Automatic pipe conveyor for oil gas well drilling and workover

Abstract

The invention discloses an automatic pipe conveyor for oil gas drilling and workover, which is used for conveying pipes in batches, carries out real-time accurate identification through an intelligent system and a sensor, consists of a base, a pipe box, a bracket, a guide rail, a pulley, a pipe conveying frame, an induction system and a control system, and is driven by a servo motor, a chain, a gear and rack transmission and an electric permanent magnet for magnetically sucking the pipes. The control system is combined with a sensor and a visual identification technology, a PLC (programmable logic controller) and an upper computer are adopted for cooperative operation, remote control and panel one-key starting, magnetic suction of pipes, walking, positioning, discharging and automatic process work, automatic storage and taking, automatic counting and length counting of the pipes in a well site are achieved, and the automatic pipe storage and taking device is modular in design, high in automation degree, accurate in operation and high in efficiency. The device can be flexibly matched with a power catwalk, is low in manufacturing cost, meets the work goals of worry-saving, labor-saving, time-saving, labor-saving and money-saving in an oil field, and promotes the high-end, intelligent and green upgrading of a traditional drilling and repairing machine.

Description

Technical Field

[0001] This invention relates to the field of advanced manufacturing and automation technology for oil and gas drilling and production equipment, specifically to an automatic pipe delivery machine for oil and gas drilling and well workover. Background Technology

[0002] Oil and gas drilling and workover equipment is a major means and technological carrier for energy development. Advanced manufacturing and automation technologies are essential for achieving dual-carbon goals, while intelligent, green, and integrated technologies are development requirements for oil and gas field exploration and development. By focusing on automation and intelligence, we can achieve a qualitative improvement in operational efficiency. Pipe handling machines are a part of the wellhead pipe handling system. In the current technology, the driving methods of pipe handling systems are mainly hydraulic, AC variable frequency electric drive, or hybrid drive. Pipe handling robots use hydraulic drive, which cannot meet the needs of intelligent and numerical technology development. The comprehensive perception capabilities and batch conveying autonomous technology level of existing pipe handling equipment need to be improved, and the judgment of real-time working conditions is insufficient and the guidance accuracy is not high. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic pipe delivery machine for oil and gas drilling and workover processes, which enables batch delivery of pipes through an intelligent system and sensors for real-time and accurate identification.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is that the automatic pipe delivery machine for oil and gas drilling and workover consists of a base, a pipe box, a support, a guide rail, a trolley, a pipe delivery frame, a sensing system, and a control system. It is driven by a servo motor, driven by a chain and gear rack, and uses an electro-permanent magnet to magnetically attract pipes. The control system combines sensors and visual recognition, and adopts a PLC programmable controller and a host computer to work together. It can be started by remote control and a panel with one button, and the process is automated.

[0005] The base is equipped with a power cat walkway mounting bracket.

[0006] The pipe box is equipped with a pipe storage rack and has an oil collection bin at the bottom.

[0007] The bracket is installed at both ends of the base and consists of a bracket column and a rotating frame. The bracket column is welded to the side beam of the base, and the rotating frame is connected to the bracket column by a hinge device. The outer end of the rotating frame is equipped with trailer-mounted outriggers and transport fixing brackets.

[0008] The guide rail is installed above the bracket and consists of a load-bearing beam and a rack. The load-bearing beam is a box beam structure with trolley limit plates installed at both ends. The top and sides are in contact with the rollers on the trolley, and the rack is installed on the inner side of the load-bearing beam.

[0009] The trolley consists of load-bearing rollers, a rectangular tube, a gear shaft, a connecting frame, and limiting rollers. The rectangular tube is flexibly connected to the conveying frame. Load-bearing rollers are installed on both sides of the upper part of the connecting frame, and a drive gear shaft is installed on the inner side of the lower part. Limiting rims are designed on the outer side of the load-bearing rollers, and the limiting rollers are installed on both sides of the connecting frame.

[0010] The pipe conveyor frame includes a conveyor frame body, a conveyor frame drive device, a front and rear sliding drive device, and a pipe conveying device.

[0011] The conveyor frame is equipped with trolleys at both ends, a conveyor frame drive device is installed inside, and a front and rear sliding drive device and a pipe conveying device are installed on the top. The main body and internal support plates of the conveyor frame are C-shaped steel welded structures.

[0012] The pipe conveyor drive device consists of a reducer, a long drive shaft, a bridge seat, and a short drive shaft. The short drive shaft is connected to a gear shaft, and the bridge seat and reducer are mounted on the inner support plate of the conveyor body.

[0013] The front and rear sliding drive device consists of a second reducer, a sprocket, a chain, and a mounting beam. The chain is fixed on the mounting beam. The mounting seat of the second reducer is movably connected to the trolley of the pipe conveying device and does not contact the conveying frame.

[0014] The pipe conveying device consists of a reducer three, universal joint one, universal joint two, gearbox, rack, trolley, track, connecting beam, electro-permanent magnet, and induction system. The reducer three and gearbox are mounted on the trolley. The reducer three is connected to the gearbox by universal joint one. Universal joint two is installed between the two gearboxes. A connecting beam is installed between the two trolleys. An electro-permanent magnet bracket is connected below the rack. The electro-permanent magnet and induction system are mounted on the electro-permanent magnet bracket.

[0015] The sensing system includes perception and visual recognition. The control system consists of a power module, PLC, host computer, frequency converter, servo driver, and magnetic controller. It has overcurrent and overvoltage protection and explosion-proof functions. The electrical control cabinet is mounted on a bracket.

[0016] The automatic pipe conveyor consists of a main module and a pipe box module.

[0017] The beneficial effects of this invention are that it features a modular design, a high degree of automation, precise operation, flexible matching with power catwalks, and low manufacturing costs. It meets the work goals of oilfields, saving time, effort, manpower, and money, and promotes the upgrading of traditional drilling and repair rigs towards high-end, intelligent, and green technologies. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an automatic pipe conveyor.

[0019] Figure 2 This is a schematic diagram of the bracket and guide rail installation.

[0020] Figure 3 This is a schematic diagram of a pipe conveyor.

[0021] Figure 4 This is a schematic diagram of the conveyor drive unit.

[0022] Figure 5 This is a schematic diagram of the forward and backward sliding drive device.

[0023] Figure 6 This is a schematic diagram of a pipe conveying device.

[0024] Figure 7 This is a schematic diagram of a pulley.

[0025] Figure 8 This is a front view of the transport status of the automatic pipe conveyor.

[0026] Figure 9 Left view of the automatic pipe conveyor in transport mode.

[0027] In the diagram: 1. Base, 2. Pipe box, 3. Control system, 4. Guide rail, 5. Trailer built-in support leg, 6. Bracket, 7. Trolley, 8. Pipe conveyor, 9. Bracket column, 10. Hinge device, 11. Transport fixing seat, 12. Rotating frame. 13. Conveyor frame drive unit; 14. Conveyor frame body; 15. Pipe conveying device; 16. Front and rear sliding drive unit; 17. Short drive shaft; 18. Bridge seat; 19. Long drive shaft; 20. Reducer 1; 21. Mounting beam; 22. Chain; 23. Reducer 2; 24. Sprocket; 25. Track; 26. Electro-permanent magnet; 27. Gearbox; 28. Gear rack; 29. ​​Trolley; 30. Universal joint 1; 31. Induction system; 32. Connecting beam; 33. Electro-permanent magnet bracket; 34. Universal joint 2; 35. Reducer 3; 36. Bearing roller; 37. Rectangular tube; 38. Connecting frame; 39. Gear shaft; 40. Limiting roller. Detailed Implementation

[0028] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings, such as... Figures 1 to 9 As shown:

[0029] The automatic pipe delivery machine for oil and gas drilling and workover consists of a base 1, a pipe box 2, a bracket 6, a guide rail 4, a trolley 7, a pipe delivery frame 8, a sensing system 31, and a control system 3. It is driven by a servo motor, with chain and gear rack transmission, and an electro-permanent magnet 26 for magnetically attracting pipes. The pipe delivery capacity is 2 7 / 8 inch to 5 1 / 2 inch standard tubing and drill pipe.

[0030] The base 1 is equipped with a power cat track on its outer side. The power cat track is used to transport the pipes to the wellhead position of the drilling rig platform, according to the well configuration.

[0031] The tool box 2 is used for batch automatic storage of drilling and workover tools. The tool box 2 has a capacity of 300 standard 3 1 / 2-inch drill pipes, and the number of tool boxes 2 can be increased according to the drilling and workover depth.

[0032] The bracket 6 is divided into a support column 9 and a rotating frame 12. The support column 9 is a double rectangular tube welded to the side beam of the base 1. The rotating frame 12 is designed with a hinge device 10 to connect with the support column 9. The far end of the rotating frame 12 is located on the outer side beam of the pipe box 2 and is equipped with a trailer built-in support leg 5 and a transport fixing bracket 11. The right support 6 is equipped with a pull-out cable tray.

[0033] The guide rail 4 consists of a load-bearing beam and a rack. The load-bearing beam is divided into two sections. The left section is welded to the support column 9, and the right section is flexibly connected to the rotating frame 12. A rack is installed on the inner side of the load-bearing beam. The rack is divided into two sections. The left section is flexibly connected to the left section of the load-bearing beam, and the right section is flexibly connected to the right section of the load-bearing beam.

[0034] The trolley 7 has six load-bearing rollers 36, three on each side, with friction pairs treated by quenching. The limiting rollers 40 use stainless steel bolt roller bearings. The rectangular tube 37 is connected to the conveying frame 14. The gear shaft 39 has a gear installed at one end near the guide rail 4, which meshes with the rack on the guide rail. The other end has a flange installed, which is connected to the short drive shaft 17 of the conveying frame.

[0035] The conveyor frame 14 is connected to the trolley 7 at both ends by a flexible connection. The main body is designed with cable holes and cable groove brackets at both ends, and the support plate is designed with cable holes at both ends.

[0036] The conveyor drive device 13 is driven by a servo motor to reducer 20. The reducer 20 outputs power from both sides, which drives the gear shaft 38 of the trolley after passing through the long drive shaft 19, the bridge seat 18, and the short drive shaft 17. The gear shaft 38 drives the trolley 7 to move on the guide rail 4 through the gear and rack. The bridge seat 18 is connected to the conveyor frame 14 with an external spherical ball bearing with a vertical seat.

[0037] The forward and backward sliding drive device 16 is driven by a servo motor to reducer 23, which drives the trolley 29 to slide longitudinally on the track 25 via sprocket 24 and chain 22. The track 25 is welded to the conveyor frame.

[0038] The pipe conveying device 15 is driven by a servo motor and a reducer 35. Through universal joint 30, universal joint 34, and gearbox 27, the two toothed rods 28 move up and down synchronously, driving the electro-permanent magnet bracket 33 and electro-permanent magnet 26 to move synchronously. The electro-permanent magnet 26 magnetically attracts the pipe. The reducer 35 is installed on the right trolley 29. The servo motor is horizontally installed. The trolley 29 is equipped with main sliding rollers and limit rollers on both sides. The limit rollers use stainless steel bolt roller bearings and are grease-lubricated by the gearbox. The track 25 is made of I-beam. The top of the toothed rod 28 is equipped with a limit pressure plate. The toothed rod 28 is connected to the electro-permanent magnet bracket 33 by a square pin.

[0039] The control system 3 combines sensor and visual recognition technology, employing a PLC programmable controller and a host computer for collaborative operation. It features remote control and panel one-button start-up, streamlined and automated operation. The PLC is responsible for signal acquisition, logic calculation, and control command transmission, while the host computer is responsible for accurate calculation, storage, and human-machine interaction of pipe discharge information. This enables automatic storage, counting, and length measurement of pipes at the well site. Utilizing digital automatic control technology and high-definition video monitoring technology, it provides full-process visual monitoring of the drilling rig's pipe delivery. It employs a multi-level emergency stop control system based on personnel and equipment protection, as well as remaining work volume analysis and fault level technology to achieve work level alarms and delayed shutdown. The multi-level control loop of hardware emergency stop control effectively avoids situations where soft emergency stop failures prevent equipment from stopping, thus improving system safety.

[0040] The travel cable of the control system 3 on the bracket 6, the travel cable between the right gearbox 27 and the electro-permanent magnet, and the moving cable at the rear end of the front and rear sliding drive device 16 are respectively installed in the drag chain.

[0041] according to Figure 8 and Figure 9 As shown, the automatic pipe conveyor is transported in modules, the main body is folded for transport, and the pipe box 2 is transported independently. The packaging steps before transport are as follows:

[0042] (1) Start the conveyor drive device 13 to move the pipe conveyor 8 above the base 1.

[0043] (2) Start the front and rear sliding device 16 to move the pipe conveying device 15 longitudinally to the middle of the conveying frame 14.

[0044] (3) Start the pipe conveying device 15 and lower the electro-permanent magnet 26 onto the base platform.

[0045] (4) The rotating frame 12 rotates along the hinge device 10 until it is parallel to the base side beam. The transport fixing seat 11 is lowered to lock the base side beam. The trailer's built-in support leg 5 is supported on the base side beam. The two sets of brackets 6 are fixed by rigging and shackles.

[0046] (5) The bracket cable tray is retracted and fixed.

[0047] (6) Brake the three servo motors, cut off the power, and disconnect the external cables.

[0048] Once the equipment arrives at the well site and the drilling rig is in place, the installation steps for the automatic pipe conveyor are as follows:

[0049] (1) The main body module is placed in the corresponding wellhead size position, the transport fixing rigging and shackle are released, the transport fixing bracket 11 is lifted and fixed, and then the rotating frame 12 is rotated along the hinge device 10 until it is parallel to the fixed section guide rail 4.

[0050] (2) According to Figure 1 Place the pipe box 2 on the right side of the base 1, flush with the base 1.

[0051] (3) Extend the trailer’s built-in outriggers 5 and support them on the side beam of the tool box.

[0052] (4) Pull out the cable slot of bracket 6 and fix it.

[0053] (5) The power cat track is installed on the base 1.

[0054] (6) Connect the external control cable.

[0055] The steps for the automatic pipe conveyor to transport pipes to the drilling rig are as follows:

[0056] (1) Start the power supply and the pipe conveyor 8 moves to the top of the pipe box 2.

[0057] (2) Start the pipe conveying device 15, lower the electro-permanent magnet 26, magnetically pick up the pipe from the pipe box 2 and lift it up.

[0058] (3) Start the conveyor drive device 13 and move the pipe conveyor 8 laterally above the base 1.

[0059] (4) Start the forward and backward sliding drive device 16 and move longitudinally to the sensing position.

[0060] (5) Start the pipe conveying device 15 and lower the pipe into the power cat conveying trough.

[0061] (6) Start the power cat track to transport the pipes to the wellhead position on the drilling platform of the drilling rig.

[0062] The steps for retrieving pipes from the drilling rig are the reverse of those for transporting pipes to the drilling rig.

Claims

1. An automatic pipe delivery system for oil and gas drilling and workover, characterized in that it is used for... The batch conveying of pipes is accurately identified in real time through an intelligent system and sensors. It consists of a base, pipe box, bracket, guide rail, trolley, pipe conveying rack, sensing system, and control system. It is driven by a servo motor, with chain and gear rack transmission, and electro-permanent magnet magnetic suction of pipes. The control system combines sensors and visual recognition technology, and adopts PLC programmable controller and upper computer to work together. It can be started by remote control and panel with one button, and the process is automated. The base is equipped with a power cat walkway mounting bracket; The pipe box is equipped with a pipe storage rack and has an oil collection compartment at the bottom. The bracket is installed at both ends of the base and consists of a bracket column and a rotating frame. The bracket column is welded to the side beam of the base. The rotating frame is connected to the bracket column by a hinge device. The outer end of the rotating frame is equipped with trailer internal support legs and transport fixing brackets. The guide rail is installed above the bracket and consists of a load-bearing beam and a rack. The load-bearing beam is a box beam structure with trolley limit plates installed at both ends. The top and sides are in contact with the rollers on the trolley. A rack is installed on the inner side of the load-bearing beam. The trolley consists of load-bearing rollers, a rectangular tube, a gear shaft, a connecting frame, and limiting rollers. The rectangular tube is flexibly connected to the conveying frame. Load-bearing rollers are installed on both sides of the upper part of the connecting frame, and a drive gear shaft is installed on the lower inner side. Limiting rims are designed on the outer side of the load-bearing rollers, and the limiting rollers are installed on both sides of the connecting frame. The pipe conveying frame includes a conveying frame body, a conveying frame drive device, a front and rear sliding drive device, and a pipe conveying device. The conveying frame body has trolleys installed at both ends, the conveying frame drive device is installed inside, and the front and rear sliding drive device and the pipe conveying device are installed at the top. The pipe conveying frame drive device consists of a reducer, a long drive shaft, a bridge seat, and a short drive shaft. The short drive shaft is connected to a gear shaft. The bridge seat and the reducer are installed on a support plate inside the conveying frame body. The front and rear sliding drive device consists of a second reducer, a sprocket, a chain, and a mounting beam. The chain is fixed on the mounting beam. The mounting base of the reducer is movably connected to the trolley of the pipe conveying device and does not contact the conveying frame. The pipe conveying device consists of a reducer, universal shaft one, universal shaft two, gearbox, rack, trolley, track, connecting beam, and electro-permanent magnet. The reducer and gearbox are mounted on the trolley. The reducer is connected to the gearbox by universal shaft one. Universal shaft two is installed between the two gearboxes. A connecting beam is installed between the two trolleys. An electro-permanent magnet bracket is connected below the rack. The electro-permanent magnet and the induction system are mounted on the electro-permanent magnet bracket. The sensing system includes perception and visual recognition. The control system consists of a power module, PLC, host computer, frequency converter, servo driver, and magnetic controller. It has overcurrent and overvoltage protection and explosion-proof functions. The electrical control cabinet is mounted on a bracket.

2. The automatic pipe delivery machine for oil and gas drilling and workover as described in claim 1, characterized in that, The main body and internal support plates of the conveyor frame are C-shaped steel welded structure.

3. An automatic pipe delivery machine for oil and gas drilling and workover as described in claim 1, characterized in that, The automatic pipe conveyor consists of a main module and a pipe box module.

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