Casing centralizer grabbing robot

Abstract

The utility model relates to a grabbing robot for a casing centralizer. The grabbing robot comprises a movable base, a multi-degree-of-freedom mechanical arm and a clamping jaw assembly. The movable base can be movably mounted on the drill floor surface, and the multi-degree-of-freedom mechanical arm is mounted on the movable base; the clamping jaw assembly comprises a support, a driver, a transmission assembly and a plurality of jaw arms. The support is installed at the free end of the multi-degree-of-freedom mechanical arm, the driver is installed on the support, the transmission assembly is installed on the support, and the driver is in transmission connection with the claw arms through the transmission assembly so as to drive the claw arms to rotate and stretch in the vertical plane to grab the casing centralizer. Or the casing centralizer is closed and released. The device has the beneficial effects that the whole operation process is smooth and safe, the mechanization degree is high, the labor intensity of workers is reduced, and the operation efficiency and the safety are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of oil and gas drilling, in particular to a casing centralizer grabbing robot. Background Art

[0002] Among the requirements for oil and gas drilling, cementing is an extremely important part of the oil exploration and development system engineering. The quality of cementing is not only related to the speed and cost of drilling, but also affects the smooth production and life of oil and gas wells, and even the recovery rate of oil and gas reservoirs. Casing is an important tool for cementing. It is used to support the well wall of oil and gas wells, reinforce the well wall to prevent collapse, so as to ensure the normal operation of the entire oil well during the drilling process and after completion. Casing centering is an important prerequisite for ensuring cementing quality. If the casing centering is poor, it will cause many problems in cementing construction and seriously affect the cementing quality. The function of the casing centralizer is to center the casing in the wellbore, to ensure that the cement slurry is evenly solidified in the annular space formed by the casing and the well wall during cementing, thereby improving the cementing quality.

[0003] At present, with the improvement of the mechanization level of oil drilling operations, various mechanized drilling tool operating equipment (such as top drive, iron roughneck, automatic pipe laying machine, drilling floor manipulator, etc.) are being used more and more widely. However, the traditional casing centralizer transportation and installation still need to be completed by the workers on the drilling floor, which is not only labor-intensive and inefficient, but also has safety hazards during the operation.

[0004] Therefore, there is an urgent need for a casing centralizer grabbing robot with high safety and high operating efficiency. Utility Model Content

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the utility model provides a casing centralizer grabbing robot, which solves the technical problems of the prior art in which manual handling and installation of casing centralizers result in low operating efficiency and potential safety hazards.

[0007] (II) Technical solution

[0008] In order to achieve the above-mentioned purpose, the main technical solutions adopted by the utility model include:

[0009] The utility model provides a casing straightener grasping robot, comprising a mobile base, a multi-degree-of-freedom mechanical arm and a clamping claw assembly; the mobile base can be movably installed on a drilling table, and the multi-degree-of-freedom mechanical arm is installed on the mobile base; the clamping claw assembly comprises a support, a driver, a transmission component and a plurality of claw arms; the support is installed on the free end of the multi-degree-of-freedom mechanical arm, the driver is installed on the support, and the transmission component is installed on the support, and the driver is connected to a plurality of the claw arms through the transmission component to drive the plurality of the claw arms to rotate in a vertical plane to open and grasp the casing straightener, or to close and release the casing straightener.

[0010] Optionally, the transmission assembly includes a transmission joint and multiple groups of connecting rod assemblies; the multiple groups of connecting rod assemblies are rotatably mounted on the bottom of the support, the driver is connected to the transmission joint, and the transmission joint is rotatably connected to the multiple claw arms through the multiple groups of connecting rod assemblies in a one-to-one correspondence.

[0011] Optionally, the connecting rod assembly includes two rocker arms and a push rod; one end of the two rocker arms is rotatably connected to the bottom of the support, the other end of the two rocker arms is rotatably connected to the claw arm, and the transmission joint is connected to the inner rocker arm through the push rod; the driver can drive the transmission joint to move up and down, and the transmission joint can drive the rocker arm to rotate in a vertical plane through the push rod, thereby realizing the opening and closing of the claw arm.

[0012] Optionally, the transmission joint has a plurality of connecting pin holes, and the plurality of connecting pin holes are rotatably connected to a plurality of push rods of a plurality of groups of the connecting rod assemblies.

[0013] Optionally, a plurality of transverse limiting grooves are provided on the outer side of the claw arm, and the plurality of limiting grooves are evenly distributed along the length direction of the claw arm; and the end of the claw arm has an outward convex portion.

[0014] Optionally, the driver is mounted on the top of the support, the transmission assembly is mounted on the bottom of the support, and a transmission rod of the driver passes through the support from top to bottom and is connected to the transmission assembly.

[0015] Optionally, a quick-change mounting piece is provided on one side of the support, and the support is mounted on the free end of the multi-degree-of-freedom robotic arm through the quick-change mounting piece.

[0016] Optionally, a shield for protecting the driver is also provided on the top of the support.

[0017] Optionally, the multi-degree-of-freedom robotic arm is a six-degree-of-freedom robotic arm.

[0018] (III) Beneficial effects

[0019] The beneficial effects of the utility model are:

[0020] The utility model provides a casing straightener grabbing robot. According to the position of the casing straightener on the drilling table, the claw assembly can be driven to the target position by the mobile base and the multi-degree-of-freedom mechanical arm. The claw assembly is driven by the multi-degree-of-freedom mechanical arm to extend from top to bottom into the casing straightener. The driver drives multiple claw arms to open through the transmission component. The multiple claw arms extend outward from the inside of the casing straightener to achieve grabbing. Then, the casing straightener is driven to move to the installation position for installation by the mobile base and the multi-degree-of-freedom mechanical arm. Compared with the prior art, the casing straightener can be grabbed by the claw assembly, and the casing straightener can be transported by the mobile base and the multi-degree-of-freedom mechanical arm. The entire operation process is smooth and safe, with a high degree of mechanization, which reduces the labor intensity of workers, and greatly improves the operation efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of a casing centralizer grabbing robot in a specific embodiment of the utility model;

[0022] Figure 2 It is a structural schematic diagram of a clamping jaw assembly in a specific embodiment of the utility model;

[0023] Figure 3 It is a front view schematic diagram of the clamping jaw assembly in a specific embodiment of the utility model;

[0024] Figure 4 It is a structural schematic diagram of a transmission joint in a specific implementation manner of the utility model;

[0025] Figure 5 It is a schematic structural diagram of the claw arm in a specific implementation manner of the utility model.

[0026] [Description of Reference Numerals]

[0027] 1: Mobile base;

[0028] 2: Multi-degree-of-freedom robotic arm;

[0029] 31: support; 32: driver; 33: claw arm; 34: transmission joint; 35: rocker arm; 36: push rod; 37: limit slot; 38: quick-change mounting part; 39: protective cover. DETAILED DESCRIPTION

[0030] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0031] like Figure 1-Figure 3 As shown, this embodiment provides a casing straightener grasping robot, including a mobile base 1, a multi-degree-of-freedom mechanical arm 2 and a gripper assembly; the mobile base 1 can be movably mounted on the drilling table, and the multi-degree-of-freedom mechanical arm 2 is mounted on the mobile base 1; the gripper assembly includes a support 31, a driver 32, a transmission assembly and a plurality of claw arms 33; the support 31 is mounted on the free end of the multi-degree-of-freedom mechanical arm 2, and a quick-change mounting part 38 is provided on one side of the support 31, and the support 31 is mounted on the free end of the multi-degree-of-freedom mechanical arm 2 through the quick-change mounting part 38, and the support 31 can be quickly installed and disassembled through the quick-change mounting part 38; the driver 32 is mounted on the support 31, and the transmission assembly is mounted on the support 31, and the driver 32 is connected to the plurality of claw arms 33 through the transmission assembly to drive the plurality of claw arms 33 to rotate in a vertical plane to open and grasp the casing straightener, or to close and release the casing straightener. In this specific embodiment, the driver 32 is a cylinder, and the multi-degree-of-freedom mechanical arm 2 is a six-axis mechanical arm.

[0032] Specifically, according to the position of the casing straightener on the drilling table, the claw assembly can be driven to the target position by the mobile base 1 and the multi-degree-of-freedom mechanical arm 2, and the claw assembly is driven by the multi-degree-of-freedom mechanical arm 2 to extend from top to bottom into the casing straightener. The driver 32 drives the multiple claw arms 33 to open through the transmission assembly, and the multiple claw arms 33 extend outward from the inside of the casing straightener to achieve grasping, and then the casing straightener is driven to move to the installation position for installation by the mobile base 1 and the multi-degree-of-freedom mechanical arm 2. Compared with the prior art, it can grasp the casing straightener through the claw assembly, and can realize the transportation of the casing straightener through the mobile base 1 and the multi-degree-of-freedom mechanical arm 2. The whole operation process is smooth and safe, with a high degree of mechanization, reducing the labor intensity of workers, and greatly improving the operation efficiency and safety.

[0033] Furthermore, if Figure 2-Figure 4As shown, the transmission assembly includes a transmission joint 34 and multiple groups of connecting rod assemblies; the multiple groups of connecting rod assemblies are rotatably installed at the bottom of the support 31, the driver 32 is connected to the transmission joint 34, and the transmission joint 34 is rotatably connected to multiple claw arms 33 through the multiple groups of connecting rod assemblies. Specifically, the connecting rod assembly includes two swing rods 35 and a push rod 36; one end of the two swing rods 35 is rotatably connected to the bottom of the support 31, and the other end of the two swing rods 35 is rotatably connected to the claw arm 33, and the transmission joint 34 is connected to the inner swing rod 35 through the push rod 36; the driver 32 can drive the transmission joint 34 to move up and down, and the transmission joint 34 can drive the swing rod 35 to rotate in a vertical plane through the push rod 36, thereby realizing the opening and closing of the claw arm 33. The transmission joint 34 has multiple connecting pin holes, which are rotatably connected to multiple push rods 36 of multiple groups of connecting rod assemblies. In this specific embodiment, there are three claw arms 33, correspondingly there are three groups of connecting rod assemblies, and the transmission joint 34 has three connecting pin holes.

[0034] Furthermore, if Figure 2 and Figure 3 As shown, the driver 32 is mounted on the top of the support 31, the transmission assembly is mounted on the bottom of the support 31, and the transmission rod of the driver 32 passes through the support 31 from top to bottom and is connected to the transmission assembly. A shield 39 for protecting the driver 32 is also provided on the top of the support 31.

[0035] Furthermore, if Figure 5 As shown, the outer side of the claw arm 33 is provided with a plurality of transverse limit grooves 37, and the plurality of limit grooves 37 are evenly distributed along the length direction of the claw arm 33; the end of the claw arm 33 has an outward convex portion to prevent the casing centralizer from falling off. When grabbing the casing centralizer, the claw arm 33 rotates in a vertical plane until the limit groove 37 on its outer side abuts against the casing centralizer.

[0036] The use of a casing straightener grabbing robot provided in this specific embodiment is that, according to the storage position of the casing straightener, the clamping claw assembly is driven to move to the storage position by the mobile base 1 and the multi-degree-of-freedom robot arm 2, and the clamping claw assembly is driven by the multi-degree-of-freedom robot arm 2 to extend from the top of the casing straightener into the interior thereof, the transmission end of the driver 32 extends out, driving the transmission joint 34 to move downward, and the transmission joint 34 pushes the rocker bar 35 to rotate in the vertical plane through the push rod 36, thereby driving the claw arm 33 to rotate and open in the vertical plane to extend outward from the interior of the casing straightener, and when fully opened, the limit groove 37 on the outer side of the claw arm 33 abuts against the casing straightener; according to the installation position of the casing straightener, the casing straightener is driven to move to the installation position for installation by the mobile base 1 and the multi-degree-of-freedom robot arm 2.

[0037] In the description of the present utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present utility model, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0040] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0041] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A casing centralizer grabbing robot, characterized in that: It comprises a mobile base (1), a multi-degree-of-freedom mechanical arm (2) and a gripper assembly; The mobile base (1) can be movably mounted on a drilling table, and the multi-degree-of-freedom mechanical arm (2) is mounted on the mobile base (1); The clamping claw assembly comprises a support (31), a driver (32), a transmission component and a plurality of clamping claw arms (33); The support (31) is installed on the free end of the multi-degree-of-freedom mechanical arm (2), the driver (32) is installed on the support (31), and the transmission assembly is installed on the support (31). The driver (32) is connected to the plurality of claw arms (33) through the transmission assembly to drive the plurality of claw arms (33) to rotate in a vertical plane to open and grasp the casing centralizer, or to close and release the casing centralizer.

2. The casing centralizer grabbing robot according to claim 1, characterized in that: The transmission assembly comprises a transmission joint (34) and a plurality of connecting rod assemblies; A plurality of groups of connecting rod assemblies are rotatably mounted on the bottom of the support (31); the driver (32) is connected to the transmission joint (34); and the transmission joint (34) is rotatably connected to a plurality of claw arms (33) in a one-to-one correspondence through the plurality of groups of connecting rod assemblies.

3. The casing centralizer grabbing robot according to claim 2, characterized in that: The connecting rod assembly comprises two rocker rods (35) and a push rod (36); One end of the two swing rods (35) is rotatably connected to the bottom of the support (31), and the other end of the two swing rods (35) is rotatably connected to the claw arm (33), and the transmission joint (34) is connected to the inner swing rod (35) through the push rod (36); The driver (32) can drive the transmission joint (34) to move up and down, and the transmission joint (34) can drive the swing rod (35) to rotate in a vertical plane via the push rod (36), thereby realizing the opening and closing of the claw arm (33).

4. The casing centralizer grabbing robot according to claim 3, characterized in that: The transmission joint (34) has a plurality of connecting pin holes, and the plurality of connecting pin holes are rotatably connected to a plurality of push rods (36) of a plurality of groups of connecting rod assemblies.

5. The casing centralizer grabbing robot according to claim 1, characterized in that: The outer side of the claw arm (33) is provided with a plurality of transverse limiting grooves (37), and the plurality of limiting grooves (37) are evenly distributed along the length direction of the claw arm (33); and the end of the claw arm (33) has an outward convex portion.

6. The casing centralizer grabbing robot according to claim 1, characterized in that: The driver (32) is installed on the top of the support (31), the transmission assembly is installed on the bottom of the support (31), and the transmission rod of the driver (32) passes through the support (31) from top to bottom and is connected to the transmission assembly.

7. The casing centralizer grabbing robot according to claim 1, characterized in that: A quick-change mounting component (38) is provided on one side of the support (31), and the support (31) is mounted on the free end of the multi-degree-of-freedom mechanical arm (2) via the quick-change mounting component (38).

8. The casing centralizer grabbing robot according to claim 1, characterized in that: A shield (39) for protecting the driver (32) is also provided on the top of the support (31).

9. The casing centralizer grabbing robot according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm (2) is a six-degree-of-freedom robotic arm.

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