary arm are connected and fixed to each other by pins. The cylinder body of the clamping cylinder is pinned to the left rotary arm, and the piston rod is pinned to the right rotary arm, driving the left and right rotary arms to clamp the drill bit. Each of the left and right rotary joints is equipped with four hydraulic motors, for a total of eight hydraulic motors that drive the drill bit to rotate.

8. The deep-sea unmanned iron drill as described in claim 1, characterized in that, The underwater electrical component warehouse Includes a pressure-resistant housing, control components and a communication module sealed within the pressure-resistant housing by air; The pressure-resistant housing surface is provided with a water-sealing insert, and the cables of the control element and the communication module are respectively connected to the water-sealing insert; The control element includes a P controller, used to control the iron drill to achieve fully automatic operation; The communication module communicates with the sea surface control console via cable, and is used to collect the operating status of the iron drill through control elements and feed it back to the sea surface control console in real time.

9. The deep-sea unmanned iron drill as described in claim 1, characterized in that, The hydraulic balance circuit includes multiple parallel circuits, which are respectively connected to the vertical telescopic cylinder, the horizontal telescopic cylinder, the clamping cylinder of the hydraulic upper unhooking clamp, the gripping cylinder of the hydraulic rotary buckle and the hydraulic motor. The external pressure balancing valve dynamically adjusts the circuit pressure by detecting the external seawater pressure, so that the internal pressure of the vertical telescopic cylinder, the horizontal telescopic cylinder, the clamping cylinder of the hydraulic upper and lower buckle clamp, the gripping cylinder of the hydraulic rotary buckle, and the hydraulic motor are balanced with the external seawater pressure.

10. The deep-sea unmanned iron drill as described in claim 5, characterized in that, The base mounting cylinder, vertical sliding guide rail, vertical telescopic cylinder, guide, V-shaped horizontal telescopic arm, horizontal telescopic cylinder, hydraulic upper and lower buckle clamp, hydraulic rotary buckle, underwater electrical component compartment, and integrated valve box are all provided with zinc block mounting slots on their structural components. The zinc block mounting slots are used to install sacrificial anode zinc blocks. The piston rod of the vertical telescopic cylinder, the rolling bearing assembly of the guide, and the output shaft of the hydraulic motor all adopt a full ceramic structure or a ceramic coating on the surface; Copper bearings are arranged in the groove of the vertical sliding guide, the pin hole of the V-shaped horizontal telescopic arm, and the arc-shaped sliding buckle of the hydraulic upper and lower buckle clamp.

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