A method and system for automatic handling of a tubular string

Abstract

The present application belongs to the technical field of oil and gas drilling, and particularly relates to a pipe string automatic processing method and system. The pipe string automatic processing method comprises the following steps: turning the pipe string from a horizontal state to a vertical state by a lifting robot, and sending the pipe string to a predetermined height at the front end of a drilling platform; controlling a pipe arranging robot and a positioning robot to move to a predetermined position at the front end of the drilling platform; righting the pipe string by the positioning robot, clamping the upper part of the pipe string by the pipe arranging robot, and moving the pipe string upwards to above the drilling platform; clamping the lower part of the pipe string by the positioning robot, and moving the pipe string to a wellhead in cooperation with the pipe arranging robot.

Description

Technical Field

[0001] This invention belongs to the field of oil and gas drilling technology, specifically, it relates to an automatic tubing string processing method and system. Background Technology

[0002] Throughout the drilling process, tubing handling not only consumes a significant amount of drilling auxiliary time, but data also shows that 75% of drilling accidents are caused by personnel directly operating the tubing, and 65% of drilling accidents occur around the tubing. In particular, casing installation requires 4-5 workers to work together to perform tasks such as casing buffering, straightening, and threading. Improper operation can easily lead to damaged or incorrect threads, resulting in high labor intensity and safety risks for personnel. Summary of the Invention

[0003] In view of the technical problems mentioned above, the present invention aims to provide an automatic tubing handling method that can improve the efficiency of tubing operations.

[0004] The present invention also proposes an automated tubing handling system, which can be used to implement the automated tubing handling method proposed according to the present invention.

[0005] According to the present invention, an automatic tubing handling method is proposed, which involves transporting the tubing from the ground to the drilling platform and then moving the tubing to the wellhead.

[0006] In one specific embodiment, the automated tubing handling method includes the following steps:

[0007] The lifting robot flips the tubing from a horizontal position to a vertical position and delivers it to the predetermined height at the front of the drilling platform.

[0008] Control the pipe-laying robot and the positioning robot to move to the predetermined position at the front of the drilling rig;

[0009] The positioning robot straightens the pipe string, and the pipe-laying robot clamps the upper part of the pipe string and moves the pipe string upwards until it exceeds the drilling platform surface.

[0010] The positioning robot grips the lower part of the tubing string and moves in coordination with the tubing laying robot to move the tubing string to the wellhead.

[0011] According to the present invention, an automated tubing handling system for implementing the automated tubing handling method proposed according to the present invention is also provided, comprising a positioning robot, the positioning robot comprising:

[0012] Track components;

[0013] A trolley assembly that is mobilely mounted on the track assembly;

[0014] A column assembly that is rotatably mounted on the trolley assembly;

[0015] A lifting mechanism that is vertically movable and mounted on the column assembly;

[0016] Extension assembly mounted on the lifting mechanism;

[0017] A clamping clamp assembly is mounted on the extension assembly.

[0018] In one specific embodiment, the vehicle assembly includes:

[0019] Transport trolley;

[0020] Multiple support legs are provided at the lower part of the transport trolley, and first rollers for adapting to the track assembly are provided on the support legs;

[0021] A driver connected to the first roller drive.

[0022] In one specific embodiment, a slewing support is provided on the upper part of the transport trolley, and the column assembly is rotatably mounted on the transport trolley via the slewing support.

[0023] In one specific embodiment, the lifting mechanism includes:

[0024] A sliding trolley is vertically movable on the column assembly, and a second roller is provided on the sliding trolley for adapting to the column assembly;

[0025] A height-adjusting hydraulic cylinder, the two ends of which are respectively connected to the sliding trolley and the column assembly.

[0026] In one specific embodiment, the extension assembly includes:

[0027] Extend the middle seat;

[0028] A first arm and a second arm are arranged in parallel, with their ends hinged to the lifting mechanism and the extension intermediate seat, respectively.

[0029] A first luffing adjustment cylinder, one end of which is hinged to the lifting mechanism, and the other end of which is hinged to the first or second support arm;

[0030] The third and fourth arms are arranged in parallel, and the two ends of the third and fourth arms are respectively hinged to the clamping clamp assembly and the extension intermediate seat;

[0031] The second amplitude adjustment cylinder has one end hinged to the extension intermediate seat and the other end hinged to the third or fourth support arm.

[0032] In one specific embodiment, the clamping assembly includes a clamping mechanism for clamping the tubing and a straightening mechanism for straightening the tubing.

[0033] In one specific embodiment, the clamping mechanism includes:

[0034] The gripper mount connected to the extension assembly;

[0035] Two gripping claws are symmetrically arranged on the gripper mounting component;

[0036] A clamping cylinder for driving the opening and closing of the gripper;

[0037] The gripper is equipped with gripping jaws and a sensor assembly.

[0038] In one specific embodiment, the straightening mechanism includes:

[0039] Base;

[0040] Two movable, symmetrically arranged straightening grippers are mounted on the base.

[0041] A slider is movably mounted on the base, and the direction of movement of the slider is perpendicular to the direction of movement of the straightening gripper;

[0042] A connecting rod is hinged between the slider and the straightening gripper;

[0043] A swivel bolt is provided on the base, the swivel bolt is connected to the slider, the central axis of the swivel bolt is parallel to the moving direction of the slider, a centering hand locking block for locking the tube column is hinged on the centering hand gripper, and a centering locking cylinder capable of driving the centering hand locking block is provided on the base.

[0044] Compared with the prior art, the advantages of this application are as follows.

[0045] This invention uses a pipe-laying robot and a positioning robot to directly transport the pipe string from the ground to the drilling platform to the wellhead, thus eliminating the need to place it in a rat hole to establish a support, thereby improving work efficiency. Attached Figure Description

[0046] The present invention will now be described with reference to the accompanying drawings.

[0047] Figure 1 A side view of an embodiment of the automated tubing handling system proposed according to the present invention is shown.

[0048] Figure 2 A front view schematic diagram of an embodiment of the automated tubing handling system proposed according to the present invention is shown.

[0049] Figure 3 A schematic diagram of an embodiment of a positioning robot according to the present invention is shown;

[0050] Figure 4 A schematic diagram of an embodiment of the track assembly of a positioning robot according to the present invention is shown;

[0051] Figure 5 A schematic diagram of an embodiment of a positioning robot vehicle assembly according to the present invention is shown.

[0052] Figure 6 A schematic diagram of an embodiment of the lifting mechanism and extension assembly of a positioning robot according to the present invention is shown;

[0053] Figure 7 A schematic diagram of one embodiment of the gripping mechanism for a positioning robot according to the present invention is shown;

[0054] Figure 8 A schematic diagram of an embodiment of a positioning robot uprighting mechanism according to the present invention is shown;

[0055] Figure 9 Showing Figure 8 A diagram of the back side.

[0056] The reference numerals in the figure are as follows:

[0057] 1. Track assembly; 11. Working track; 12. Clearance track; 121. Curved track; 122. Straight track;

[0058] 2. Carriage assembly; 21. Transport carriage; 211. Support leg; 212. Driver; 213. First roller; 22. Slewing bearing;

[0059] 3. Lifting mechanism; 31. Sliding trolley; 32. Height adjusting cylinder; 33. Second roller;

[0060] 4. Column assembly;

[0061] 5. Extension assembly; 51. Support arm; 511. First support arm; 512. Second support arm; 513. Third support arm; 514. Fourth support arm; 52. Extension intermediate seat; 53. First luffing adjustment cylinder; 54. Second luffing adjustment cylinder;

[0062] 6. Clamping clamp assembly; 61. Clamping mechanism; 611. Grip mounting component; 612. Clamping gripper; 613. Clamping cylinder; 614. Sensor assembly; 615. Clamping jaws; 62. Straightening mechanism; 621. Straightening gripper; 622. Base; 623. Straightening locking cylinder; 624. Straightening lock block; 625. Slider; 626. Connecting rod; 627. Slip bolt; 628. Pin; 629. Nut;

[0063] 100. Positioning robot; 101. Pipe handling device; 102. Lifting robot; 103. Pipe laying robot; 105. Multifunctional robot; 106. Centralizer storage rack; 107. Rail-mounted casing drill.

[0064] In this application, all drawings are schematic and are used only to illustrate the principles of the invention, and are not drawn to scale. Detailed Implementation

[0065] The invention will now be described with reference to the accompanying drawings.

[0066] It should be noted that the directional terms or qualifiers used in this application, such as "up," "down," "front," "back," "left," and "right," are all specific to the referenced material. Figure 3 In other words, they are not used to define the absolute position of the components involved, but can vary depending on the specific circumstances.

[0067] According to the present invention, an automatic tubing handling method is provided, which involves transporting the tubing from the ground to the drilling platform, moving the tubing to the wellhead, and lowering it into the well.

[0068] It should be noted that, in this embodiment, the tubing string includes casing, drill pipe, etc.

[0069] In one specific embodiment, the automated tubing handling method includes the following steps:

[0070] The lifting robot 102 flips the tubing from a horizontal position to a vertical position and delivers it to a predetermined height at the front of the drilling platform.

[0071] Control the pipe laying robot 103 and the positioning robot 100 to move to the predetermined position at the front of the drilling platform;

[0072] The positioning robot 100 straightens the pipe column, and the pipe laying robot 103 clamps the upper part of the pipe column and moves the pipe column upwards beyond the drilling platform.

[0073] The positioning robot 100 grips the lower part of the tubing string and moves in coordination with the tubing laying robot 103 to move the tubing string to the wellhead.

[0074] According to the present invention, an automated tubing handling system is provided. For example... Figure 1 and Figure 2 As shown, the automatic pipe handling system includes a pipe handling device 101, a lifting robot 102, a pipe laying robot 103, a positioning robot 100, a multi-functional robot 105, a centralizer storage rack 106, a track-type casing drill 107, a top drive, an automatic lifting clamp, and hydraulic slips.

[0075] The specific structures of the pipe handling device 101, the lifting robot 102, the pipe laying robot 103, the multi-functional robot 105, the centralizer storage rack 106, the track-type casing drill 107, the top drive, the automatic lifting clamp, and the hydraulic slip are all well known to those skilled in the art and will not be described in detail here.

[0076] The automatic tubing processing method using the tubing automatic processing system provided by the present invention specifically includes the following steps.

[0077] After the tubing string is boxed, it is transported to the drilling site. Upon arrival, the tubing string is inserted into the tubing string processing device 101, which handles tubing string delivery, thread lubrication, and length measurement. The lifting robot 102 flips the tubing string from a horizontal to a vertical position and delivers it to a predetermined position at the front of the drilling platform, allowing the tubing-laying robot 103 and the positioning robot 100 to access it. The tubing-laying robot 103 extends its arm, grips the upper part of the tubing string, and moves it upwards. Simultaneously, the positioning robot 100 extends its arm to straighten the tubing string. When the tubing string is fully moved above the drilling platform, the positioning robot 100 grips the lower part of the tubing string. Then, the tubing-laying robot 103 and the positioning robot 100 synchronously retract, rotate, move, and extend their arms to the wellhead.

[0078] The track-mounted casing drill 107 automatically travels to the centralizer storage rack 106. The multi-functional robot 105 grabs the centralizer and transfers it onto the track-mounted casing drill 107. Then, the multi-functional robot 105 returns to its original position and clamps the next centralizer. The track-mounted casing drill 107 then moves to the wellhead. Its back clamp holds the wellhead casing. The tubing robot 103 and positioning robot 100 work together to drive the tubing string downwards for coupling. The top drive descends and automatically picks up the casing. The tubing robot 103 and positioning robot 100 release the tubing string and retract. After the track-mounted casing drill 107 completes the coupling, it lowers the casing and waits for the next casing. The rotating clamp of the track-mounted casing drill 107 clamps the tubing string from the tubing robot 103 and performs a rotating coupling. Afterwards, the track-mounted casing drill 107 releases the tubing string and resets, and the top drive drives the tubing string down into the well.

[0079] After the top drive drive string is lowered into the well, the jack is opened, the top drive is tilted back, and the top drive moves up to the designated position to wait for the next string.

[0080] Figure 3 The structure of a positioning robot 100 according to the present invention is shown. (See figure) Figure 3 As shown, the positioning robot 100 mainly includes a track assembly 1, a trolley assembly 2, a column assembly 4, a lifting mechanism 3, an extension assembly 5, and a gripper assembly 6.

[0081] The track assembly 1 is mounted on the drilling platform (not shown in the figure). The trolley assembly 2 is movably mounted on the track assembly 1, allowing it to move along the track assembly 1 on the drilling platform. The column assembly 4 is rotatably mounted on the trolley assembly 2, and can rotate relative to the trolley assembly 2 along a vertical central axis. The lifting mechanism 3 is vertically movable on the column assembly 4, and can move along the column assembly 4 in the vertical direction. The extension assembly 5 is mounted on the lifting mechanism 3, and can move up and down along the column assembly 4 following the lifting mechanism 3. The clamping assembly 6 is located at the end of the extension assembly 5 away from the lifting mechanism 3. The extension assembly 5 can adjust the position of the clamping assembly 6, allowing it to move to the lower part of the tubing string. The clamping assembly 6 is configured to clamp the tubing string.

[0082] In a specific embodiment, such as Figure 4 As shown, the track assembly 1 includes an interconnected working track 11 and a clearance track 12. The working track 11 is set on the drilling platform along a route from the front of the drill rig to the wellhead. The clearance track 12 includes a straight track 122 inclined to the working track 11 and an arc track 121 connecting the straight track 122 and the working track 11. During operation, the clamping clamp assembly 6 clamps the bottom of the tubing string, and the tubing-laying robot 103 clamps the top of the tubing string. Then, the trolley assembly 2 moves along the working track 11, and simultaneously, the tubing-laying robot 103 moves along with it. The trolley assembly 2 and the tubing-laying robot 103 together drive the tubing string, enabling smoother movement and reducing operational risks by replacing manual labor. When not in operation, the trolley assembly 2 moves into the straight track 122 of the clearance track 12, thus avoiding interference with other drilling tools on the drilling platform.

[0083] In a specific embodiment, such as Figure 5As shown, the trolley assembly 2 includes a transport trolley 21. Multiple support legs 211 are provided at the lower part of the transport trolley 21, and first rollers 213 for adaptation to the track assembly 1 are provided on the support legs 211. In this embodiment, the track assembly 1 is made of track steel. Four first rollers 213 are rotatably arranged on each support leg 211. The four first rollers 213 are arranged in pairs, with one pair of first rollers 213 spaced above the other pair. The head of the track steel used in the track assembly 1 is engaged between the two pairs of first rollers 213. A driver 212 is provided on any one or more support legs 211 of the trolley assembly 2, and the driver 212 is drivenly connected to the first rollers 213. With this arrangement, after the driver 212 is activated, it drives the first rollers 213 to rotate, and the first rollers 213 roll along the track assembly 1, thereby moving the transport trolley 21 along the track assembly 1.

[0084] In a preferred embodiment, each support leg 211 is rotatably disposed at the lower part of the transport trolley 21, and the rotation axis of each support leg 211 is arranged in the vertical direction. With this arrangement, when the trolley assembly 2 moves to the arc track 121, each support leg 211 can automatically rotate relative to the transport trolley 21, thereby automatically adapting to the curvature of the arc track 121.

[0085] In one specific embodiment, a slewing support 22 is provided on the upper part of the transport trolley 21, and the column assembly 4 is rotatably mounted on the transport trolley 21 via the slewing support 22. After the slewing support 22 is activated, it enables the column assembly 4 to rotate relative to the transport trolley 21.

[0086] In a specific embodiment, such as Figure 6 As shown, the lifting mechanism 3 mainly includes a sliding trolley 31 and a height adjusting cylinder 32.

[0087] A sliding trolley 31 is vertically movable on the column assembly 4. A second roller 33 is rotatably mounted on the sliding trolley 31, and the second roller 33 generates rolling friction with the column assembly 4. One end of the height adjusting cylinder 32 is fixedly connected to the sliding trolley 31, and the other end is fixedly connected to the column assembly 4. By extending or retracting the height adjusting cylinder 32, the sliding trolley 31 can be moved up and down along the column assembly 4, thereby driving the clamping clamp assembly 6 up and down through the extension assembly 5.

[0088] In a specific embodiment, such as Figure 6 As shown, the extension assembly 5 mainly includes an extension intermediate seat 52, a first support arm 511, a second support arm 512, a third support arm 513, a fourth support arm 514, a first amplitude adjustment cylinder 53, and a second amplitude adjustment cylinder 54.

[0089] The first arm 511 and the second arm 512 are arranged parallel to each other, with their ends hinged to the sliding trolley 31 and the extension intermediate seat 52 of the lifting mechanism 3, respectively. One end of the first luffing adjustment cylinder 53 is hinged to the lifting mechanism 3, and the other end is hinged to either the first arm 511 or the second arm 512. In this configuration, by extending or retracting the first luffing adjustment cylinder 53, the first arm 511 and the second arm 512 can be swung relative to the sliding trolley 31, thereby adjusting the position of the extension intermediate seat 52.

[0090] The third arm 513 and the fourth arm 514 are arranged parallel to each other, with their ends hinged to the clamping jaw assembly 6 and the extension intermediate seat 52, respectively. One end of the second amplitude adjustment cylinder 54 is hinged to the extension intermediate seat 52, and the other end is hinged to either the third arm 513 or the fourth arm 514. In this configuration, by extending or retracting the second amplitude adjustment cylinder 54, the third arm 513 and the fourth arm 514 can be swung relative to the extension intermediate seat 52, thereby adjusting the position of the clamping jaw assembly 6.

[0091] In one specific embodiment, the clamping clamp assembly 6 includes a clamping mechanism 61 for clamping the tubing and a straightening mechanism 62 for straightening the tubing.

[0092] like Figure 7 As shown, the clamping mechanism 61 mainly includes a gripper mounting part 611, a gripper gripper 612, and a clamping cylinder 613.

[0093] The gripper mount 611 is hinged to the third arm 513 and the fourth arm 514 of the extension assembly 5. Two gripping grippers 612 are symmetrically arranged on the gripper mount 611, and the two gripping grippers 612 can grip or release the tubing by being relatively close or far apart. One end of the clamping cylinder 613 is hinged to the gripper mount 611, and the other end is hinged to the gripping gripper 612. In this configuration, by controlling the extension and retraction of the clamping cylinder 613, the two gripping grippers 612 can be controlled to close or open, thereby gripping or releasing the tubing.

[0094] The specific structure by which the clamping cylinder 613 controls the opening or closing of the gripper 612 is well known to those skilled in the art and will not be described in detail here.

[0095] In a preferred embodiment, clamping jaws 615 are provided on the surface of the clamping gripper 612 that contacts the tubing, thereby enabling the clamping gripper 612 to clamp the tubing more securely. A sensor assembly 614 is also provided on the clamping gripper 612, which can detect the clamping force of the clamping gripper 612 on the tubing.

[0096] In a specific embodiment, such as Figure 8 and Figure 9As shown, the straightening mechanism 62 mainly includes a base 622, a straightening gripper 621, a slider 625, a connecting rod 626, and a hinge bolt 627.

[0097] The base 622 is hinged to the gripper mount 611 and is located above the gripper 612. A pin 628 is provided between the base 622 and the gripper mount 611. The side of the base 622 away from the gripper mount 611 is arc-shaped to adapt to the outer wall shape of the tubing.

[0098] Two symmetrically positioned straightening grippers 621 are movably arranged on the base 622. The two straightening grippers 621 can clamp or release the tube column by moving closer or further apart from each other.

[0099] The slider 625 is movably mounted on the base 622. The direction of movement of the slider 625 is perpendicular to the direction of movement of the straightening gripper 621, and it is located in the middle of the two straightening grippers 621.

[0100] A connecting rod 626 is provided between the straightening gripper 621 and the slider 625. The two connecting rods 626 are of the same length and are respectively positioned between the two straightening grippers 621 and the slider 625. The two ends of the connecting rod 626 are hinged to the slider 625 and the straightening gripper 621, respectively. When the slider 625 moves relative to the base 622, it can drive the straightening gripper 621 to move relative to the base 622 via the connecting rod 626, thereby controlling the opening or closing of the straightening gripper 621.

[0101] The swivel bolt 627 is movably mounted on the base 622 via the nut 629. The direction of movement of the swivel bolt 627 is the same as the direction of movement of the slider 625, and the swivel bolt 627 is connected to the slider 625. By rotating the nut 629, the swivel bolt 627 can be moved relative to the base 622, thereby driving the slider 625 to move relative to the base 622, and thus controlling the opening or closing of the straightening gripper 621.

[0102] A locking block 624 for locking the tubing is hinged to the straightening gripper 621, and a straightening locking cylinder 623 capable of driving the locking block 624 is provided on the base 622. The locking cylinder 623 can drive the locking block 624 to rotate relative to the base 622, thereby enhancing the straightening effect on the tubing. The specific structure of the locking cylinder 623 driving the locking block 624 to rotate relative to the base 622 is well known to those skilled in the art and will not be described in detail here.

[0103] According to the present invention, the movement of the trolley assembly 2 is controlled by the program settings on the encoder, and the trolley assembly 2 can move to the target position to realize the positioning of the wellhead.

[0104] According to the present invention, when straightening the tubing string, adjusting the nut 629 on the swivel bolt 627 causes the swivel bolt 627 to move the slider 625 relative to the base 622, thereby moving the two straightening grippers 621 via the connecting rod 626. Adjusting the distance between the two straightening grippers 621 allows for adaptation to different tubing diameters. When straightening is not required, the straightening mechanism 62 is fixed to the gripper mounting member 611 at an angle to the horizontal plane via a pin 628. When straightening is required, removing the pin 628 causes the straightening mechanism 62 to flip to a horizontal position under gravity, and the straightening locking block 624 straightens the tubing string under the action of the straightening locking cylinder 623. A camera (not shown) is mounted on the gripper mounting member 611 to observe whether the drilling straightening work is completed.

[0105] According to the present invention, the gripping claws 612 of the clamping mechanism 61 approach each other under the action of the clamping cylinder 613. When the gripping jaws 615 on the gripping claws 612 clamp the tube column, the tube column contacts the sensor assembly 614, which can sense whether the tube column enters the clamping mechanism 61 and whether it is clamped by the clamping mechanism 61.

[0106] After the clamping mechanism 61 clamps the lower part of the tube column, the tube-laying robot 103 clamps the upper part of the tube column. The clamping mechanism 61 and the tube-laying robot 103 move together to move the tube column to the required position.

[0107] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0108] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0109] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0110] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic processing method for tubing, characterized in that, After the tubing string is transported from the ground to the drilling platform, it is moved to the wellhead.

2. The automatic tubing processing method according to claim 1, characterized in that, Includes the following steps: The lifting robot flips the tubing from a horizontal position to a vertical position and delivers it to the predetermined height at the front of the drilling platform. Control the pipe-laying robot and the positioning robot to move to the predetermined position at the front of the drilling rig; The positioning robot straightens the pipe string, and the pipe-laying robot clamps the upper part of the pipe string and moves the pipe string upwards until it exceeds the drilling platform surface. The positioning robot grips the lower part of the tubing string and moves in coordination with the tubing laying robot to move the tubing string to the wellhead.

3. An automatic tubing processing system for implementing the automatic tubing processing method according to claim 1 or 2, characterized in that, Includes a positioning robot, the positioning robot comprising: Track assembly (1); A trolley assembly (2) is mobilely mounted on the track assembly (1); A column assembly (4) is rotatably mounted on the trolley assembly (2); A lifting mechanism (3) that is vertically movable on the column assembly (4); The extension assembly (5) is mounted on the lifting mechanism (3); and The clamping clamp assembly (6) is mounted on the extension assembly (5).

4. The automatic tubing handling system according to claim 3, characterized in that, The vehicle assembly (2) includes: Transport trolley (21); Multiple support legs (211) are provided on the lower part of the transport trolley (21), and first rollers (213) for adapting to the track assembly (1) are provided on the support legs (211); and A driver (212) is connected to the first roller (213).

5. The automatic tubing handling system according to claim 4, characterized in that, A slewing support (22) is provided on the upper part of the transport trolley (21), and the column assembly (4) is rotatably mounted on the transport trolley (21) via the slewing support (22).

6. The automatic tubing handling system according to claim 3, characterized in that, The lifting mechanism (3) includes: A sliding trolley (31) is vertically movable on the column assembly (4), and a second roller (33) is provided on the sliding trolley (31) for matching the column assembly (4); A height adjustment cylinder (32) is provided, with its two ends connected to the sliding trolley (31) and the column assembly (4), respectively.

7. The automatic tubing handling system according to claim 3, characterized in that, The extension assembly (5) includes: Extend the middle seat (52); The first arm (511) and the second arm (512) are arranged in parallel, and the two ends of the first arm (511) and the second arm (512) are respectively hinged to the lifting mechanism (3) and the extension intermediate seat (52). The first amplitude adjustment cylinder (53) is hinged at one end to the lifting mechanism (3) and at the other end to the first support arm (511) or the second support arm (512). A third arm (513) and a fourth arm (514) are arranged in parallel, with their ends hinged to the clamping assembly (6) and the extension intermediate seat (52), respectively; and The second amplitude adjustment cylinder (54) is hinged at one end to the extension intermediate seat (52) and at the other end to the third support arm (513) or the fourth support arm (514).

8. The automatic tubing handling system according to claim 3, characterized in that, The clamping assembly (6) includes a clamping mechanism (61) for clamping the tubing and a straightening mechanism (62) for straightening the tubing.

9. The automatic tubing handling system according to claim 8, characterized in that, The clamping mechanism (61) includes: A gripper mount (611) connected to the extension assembly (5); Two gripping grippers (612) are symmetrically arranged on the gripper mount (611); A clamping cylinder (613) for driving the opening and closing of the clamping gripper (612); The gripper (612) is provided with gripping jaws (615) and a sensor assembly (614).

10. The automatic tubing handling system according to claim 8, characterized in that, The straightening mechanism (62) includes: Base (622); Two symmetrically arranged uprighting claws (621) are movable on the base (622); A slider (625) is movably mounted on the base (622), and the direction of movement of the slider (625) is perpendicular to the direction of movement of the straightening gripper (621); A connecting rod (626) is hinged between the slider (625) and the straightening gripper (621); A swivel bolt (627) is provided on the base (622), the swivel bolt (627) is connected to the slider (625), the central axis of the swivel bolt (627) is parallel to the moving direction of the slider (625), a centering lock block (624) for locking the column is hinged on the centering gripper (621), and a centering locking cylinder (623) capable of driving the centering lock block (624) is provided on the base (622).

Images