A casing processing system for oil and gas drilling and a method of operation thereof

Abstract

The present application relates to a casing handling system for oil and gas drilling and its operation method, wherein the casing handling system comprises a pipe rack manipulator, a rig floor positioning manipulator, a hydraulic elevator, a centralizer grabbing device, a centralizer storage rack and a casing iron roughneck; the pipe rack manipulator is installed on the derrick in a lifting manner, the rig floor positioning manipulator is movably installed on the rig floor of the derrick, the centralizer grabbing device, the centralizer storage rack and the casing iron roughneck are installed on the rig floor, and the hydraulic elevator is installed on the top drive device of the derrick, which has the beneficial effects that a large number of personnel are not needed for assisting in the whole operation, the personnel operation risk caused by the personnel is reduced, the personnel safety is improved, and the safety and operation efficiency are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of oil and gas drilling technology, and in particular to a casing handling system and its operation method for oil and gas drilling. Background Technology

[0002] In oil and gas drilling, cementing is a crucial component of the oil exploration and development system engineering. Cementing quality not only affects drilling speed and cost but also impacts the smooth production and lifespan of oil and gas wells, and even the recovery rate of oil and gas reservoirs. Casing is a vital cementing tool, used to support the wellbore, reinforce it to prevent collapse, and ensure the smooth operation of the drilling process and the overall well operation after completion. Casing centering is a critical prerequisite for cementing quality; poor casing centering can cause numerous problems during cementing operations and severely affect cementing quality. The role of the casing centralizer is to ensure the casing is centered within the wellbore, guaranteeing that the cement slurry solidifies evenly within the annular space formed by the casing and the wellbore during cementing, thereby improving cementing quality.

[0003] Currently, conventional casing running equipment mainly includes wellhead slips for fixing the casing, casing wrenches for connecting the casing threads, grouting equipment for grouting, and lifting rings and clamps for lifting the entire casing string. Traditional casing running processes have certain shortcomings: First, the low level of automation requires a large number of workers, resulting in high labor intensity and low work efficiency; second, incorrect threading is common in the initial stages of casing connection, affecting work efficiency and placing high demands on the workers; third, installing casing centralizers requires extensive work at the wellhead, where space is limited and safety risks exist.

[0004] Therefore, there is an urgent need for a casing handling system and its operation method that is both highly efficient and safe for oil and gas drilling. Summary of the Invention

[0005] In view of the technical problems described above, the present invention aims to provide a casing handling system for oil and gas drilling that can solve at least one of the aforementioned technical problems.

[0006] The present invention also proposes an operation method for a casing handling system for oil and gas drilling, which can solve at least one of the above-mentioned technical problems.

[0007] According to the present invention, a casing handling system for oil and gas drilling is provided, including a casing handling robot, a drilling platform positioning robot, a hydraulic lifting clamp, a centralizer gripping device, a centralizer storage rack, and a casing iron drill.

[0008] The pipe-laying robot is vertically mounted on the derrick, the drilling platform positioning robot is movably mounted on the drilling platform of the derrick, the centralizer gripping device, the centralizer storage rack, and the casing iron drill are mounted on the drilling platform, and the hydraulic hoist is mounted on the top drive device of the derrick.

[0009] Preferably, the pipe-laying robot includes a lifting assembly, a secondary traveling beam, a traveling mechanism, a first rotary drive mechanism, a first telescopic arm assembly, and a pipe clamp assembly;

[0010] The lifting assembly is movably mounted on the derrick, the auxiliary traveling beam is mounted on the lifting assembly, the traveling mechanism is movably mounted on the auxiliary traveling beam, one end of the first telescopic boom assembly is mounted on the traveling mechanism via the first rotary drive mechanism, and the casing clamp assembly is mounted on the other end of the first telescopic boom assembly.

[0011] Preferably, the drilling platform positioning robot includes a moving trolley, a second rotary drive mechanism, a second telescopic arm assembly, and a push-gripper assembly;

[0012] The mobile trolley is movably supported on the drilling platform. One end of the second telescopic arm assembly is mounted on the mobile trolley via the second rotary drive mechanism, and the push-support plier assembly is mounted on the second end of the second telescopic arm assembly.

[0013] According to the present invention, a method for operating a casing handling system for oil and gas drilling is also provided, comprising:

[0014] S1. The casing iron drill moves from the standby position to the wellhead position; the stabilizer grabbing device grabs the casing stabilizer from the stabilizer storage rack and places it in the stabilizer clamping mechanism of the casing iron drill.

[0015] S2. The pipe-laying robot and the drill-table positioning robot move from the standby position to the storage position of the target casing. The pipe-laying robot clamps the target casing, and the drill-table positioning robot pushes the target casing to move the target casing from the storage position to the wellhead position.

[0016] S3. The casing iron driller's coupling device is in place, the pipe laying robot lowers the bottom end of the target casing through the casing straightener and couples it with the top end of the wellhead casing, the hydraulic hoist is in place and engages the target casing, and the pipe laying robot and the drilling platform positioning robot release the target casing.

[0017] S4. The casing driller fastens the target casing and the wellhead casing, and then the centralizer clamping mechanism releases the casing centralizer; the casing centralizer falls down along the axial direction of the target casing to the coupling of the target casing.

[0018] Preferably, step S2 includes:

[0019] S21. The pipe-laying robot and the drilling platform positioning robot move synchronously from the standby position to the storage position of the target casing.

[0020] S22. After the pipe-laying robot grips the target casing, it rises to a position where the target casing is higher than the casing drill bit, and the drilling platform positioning robot grips the target casing in a pushing and supporting state.

[0021] S23. The pipe-laying robot and the drilling platform positioning robot move synchronously to move the target casing from the storage position to the wellhead position.

[0022] Preferably, steps S21 and S22 can be performed simultaneously with step S1; step S23 needs to be performed after step S1.

[0023] Preferably, in step S23, the pipe-laying robot grips the upper part of the target casing, and the drilling platform positioning robot pushes the lower part of the target casing.

[0024] Preferably, in step S3, after the pipe-laying robot and the drilling platform positioning robot release the target casing, they move to the storage position of the next target casing to prepare for the next work cycle.

[0025] Preferably, after step S4, the stabilizer gripping device grips the next casing stabilizer from the stabilizer storage rack and places it in the stabilizer clamping mechanism; the pipe laying robot and the drilling platform positioning robot move the next target casing.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] This invention provides a casing handling system for oil and gas drilling. A centralizer gripping device grips and places the casing centralizer stored in a centralizer storage rack into the centralizer clamping mechanism of a driller. A pipe-laying robot and a drill platform positioning robot transport the target casing to the wellhead position. The bottom end of the target casing passes through the casing centralizer and is interlocked with the top end of the wellhead casing. The target casing is then handed over to a hydraulic lifting clamp. The casing remains vertical throughout transport and handover, ensuring safety during transport and a smooth, unobstructed handover process, thus improving operational efficiency. The driller interlocks the target casing and the wellhead casing, after which the centralizer clamping mechanism releases the casing centralizer. The casing centralizer descends axially along the target casing to the joint of the target casing, and then the target casing is lowered into the well using a hydraulic lifting clamp and a top drive device. Compared to existing technologies, this system requires minimal personnel assistance throughout the entire operation, reducing potential personnel risks and improving personnel safety. Both safety and operational efficiency are significantly enhanced. Attached Figure Description

[0028] The present invention will now be described with reference to the accompanying drawings.

[0029] Figure 1 A schematic diagram of an embodiment of a casing handling system for oil and gas drilling according to the present invention is shown.

[0030] Figure 2 A schematic diagram of a casing handling manipulator for oil and gas drilling, according to the present invention, is shown.

[0031] Figure 3 A schematic diagram of the drilling platform positioning robot for a casing handling system for oil and gas drilling, according to the present invention, is shown.

[0032] The reference numerals in the figure are as follows:

[0033] 1. Pipe laying robot; 11. Lifting assembly; 12. Auxiliary traveling beam; 13. Traveling mechanism; 14. First rotary drive mechanism; 15. First telescopic boom assembly; 16. Pipe lifting clamp assembly;

[0034] 2. Drilling platform positioning robot; 21. Moving trolley; 22. Second rotary drive mechanism; 23. Second telescopic arm assembly; 24. Push-support clamp assembly;

[0035] 3. The gripping device for the centralizer;

[0036] 4. Centralizer storage rack;

[0037] 5. Casing driller.

[0038] 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

[0039] The invention will now be described with reference to the accompanying drawings.

[0040] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0041] Example 1:

[0042] like Figure 1 As shown, a specific embodiment of the present invention provides a casing handling system for oil and gas drilling, including a pipe-laying robot 1, a drill platform positioning robot 2, a hydraulic hoist, a centralizer gripping device 3, a centralizer storage rack 4, and a casing iron drill 5; the pipe-laying robot 1 is vertically mounted on the derrick, the drill platform positioning robot 2 is movably mounted on the drill platform of the derrick, the centralizer gripping device 3, the centralizer storage rack 4, and the casing iron drill 5 are mounted on the drill platform, and the hydraulic hoist is mounted on the top drive device of the derrick.

[0043] Specifically, it also includes a control center connecting the pipe-laying robot 1, the drilling platform positioning robot 2, the hydraulic hoist, the centralizer gripping device 3, the centralizer storage rack 4, and the casing iron drill 5. The entire process is automated through the control center. The centralizer gripping device 3 can grab and place the casing centralizer stored in the centralizer storage rack 4 into the centralizer clamping mechanism of the iron drill. The pipe-laying robot 1 and the drilling platform positioning robot 2 transport the target casing to the wellhead position. The bottom end of the target casing passes through the casing centralizer and is interlocked with the top end of the wellhead casing. Then, the target casing is handed over to the hydraulic hoist. The casing remains vertical throughout the transportation and handover process, ensuring safety during transportation and smooth, unobstructed handover, thus improving operational efficiency. The target casing and wellhead casing are connected by a driller. Then, the casing centralizer releases the casing centralizer, which descends axially along the target casing to the coupling. Finally, the target casing is lowered into the well using a hydraulic hoist and top drive. Compared to existing technologies, this method offers a high degree of automation, requiring minimal personnel assistance throughout the process, reducing potential risks to personnel and improving safety. Both safety and operational efficiency are significantly enhanced.

[0044] Furthermore, such as Figure 2As shown, the pipe-laying manipulator 1 includes a lifting assembly 11, an auxiliary traveling beam 12, a traveling mechanism 13, a first rotary drive mechanism 14, a first telescopic arm assembly 15, and a casing clamp assembly 16. The lifting assembly 11 is movably mounted on the derrick, the auxiliary traveling beam 12 is mounted on the lifting assembly 11, the traveling mechanism 13 is movably mounted on the auxiliary traveling beam 12, one end of the first telescopic arm assembly 15 is mounted on the traveling mechanism 13 via the first rotary drive mechanism 14, and the casing clamp assembly 16 is mounted on the other end of the first telescopic arm assembly 15. Lifting is achieved through the lifting assembly 11, pipe movement is achieved through the movement of the traveling mechanism 13 along the auxiliary traveling beam 12, the extension and retraction of the first telescopic arm assembly 15, and the angle adjustment of the first rotary drive mechanism 14, and the casing is clamped by the casing clamp assembly 16.

[0045] Furthermore, such as Figure 3 As shown, the drilling platform positioning robot 2 includes a moving trolley 21, a second rotary drive mechanism 22, a second telescopic arm assembly 23, and a pusher clamp assembly 24. The moving trolley 21 is movably supported on the drilling platform. One end of the second telescopic arm assembly 23 is mounted to the moving trolley 21 via the second rotary drive mechanism 22, and the pusher clamp assembly 24 is mounted to the second end of the second telescopic arm assembly 23. In this embodiment, a track is provided on the drilling platform, and the moving trolley 21 is movably supported on the track.

[0046] Example 2:

[0047] This embodiment provides an operation method for the casing treatment system used in oil and gas drilling as described in Embodiment 1, including the following steps:

[0048] S1, the casing iron drill 5 moves from the standby position to the wellhead position; the centralizer grabbing device 3 grabs the casing centralizer from the centralizer storage rack 4 and places it in the centralizer clamping mechanism of the casing iron drill 5.

[0049] S2. The pipe-laying robot 1 and the drilling platform positioning robot 2 move from the standby position to the storage position of the target casing. The pipe-laying robot 1 clamps the target casing, and the drilling platform positioning robot 2 pushes the target casing to move it from the storage position to the wellhead position.

[0050] S3. The casing iron drill 5's coupling device is in place. The pipe laying robot 1 lowers the bottom end of the target casing through the casing centralizer and couples it with the top end of the wellhead casing. The hydraulic clamp is in place and engages the target casing. The pipe laying robot 1 and the drill platform positioning robot 2 release the target casing. After releasing the target casing, the pipe laying robot 1 and the drill platform positioning robot 2 move to the storage position of the next target casing, preparing for the next work cycle.

[0051] S4. The casing driller 5 connects the target casing and the wellhead casing, and then the stabilizer clamping mechanism releases the casing stabilizer; the casing stabilizer falls along the axis of the target casing to the coupling of the target casing. Optionally, after step S4, the stabilizer grabbing device 3 grabs the next casing stabilizer from the stabilizer storage rack 4 and places it in the stabilizer clamping mechanism; the pipe laying robot 1 and the drill table positioning robot 2 move the next target casing.

[0052] S5. The target pipe is lowered into the well by driving the hydraulic hoist through the top drive device.

[0053] Further, step S2 includes:

[0054] S21. The pipe laying robot 1 and the drilling platform positioning robot 2 move synchronously from the standby position to the storage position of the target casing.

[0055] S22. After the pipe laying robot 1 clamps the target casing, it rises to a position where the target casing is higher than the casing iron drill 5. The drilling platform positioning robot 2 clamps the target casing in a pushing and supporting state.

[0056] S23. The pipe-laying manipulator 1 and the drilling platform positioning manipulator 2 move synchronously to move the target casing from the storage position to the wellhead position. Among them, the pipe-laying manipulator 1 holds the upper part of the target casing, and the drilling platform positioning manipulator 2 pushes the lower part of the target casing.

[0057] Specifically, steps S21 and S22 can be performed simultaneously with step S1; step S23 needs to be performed after step S1.

[0058] 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.

[0059] 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 part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0061] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0062] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A casing handling system for oil and gas drilling, characterized in that, It includes a pipe laying robot (1), a drilling platform positioning robot (2), a hydraulic lifting clamp, a centralizer gripping device (3), a centralizer storage rack (4), and a casing iron drill (5); The pipe laying manipulator (1) is vertically mounted on the derrick, the drilling platform positioning manipulator (2) is movably mounted on the drilling platform of the derrick, the centralizer gripping device (3), the centralizer storage rack (4) and the casing iron drill (5) are mounted on the drilling platform, and the hydraulic hoist is mounted on the top drive device of the derrick.

2. The casing handling system for oil and gas drilling as described in claim 1, characterized in that, The pipe laying manipulator (1) includes a lifting assembly (11), a secondary traveling beam (12), a walking mechanism (13), a first rotary drive mechanism (14), a first telescopic arm assembly (15), and a pipe lifting clamp assembly (16); The lifting assembly (11) is movably mounted on the derrick, the auxiliary traveling beam (12) is mounted on the lifting assembly (11), the traveling mechanism (13) is movably mounted on the auxiliary traveling beam (12), one end of the first telescopic boom assembly (15) is mounted on the traveling mechanism (13) via the first rotary drive mechanism (14), and the casing clamp assembly (16) is mounted on the other end of the first telescopic boom assembly (15).

3. The casing handling system for oil and gas drilling as described in claim 1, characterized in that, The drilling platform positioning robot (2) includes a moving trolley (21), a second rotary drive mechanism (22), a second telescopic arm assembly (23), and a push-and-hold clamp assembly (24); The mobile trolley (21) is movably supported on the drilling platform. One end of the second telescopic arm assembly (23) is mounted on the mobile trolley (21) via the second rotary drive mechanism (22), and the push-support pliers assembly (24) is mounted on the second end of the second telescopic arm assembly (23).

4. A method for operating a casing handling system for oil and gas drilling as described in any one of claims 1 to 3, characterized in that, include: S1. The casing iron drill (5) moves from the standby position to the wellhead position; the stabilizer grabbing device (3) grabs the casing stabilizer from the stabilizer storage rack (4) and places it in the stabilizer clamping mechanism of the casing iron drill (5); S2. The pipe-laying manipulator (1) and the drill-table positioning manipulator (2) move from the standby position to the storage position of the target casing. The pipe-laying manipulator (1) clamps the target casing, and the drill-table positioning manipulator (2) pushes the target casing, moving the target casing from the storage position to the wellhead position. S3. The casing iron drill (5) is in place, the pipe laying manipulator (1) lowers the bottom end of the target casing through the casing straightener and is aligned with the top end of the wellhead casing, the hydraulic hoist is in place and engages the target casing, and the pipe laying manipulator (1) and the drilling platform positioning manipulator (2) release the target casing. S4. The casing driller (5) fastens the target casing and the wellhead casing together, and then the centralizer clamping mechanism releases the casing centralizer; the casing centralizer falls down along the axial direction of the target casing to the coupling of the target casing.

5. The method of operation for a casing handling system for oil and gas drilling as described in claim 4, characterized in that, Step S2 includes: S21, the pipe laying robot (1) and the drilling platform positioning robot (2) move synchronously from the standby position to the storage position of the target casing; S22, after the pipe laying robot (1) clamps the target casing, it rises to a position where the target casing is higher than the casing iron drill (5), and the drilling platform positioning robot (2) clamps the target casing in a pushing state; S23. The pipe laying manipulator (1) and the drilling platform positioning manipulator (2) move synchronously to move the target casing from the storage position to the wellhead position.

6. The method of operation for a casing handling system for oil and gas drilling as described in claim 5, characterized in that, Steps S21 and S22 can be performed simultaneously with step S1; step S23 needs to be performed after step S1.

7. The method of operation for a casing handling system for oil and gas drilling as described in claim 5, characterized in that, In step S23, the pipe-laying robot (1) clamps the upper part of the target casing, and the drilling platform positioning robot (2) pushes the lower part of the target casing.

8. The method of operation for a casing handling system for oil and gas drilling as described in claim 4, characterized in that, In step S3, after the pipe laying robot (1) and the drilling platform positioning robot (2) release the target casing, they move to the storage position of the next target casing to prepare for the next work cycle.

9. The method of operation for a casing handling system for oil and gas drilling as described in claim 8, characterized in that, After step S4, the stabilizer grabbing device (3) grabs the next casing stabilizer from the stabilizer storage rack (4) and places it in the stabilizer clamping mechanism; the pipe laying robot (1) and the drilling platform positioning robot (2) move the next target casing.

Images