Multi-robot super-long tubular column processing system and processing method

Abstract

The invention discloses a multi-robot super-long pipe column processing system which comprises a continuous conveying robot, the continuous conveying robot is in lap joint with the front side of a base, a storage yard pipe column hoisting robot, a pipe arranging frame and a ground building double-root robot are symmetrically arranged on the two sides of the continuous conveying robot, and the ground building double-root robot is located between the pipe arranging frame and the continuous conveying robot. A vertical transferring robot above the drill floor surface is connected with a drilling machine derrick and a base, a traveling hoisting system telescopic device is arranged between the derrick and a traveling hoisting system, and the device further comprises a mouse hole in the surface of the drill floor, an iron roughneck and an electro-hydraulic control system. The invention further discloses a multi-robot processing method for the super-long tubular column. The multi-robot processing method comprises the steps of building the tubular column, descending the drill and connecting the tubular column, pulling out the drill and disassembling the tubular column and throwing the tubular column. According to the invention, the problem of low operation efficiency caused by a large number of unit equipment and untight cooperation of collaborative operation of all the equipment in the current drilling machine tubular column automation system is solved.

Description

Technical Field

[0001] This invention belongs to the field of oil drilling machinery technology, specifically relating to a multi-robot ultra-long tubing string handling system and a multi-robot ultra-long tubing string handling method. Background Technology

[0002] With the development of exploration and development technologies and the continuous increase in exploration depth, the number of standpipes, as the basic unit of the tubing string, is increasing. Furthermore, the tripping time accounts for a large proportion of the entire drilling cycle. Therefore, improving drilling efficiency and reducing drilling costs has always been a goal pursued by drilling contractors and drilling equipment manufacturers.

[0003] Currently, domestic automated drilling rigs typically employ a stand-up assembly method using three individual stands. This tubing handling system suffers from technical issues related to the long stand-up assembly and tripping times. The influencing factors are as follows: 1. During stand-up assembly, the power catwalk delivers one stand-up to the wellhead each time, requiring three delivery operations, resulting in low efficiency. 2. The drilling platform has a large number of devices involved in stand-up assembly and placement (a total of six), requiring high coordination and often resulting in poor cooperation, thus extending the operation time. 3. The stand-up assembly typically consists of three individual stands, leading to numerous stand-up assembly and disassembly operations throughout the well, further increasing the operation time. 4. The driller on the drilling platform performing the assembly and disassembly of the three individual stand-up stands needs to perform two setup and disassembly operations, and multiple devices are in a waiting state during the operation, resulting in low efficiency. Summary of the Invention

[0004] The primary objective of this invention is to provide a multi-robot ultra-long tubing handling system, which solves the technical problems of existing drilling rig tubing automation systems having numerous unit devices and low efficiency in collaborative operations, thus affecting the tripping and running-out cycle.

[0005] The second objective of this invention is to provide a method for handling ultra-long tubular columns using multiple robots.

[0006] The first technical solution adopted in this invention is a multi-robot ultra-long pipe column processing system, including a continuous conveying robot and a drilling rig base connected to each other. A stockpile pipe column hoisting robot, a pipe rack and a ground double-pipe building robot are symmetrically arranged on both sides of the continuous conveying robot. A derrick and a derrick guide rail are provided on the top of the drilling rig base. A vertical transfer robot is connected to the derrick. A traveling hoist system is provided on the derrick guide rail. A traveling hoist system telescopic device is connected between the derrick guide rail and the traveling hoist system. It also includes a rat hole located near the center of the bottom of the drilling rig base, and an iron drill and an electro-hydraulic control system are located near the rat hole. The electro-hydraulic control system is connected to the yard pipe column hoisting robot, the continuous conveying robot, the ground double-column building robot, the vertical transfer robot, the telescopic device of the traveling crane system, and the iron drill electro-hydraulic system.

[0007] The first technical solution of this invention is further characterized by: The continuous conveying robot includes a base support set between two yard column hoisting robots. The base support is connected to a base at the top, and lifting devices are symmetrically arranged on both sides of the base. One end of the base is connected to a ramp, and the bottom of the ramp is connected to a ramp support. One end of the ramp is connected to the drilling rig base. A conveying device is installed on the base and the ramp. The conveying device has at least one trolley driven by belt or chain, and the trolley moves between the base and the ramp.

[0008] The vertical transport robot includes a column, with an upper guide rail connected to the top of the column and a lower guide rail connected to the bottom of the column. The lower guide rail is connected to the drilling rig base, and the upper guide rail is connected to the derrick. The column moves linearly along the upper and lower guide rails and rotates along the axis. The column has a lower robotic arm near the bottom, with a support device on the lower robotic arm. The column has an upper robotic arm near the top, which is slidably connected to the column. The upper robotic arm has a clamping device on the upper robotic arm, and a lifting device is installed below the clamping device.

[0009] The ground-based double-root construction robots are symmetrically positioned between the pipe rack and the continuous conveying robot, while the yard pipe column hoisting robots are symmetrically positioned on both sides of the continuous conveying robot, arranged along the sides of the pipe rack and the ground-based double-root construction robots.

[0010] The second technical solution adopted in this invention is a multi-robot ultra-long tubing string processing method. Using the aforementioned multi-robot ultra-long tubing string processing system, the single tubing strings on the pipe rack are combined into a vertical string and then placed in the vertical string platform through a root-establishing operation; the vertical string is taken out from the vertical string platform and connected to the wellhead tubing string through a down-drilling vertical string connection operation; the vertical string is separated from the tubing string through a tripping vertical string disassembly operation, and the vertical string is placed in the vertical string platform; the vertical string is taken out from the vertical string platform and split into two double strings through a vertical string throwing operation, and the two double strings are split into single strings and hoisted onto the pipe rack.

[0011] The second technical solution of the present invention is further characterized by: The specific steps to establish the root job are as follows: Step 1: The first and second single pipes on the pipe rack are lifted to the ground by the yard pipe column hoisting robot and connected to form the first double pipe. The above process is repeated to build the second double pipe. The continuous conveying robot transports the first double pipe to the drilling platform. The above process is repeated to transport the second double pipe to the drilling platform. Step 1.1: The yard pipe hoisting robot hoists the first and second single pipes from the pipe rack to the ground and connects them to form the first double pipe; repeat the above process to build the second double pipe. Step 1.2: The yard pipe hoisting robot hoists the first pair of pipes into the continuous conveying robot lifting device, and then moves the first pair of pipes into the conveying device. The conveying device drives the trolley to push the first pair of pipes from the base all the way to the drilling platform. The above process is repeated to convey the second pair of pipes to the drilling platform. Step 2: The first pair of roots is placed in the mouse hole by the vertical transfer robot, the second pair of roots is lifted, the driller combines the first pair of roots and the second pair of roots into a standing root, and the vertical transfer robot lifts the standing root into the mouse hole and places it into the standing root platform. Step 2.1: The vertical transfer robot column rotates and moves so that the lower and upper robotic arms face the continuous conveying robot side. After the first double rod is engaged by the lifting device, it moves to the mouse hole side and places the first double rod in the mouse hole on the drilling platform. Step 2.2: The vertical transfer robot rotates to the side of the continuous conveying robot, the lifting device engages with the second double root, and lifts the second double root above the first double root. The first double root and the second double root are connected to form a root by the iron drill. The vertical transfer robot clamping device clamps the upper end of the root and moves it up along the column. The supporting device supports the lower end of the root. After lifting the root away from the mouse hole, it rotates back to the root platform to complete the root placement.

[0012] The specific steps for connecting the standpipe during drilling are as follows: When the traveling crane system's telescopic device moves the traveling crane system away from the wellhead and to a higher position, the vertical transfer robot's column rotates to the standpipe platform side. The upper end of the standpipe is clamped by the clamping device, and the lower end of the standpipe is supported by the supporting device. The standpipe is then removed from the standpipe platform and transferred back to the top of the wellhead tubing string. The driller connects the standpipe to the wellhead tubing string. The traveling crane system's telescopic device swings the traveling crane system to the wellhead. After the traveling crane system engages with the standpipe, the vertical transfer robot releases the engagement and begins to remove the next standpipe.

[0013] The specific steps for tripping the drill string and removing the standpipe are as follows: The traveling crane system lifts the tubing string to a high position, and the driller separates the standpipe from the tubing string. The vertical transfer robot clamps the upper end of the standpipe, and the support device supports the lower end of the standpipe. The traveling crane system releases the standpipe, and the traveling crane system is deviated from the wellhead and lowered to lift the next standpipe through the traveling crane system's telescopic device. While the traveling crane system is lowering, the vertical transfer robot clamps the standpipe and rotates it back to the drill platform side, where the standpipe is placed in the standpipe platform.

[0014] The specific steps of the root-splitting operation are as follows: Step 1: The vertical transfer robot takes the standing root out of the standing root platform and places it in the mouse hole. The iron driller splits the standing root into two double roots. The vertical transfer robot then transfers the two double roots to the continuous conveyor robot in turn. Step 1.1: The vertical transfer robot clamps the upper end of the upright root with the gripping device and supports the lower end of the upright root. The upright root is placed in the mouse hole with the cooperation of the operation. The lifting device locks the upper end of the upright root and the iron drill is used to split the upright root into the first double root and the second double root. Step 1.2: The lifting device of the vertical transfer robot engages with the upper end of the first double root, and the supporting device of the lower robotic arm cooperates to lift the first double root and move it to the side of the continuous conveying robot. The lower robotic arm and the upper robotic arm cooperate to transfer the first double root to the trolley of the continuous conveying robot. Repeat the above process to transfer the second double root to the trolley of the continuous conveying robot. Step 2: The continuous conveying robot transports the two double pipes to the low position in sequence. The two double pipes are then transferred to the ground double pipe building robot in sequence by the yard pipe column hoisting robot, disassembled into single pipes, and hoisted onto the pipe rack. Step 2.1: The continuous conveying robot's conveying device drives the trolley to convey the first pair of roots downwards onto the lifting device, and then conveys the first pair of roots to the lower position. The above process is repeated to convey the second pair of roots to the lower position. Step 2.2: The yard pipe hoisting robot hoists the first double pipe to the ground and builds the double pipe robot, disassembles it into the first and second single pipes, and then hoists the two single pipes onto the pipe rack for storage; repeat the above process to disassemble the second double pipe into two single pipes for storage.

[0015] The beneficial effects of this invention are: This invention can handle extra-long tubing strings with four single-segment standoffs, reducing the number of standoff setups and dismantling operations for the entire well, thereby reducing the overall well tripping time. It can also handle standoff combinations of two or three single-segment strings. This invention enables independent standoff setup, meaning the standoff setup does not occupy the wellhead center, and standoff setup and drilling operations can be performed simultaneously, improving drilling efficiency. The drill rig operator only needs to perform one setup / unset operation, and other equipment can operate in parallel without waiting, improving the efficiency of the tubing string handling system. The continuous conveying robot of this invention can continuously convey single or double single-segment strings. Compared to wire rope lifting and hydraulic cylinder lifting methods, this structure is simple, safe, reliable, and efficient. The unit equipment in this invention has a high degree of integration, with fewer devices installed on the drill rig than current domestic automated drilling rigs, minimizing the impact on the stability of the drilling rig derrick. The entire operation process of this invention is fully automated, reducing the labor intensity of operators. (See attached figures.) Figure 1 This is a schematic diagram of the multi-robot ultra-long tubing processing system of the present invention; Figure 2 This is a schematic diagram of the continuous conveying robot in the multi-robot ultra-long tubular processing system of the present invention; Figure 3 This is a schematic diagram of the vertical transport robot in the multi-robot ultra-long tubular processing system of the present invention; Figure 4 This is a schematic diagram of the layout of the multi-robot ultra-long tubing processing system of the present invention; Figure 5 This is a schematic diagram of the root establishment process in the multi-robot ultra-long tubing processing method of the present invention; Figure 6 This is a schematic diagram of the process of removing the root in the multi-robot ultra-long tubular column processing method of the present invention. Figure 7 This is a schematic diagram of the dual-tube conveying method in the multi-robot ultra-long tube column processing method of the present invention; Figure 8 This is a schematic diagram of the drilling process in the multi-robot ultra-long tubing handling method of the present invention; Figure 9 This is a schematic diagram of the drilling process in the multi-robot ultra-long tubing handling method of the present invention; In the diagram, 1. Pipeline hoisting robot, 2. Continuous conveying robot, 201. Base support, 202. Lifting device, 203. Base, 204. Conveying device, 205. Trolley, 206. Ramp, 207. Ramp support, 3. Vertical transport robot, 301. Lower guide rail, 302. Column, 303. Lower robotic arm, 304. Support device, 305. Upper guide rail, 306. Upper robotic arm, 307. Clamping device, 308. Lifting device, 4. Telescopic device of traveling crane system, 5. Pipe rack, 6. Ground double-pipe robot, 7. Mouse hole, 8. Iron driller, 9. Electro-hydraulic control system, 10. Drill rig base, 11. Derrick guide rail. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] Example 1 This embodiment discloses a multi-robot ultra-long pipe column processing system, which includes a continuously conveying robot 2 and a drilling rig base 10 connected to each other. On both sides of the continuously conveying robot 2, there are symmetrically arranged a stockpile pipe column hoisting robot 1, a pipe rack 5, and a ground-based double-pipe robot 6. The top of the drilling rig base 10 is equipped with a derrick and a derrick guide rail 11. A vertical transfer robot 3 is connected to the derrick. A traveling hoist system is provided on the derrick guide rail 11. A traveling hoist system telescopic device 4 is connected between the derrick guide rail 11 and the traveling hoist system. It also includes a rat hole 7 located near the center of the bottom of the drilling rig base 10. Near the rat hole 7, there is an iron drill 8 and an electro-hydraulic control system 9. The electro-hydraulic control system 9 is electro-hydraulic connected to the yard pipe column hoisting robot 1, the continuous conveying robot 2, the ground double-root building robot 6, the vertical transfer robot 3, the telescopic device of the traveling crane system 4, and the iron drill 8.

[0018] In this embodiment, as Figure 1 and Figure 4 As shown, the continuous transport robot 2 is positioned directly in front of the drilling rig base 10, overlapping the horizontal foundation surface opposite the front of the drilling rig wellhead and connecting with the front of the drilling rig base 10. The vertical transport robot 3 is positioned above the drilling platform. One end of the traveling crane system telescopic device 4 is connected to the traveling crane system, and the other end is slidably connected to the derrick guide rail 11, allowing the traveling crane system to deviate from the center of the wellhead. The rat hole 7 is located in front of the center of the wellhead. The iron drill 8 and the electro-hydraulic control system 9 are located on the surface of the drilling platform. Among them, the rat hole 7 is an important component in the drilling project, mainly used to place the drill string during tripping and retraction, and is installed in the drilling rig base. The ground-mounted double-root robot 6 includes a main tong and a back tong, which are arranged along the extension direction of the continuous transport robot 2. Three roller supports are provided on each side of the main and back tongs. The main and back tongs are electro-hydraulicly connected to the electro-hydraulic control system 9.

[0019] The Iron Driller 8 is a device used for attaching and unattaching drill bits. It consists of a main tong, a back tong, and a rotary tong, and can be remotely controlled. It is installed on the drill table. Example 2 Based on Embodiment 1, the continuous conveying robot 2 includes a base support 201 set between two yard column hoisting robots 1. The top of the base support 201 is connected to a base 203. Lifting devices 202 are symmetrically arranged on both sides of the base 203. One end of the base 203 is connected to a ramp 206. The bottom of the ramp 206 is connected to a ramp support 207. One end of the ramp 206 is connected to the drilling rig base 10. A conveying device 204 is installed on the base 203 and the ramp 206. At least one trolley 205 is driven by a belt or chain on the conveying device 204. The trolley 205 moves between the base 203 and the ramp 206.

[0020] In this embodiment, as Figure 2 As shown, two lifting devices 202 are symmetrically arranged on each side of the base 203. One end of the ramp 206 is connected to the front side of the drilling rig base 10, and the other end is connected to the base 203. The trolley 205 pushes the tubing to move between the base 203 and the ramp 206 under the action of the conveying device 204.

[0021] Example 3 Based on embodiment 2, the vertical transport robot 3 includes a column 302, an upper guide rail 305 connected to the top of the column 302, a lower guide rail 301 connected to the bottom of the column 302, the lower guide rail 301 connected to the drilling rig base 10, the upper guide rail 305 connected to the derrick, the column 302 moves linearly along the upper guide rail 305 and the lower guide rail 301, and the column 302 rotates along the axis. The column 302 has a lower mechanical arm 303 near the bottom, and a support device 304 on the lower mechanical arm 303. The column 302 has an upper mechanical arm 306 near the top, which is slidably connected to the column 302. The upper mechanical arm 306 has a clamping device 307 on the upper mechanical arm 306, and a lifting device 308 is installed below the clamping device 307.

[0022] In this embodiment, as Figure 3 As shown, the column 302 can rotate around its own center and move along the lower guide rail 301 and upper guide rail 305 in the front and rear directions at the wellhead, driving the upper robotic arm 306 and lower robotic arm 303 to point in different directions. The lower robotic arm 303 has a telescopic function, and the upper robotic arm 306 is slidably connected to the column 302 and can move up and down along the column 302. The lifting device 308 can engage various tubing joints, and the upper robotic arm 306 has a telescopic function, allowing it to extend and retract.

[0023] Example 4 Based on Example 3, the ground-based double-root robot 6 is symmetrically arranged between the pipe rack 5 and the continuous conveying robot 2, and the yard pipe column hoisting robot 1 is symmetrically arranged on both sides of the continuous conveying robot 2, along the two sides of the pipe rack 5 and the ground-based double-root robot 6.

[0024] In this embodiment, as Figure 4 As shown, the ground-based double-root robot 6 is used to combine two single roots into a double root; the pipe rack 5 is installed on both sides of the continuous conveying robot 2, with 4 pipe racks 5 installed on each side of the continuous conveying robot 2 for storing pipe columns; the yard pipe column hoisting robot 1 is used for hoisting pipe columns between the pipe rack 5, the ground-based double-root robot 6, and the continuous conveying robot 2.

[0025] Example 5 This embodiment discloses a multi-robot ultra-long tubing string processing method, using the multi-robot ultra-long tubing string processing system as described in Embodiment 4. Specifically, the method involves: establishing a root by combining single tubing strings on the pipe rack 5 into a vertical shaft and placing it in the vertical shaft platform; removing the vertical shaft from the platform and connecting it to the wellhead tubing string via a drilling and vertical shaft connection operation; separating the vertical shaft from the tubing string via a tripping and vertical shaft disassembly operation, placing the vertical shaft in the vertical shaft platform; and removing the vertical shaft from the platform and splitting it into two double shafts via a vertical shaft throwing operation, then splitting the two double shafts into single shafts and hoisting them onto the pipe rack 5. Example 6 Based on Example 5, such as Figure 5 , Figure 7 As shown, the root job is established as follows: Step 1: The first and second single pipes on the pipe rack 5 are lifted to the ground by the yard pipe column hoisting robot 1 and connected to the ground double pipe building robot 6 to form the first double pipe. The above process is repeated to build the second double pipe. The continuous conveying robot 2 conveys the first double pipe to the drilling platform. The above process is repeated to convey the second double pipe to the drilling platform. Step 1.1: The yard pipe hoisting robot 1 hoists the first single pipe and the second single pipe from the pipe rack 5 to the ground and connects them to form the first double pipe; repeat the above process to establish the second double pipe.

[0026] Step 1.2: The yard pipe hoisting robot 1 hoists the first pair of pipes into the lifting device 202 of the continuous conveying robot 2, and then transfers the first pair of pipes into the conveying device 204. The conveying device 204 drives the trolley 205 to push the first pair of pipes from the base 203 all the way to the drilling platform. The above process is repeated to convey the second pair of pipes to the drilling platform. Step 2: The first double root is placed into the mouse hole 7 by the vertical transfer robot 3, the second double root is lifted, the iron driller 8 combines the first double root and the second double root into a standing root, and the vertical transfer robot 3 lifts the standing root into the mouse hole 7 and then places it into the standing root platform. Step 2.1: The vertical transfer robot 3 column 302 rotates and moves, so that the lower robotic arm 303 and the upper robotic arm 306 face the continuous conveying robot 2. After the lifting device 308 engages with the first double root, it moves to the side of the mouse hole 7 and places the first double root in the mouse hole 7 on the drilling platform. Step 2.2: The vertical transfer robot 3 rotates to the side of the continuous conveying robot 2, the lifting device 308 engages with the second double root, and lifts the second double root above the first double root. The first double root and the second double root are connected to form a root by the iron drill 8. The clamping device 307 of the vertical transfer robot 2 clamps the upper end of the root and moves it up along the column 302. The supporting device 304 supports the lower end of the root. After the root is lifted away from the mouse hole 7, it rotates back to the root platform to complete the root placement.

[0027] Example 7 Based on Example 5, such as Figure 8 As shown, the specific steps of the drilling and connection of the standpipe are as follows: When the traveling crane system telescopic device 4 moves the traveling crane system away from the wellhead and to a higher position, the column 302 of the vertical transfer robot 3 rotates to the standpipe platform side, clamps the upper end of the standpipe through the clamping device 307, and supports the lower end of the standpipe through the supporting device 304. The standpipe is then removed from the standpipe platform and transferred back to the top of the wellhead tubing string. The standpipe is then connected to the wellhead tubing string through the iron drill 8. The traveling crane system telescopic device 4 swings the traveling crane system to the wellhead. After the traveling crane system engages with the standpipe, the vertical transfer robot 3 releases the engagement and begins to remove the next standpipe.

[0028] Example 8 Based on Example 5, such as Figure 9As shown, the specific steps for tripping the drill string and dismantling the stand are as follows: the traveling crane system lifts the tubing string to a high position, and the driller 8 separates the stand from the tubing string. The vertical transfer robot 3 clamps the upper end of the stand with its clamping device 307, and the supporting device 304 supports the lower end of the stand. The traveling crane system releases the stand, and the traveling crane system is deviated from the wellhead and lowered by the traveling crane system extension device 4 to lift the next stand. While the traveling crane system is lowering, the vertical transfer robot 3 clamps the stand and rotates it to the drill platform side, where the stand is placed in the stand platform.

[0029] Example 9 Based on Example 5, such as Figure 7 As shown, the specific steps of the root-splitting operation are as follows: Step 1: The vertical transfer robot 3 takes the upright root out of the upright root platform and places it in the mouse hole 7. The iron drill 8 splits the upright root into two double roots. The vertical transfer robot 3 transfers the two double roots to the continuous conveying robot 2 in turn. Step 1.1: The vertical transfer robot 3 clamps the upper end of the upright root with the clamping device 307 and supports the lower end of the upright root with the supporting device 304. The upright root is placed in the mouse hole 7 in cooperation with the operation. The lifting device 308 fastens the upper end of the upright root and the iron drill 8 disassembles the upright root into the first double root and the second double root. Step 1.2: The lifting device 308 of the vertical transfer robot 3 engages with the upper end of the first double root, and the supporting device 304 of the lower robotic arm 303 cooperates to lift the first double root and move it to the side of the continuous conveying robot 2. The lower robotic arm 303 and the upper robotic arm 306 cooperate to transfer the first double root to the trolley 205 of the continuous conveying robot 2. The above process is repeated to transfer the second double root to the trolley 205 of the continuous conveying robot 2. Step 2: The continuous conveying robot 3 transports the two double pipes to the low position in sequence. The two double pipes are then transferred to the ground double pipe building robot 6 by the yard pipe column hoisting robot 1, disassembled into single pipes, and hoisted onto the pipe rack 5. Step 2.1: The continuous conveying robot 3, the conveying device 204 drives the trolley 205 to convey the first double root downwards onto the lifting device 202, and then conveys the first double root to the low position. The above process is repeated to convey the second double root to the low position. Step 2.2: The yard pipe hoisting robot 1 hoists the first double pipe to the ground-based double pipe robot 6, disassembles it into the first and second single pipes, and then hoists the two single pipes onto the pipe rack 5 for storage; repeat the above process to disassemble the second double pipe into two single pipes for storage.

[0030] This invention can handle not only ultra-long tubular columns with four single-root supports, but also columns with two single-root supports and three single-root supports. This invention will only be explained using the four-single-root support type as an example.

[0031] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0033] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-robot ultra-long tubing processing system, characterized in that, The system includes a continuously connected conveying robot (2) and a drilling rig base (10). The continuous conveying robot (2) is symmetrically arranged with a yard pipe column hoisting robot (1), a pipe rack (5), and a ground-based double-root robot (6). The drilling rig base (10) is equipped with a derrick and a derrick guide rail (11) on top. A vertical transport robot (3) is connected to the derrick. A traveling hoist system is provided on the derrick guide rail (11). A traveling hoist system telescopic device (4) is connected between the derrick guide rail (11) and the traveling hoist system. It also includes a rat hole (7) located near the center of the bottom of the drilling rig base (10), and an iron drill (8) and an electro-hydraulic control system (9) are located near the rat hole (7). The electro-hydraulic control system (9) is electro-hydraulic connected to the yard pipe column hoisting robot (1), the continuous conveying robot (2), the ground double-root building robot (6), the vertical transfer robot (3), the telescopic device of the floating crane system (4), and the iron drill (8).

2. The multi-robot ultra-long tubing processing system according to claim 1, characterized in that, The continuous conveying robot (2) includes a base support (201) set between two yard pipe column hoisting robots (1). The base support (201) is connected to a base (203) at the top. Lifting devices (202) are symmetrically arranged on both sides of the base (203). A ramp (206) is connected to one end of the base (203). A ramp support (207) is connected to the bottom of the ramp (206). One end of the ramp (206) is connected to the drilling rig base (10). A conveying device (204) is installed on the base (203) and the ramp (206). At least one trolley (205) is driven by belt or chain on the conveying device (204). The trolley (205) moves in the base (203) and the ramp (206).

3. The multi-robot ultra-long tubing processing system according to claim 2, characterized in that, The vertical transport robot (3) includes a column (302), an upper guide rail (305) connected to the top of the column (302), a lower guide rail (301) connected to the bottom of the column (302), the lower guide rail (301) connected to the drilling rig base (10), the upper guide rail (305) connected to the derrick, the column (302) moves linearly along the upper guide rail (305) and the lower guide rail (301), and the column (302) rotates along the axis. The column (302) is provided with a lower mechanical arm (303) near the bottom, and a support device (304) is provided on the lower mechanical arm (303). The column (302) is provided with an upper mechanical arm (306) near the top, and the upper mechanical arm (306) is slidably connected to the column (302). The upper mechanical arm (306) is provided with a clamping device (307), and a lifting device (308) is installed below the clamping device (307).

4. The multi-robot ultra-long tubing processing system according to claim 3, characterized in that, The ground-based double-root construction robot (6) is symmetrically arranged between the pipe rack (5) and the continuous conveying robot (2), and the yard pipe column hoisting robot (1) is symmetrically arranged on both sides of the continuous conveying robot (2), along the sides of the pipe rack (5) and the ground-based double-root construction robot (6).

5. A method for processing ultra-long tubing using multiple robots, employing the multi-robot ultra-long tubing processing system as described in claim 4, characterized in that... The single pipes on the pipe rack (5) are combined into a vertical pipe by establishing the root operation and then placed in the vertical pipe platform; the vertical pipe is taken out from the vertical pipe platform and connected to the wellhead pipe string by drilling down and connecting the vertical pipe operation; the vertical pipe is separated from the pipe string by tripping the drill and dismantling the vertical pipe operation and placed in the vertical pipe platform; the vertical pipe is taken out from the vertical pipe platform by throwing the vertical pipe operation and split into two double pipes, the two double pipes are split into single pipes and hoisted onto the pipe rack (5).

6. The multi-robot ultra-long tubing processing method according to claim 5, characterized in that, The establishment of the root job specifically refers to: Step 1: The first and second single pipes on the pipe rack (5) are lifted to the ground by the pipe pile hoisting robot (1) and connected to the double pipe building robot (6) to form the first double pipe. The above process is repeated to build the second double pipe. The continuous conveying robot (2) conveys the first double pipe to the drilling platform. The above process is repeated to convey the second double pipe to the drilling platform. Step 1.1: The yard pipe hoisting robot (1) hoists the first single pipe and the second single pipe from the pipe rack (5) to the ground to build a double pipe robot (6), and connects them to form the first double pipe; repeat the above process to build the second double pipe; Step 1.2: The yard pipe hoisting robot (1) hoists the first pair of pipes into the lifting device (202) of the continuous conveying robot (2), and then transfers the first pair of pipes into the conveying device (204). The conveying device (204) drives the trolley (205) to push the first pair of pipes from the base (203) all the way to the drilling platform. The above process is repeated to convey the second pair of pipes to the drilling platform. Step 2: The first double root is placed in the mouse hole (7) by the vertical transfer robot (3), the second double root is lifted, the iron drill (8) combines the first double root and the second double root into a standing root, and the vertical transfer robot (3) lifts the standing root into the mouse hole (7) and then places it into the standing root platform; Step 2.1: The vertical transfer robot (3) column (302) rotates and moves, so that the lower mechanical arm (303) and the upper mechanical arm (306) face the side of the continuous conveying robot (2), and after the first double root is engaged by the lifting device (308), it moves to the side of the mouse hole (7) and places the first double root in the mouse hole (7) on the drilling platform. Step 2.2: The vertical transfer robot (3) rotates to the side of the continuous conveying robot (2), the lifting device (308) engages with the second double root, lifts the second double root above the first double root, and connects the first double root and the second double root to form a root through the iron drill (8); the clamping device (307) of the vertical transfer robot (2) clamps the upper end of the root and moves it up along the column (302), the supporting device (304) supports the lower end of the root, lifts the root away from the mouse hole (7), and then rotates back to the root platform to complete the root discharge.

7. The multi-robot ultra-long tubing processing method according to claim 5, characterized in that, The specific steps of the drilling and connection of the stand are as follows: When the telescopic device (4) of the traveling system moves the traveling system away from the wellhead and moves it to a higher position, the column (302) of the vertical transfer robot (3) rotates to the stand side of the stand, clamps the upper end of the stand through the clamping device (307), and supports the lower end of the stand through the supporting device (304). The stand is taken out from the stand and transferred back to the top of the wellhead tubing string. The stand is connected to the wellhead tubing string through the iron drill (8). The telescopic device (4) of the traveling system moves the traveling system to the wellhead. After the traveling system engages the stand, the vertical transfer robot (3) releases it and begins to remove the next stand.

8. The multi-robot ultra-long tubing processing method according to claim 5, characterized in that, The specific steps of the drilling and stand-up assembly operation are as follows: the traveling crane system lifts the tubing string to a high position, and the driller (8) separates the stand-up assembly from the tubing string. The vertical transport robot (3) clamps the upper end of the stand-up assembly with its clamping device (307), and the supporting device (304) supports the lower end of the stand-up assembly. The traveling crane system releases the stand-up assembly, and the traveling crane system is deviated from the wellhead and lowered to lift the next stand-up assembly through the traveling crane system extension device (4). While the traveling crane system is lowering, the vertical transport robot (3) clamps the stand-up assembly and rotates it to the drilling platform side, and then places the stand-up assembly in the stand-up assembly platform.

9. The multi-robot ultra-long tubing processing method according to claim 5, characterized in that, The specific steps of the root-lifting operation are as follows: Step 1: The vertical transfer robot (3) takes the standing root out of the standing root platform and places it in the mouse hole (7). The iron drill (8) splits the standing root into two double roots. The vertical transfer robot (3) transfers the two double roots to the continuous conveying robot (2) in turn. Step 1.1: The vertical transfer robot (3) clamps the upper end of the root with the clamping device (307) and supports the lower end of the root with the supporting device (304). The root is placed in the mouse hole (7) in cooperation with the operation. The lifting device (308) fastens the upper end of the root. The root is split into the first double root and the second double root by the iron drill (8). Step 1.2: The lifting device (308) of the vertical transfer robot (3) engages with the upper end of the first double root, and the supporting device (304) of the lower robotic arm (303) cooperates to lift the first double root and move it to the side of the continuous transport robot (2). The lower robotic arm (303) and the upper robotic arm (306) cooperate to transfer the first double root to the trolley (205) of the continuous transport robot (2). The above process is repeated to transfer the second double root to the trolley (205) of the continuous transport robot (2). Step 2: The continuous conveying robot (3) transports the two double roots to the low position in sequence. The two double roots are then transferred to the ground double root building robot (6) by the yard pipe column hoisting robot (1), disassembled into single roots and hoisted onto the pipe rack (5). Step 2.1: The continuous conveying robot (3) conveying device (204) drives the trolley (205) to convey the first double root downward to the lifting device (202), and then conveys the first double root to the low position. The above process is repeated to convey the second double root to the low position. Step 2.2: The yard pipe hoisting robot (1) hoists the first double pipe to the ground double pipe building robot (6), disassembles it into the first and second single pipes, and then hoists the two single pipes to the pipe rack (5) for storage; repeat the above process to disassemble the second double pipe into two single pipes for storage.

Images