A mechanical device applied to the auxiliary connection and disconnection of the drill pipe of a subsea drilling rig

Abstract

The application belongs to the technical field of seabed engineering geological exploration equipment, and particularly relates to a mechanical device applied to the auxiliary connection and disconnection of a drill rod of a seabed drilling machine, which comprises a mounting frame, a mechanical arm device and a drill rod limiting mechanism, a plurality of mechanical arm devices are installed on the mounting frame, the drill rod limiting mechanism is located on the side of the mounting frame, the mechanical arm device comprises a fixed arm, an azimuth oil cylinder, a rotating arm, a retracting and releasing oil cylinder, an arc plate and a drill rod grabbing mechanism, the azimuth oil cylinder is rotationally arranged on the fixed arm, one end of the rotating arm is rotationally arranged on the fixed arm through a first pin shaft, the piston rod of the azimuth oil cylinder is rotationally connected with the other end of the rotating arm through a second pin shaft, the retracting and releasing oil cylinder is installed on the rotating arm, the arc plate is installed on the piston rod of the retracting and releasing oil cylinder, and the drill rod grabbing mechanism is fixed on the arc plate, the application can effectively reduce the rotating radius of the mechanical arm device, provide more space for the storage of the drill rod and the inner tube, and realize greater drilling depth under the same space limitation.

Description

Technical Field

[0001] This invention belongs to the technical field of submarine engineering geological exploration equipment, and in particular relates to a mechanical device for auxiliary unloading of drill rods in submarine drilling rigs. Background Technology

[0002] Subsea drilling rigs are important drilling and sampling equipment for seabed resource exploration, seabed engineering geological surveys, and marine scientific research. The entire operation on the seabed is remotely controlled. Currently, the connection and disconnection of drill pipes, as well as the storage and retrieval of drill pipes and inner casings, are mainly accomplished by robotic arms. However, this approach presents the following problems in practical applications:

[0003] The robotic arm needs to reach the working position by rotating to unload the drill rod, place the inner tube, and store and retrieve the drill rod and inner tube. Under the constraints of the mother ship's A-frame and transportation on the overall space size, a larger rotation radius will affect the storage space of the drill rod and inner tube, and thus affect the drilling depth.

[0004] The robotic arm achieves precise position control through a complex closed-loop control system. However, the underwater-specific components are expensive, have a high failure rate in the complex underwater environment, and are unreliable.

[0005] The robotic arm device mainly reaches the designated position by rotation. Rotational supports need to be set at both the top and bottom. The relative position of the robotic arm device with the drill rod, the storage device of the inner tube, and the power head position has high requirements, which will put higher demands on the installation.

[0006] This invention designs a mechanical device for auxiliary unloading of drill pipes in subsea drilling rigs to solve the above problems. Summary of the Invention

[0007] To achieve the above objectives, the present invention employs the following technical solutions:

[0008] A mechanical device for auxiliary unloading of drill pipes in subsea drilling rigs includes a mounting frame, a manipulator, and a drill pipe limiting mechanism. Several manipulators are mounted on the mounting frame, and the drill pipe limiting mechanism is located on the side of the mounting frame. The manipulator includes a fixed arm, an azimuth cylinder, a rotating arm, a retraction cylinder, an arc-shaped plate, and a drill pipe gripping mechanism. The azimuth cylinder is rotatably mounted on the fixed arm, and one end of the rotating arm is rotatably mounted on the fixed arm via a first pin. The piston rod of the azimuth cylinder is rotatably connected to the other end of the rotating arm via a second pin. The retraction cylinder is mounted on the rotating arm, and the arc-shaped plate is mounted on the piston rod of the retraction cylinder. The drill pipe gripping mechanism is fixed on the arc-shaped plate.

[0009] As a preferred embodiment, the drill pipe gripping mechanism includes a gripping mounting base mounted on an arc-shaped plate. A gripping cylinder is mounted on the gripping mounting base. The piston rod of the gripping cylinder is rotatably connected to two connecting rods via a third pin. The third pin is slidably connected to the gripping mounting base. One end of each connecting rod is rotatably connected to a chuck via a fourth pin. The fourth pin is slidably connected to the gripping mounting base. A fifth pin is rotatably connected to the middle of the chuck. The fifth pin is rotatably connected to the gripping mounting base. One end of the chuck extends to the outside of the gripping mounting base.

[0010] As a preferred option, an adjusting ring is installed on the azimuth cylinder, and the adjusting ring is rotatably connected to the fixed arm.

[0011] As a preferred embodiment, a limit ring and a first locking nut are provided on the rear piston rod of the azimuth cylinder, and both the limit ring and the first locking nut are threadedly connected to the piston rod of the azimuth cylinder.

[0012] As a preferred embodiment, grooves are provided at both the upper and lower ends of the bow-shaped plate, and two drill rod gripping mechanisms are provided, with the two drill rod gripping mechanisms installed in the two grooves respectively.

[0013] As a preferred embodiment, the drill pipe limiting mechanism includes two drill pipe limiting mounting seats, a limiting cylinder is mounted on the drill pipe limiting mounting seat, and a limiting block is mounted on the piston rod of the limiting cylinder.

[0014] As a preferred embodiment, a guide rod is installed on the limiting block, and a guide sleeve is provided on the mounting base, with one end of the guide rod slidably connected to the guide sleeve.

[0015] As a preferred embodiment, one end of the guide rod is connected to a limiting sleeve and a second locking nut. The limiting sleeve is slidably connected to the guide rod, and the second locking nut is threadedly connected to the guide rod. The limiting sleeve is located between the guide sleeve and the second locking nut.

[0016] Compared with existing technologies, the advantages of this invention are:

[0017] 1. This invention can effectively reduce the turning radius of the robotic arm device, providing more space for the storage of drill rods and inner tubes, and achieving greater drilling depth under the same space constraints.

[0018] 2. This invention uses mechanical limiting to achieve positional accuracy control of the robotic arm device from a structural perspective, rather than controlling the position of the robotic arm device through the design of complex closed-loop control, thereby reducing costs and improving reliability.

[0019] 3. This invention only involves the rotating arm rotating, resulting in a simple overall structure and easy installation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the present invention.

[0021] Figure 2 This is a schematic diagram of the rotating arm of the present invention in the rotating position.

[0022] Figure 3 This is a cross-sectional schematic diagram of the drill pipe gripping mechanism of the present invention.

[0023] Figure 4 This is a schematic diagram of the drill pipe limiting mechanism of the present invention.

[0024] Figure 5 This is a schematic diagram of the arrangement of the robotic arm device of the present invention on the mounting frame.

[0025] Figure 6 This is a schematic diagram of the working arrangement of the robotic arm device of the present invention.

[0026] Figure 7 This is a side view of the working arrangement of the robotic arm device of the present invention.

[0027] The following are the label names in the diagram: 1. Fixed arm; 2. Orientation cylinder; 3. Rotating arm; 4. Retraction cylinder; 5. Bow-shaped plate; 6. Drill rod gripping mechanism; 7. First pin; 8. Second pin; 9. Adjusting ring; 10. Limiting ring; 11. First locking nut; 12. Drill rod limiting mechanism; 6.1. Gripping cylinder; 6.2. Gripping mounting base; 6.3. Third pin; 6.4. Connecting rod; 6.5. Fourth pin; 6.6. Fifth pin; 6.7. Claw; 12. 12.1 Drill pipe limit mounting seat; 12.2 Limit cylinder; 12.3 Guide rod; 12.4 Guide sleeve; 12.5 Limit sleeve; 12.6 Second locking nut; 12.7 Limit block; 100 Robotic arm device; 101 Inner tube; 102 Inner tube storage mechanism; 103 Drill pipe storage mechanism; 104 Drill pipe; 105 Mounting frame; 106 Power head; 100.1 Upper robotic arm device; 100.2 Lower robotic arm device. Detailed Implementation

[0028] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following embodiments and drawings are used to illustrate the present invention, but are not intended to limit the scope of the invention.

[0029] A mechanical device for auxiliary unloading of drill pipes in subsea drilling rigs, such as Figures 1 to 7As shown, the system includes a mounting frame 105, a robotic arm device 100, and a drill rod limiting mechanism 12. Several robotic arm devices 100 are mounted on the mounting frame 105, and the drill rod limiting mechanism 12 is located on the side of the mounting frame 105. The robotic arm device 100 includes a fixed arm 1, an orientation cylinder 2, a rotating arm 3, a retraction cylinder 4, an arc-shaped plate 5, and a drill rod gripping mechanism 6. The orientation cylinder 2 is rotatably mounted on the fixed arm 1. One end of the rotating arm 3 is rotatably mounted on the fixed arm 1 via a first pin 7. The piston rod of the orientation cylinder 2 is rotatably connected to the other end of the rotating arm 3 via a second pin 8. The retraction cylinder 4 is mounted on the rotating arm 3. The arc-shaped plate 5 is mounted on the piston rod of the retraction cylinder 4. The drill rod gripping mechanism 6 is fixed on the arc-shaped plate 5.

[0030] A drill rod limiting mechanism 12 is arranged on the front side of the mounting frame 105. A power head 106 for driving the drill rod is arranged above the drill rod limiting mechanism 12. An inner tube storage mechanism 102 and a drill rod storage mechanism 103 are arranged on the left and right sides of the mounting frame 105, respectively. The power head 106, the inner tube storage mechanism 102 and the drill rod storage mechanism 103 are existing technologies. The main structure of the inner tube storage mechanism 102 and the drill rod storage mechanism 103 are both rotatable disc structures with a groove structure for placing rod-shaped workpieces on the disc.

[0031] Two robotic arms 100 are typically mounted on the mounting frame 105, one above the other. The upper robotic arm 100 is designated as Upper Robotic Arm 100.1, and the lower robotic arm 100 is designated as Lower Robotic Arm 100.2. Upper Robotic Arm 100.1 is positioned facing the inner tube storage mechanism 102 and is primarily responsible for storing, retrieving, lowering, and recovering the inner tube 101. Lower Robotic Arm 100.2 is positioned facing the drill rod storage mechanism 103 and is primarily responsible for storing, retrieving, and unloading the drill rod 104.

[0032] The piston rod of the azimuth cylinder 2 has a built-in displacement sensor to monitor the actual position of the rotating arm 3. The piston rod of the retraction cylinder 4 also has a built-in displacement sensor to monitor the displacement of the piston rod of the retraction cylinder 4.

[0033] The working steps of the lower manipulator device 100.2 auxiliary power head 106 connecting to the drill rod 104 are as follows: In the initial state, the drill rod gripping mechanism 6 of the upper manipulator device 100.1 faces the drill rod storage mechanism 103. The piston rod driven by the retraction cylinder 4 extends, pushing out the bow-shaped plate 5. This allows the drill rod gripping mechanism 6 to move to the drill rod storage mechanism 103, where it grips the drill rod 104. The retraction cylinder 4 is then controlled to reset and retract the drill rod gripping mechanism 6, which then removes the drill rod 104 from the drill rod storage mechanism 103.

[0034] Then, the piston rod of the azimuth cylinder 2 is extended, which controls the rotation arm 3 to rotate around the first pin 7, so that the drill rod gripping mechanism 6 is oriented toward the drill rod limiting mechanism 12. The retraction cylinder 4 is then controlled to push out the bow plate 5 again, so that the drill rod gripping mechanism 6 moves to the drill rod limiting mechanism 12. After the drill rod limiting mechanism 12 grips the drill rod 104, the drill rod gripping mechanism 6 releases the drill rod 104 and resets, and the rotation arm 3 resets.

[0035] The working method of the auxiliary power head 106 of the lowering manipulator device 100.2 to unload the drill rod 104 is similar to that of receiving the drill rod 104. The drill rod gripping mechanism 6 grips the drill rod 104 on the drill rod limiting mechanism 12 and then moves it into the drill rod storage mechanism 103 to release and store it.

[0036] In the initial state, the drill rod gripping mechanism 6 of the upper manipulator 100.1 faces the inner tube storage mechanism 102. The steps of the upper manipulator 100.1 in assisting to connect or disconnect the inner tube 101 are the same as the working mode of the lower manipulator 100.2.

[0037] like Figures 1 to 3 As shown, the drill pipe gripping mechanism 6 includes a gripping mounting base 6.2 mounted on the bow-shaped plate 5. A gripping cylinder 6.1 is mounted on the gripping mounting base 6.2. The piston rod of the gripping cylinder 6.1 is rotatably connected to two connecting rods 6.4 via a third pin 6.3. The third pin 6.3 is slidably connected to the gripping mounting base 6.2. One end of the connecting rod 6.4 is rotatably connected to a chuck 6.7 via a fourth pin 6.5. The fourth pin 6.5 is slidably connected to the gripping mounting base 6.2. A fifth pin 6.6 is rotatably connected to the middle of the chuck 6.7. The fifth pin 6.6 is rotatably connected to the gripping mounting base 6.2. One end of the chuck 6.7 extends to the outside of the gripping mounting base 6.2.

[0038] The third pin 6.3 and the fourth pin 6.5 can slide on the gripping mount 6.2 along a specified trajectory, and the fifth pin 6.6 is fixed in position on the gripping mount 6.2.

[0039] The gripping action of the drill pipe gripping mechanism 6 is controlled by the gripping cylinder 6.1. When the piston rod of the gripping cylinder 6.1 extends, the two jaws 6.7 will move closer together to achieve the gripping action. When the piston rod of the gripping cylinder 6.1 retracts, the two jaws 6.7 will move away from each other to achieve the releasing action.

[0040] like Figure 1 and Figure 2 As shown, an adjusting ring 9 is installed on the azimuth cylinder 2, and the adjusting ring 9 is rotatably connected to the fixed arm 1. The azimuth cylinder 2 can rotate around the connection point between the adjusting ring 9 and the fixed arm 1.

[0041] A limit ring 10 and a first locking nut 11 are provided on the rear piston rod of the azimuth cylinder 2. Both the limit ring 10 and the first locking nut 11 are threadedly connected to the piston rod of the azimuth cylinder 2. The limit ring 10 can mechanically adjust the extended position of the piston rod of the azimuth cylinder 2, and the locking nut 11 is used to lock the position of the limit ring 10.

[0042] like Figure 2 As shown, the bow-shaped plate 5 has grooves at both its upper and lower ends, and there are two drill rod gripping mechanisms 6, which are installed in the two grooves respectively. This reduces the rotation radius of the rotating arm 3 and saves space.

[0043] like Figure 4 As shown, the drill pipe limiting mechanism 12 includes two limiting mounting seats 12.1. A limiting cylinder 12.2 is mounted on the limiting mounting seat 12.1, and a limiting seat 12.7 is mounted on the piston rod of the limiting cylinder 12.2.

[0044] The movement of the limit seat 12.7 is controlled by the limit cylinder 12.2. When the two limit seats 12.7 move closer to each other, the rod-shaped workpiece is clamped and fixed. When the two limit seats 12.7 move further apart, the rod-shaped workpiece is released.

[0045] A guide rod 12.3 is installed on the limiting seat 12.7, and a guide sleeve 12.4 is provided on the mounting seat 12.1. One end of the guide rod 12.3 is slidably connected to the guide sleeve 12.4.

[0046] One end of the guide rod 12.3 is connected to a limiting sleeve 12.5 and a second locking nut 12.6. The limiting sleeve 12.5 is slidably connected to the guide rod 12.3, and the second locking nut 12.6 is threadedly connected to the guide rod 12.3. The limiting sleeve 12.5 is located between the guide sleeve 12.4 and the second locking nut 12.6. A full rotation of the locking nut 12.6 moves one thread pitch along the guide rod 12.3, thereby driving the limiting sleeve 12.5 to lock in position.

[0047] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A mechanical device for auxiliary unloading of drill pipes in subsea drilling rigs, characterized in that, The system includes a mounting frame (105), a robotic arm device (100), and a drill rod limiting mechanism (12). Several of the robotic arm devices (100) are mounted on the mounting frame (105), and the drill rod limiting mechanism (12) is located on the side of the mounting frame (105). The robotic arm device (100) includes a fixed arm (1), an azimuth cylinder (2), a rotating arm (3), a retractable cylinder (4), an arc plate (5), and a drill rod gripping mechanism (6). The azimuth cylinder (2) is rotatably mounted on the fixed arm (1). One end of the rotating arm (3) is rotatably mounted on the fixed arm (1) via a first pin (7). The piston rod of the azimuth cylinder (2) is rotatably connected to the other end of the rotating arm (3) via a second pin (8). The retractable cylinder (4) is mounted on the rotating arm (3). The arc plate (5) is mounted on the piston rod of the retractable cylinder (4). The drill rod gripping mechanism (6) is fixed on the arc plate (5). The bow-shaped plate (5) has grooves at both the top and bottom ends. There are two drill rod gripping mechanisms (6), and the two drill rod gripping mechanisms (6) are installed in the two grooves respectively.

2. The mechanical device for auxiliary unloading of drill pipes in a subsea drilling rig according to claim 1, characterized in that: The drill pipe gripping mechanism (6) includes a gripping mounting seat (6.2) mounted on an arc-shaped plate (5). A gripping cylinder (6.1) is mounted on the gripping mounting seat (6.2). The piston rod of the gripping cylinder (6.1) is rotatably connected to two connecting rods (6.4) via a third pin (6.3). The third pin (6.3) is slidably connected to the gripping mounting seat (6.2). One end of the connecting rod (6.4) is rotatably connected to a chuck (6.7) via a fourth pin (6.5). The fourth pin (6.5) is slidably connected to the gripping mounting seat (6.2). A fifth pin (6.6) is rotatably connected to the chuck (6.7) in the middle. The fifth pin (6.6) is rotatably connected to the gripping mounting seat (6.2). One end of the chuck (6.7) extends to the outside of the gripping mounting seat (6.2).

3. The mechanical device for auxiliary unloading of drill pipes in a subsea drilling rig according to claim 1, characterized in that: An adjusting ring (9) is installed on the azimuth cylinder (2), and the adjusting ring (9) is rotatably connected to the fixed arm (1).

4. The mechanical device for auxiliary unloading of drill pipes in a subsea drilling rig according to claim 1, characterized in that: The azimuth cylinder (2) is provided with a limit ring (10) and a first locking nut (11) on the rear piston rod. The limit ring (10) and the first locking nut (11) are both threadedly connected to the piston rod of the azimuth cylinder (2).

5. The mechanical device for auxiliary unloading of drill pipes in a subsea drilling rig according to claim 1, characterized in that: The drill pipe limiting mechanism (12) includes two drill pipe limiting mounting seats (12.1), and a limiting cylinder (12.2) is installed on the drill pipe limiting mounting seat (12.1). A limiting block (12.7) is installed on the piston rod of the limiting cylinder (12.2).

6. The mechanical device for auxiliary unloading of drill pipes in a subsea drilling rig according to claim 5, characterized in that: A guide rod (12.3) is installed on the limiting block (12.7), and a guide sleeve (12.4) is provided on the mounting base (12.1). One end of the guide rod (12.3) is slidably connected to the guide sleeve (12.4).

7. A mechanical device for auxiliary unloading of drill pipes in a subsea drilling rig according to claim 6, characterized in that: One end of the guide rod (12.3) is connected to a limiting sleeve (12.5) and a second locking nut (12.6). The limiting sleeve (12.5) is slidably connected to the guide rod (12.3), and the second locking nut (12.6) is threadedly connected to the guide rod (12.3). The limiting sleeve (12.5) is located between the guide sleeve (12.4) and the second locking nut (12.6).

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