A pipe string suspension rig robot

Abstract

The present application belongs to the technical field of oil and gas drilling, and in particular relates to a pipe string suspension drilling platform robot. The pipe string suspension drilling platform robot comprises a track assembly, a trolley assembly movably arranged on the track assembly, a stand assembly rotatably arranged on the trolley assembly, a lifting mechanism movably arranged on the stand assembly in a vertical direction, an extension assembly arranged on the lifting mechanism, and a clamping jaw assembly arranged on the extension assembly.

Description

Technical Field

[0001] This invention belongs to the field of oil and gas drilling technology, specifically, it relates to a drill string suspension robot. Background Technology

[0002] Throughout the drilling process, tubing handling not only consumes a significant amount of drilling assistance 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.

[0003] Currently, in drilling field applications, the assistant driller needs to operate two devices, the second-level pipe-laying device and the drilling rig robot, respectively. The pipe string grabbing and the handover between the devices still require manual judgment and control. There is a lack of linkage control between the upper and lower robots, which leads to problems such as high labor intensity, high repetition frequency, high-altitude operation, and harsh working environment. Safety and environmental accidents occur from time to time.

[0004] Therefore, there is an urgent need to develop a method that can replace manual labor in the process of transferring tubing. Summary of the Invention

[0005] To address the technical problems described above, this invention aims to provide a drill string suspension robot that can replace manual labor in the process of transferring drill strings.

[0006] According to the present invention, a pipe string suspension drilling platform robot is provided, comprising:

[0007] Track components;

[0008] A trolley assembly that is mobilely mounted on the track assembly;

[0009] A column assembly that is rotatably mounted on the trolley assembly;

[0010] A lifting mechanism that is vertically movable and mounted on the column assembly;

[0011] Extension assembly mounted on the lifting mechanism;

[0012] A clamping clamp assembly is mounted on the extension assembly.

[0013] In one specific embodiment, the track assembly includes an interconnected working track and a clearance track, the clearance track including a straight track inclined to the working track and an arc track connecting the straight track and the working track.

[0014] In one specific embodiment, the vehicle assembly includes:

[0015] Transport trolley;

[0016] 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;

[0017] A drive unit for moving the transport trolley along the track assembly.

[0018] 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.

[0019] In one specific embodiment, the lifting mechanism includes:

[0020] 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;

[0021] A height-adjusting hydraulic cylinder, the two ends of which are respectively connected to the sliding trolley and the column assembly.

[0022] In one specific embodiment, the extension assembly includes:

[0023] Extend the middle seat;

[0024] 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.

[0025] The first luffing adjustment cylinder has one end hinged to the lifting mechanism and the other end hinged to the first support arm.

[0026] 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.

[0027] In one specific embodiment, the clamping assembly includes a clamping mechanism for clamping the tubing and a straightening mechanism for straightening the tubing.

[0028] In one specific embodiment, the clamping mechanism includes:

[0029] The gripper mount connected to the extension assembly;

[0030] Two gripping claws are symmetrically arranged on the gripper mounting component;

[0031] A clamping cylinder for driving the opening and closing of the gripper;

[0032] The gripper is equipped with gripping jaws and a sensor assembly.

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

[0034] Base;

[0035] Two movable, symmetrically arranged straightening grippers are mounted on the base.

[0036] 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;

[0037] A connecting rod is hinged between the slider and the straightening gripper;

[0038] A swivel bolt is provided on the base, the swivel bolt is connected to the slider, and the central axis of the swivel bolt is parallel to the direction of movement of the slider.

[0039] In one specific embodiment, a centering locking block for locking the tubing is hinged to the centering gripper, and a centering locking cylinder capable of driving the centering locking block is provided on the base.

[0040] Compared with the prior art, the advantages of this application are as follows.

[0041] This invention enables automatic gripping and straightening of the tubing string, replacing manual labor. When the second-level tubing rack removes the tubing string from the rack and moves it toward the wellhead, the tubing string suspension drilling platform robot provided by this invention can grip the bottom of the tubing string and work together with the second-level tubing rack to move the tubing string to the wellhead, ensuring stable movement of the tubing string. Attached Figure Description

[0042] The present invention will now be described with reference to the accompanying drawings.

[0043] Figure 1 A schematic diagram of an embodiment of a string-suspending drilling rig robot according to the present invention is shown.

[0044] Figure 2 A schematic diagram of an embodiment of the track assembly of a string-suspending drilling rig robot according to the present invention is shown.

[0045] Figure 3 A schematic diagram of an embodiment of a trolley assembly for a drill string suspension robot according to the present invention is shown.

[0046] Figure 4 A schematic diagram of an embodiment of the lifting mechanism and extension assembly of a string-suspending drilling rig robot according to the present invention is shown.

[0047] Figure 5 A schematic diagram of an embodiment of the clamping mechanism of the string-suspending drilling rig robot proposed according to the present invention is shown;

[0048] Figure 6 A schematic diagram of an embodiment of a straightening mechanism for a string-suspending drilling rig robot according to the present invention is shown.

[0049] Figure 7 Showing Figure 6 A diagram of the back side.

[0050] The reference numerals in the figure are as follows:

[0051] 1. Track assembly; 11. Working track; 12. Clearance track; 121. Curved track; 122. Straight track;

[0052] 2. Carriage assembly; 21. Transport carriage; 211. Support leg; 212. Driver; 213. First roller; 22. Slewing bearing;

[0053] 3. Lifting mechanism; 31. Sliding trolley; 32. Height adjusting cylinder; 33. Second roller;

[0054] 4. Column assembly;

[0055] 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;

[0056] 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;

[0057] 100. Pipeline suspension drilling platform robot.

[0058] 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

[0059] The invention will now be described with reference to the accompanying drawings.

[0060] 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 1 In other words, they are not used to define the absolute position of the components involved, but can vary depending on the specific circumstances.

[0061] Figure 1The structure of a string-suspending drilling robot 100 according to the present invention is shown. Figure 1 As shown, the pipe column suspension drilling 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 clamping clamp assembly 6.

[0062] 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.

[0063] When it is necessary to move the tubing string from the wellhead into the stand-up box of the pipe rack, the trolley assembly 2 automatically positions itself at the wellhead on the track assembly 1. The extension assembly 5 drives the clamping clamp assembly 6 to extend. The clamping mechanism 61 of the clamping clamp assembly 6 clamps the lower part of the tubing string (or the straightening mechanism 62 of the clamping clamp assembly 6 straightens the tubing string). At the same time, the second-level pipe rack clamps the upper part of the tubing string. After the lifting mechanism 3 is raised to a suitable height, the tubing string is raised away from the wellhead. The trolley assembly 2 moves on the track assembly 1 to the target position of the stand-up box. The second-level pipe rack moves in coordination and finally sends the tubing string into the stand-up box.

[0064] In a specific embodiment, such as Figure 2 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 drill platform along a route from the pipe rack to the wellhead. The clearance track 12 includes a straight track 122 inclined to the working track 11 and an arc-shaped 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 second-level pipe rack device clamps the top of the tubing string. Then, the trolley assembly 2 moves along the working track 11, simultaneously moving the second-level pipe rack device. Together, the trolley assembly 2 and the second-level pipe rack device move the tubing string from the pipe rack to the wellhead, allowing for smoother movement of the tubing string and replacing manual labor, reducing operational risks. When not in operation, the trolley assembly 2 moves into the straight track 122 of the clearance track 12, thus avoiding interference with other drill platform tools on the drill platform.

[0065] In a specific embodiment, such as Figure 3 As 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 adapting 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.

[0066] A driver 212 is provided on one or more of the support legs 211 of the trolley assembly 2. The driver 212 drives the trolley assembly 2 to move along the track assembly 1 through a rack (not shown) and gear (not shown). Specifically, a rack is provided on the track assembly 1, and a gear is rotatably provided on the support leg 211 of the trolley assembly 2, meshing with the rack of the track assembly 1. The driver 212 is driven by the gear. With this configuration, after the driver 212 is activated, it drives the gear to rotate, and the meshing action of the gear and rack causes the trolley assembly 2 to move along the track assembly 1.

[0067] 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.

[0068] 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.

[0069] In a specific embodiment, such as Figure 4 As shown, the lifting mechanism 3 mainly includes a sliding trolley 31 and a height adjusting cylinder 32.

[0070] 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.

[0071] In a specific embodiment, such as Figure 4As 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, and a first amplitude adjustment cylinder 53.

[0072] The first arm 511 and the second arm 512 are arranged parallel to each other, with their ends hinged to the sliding trolley 31 of the lifting mechanism 3 and the extension intermediate seat 52, respectively. One end of the first luffing adjustment cylinder 53 is hinged to the lifting mechanism 3, and the other end is hinged to the first arm 511. 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.

[0073] The third arm 513 and the fourth arm 514 are arranged parallel to each other, and their two ends are hinged to the clamping clamp assembly 6 and the extension intermediate seat 52, respectively. The extension intermediate seat 52 is equipped with a multi-link mechanism that enables the third arm 513 and the fourth arm 514 to be linked with the first arm 511 and the second arm 512. The specific structure of the multi-link mechanism in the extension intermediate seat 52 is well known to those skilled in the art and will not be described in detail here.

[0074] 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.

[0075] like Figure 5 As shown, the clamping mechanism 61 mainly includes a gripper mounting part 611, a gripper gripper 612, and a clamping cylinder 613.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In a specific embodiment, such as Figure 6 and Figure 7 As 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] According to the present invention, when the power catwalk delivers drill rods to the drilling platform, the drill string suspension robot 100 moves to the avoidance track 12 under the action of the trolley assembly 2 to avoid the working area.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] After the clamping mechanism 61 clamps the lower part of the pipe column, the second-floor pipe arrangement device clamps the upper part of the pipe column. The clamping mechanism 61 and the second-floor pipe arrangement device move together to move the pipe column to the required position.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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. A drill string suspension robot, characterized in that, include: Track assembly (1); A trolley assembly (2) is movable and 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).

2. The pipe string suspension drilling platform robot according to claim 1, characterized in that, The track assembly (1) includes an interconnected working track (11) and a clearance track (12), the clearance track (12) including 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).

3. The pipe string suspension drilling platform robot according to claim 2, 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) for driving the transport trolley (21) to move along the track assembly (1).

4. The pipe string suspension drilling platform robot according to claim 3, 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).

5. The pipe string suspension drilling platform robot according to claim 1, 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.

6. The pipe string suspension drilling platform robot according to claim 1, 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). The third arm (513) and the fourth arm (514) are arranged in parallel, and the two ends of the third arm (513) and the fourth arm (514) are respectively hinged to the clamping clamp assembly (6) and the extension intermediate seat (52).

7. The pipe string suspension drilling platform robot according to claim 1, 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.

8. The drill string suspension robot according to claim 7, characterized in that, The clamping mechanism (61) includes: The gripper mount (611) is 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).

9. The pipe string suspension drilling platform robot 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), and the central axis of the swivel bolt (627) is parallel to the moving direction of the slider (625).

10. The pipe string suspension drilling platform robot according to claim 9, characterized in that, A locking block (624) for locking the tube column 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).

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