Double-arm telescopic buffer manipulator, drill string operation method and casing operation method

Abstract

The invention discloses a double-arm telescopic buffer manipulator, a drill string operation method and a casing operation method.The double-arm telescopic buffer manipulator comprises two telescopic arm mechanisms and two swing arm driving mechanisms, the two telescopic arm mechanisms are located on the two sides of a top drive guide rail respectively, one end of each telescopic arm mechanism is hinged to a derrick cross beam, and the other end of each telescopic arm mechanism is hinged to a top drive guide rail; a roller for providing rolling support for the drill column and the casing pipe is connected between the other ends of the two telescopic arm mechanisms; the two telescopic arm mechanisms operate synchronously so as to adjust the swinging radius of the roller; one ends of the two swing arm driving mechanisms are connected to the derrick cross beam, and the other ends of the two swing arm driving mechanisms are connected with the two telescopic arm mechanisms respectively; the two swing arm driving mechanisms operate synchronously so as to drive the two telescopic arm mechanisms and the idler wheels to swing. By synchronously operating the two telescopic arm mechanisms, the swing radius of the roller can be adjusted to meet the two conditions of bypassing the lower end of the top drive guide rail and bypassing the upper end of the wellhead casing, so that drill string operation and casing operation are facilitated.

Description

Technical Field

[0001] This invention belongs to the field of oil drilling and production equipment technology, and particularly relates to a dual-arm telescopic buffer manipulator, a drill string operation method, and a casing operation method. Background Technology

[0002] With the continuous development of oil drilling equipment and the increasing depth of wells, operational risks are also rising. Currently, in deep or ultra-deep well drilling operations, dual chucks are required for casing installation to improve operational safety and efficiency. However, during dual chuck operations, existing buffer manipulators struggle to simultaneously meet the dual requirements of bypassing both the lower end of the top drive guide rail and the upper end of the wellhead casing. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention provides a dual-arm telescopic buffer manipulator, a drill string operation method, and a casing operation method, which can meet the two conditions of bypassing the lower end of the top drive guide rail and bypassing the upper end of the wellhead casing.

[0004] The objective of this invention is achieved through the following technical solution: In a first aspect, a dual-arm telescopic buffer robot is provided, comprising: Two telescopic boom mechanisms are located on both sides of the top drive guide rail. One end of each telescopic boom mechanism is hinged to the derrick crossbeam, and the other end of each telescopic boom mechanism is connected to a roller for providing rolling support for the drill string and casing. The two telescopic boom mechanisms operate synchronously to adjust the swing radius of the rollers. The two swing arm drive mechanisms are connected at one end to the derrick crossbeam and at the other end to the two telescopic boom mechanisms respectively. The two swing arm drive mechanisms operate synchronously to drive the two telescopic boom mechanisms and rollers to swing.

[0005] Furthermore, the dual-arm telescopic buffer manipulator includes a mounting frame detachably connected to the derrick beam, with one end of each of the two telescopic arm mechanisms hinged to the mounting frame, and one end of each of the two swing arm drive mechanisms connected to the mounting frame.

[0006] Furthermore, the two telescopic arm mechanisms are parallel to each other and have the same length. One end of the two telescopic arm mechanisms is hinged with the center line coinciding and extending laterally. The two ends of the rollers are coaxially rotatably connected to the other ends of the two telescopic arm mechanisms.

[0007] Furthermore, the telescopic boom mechanism includes a first boom section, a second boom section coaxially slidably connected to the first boom section, and a first linear drive mechanism for driving the first boom section and the second boom section to slide relative to each other, with a roller connected to the end of the second boom section away from the first boom section.

[0008] Furthermore, the end of the second arm segment away from the roller is slidably connected to the first arm segment, and a first linear drive mechanism is coaxially arranged between the ends of the first and second arm segments that are close to each other. The other end of the swing arm drive mechanism is connected to the first arm segment.

[0009] Furthermore, the telescopic boom mechanism includes a pin mechanism for fixing the first boom section and the second boom section relative to each other.

[0010] Furthermore, the swing arm drive mechanism includes a second linear drive mechanism. The two second linear drive mechanisms are parallel to each other and have the same length. One end of each of the two second linear drive mechanisms is hinged to the mounting frame around the same transverse hinge center line. The other end of each of the two second linear drive mechanisms is respectively hinged to two telescopic arm mechanisms around the same transverse hinge center line.

[0011] Furthermore, baffles are provided at both ends of the roller.

[0012] Secondly, a drill string operation method is provided, which utilizes a dual-arm telescopic buffer manipulator. The drill string operation method includes a drill string receiving method and a drill string throwing method. The method for connecting the drill string includes the following steps: Two telescopic arm mechanisms operate synchronously to adjust the swing radius of the rollers so that they can pass over the lower end of the top drive guide rail when swinging. The drill string is delivered to the drill table using a powered catwalk; The top drive descends to a low position to allow the drill string to enter the lifting clamp; After the chuck is closed, the top drive moves upward to lift the drill string. The two swing arm drive mechanisms operate synchronously to drive the two telescopic arm mechanisms and their rollers to swing around the top drive guide rail until the rollers swing to receive the drill string. The top drive continues to move upwards to lift the drill string out of the power catwalk under the rolling support of the rollers; The two swing arm drive mechanisms operate synchronously to drive the rollers to swing in the opposite direction until the drill string is directly above the drill string at the wellhead. The iron driller fastened the buckle; The two swing arm drive mechanisms operate synchronously to drive the rollers to swing in the opposite direction and bypass the top drive guide rail; The drill string throwing method includes the following steps: Two telescopic arm mechanisms operate synchronously to adjust the swing radius of the rollers so that they can pass over the lower end of the top drive guide rail when swinging. Iron drill shackle; The top drive moves upward to lift the drill string until the drill string is pushed by the rollers and no longer interferes with the highest point of the power catwalk. The two swing arm drive mechanisms operate synchronously to drive the rollers to swing around the top drive guide until the rollers swing to support the drill string. The two swing arm drive mechanisms operate synchronously, and then the top drive moves downward to place the drill string onto the slipper of the power catwalk; The two swing arm drive mechanisms operate synchronously to drive the rollers to swing in the opposite direction and bypass the top drive guide rail.

[0013] Thirdly, a casing operation method is provided, which utilizes a dual-arm telescopic buffer manipulator. The casing operation method includes a casing connection method and a casing throwing method. The method of connecting the sleeve includes the following steps: Two telescopic arm mechanisms operate synchronously to adjust the swing radius of the rollers so that they can pass over the lower end of the top drive guide rail when swinging. The casing is delivered to the drill table using a powered catwalk. The top drive moves down to a low position to allow the casing to enter the lifting clamp; After the clamp is closed, the top drive moves upward to lift the sleeve; The two swing arm drive mechanisms operate synchronously to drive the two telescopic arm mechanisms and their upper rollers to swing and bypass the top drive guide rail; The two telescopic boom mechanisms operate synchronously to reduce the swing radius of the rollers so that they can pass over the top of the wellhead casing during swing. The two swing arm drive mechanisms operate synchronously to drive the rollers to swing and bypass the wellhead casing; The two telescopic arm mechanisms operate synchronously to increase the swing radius of the roller, and the two swing arm drive mechanisms operate synchronously to drive the roller to swing until the roller swings to receive the sleeve. The top drive continues to move upwards to lift the bushing out of the power cat track under the rolling support of the rollers; Two swing arm drive mechanisms operate synchronously to drive the roller to swing in the opposite direction, and two telescopic arm mechanisms operate synchronously to reduce the swing radius of the roller so that it can pass over the top of the well casing when swinging. The two swing arm drive mechanisms operate synchronously, with the rollers swinging in opposite directions and around the wellhead casing, so that the casing is positioned directly above the wellhead casing. The two telescopic arm mechanisms operate synchronously to increase the swing radius of the rollers so that they can pass over the bottom of the top drive guide rail when swinging. The two swing arm drive mechanisms operate synchronously to drive the rollers to swing in the opposite direction and bypass the top drive guide rail; The method of discarding the sleeve includes the following steps: Two telescopic arm mechanisms operate synchronously to adjust the swing radius of the rollers so that they can pass over the lower end of the top drive guide rail when swinging. Casing clamps for uncoupling; The top drive moves upward to lift the bushing, so that the bushing, after being pushed by the rollers, does not interfere with the highest point of the power cat track; The two swing arm drive mechanisms operate synchronously to drive the rollers to swing and bypass the top drive guide rail; The two telescopic boom mechanisms operate synchronously to reduce the swing radius of the rollers so that they can pass over the top of the wellhead casing during swing. The two swing arm drive mechanisms operate synchronously to drive the rollers to swing around the upper end of the wellhead casing until the rollers swing to receive the casing. Two swing arm drive mechanisms operate synchronously to drive the roller to swing, and two telescopic arm mechanisms operate synchronously to increase the swing radius of the roller, so as to push the sleeve above the power cat track. The top drive moves downward to place the bushing onto the slipper of the power cat track; Two swing arm drive mechanisms operate synchronously to drive the roller to swing in the opposite direction, and two telescopic arm mechanisms operate synchronously to reduce the swing radius of the roller so that it can pass over the top of the well casing when swinging. The two swing arm drive mechanisms operate synchronously to drive the rollers to swing in the opposite direction and bypass the wellhead casing; The two telescopic arm mechanisms operate synchronously to increase the swing radius of the rollers so that they can pass over the bottom of the top drive guide rail when swinging. The two swing arm drive mechanisms operate synchronously to drive the rollers to swing in the opposite direction and bypass the top drive guide rail.

[0014] The beneficial effects of this invention are as follows: The two telescopic boom mechanisms operate synchronously, and the swing radius of the rollers can be adjusted so that they can pass around the lower end of the top drive guide rail when swinging. The two telescopic boom mechanisms also operate synchronously, and the swing radius of the rollers can be adjusted so that they can pass around the upper end of the wellhead casing when swinging. Therefore, by operating the two telescopic boom mechanisms synchronously, the swing radius of the rollers can be adjusted to meet the two conditions of passing around the lower end of the top drive guide rail and passing around the upper end of the wellhead casing, which is beneficial to drill string operation and casing operation. Attached Figure Description

[0015] The invention will now be described in more detail with reference to embodiments and the accompanying drawings. Figure 1 A schematic diagram of the buffer robot arm in this invention is shown; Figure 2 This diagram illustrates the operation of the drill string connection method in this invention. Figure 1 ; Figure 3 This diagram illustrates the operation of the drill string connection method in this invention. Figure 2 ; Figure 4 This diagram illustrates the operation of the drill string connection method in this invention. Figure 3 ; Figure 5 This diagram illustrates the operation of the drill string connection method in this invention. Figure 4 ; Figure 6 This diagram illustrates the operation of the drill string throwing method in this invention. Figure 1 ; Figure 7 This diagram illustrates the operation of the drill string throwing method in this invention. Figure 2 ; Figure 8 This diagram illustrates the operation of the drill string throwing method in this invention. Figure 3 ; Figure 9 This diagram illustrates the operation of the drill string throwing method in this invention. Figure 4 ; Figure 10 This diagram illustrates the operation of the bushing connection method in this invention. Figure 1 ; Figure 11 This diagram illustrates the operation of the bushing connection method in this invention. Figure 2 ; Figure 12 This diagram illustrates the operation of the bushing connection method in this invention. Figure 3 ; Figure 13 This diagram illustrates the operation of the bushing connection method in this invention. Figure 4 ; Figure 14 This diagram illustrates the operation of the sleeve-throwing method in this invention. Figure 1 ; Figure 15 This diagram illustrates the operation of the sleeve-throwing method in this invention. Figure 2 ; Figure 16 This diagram illustrates the operation of the sleeve-throwing method in this invention. Figure 3 ; Figure 17 This diagram illustrates the operation of the sleeve-throwing method in this invention. Figure 4 ; Figure 18 This diagram illustrates the operation of the sleeve-throwing method in this invention. Figure 5 ; Figure 19 This diagram illustrates the operation of the sleeve-throwing method in this invention. Figure 6 ; In the accompanying drawings, the same parts use the same reference numerals. The drawings are not to scale.

[0016] Figure label: 1. Derrick crossbeam; 2. Mounting frame; 3. Telescopic boom mechanism; 301. First boom section; 302. Second boom section; 4. Baffle; 5. Roller; 6. Wellhead casing; 7. Top drive guide rail; 8. Pin mechanism; 9. Swing boom drive mechanism; 10. Top drive; 11. Drill string; 12. Power catwalk; 13. Wellhead drill string; 14. Casing. Detailed Implementation

[0017] The invention will now be further described with reference to the accompanying drawings.

[0018] Example 1 During dual-chuck operations, existing buffer manipulators cannot simultaneously meet the conditions of bypassing both the lower end of the top drive guide rail 7 and the upper end of the wellhead casing 6. Furthermore, in the oilfield equipment supply chain, derricks and catwalks are independent products, and different drilling companies use different equipment specifications. This necessitates that buffer manipulators be specifically deployed based on actual on-site conditions, resulting in significant differences in the adaptability range of manipulator arm length and installation height, making it difficult to standardize the product. Especially in situations where the power catwalk 12 has a short stroke, the derrick installation point is low, and the equipment base is large, existing buffer manipulators cannot operate normally.

[0019] Therefore, this embodiment provides a dual-arm telescopic buffer robot, such as... Figure 1-19 As shown, it includes: Two telescopic boom mechanisms 3 are located on both sides of the top drive guide rail 7. One end of each telescopic boom mechanism 3 is hinged to the derrick crossbeam 1. The other ends of the two telescopic boom mechanisms 3 are connected to rollers 5 for providing rolling support for the drill string 11 and casing 14. The two telescopic boom mechanisms 3 operate synchronously to adjust the swing radius of the rollers 5. Two swing arm drive mechanisms 9, one end of each swing arm drive mechanism 9 is connected to the derrick crossbeam 1, and the other end of each swing arm drive mechanism 9 is connected to two telescopic boom mechanisms 3 respectively; the two swing arm drive mechanisms 9 operate synchronously to drive the two telescopic boom mechanisms 3 and rollers 5 to swing.

[0020] It is understandable that the two telescopic boom mechanisms 3 operate synchronously, and the swing radius of the roller 5 can be adjusted so that it can pass around the lower end of the top drive guide rail 7 when swinging. The two telescopic boom mechanisms 3 also operate synchronously, and the swing radius of the roller 5 can be adjusted so that it can pass around the upper end of the wellhead casing 6 when swinging. Therefore, by operating the two telescopic boom mechanisms 3 synchronously, the swing radius of the roller 5 can be adjusted to meet the two conditions of passing around the lower end of the top drive guide rail 7 and passing around the upper end of the wellhead casing 6, which is beneficial to the operation of the drill string 11 and the casing operation. Furthermore, once installed at a certain height, this dual-arm telescopic buffer manipulator only requires the telescopic arm mechanism 3 and the swing arm drive mechanism 9 to work together, eliminating the need for frequent adjustments to the installation height or replacement of buffer manipulators with different arm lengths. The total length of the swing arm can be controlled by the telescopic arm mechanism 3, so the structure of the buffer manipulator can remain unchanged for different derricks and catwalks, and only the extension length of the telescopic arm mechanism 3 needs to be controlled to meet the usage requirements, thereby reducing the design cycle of the buffer manipulator and achieving product standardization.

[0021] Preferably, the dual-arm telescopic buffer manipulator includes a mounting frame 2 fixedly connected to the derrick beam 1, one end of each of the two telescopic arm mechanisms 3 is hinged to the mounting frame 2, and one end of each of the two swing arm drive mechanisms 9 is hinged to the mounting frame 2; that is, the two telescopic arm mechanisms 3 and the two swing arm drive mechanisms 9 are indirectly hinged to the derrick beam 1 through the mounting frame 2.

[0022] Preferably, the two telescopic arm mechanisms 3 are parallel to each other and have the same length. One end of the two telescopic arm mechanisms 3 is hinged with the center line coinciding and extends laterally. The two ends of the roller 5 are coaxially rotatably connected to the other end of the two telescopic arm mechanisms 3.

[0023] Preferably, the telescopic boom mechanism 3 includes a first boom section 301, a second boom section 302 coaxially slidably connected to the first boom section 301, and a first linear drive mechanism for driving the first boom section 301 and the second boom section 302 to slide relative to each other. The end of the second boom section 302 away from the first boom section 301 is connected to a roller 5.

[0024] It is understandable that when the first arm section 301 and the second arm section 302 slide relative to each other and move away from each other, the telescopic arm mechanism 3 becomes longer and the swing radius of the roller 5 increases accordingly; when the first arm section 301 and the second arm section 302 slide relative to each other and move closer to each other, the telescopic arm mechanism 3 becomes shorter and the swing radius of the roller 5 decreases accordingly.

[0025] It should be noted that the first linear drive mechanism can be a cylinder or an electric telescopic rod.

[0026] Preferably, the end of the second arm section 302 away from the roller 5 is slidably connected to the first arm section 301, and the first linear drive mechanism is coaxially arranged between the ends of the first arm section 301 and the second arm section 302 that are close to each other. The other end of the swing arm drive mechanism 9 is connected to the first arm section 301.

[0027] It is understandable that one end of the first linear drive mechanism and the second arm section 302 are both located inside the first arm section 301. The extension and retraction of the first linear drive mechanism can respectively control the telescopic arm mechanism 3 to become longer and shorter.

[0028] It should be noted that the side wall of the hole in the first arm section 301 that is slidably connected to the second arm section 302 may be provided with a groove along the length direction. Correspondingly, the side wall of the second arm section 302 may be provided with a slider that is slidably connected in the groove to restrict the sliding of the second arm section 302 relative to the first arm section 301, thereby avoiding the first linear drive mechanism from being affected by the rotation of the second arm section 302 relative to the first arm section 301.

[0029] Preferably, the telescopic boom mechanism 3 includes a pin mechanism 8 for fixing the first boom section 301 and the second boom section 302 relative to each other.

[0030] Understandably, when the dual-arm telescopic buffer robot is not in operation or the telescopic arm mechanism 3 is not extended or retracted for a long time, the pin mechanism 8 can stably fix the first arm section 301 and the second arm section 302 relative to each other, so as to lock the telescopic arm mechanism 3 and bear the interaction force between the first arm section 301 and the second arm section 302, thereby avoiding the first linear drive mechanism from being subjected to force for a long time, and thus improving the service life of the first linear drive mechanism.

[0031] It should be noted that the pin mechanism 8 may include a pin, a first insertion hole provided on the first arm section 301 and a plurality of second insertion holes provided on the second arm section 302. The pin is inserted into the first insertion hole and different second insertion holes, so that the first arm section 301 and the second arm section 302 can be fixed in different positions, thereby allowing the roller 5 to maintain different swing radii.

[0032] It should also be noted that the pin can be inserted manually or by an actuator such as a hydraulic cylinder, pneumatic cylinder, or electric push rod.

[0033] Preferably, the swing arm drive mechanism 9 includes a second linear drive mechanism. The two second linear drive mechanisms are parallel to each other and have the same length. One end of each of the two second linear drive mechanisms is hinged to the mounting frame 2 around the same transverse hinge center line. The other end of each of the two second linear drive mechanisms is respectively hinged to two telescopic arm mechanisms 3 around the same transverse hinge center line. The second linear drive mechanism can be a cylinder or an electric push rod.

[0034] It is understandable that when the second linear drive mechanism extends, it can drive the telescopic arm mechanism 3 to swing; when the second linear drive mechanism retracts, it can drive the telescopic arm mechanism 3 to swing in the opposite direction.

[0035] Preferably, baffles 4 are provided at both ends of the roller 5; the end face of the baffle 4 can be perpendicular to the axis of the roller 5 to limit the drill string 11 or casing at both ends of the roller 5, thereby preventing the drill string 11 or casing 14 from coming off from both ends of the roller 5 during the process of providing rolling support for the drill string 11 or casing 14.

[0036] It should be noted that the baffle 4 can also be used in the form of a clamp to prevent the drill string 11 or casing from escaping.

[0037] It should be noted that the dual-arm telescopic buffer robot may include a controller, which can be electrically connected to the actuators of the first linear drive mechanism, the second linear drive mechanism, and the pin mechanism 8, thereby facilitating the control of the dual-arm telescopic buffer robot; wherein, the controller may be a PCB board equipped with a C51 microcontroller.

[0038] Example 2 This embodiment provides a drill string operation method, which utilizes the dual-arm telescopic buffer manipulator in Embodiment 1. The drill string operation method includes a drill string receiving method and a drill string throwing method.

[0039] like Figure 2-5 As shown, the method for connecting the drill string includes the following steps: The two telescopic arm mechanisms 3 operate synchronously to adjust the swing radius of the roller 5 so that it can pass over the lower end of the top drive guide rail 7 when swinging; The drill string 11 is delivered to the drill table using the power catwalk 12; The top drive 10 descends to a low position to allow the drill string 11 to enter the lifting clamp; After the hanger is closed, the top drive 10 moves upward and lifts the drill string 11. The two swing arm drive mechanisms 9 operate synchronously to drive the two telescopic arm mechanisms 3 and their rollers 5 to swing around the top drive guide rail 7 until the rollers 5 swing to support the drill string 11. The top drive 10 continues to move upward, lifting the drill string 11 until it is separated from the power catwalk 12 under the rolling support of the roller 5; The two swing arm drive mechanisms 9 are operated synchronously to drive the rollers 5 to swing in the opposite direction until the drill string 11 is directly above the drill string 13 at the wellhead. The iron driller fastened the buckle; The two swing arm drive mechanisms 9 operate synchronously to drive the rollers 5 to swing in the opposite direction and bypass the top drive guide rail 7.

[0040] like Figure 6-9 As shown, the drill string throwing method includes the following steps: The two telescopic arm mechanisms 3 operate synchronously to adjust the swing radius of the roller 5 so that it can pass over the lower end of the top drive guide rail 7 when swinging; Iron drill shackle; The top drive 10 moves upward to lift the drill string 11 until the drill string 11 is pushed by the roller 5 and no longer interferes with the highest point of the power cat track 12. The two swing arm drive mechanisms 9 operate synchronously to drive the roller 5 to swing around the top drive guide rail 7 until the roller 5 swings to receive the drill string 11. The two swing arm drive mechanisms 9 operate synchronously, and then the top drive 10 moves downward to place the drill string 11 onto the slipper of the power catwalk 12. The two swing arm drive mechanisms 9 operate synchronously to drive the rollers 5 to swing in the opposite direction and bypass the top drive guide rail 7.

[0041] Example 3 This embodiment provides a casing operation method, which utilizes the dual-arm telescopic buffer manipulator in Embodiment 1. The casing operation method includes a casing connection method and a casing throwing method.

[0042] like Figure 10-13 As shown, the sleeve connection method includes the following steps: The two telescopic arm mechanisms 3 operate synchronously to adjust the swing radius of the roller 5 so that it can pass over the lower end of the top drive guide rail 7 when swinging; The casing 14 is delivered to the drill table using the power catwalk 12; The top drive 10 descends to a low position to allow the sleeve 14 to be inserted into the lifting clamp; After the hanger is closed, the top drive 10 moves upward and lifts the sleeve 14; The two swing arm drive mechanisms 9 are operated synchronously to drive the two telescopic arm mechanisms 3 and their rollers 5 to swing and pass around the top drive guide rail 7 until the two telescopic arm mechanisms 3 form a 15° angle with the vertical direction. The two telescopic boom mechanisms 3 operate synchronously to reduce the swing radius of the roller 5 so that it can pass over the top of the wellhead casing 14 when swinging. The two swing arm drive mechanisms 9 operate synchronously to drive the roller 5 to swing and pass around the wellhead casing 6; The two telescopic arm mechanisms 3 operate synchronously to increase the swing radius of the roller 5, and the two swing arm drive mechanisms 9 operate synchronously to drive the roller 5 to swing until the roller 5 swings to receive the sleeve 14. The top drive 10 continues to move upward, so as to lift the sleeve 14 out of the power cat track 12 under the rolling support of the roller 5; The two swing arm drive mechanisms 9 are operated synchronously to drive the rollers 5 to swing in the opposite direction until the two telescopic arm mechanisms 3 form a 40° angle with the vertical direction. The two telescopic boom mechanisms 3 operate synchronously to reduce the swing radius of the roller 5 so that it can pass over the top of the wellhead casing 6 when swinging. The two swing arm drive mechanisms 9 operate synchronously, with the rollers 5 swinging in the opposite direction and passing around the wellhead casing 6, so that the casing 14 is located directly above the wellhead casing 6, until the two telescopic arm mechanisms 3 form a 15° angle with the vertical direction. The two telescopic arm mechanisms 3 operate synchronously to increase the swing radius of the roller 5 so that it can pass over the lower end of the top drive guide rail 7 when swinging; The two swing arm drive mechanisms 9 operate synchronously to drive the rollers 5 to swing in the opposite direction and bypass the top drive guide rail 7.

[0043] like Figure 14-19 As shown, the sleeve-throwing method includes the following steps: The two telescopic arm mechanisms 3 operate synchronously to adjust the swing radius of the roller 5 so that it can pass over the lower end of the top drive guide rail 7 when swinging; 14-inch sleeve clamp detacher; The top drive 10 moves upward to lift the sleeve 14, so that the sleeve 14 does not interfere with the highest point of the power cat track 12 after being pushed by the roller 5. The two swing arm drive mechanisms 9 operate synchronously to drive the roller 5 to swing and pass around the top drive guide rail 7 until the two telescopic arm mechanisms 3 form a 15° angle with the vertical direction. The two telescopic boom mechanisms 3 operate synchronously to reduce the swing radius of the roller 5 so that it can pass over the top of the wellhead casing 6 when swinging. The two swing arm drive mechanisms 9 operate synchronously to drive the roller 5 to swing around the upper end of the wellhead casing 6 until the roller 5 swings to receive the casing 14. Two swing arm drive mechanisms 9 are operated synchronously to drive the roller 5 to swing, and two telescopic arm mechanisms 3 are operated synchronously to increase the swing radius of the roller 5 so as to push the sleeve 14 above the power cat track 12. The top drive 10 moves downward to place the sleeve 14 onto the slipper of the power cat track 12; The two swing arm drive mechanisms 9 are operated synchronously to drive the rollers 5 to swing in the opposite direction until the two telescopic arm mechanisms 3 form a 40° angle with the vertical direction. The two telescopic boom mechanisms 3 operate synchronously to reduce the swing radius of the roller 5 so that it can pass over the top of the wellhead casing 6 when swinging. The two swing arm drive mechanisms 9 are operated synchronously to drive the roller 5 to swing in the opposite direction and pass around the wellhead casing 6 until the two telescopic arm mechanisms 3 form a 15° angle with the vertical direction. The two telescopic arm mechanisms 3 operate synchronously to increase the swing radius of the roller 5 so that it can pass over the lower end of the top drive guide rail 7 when swinging; The two swing arm drive mechanisms 9 operate synchronously to drive the rollers 5 to swing in the opposite direction and bypass the top drive guide rail 7.

[0044] It should be noted that the position of the telescopic boom mechanism 3 to adjust the swing radius of the roller 5 can be adjusted according to the specific site conditions.

[0045] In the description of this invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0046] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A dual-arm telescopic buffer robot, characterized in that, include: Two telescopic boom mechanisms (3) are located on both sides of the top drive rail (7). One end of each telescopic boom mechanism (3) is hinged to the derrick beam (1). The other ends of the two telescopic boom mechanisms (3) are connected to a roller (5) for providing rolling support for the drill string (11) and casing (14). The two telescopic boom mechanisms (3) operate synchronously to adjust the swing radius of the roller (5) and enable the roller (5) to pass through the lower end of the top drive rail (7) and / or the upper end of the wellhead casing (6). Two swing arm drive mechanisms (9) are provided. One end of each swing arm drive mechanism (9) is connected to the derrick beam (1), and the other end of each swing arm drive mechanism (9) is connected to the two telescopic arm mechanisms (3). The two swing arm drive mechanisms (9) operate synchronously to drive the two telescopic arm mechanisms (3) and the roller (5) to swing.

2. The dual-arm telescopic buffer manipulator according to claim 1, characterized in that, It includes a mounting frame (2) that is detachably connected to the derrick beam (1), one end of each of the two telescopic boom mechanisms (3) is hinged to the mounting frame (2), and one end of each of the two swing arm drive mechanisms (9) is connected to the mounting frame (2).

3. The dual-arm telescopic buffer manipulator according to claim 1 or 2, characterized in that, The two telescopic arm mechanisms (3) are parallel to each other and have the same length. One end of the two telescopic arm mechanisms (3) is hinged with the center line coinciding and extends laterally. The two ends of the roller (5) are coaxially rotatably connected to the other end of the two telescopic arm mechanisms (3).

4. The dual-arm telescopic buffer manipulator according to claim 1 or 2, characterized in that, The telescopic arm mechanism (3) includes a first arm section (301), a second arm section (302) coaxially slidably connected to the first arm section (301), and a first linear drive mechanism for driving the first arm section (301) and the second arm section (302) to slide relative to each other. The end of the second arm section (302) away from the first arm section (301) is connected to the roller (5).

5. The dual-arm telescopic buffer manipulator according to claim 4, characterized in that, The second arm section (302) is slidably connected to the first arm section (301) at one end away from the roller (5). The first linear drive mechanism is coaxially arranged between the ends of the first arm section (301) and the second arm section (302) that are close to each other. The other end of the swing arm drive mechanism (9) is connected to the first arm section (301).

6. The dual-arm telescopic buffer manipulator according to claim 4, characterized in that, The telescopic boom mechanism (3) includes a pin mechanism (8) for fixing the first boom section (301) and the second boom section (302) relative to each other.

7. The dual-arm telescopic buffer manipulator according to claim 2, characterized in that, The swing arm drive mechanism (9) includes a second linear drive mechanism. The two second linear drive mechanisms are parallel to each other and have the same length. One end of each of the two second linear drive mechanisms is hinged to the mounting frame (2) around the same transverse hinge center line. The other end of each of the two second linear drive mechanisms is hinged to the two telescopic arm mechanisms (3) around the same transverse hinge center line.

8. The dual-arm telescopic buffer manipulator according to claim 1, characterized in that, Both ends of the roller (5) are provided with baffles (4).

9. A method for drilling a drill string, characterized in that, Using the dual-arm telescopic buffer manipulator as described in any one of claims 1-8, the drill string operation method includes a drill string receiving method and a drill string throwing method; The method for connecting the drill string includes the following steps: The two telescopic arm mechanisms (3) are operated synchronously to adjust the swing radius of the roller (5) so that it can pass over the lower end of the top drive guide rail (7) when swinging; The drill string (11) is delivered to the drilling platform using the power catwalk (12); The top drive (10) descends to a low position so that the drill string (11) can enter the hoist; After the hanger is closed, the top drive (10) moves upward and lifts the drill string (11). The two swing arm drive mechanisms (9) are operated synchronously to drive the two telescopic arm mechanisms (3) and their upper rollers (5) to swing and pass around the top drive guide rail (7) until the rollers (5) swing to support the drill string (11). The top drive (10) continues to move upward to lift the drill string (11) until it is separated from the power catwalk (12) under the rolling support of the roller (5). The two swing arm drive mechanisms (9) are operated synchronously to drive the rollers (5) to swing in the opposite direction until the drill string (11) is directly above the drill string (13) at the wellhead; The iron driller fastened the buckle; The two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing in the opposite direction and bypass the top drive guide rail (7). The drill string throwing method includes the following steps: The two telescopic arm mechanisms (3) are operated synchronously to adjust the swing radius of the roller (5) so that it can pass over the lower end of the top drive guide rail (7) when swinging; Iron drill shackle; The top drive moves upward to lift the drill string (11) until the drill string (11) is pushed by the roller (5) and does not interfere with the highest point of the power cat track (12); The two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing and pass around the top drive guide rail (7) until the roller (5) swings to support the drill string (11). The two swing arm drive mechanisms (9) are operated synchronously, and then the top drive (10) moves downward to place the drill string (11) onto the slipper of the power cat track (12); The two swing arm drive mechanisms (9) operate synchronously to drive the roller (5) to swing in the opposite direction and bypass the top drive guide rail (7).

10. A casing operation method, characterized in that, Using the dual-arm telescopic buffer manipulator according to any one of claims 1-8, the sleeve operation method includes a sleeve connection method and a sleeve throwing method; The method of connecting the sleeve includes the following steps: The two telescopic arm mechanisms (3) are operated synchronously to adjust the swing radius of the roller (5) so that it can pass over the lower end of the top drive guide rail (7) when swinging; The casing (14) is delivered to the drilling platform using the power catwalk (12); The top drive (10) descends to a low position so that the casing (14) can be inserted into the lifting clamp; After the hanger is closed, the top drive (10) moves upward and lifts the sleeve (14). The two swing arm drive mechanisms (9) are operated synchronously to drive the two telescopic arm mechanisms (3) and their upper rollers (5) to swing and pass around the top drive guide rail (7). The two telescopic boom mechanisms (3) are operated synchronously to reduce the swing radius of the roller (5) so that it can pass over the top of the wellhead casing (6) when swinging; The two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing and pass around the wellhead casing (6). The two telescopic arm mechanisms (3) are operated synchronously to increase the swing radius of the roller (5), and the two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing until the roller (5) swings to receive the sleeve (14). The top drive (10) continues to move upward to lift the sleeve (14) until it is disengaged from the power cat track (12) under the rolling support of the roller (5). Two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing in the opposite direction, and two telescopic arm mechanisms (3) are operated synchronously to reduce the swing radius of the roller (5) so that it can pass over the top of the well casing (6) when swinging. The two swing arm drive mechanisms (9) are operated synchronously, so that the roller (5) swings in the opposite direction and goes around the wellhead casing (6), and the casing (14) is located directly above the wellhead casing (6); The two telescopic arm mechanisms (3) are operated synchronously to increase the swing radius of the roller (5) so that it can pass over the lower end of the top drive guide rail (7) when swinging; The two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing in the opposite direction and bypass the top drive guide rail (7). The method of discarding the sleeve includes the following steps: The two telescopic arm mechanisms (3) are operated synchronously to adjust the swing radius of the roller (5) so that it can pass over the lower end of the top drive guide rail (7) when swinging; Casing (14) clamp release; The top drive (10) moves upward to lift the sleeve (14) so ​​that the sleeve (14) does not interfere with the highest point of the power cat track (12) after being pushed by the roller (5); The two swing arm drive mechanisms (9) operate synchronously to drive the roller (5) to swing and pass around the top drive guide rail (7). The two telescopic boom mechanisms (3) are operated synchronously to reduce the swing radius of the roller (5) so that it can pass over the top of the wellhead casing (6) when swinging; The two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing around the upper end of the wellhead casing (6) until the roller (5) swings to receive the casing (14). Two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing, and two telescopic arm mechanisms (3) are operated synchronously to increase the swing radius of the roller (5) so as to push the sleeve (14) above the power cat track (12). The top drive (10) descends to place the sleeve (14) onto the slipper of the power cat track (12); Two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing in the opposite direction, and two telescopic arm mechanisms (3) are operated synchronously to reduce the swing radius of the roller (5) so that it can pass over the top of the well casing (6) when swinging. The two swing arm drive mechanisms (9) are operated synchronously to drive the roller (5) to swing in the opposite direction and bypass the wellhead casing (6). The two telescopic arm mechanisms (3) are operated synchronously to increase the swing radius of the roller (5) so that it can pass over the lower end of the top drive guide rail (7) when swinging; The two swing arm drive mechanisms (9) operate synchronously to drive the roller (5) to swing in the opposite direction and bypass the top drive guide rail (7).

Images