A full-electric drive rig floor surface swing pipe mechanical arm

Abstract

The utility model discloses a kind of full electric drive rig floor surface swing pipe mechanical hands of drilling machine, including rig floor, trolley assembly, mechanical arm seat, mechanical arm and jaw assembly, the upper end of rig floor is equipped with walking track assembly;Trolley assembly is assembled on walking track assembly, mechanical arm seat is assembled on trolley assembly, mechanical arm is assembled on mechanical arm seat, jaw assembly is assembled on the driving end of mechanical arm;Jaw assembly includes the jaw seat of being installed in the driving end of mechanical arm, the upper end of jaw seat is equipped with jaw arm, the upper end front side of jaw arm is equipped with jaw telescopic oil cylinder, the driving end of jaw telescopic oil cylinder is equipped with connecting rod mechanism, the front end of connecting rod mechanism is equipped with camera;The drilling machine full electric drive rig floor surface swing pipe mechanical hand of the utility model adopts integrated machine, electricity, liquid integration, modular design, realizes the automatic handling between pipe column in stand area and wellhead, mouse hole, reduces manual labor intensity, improves operation safety, strengthens HSE supervision system, improves operation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of pipe-swinging manipulator technology, specifically a pipe-swinging manipulator for a drilling rig's all-electric-driven drilling platform. Background Technology

[0002] Currently, during the string-raising and lowering process in land drilling / workover rig operations, the placement of the string from the wellhead to the drilling rig area and back to the wellhead is done manually by 1-2 people. After the drill string is moved from the drilling platform, it needs to be manually moved to the wellhead for single-string drilling. The process of connecting the string single-string in small holes also requires manual operation. This results in low operational efficiency, high labor intensity for workers, and high risks, easily leading to safety accidents. Therefore, improvements to the existing technology are necessary. Utility Model Content

[0003] The purpose of this invention is to provide a fully electric-driven drilling platform manipulator for drilling rigs, addressing the problems mentioned in the background art, such as the need for manual transfer of the drill string from the site to the drilling platform for single-section drilling, and the manual operation required for connecting the single-section support column in small holes. These issues result in low work efficiency, high labor intensity for workers, and high risks, easily leading to safety accidents.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a fully electric drilling platform manipulator for drilling rigs, comprising a drilling platform, a trolley assembly, a manipulator arm base, a manipulator arm, and a gripper assembly, wherein a travel track assembly is mounted on the upper end of the drilling platform;

[0005] The trolley assembly is mounted on the walking track assembly, the robotic arm base is mounted on the trolley assembly, the robotic arm is mounted on the robotic arm base, and the gripper assembly is mounted on the drive end of the robotic arm.

[0006] The gripper assembly includes a gripper base mounted on the drive end of the robotic arm, a gripper arm mounted on the upper end of the gripper base, a gripper telescopic cylinder mounted on the front side of the upper end of the gripper arm, a linkage mechanism mounted on the drive end of the gripper telescopic cylinder, and a camera mounted on the front end of the linkage mechanism.

[0007] The upper rear side of the gripper arm is equipped with an upper roller, the side wall of the gripper arm is equipped with a side roller, the gripper arm is equipped with fingers, and the gripper arm is equipped with a proximity switch.

[0008] As a preferred embodiment of the fully electric drive drilling platform manipulator of this utility model, the manipulator includes a manipulator hinge seat mounted on a manipulator arm base. The hinge end of the manipulator hinge seat is equipped with a rear arm a, the end of the rear arm a is hinged with a rear arm b, the end of the rear arm b is hinged with a forearm a, and the end of the forearm a is hinged with a forearm b.

[0009] As a preferred embodiment of the fully electric-driven drilling platform manipulator of this utility model, the upper end of the manipulator base is equipped with a manipulator telescopic cylinder, and the drive end of the manipulator telescopic cylinder is connected to the forearm a.

[0010] As a preferred embodiment of the fully electric drilling platform manipulator of this utility model, the trolley assembly includes a trolley body mounted on a traveling track assembly, a rotary reducer of the trolley body, a rotary hydraulic rotary joint mounted on the drive end of the rotary reducer, a manipulator arm seat mounted on the hydraulic rotary joint, and traveling wheel rotation mechanisms mounted on both sides of the bottom end of the trolley body.

[0011] As a preferred embodiment of the fully electric drilling platform manipulator of this utility model, the traveling track assembly includes a base plate installed on the drilling platform. Three traveling tracks are mounted on the upper end of the base plate. Each of the three traveling tracks is equipped with a drag chain base plate. A drag chain is mounted on the drag chain base plate. A rack is mounted on the side wall of the drag chain. The drag chain and the rack cooperate with the traveling wheel rotation mechanism.

[0012] As a preferred embodiment of the fully electric drilling platform swing manipulator of this utility model, the inner walls of the three walking tracks are equipped with drag chain guards.

[0013] As a preferred embodiment of the fully electric drilling platform manipulator of this utility model, the upper end of the trolley body is equipped with a travel reducer, the drive end of the travel reducer is equipped with a travel motor, and the drive end of the rotary reducer is equipped with a rotary motor.

[0014] As a preferred embodiment of the fully electric drilling platform swing pipe manipulator of this utility model, the traveling motor is equipped with a traveling encoder, and the rotary motor is equipped with a rotary encoder.

[0015] Compared with the prior art, the beneficial effects of this utility model are: the design of the fully electric drive drilling platform swing pipe manipulator for drilling rigs is reasonable.

[0016] (1) By adopting an integrated mechanical, electrical and hydraulic modular design, the automatic transport of the tubing string between the wellhead and the rodent hole in the root zone is realized, which reduces the intensity of manual labor, improves the safety of operation, strengthens the HSE supervision system and improves the efficiency of operation.

[0017] (2) The robot can be operated in two modes: wireless remote control and driller's room integrated control. It can switch between any two modes. The explosion-proof cabinet and hydraulic valve group are integrated inside the equipment, which is convenient for later equipment maintenance. Attached Figure Description

[0018] Figure 1 This is a front-view three-dimensional structural schematic diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the walking track assembly and the trolley assembly of this utility model;

[0020] Figure 3 This is a schematic diagram of the robotic arm of this utility model;

[0021] Figure 4 This is a schematic diagram of the gripper assembly of this utility model.

[0022] In the diagram: 1. Drilling platform; 2. Robotic arm; 201 Forearm b; 202 Forearm a; 203 Rear arm a; 204 Rear arm b; 205 Robotic arm hinge; 3. Traveling track assembly; 301 Cable chain base plate; 302 Cable chain; 303 Traveling track; 304 Base plate; 305 Rack; 306 Cable chain guard plate; 4. Trolley assembly; 401 Trolley body; 402 Traveling wheel rotation mechanism; 40 3. Rotary reducer; 404. Travel reducer; 405. Travel motor; 406. Rotary motor; 407. Travel encoder; 408. Rotary encoder; 5. Gripper assembly; 501. Camera; 502. Gripper telescopic cylinder; 503. Gripper base; 504. Gripper arm; 505. Upper roller; 506. Side roller; 507. Fingers; 508. Linkage mechanism; 509. Proximity switch; 6. Robotic arm base. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figure 1-4 This utility model provides a technical solution:

[0025] In this technical solution, a fully electric-driven drilling platform manipulator for a drilling rig includes a drilling platform 1, a trolley assembly 4, a robotic arm base 6, a robotic arm 2, and a gripper assembly 5. A travel track assembly 3 is mounted on the upper end of the drilling platform 1; the trolley assembly 4 is mounted on the travel track assembly 3; the robotic arm base 6 is mounted on the trolley assembly 4; the robotic arm 2 is mounted on the robotic arm base 6; and the gripper assembly 5 is mounted on the drive end of the robotic arm 2. The gripper assembly 5 includes a gripper base 5 mounted on the drive end of the robotic arm 2. 03. The upper end of the gripper base 503 is equipped with a gripper arm 504. The front side of the upper end of the gripper arm 504 is equipped with a gripper telescopic cylinder 502. The drive end of the gripper telescopic cylinder 502 is equipped with a linkage mechanism 508. The front end of the linkage mechanism 508 is equipped with a camera 501. The rear side of the upper end of the gripper arm 504 is equipped with an upper roller 505. The side wall of the gripper arm 504 is equipped with a side roller 506. The gripper arm 504 is equipped with a finger 507. The gripper arm 504 is equipped with a proximity switch 509.

[0026] In this technical solution, the robotic arm's mechanical structure consists of six parts: a walking track assembly, a trolley assembly, a robotic arm, a robotic arm base, and grippers. The robotic arm base assembly comprises the robotic arm base and an explosion-proof electrical control cabinet. The robotic arm base is welded from steel plates, with box-beam structures on both sides, providing high strength and supporting the lateral forces of the robotic arm. The overall dimensions of the robotic arm base are 2041×440×600 mm. The bottom of the robotic arm base is connected to a rotary reducer, enabling forward and backward movement and left and right rotation. The explosion-proof electrical control cabinet is mounted on the back of the robotic arm base. The overall structure is compact, convenient for use and maintenance, and also includes a hydraulic valve assembly box. The hydraulic valve assembly box mainly consists of a hydraulic multi-way valve and a valve assembly body. The valve assembly body is mainly welded from rectangular and square tube structures to ensure strength. The hydraulic multi-way valve is installed on the top plate of the valve assembly box. The entire hydraulic valve assembly box is welded to the main body of the walking trolley, forming a single unit with the walking trolley. The overall dimensions of the hydraulic valve assembly box are 544×306×553 mm. The gripper assembly is mounted at the end of the forearm and mainly consists of gripper arms, gripper intermediate bodies, hydraulic cylinders, and a camera. When the hydraulic cylinder extends, the gripper arms grip the tubing string, controlling the manipulator's movement to position the tubing string to the target location. Afterward, the hydraulic cylinder retracts, the gripper releases the tubing string, the control arm retracts, and the gripper disengages from the tubing string. A camera is mounted above the gripper, transmitting the image to a display screen in the driller's cabin, allowing monitoring and operation of the gripper's opening and closing from within the driller's cabin. The system also includes a hydraulic system, which is the overall system for all hydraulic components in the manipulator. It mainly consists of a hydraulic power unit, hydraulic valve assembly, hydraulic actuators, and hydraulic pipelines. The hydraulic power unit is the power source for the hydraulic system, providing power to all hydraulic actuators. The manipulator's hydraulic power is provided by the integrated hydraulic power unit, eliminating the need for a separate hydraulic system. The hydraulic valve assembly is the motion control part of the hydraulic system, responsible for controlling the movements of all actuators within the entire system. The hydraulic valve group mainly consists of explosion-proof multi-way valves. The hydraulic actuators include hydraulic cylinders and hydraulic motors, which are responsible for controlling the functional actions of the corresponding mechanical body structures. The hydraulic pipelines include the pipelines between the hydraulic station and the hydraulic valve group, as well as the hydraulic pipelines in the mechanical body. The hydraulic pipelines are composed of stainless steel hydraulic hard pipes, rubber hoses, and connecting joints. Most of the hydraulic connecting joints are compression fittings to ensure good sealing and ease of maintenance. The electrical control system mainly consists of three parts: a high-reliability industrial-grade controller, an interactive control section, and a local detection / execution system. The control method adopts PLC + touch screen control, which is convenient and intuitive to operate.

[0027] The communication interfaces include Ethernet, CAN bus, and Profibus to meet different communication needs.

[0028] With an IP65 protection rating, it can withstand relatively harsh working environments.

[0029] The chucks are designed to handle pipe diameters ranging from 89 to 219 mm, meeting the needs of various drill pipe applications. The maximum clamping force of the chucks reaches 20 kN, ensuring stable gripping of the drill pipe.

[0030] The gripper has an opening angle of 0-90°, which can adapt to different working scenarios;

[0031] The system's working pressure is set to 20 MPa, which is a suitable working pressure value.

[0032] The hydraulic pump has a flow rate of 120L / min, which provides sufficient power.

[0033] The parameters of the robotic arm telescopic cylinder are: cylinder diameter 100mm, rod diameter 70mm, and stroke 1500mm.

[0034] The parameters of the gripper telescopic cylinder are: cylinder diameter 80mm, rod diameter 55mm, stroke 300mm;

[0035] The track spacing is 800mm, which is a reasonable value.

[0036] The base plate has 16 M24 mounting holes to ensure a stable installation.

[0037] The total weight of the equipment is approximately 8500kg, which is convenient for reference during transportation and installation.

[0038] In some technical solutions, the robotic arm 2 includes a robotic arm hinge seat 205 mounted on a robotic arm base 6. The hinge end of the robotic arm hinge seat 205 is equipped with a rear arm a203. The end of the rear arm a203 is hinged with a rear arm b204. The end of the rear arm b204 is hinged with a forearm a202. The end of the forearm a202 is hinged with a forearm b201. The upper end of the robotic arm base 6 is equipped with a robotic arm telescopic cylinder 206. The drive end of the robotic arm telescopic cylinder 206 is connected to the forearm a202.

[0039] In this technical solution, the forearm, rear arm, and hinge base are primarily constructed using a box-beam welded structure to ensure strength. The forearm and rear arm are mounted on mounting bases at the upper end of the robotic arm assembly. Driven by telescopic cylinders, the forearm and rear arm can extend and retract around the upper pivot pin. Position sensors within the telescopic cylinders record the rotation angle and speed, transmitting the signals to the controller. Through calculation and feedback, the distance and speed of the robotic arm's extension and retraction are controlled. Overall dimensions of the robotic arm;

[0040] The robotic arm has a maximum working radius of 3500mm, which can cover a large working area.

[0041] The vertical lifting range is 1200-3000mm, which can meet the operation needs of different heights.

[0042] The positioning accuracy is controlled within ±5mm, which ensures relatively precise operation.

[0043] The repeatability is ±3mm, ensuring consistency across multiple operations.

[0044] In some technical solutions, the trolley assembly 4 includes a trolley body 401 mounted on the walking track assembly 3, a rotary reducer 403 of the trolley body 401, a rotary hydraulic rotary joint 409 mounted on the drive end of the rotary reducer 403, a robotic arm seat 6 mounted on the hydraulic rotary joint 409, and a walking wheel rotation mechanism 402 mounted on both sides of the bottom end of the trolley body 401.

[0045] In this technical solution, the robot's trolley serves as the intermediate mechanism connecting the travel track and the robot arm base. The trolley assembly consists of several parts, including the trolley body, the traveling wheel rotation mechanism, the travel reducer, the travel motor, the rotary motor, the rotary reducer, and the rotary hydraulic rotary joint. The trolley body is welded from Q345D steel plates, and the overall dimensions of the trolley base are 900×558×219mm. The traveling wheel rotation mechanism is connected to the travel track and consists of an upper roller assembly, a lower roller assembly, and a side roller assembly. The roller assemblies are clamped on the travel track and can move back and forth along the track, while simultaneously enabling the trolley to turn and move on the L-shaped track. The small traveling wheel rotation mechanism needs to be flushed with water regularly to prevent oil from entering the rollers and causing them to move unevenly. The trolley's travel speed is set from 0-30m / min and is adjustable to adapt to different work requirements.

[0046] The cart has a rated load capacity of 5000kg and can carry relatively heavy objects.

[0047] It can rotate continuously at a 360° angle, enabling all-around operation.

[0048] The rotation speed is 0-5 r / min, which can be adjusted according to the actual situation.

[0049] In some technical solutions, the travel track assembly 3 includes a base plate 304 mounted on the drilling platform 1. The upper end of the base plate 304 is equipped with three travel tracks 303. Each of the three travel tracks 303 is equipped with a drag chain base plate 301. A drag chain 302 is mounted on the drag chain base plate 301. A rack 305 is mounted on the side wall of the drag chain 302. The drag chain 302 and the rack 305 are both engaged with the travel wheel rotation mechanism 402. The inner walls of the three travel tracks 303 are equipped with drag chain guard plates 306.

[0050] In this technical solution, the robotic arm's walking track is an L-shaped track, which mainly bears the weight of the overall structure and is the foundation for the smooth and reliable operation of the entire system. This structure is formed by welding steel plates, and the raw material used is Q345D. A rack is installed on top of the steel plate.

[0051] In some technical solutions, a travel reducer 404 is mounted on the upper end of the trolley body 401, a travel motor 405 is mounted on the drive end of the travel reducer 404, and a rotary motor 406 is mounted on the drive end of the rotary reducer 403; a travel encoder 407 is mounted on the travel motor 405, and a rotary encoder 408 is mounted on the rotary motor 406.

[0052] The robotic arm base is welded from Q345D steel plate and then annealed to eliminate welding stress and improve the stability of the component.

[0053] The track is made of Q345D steel plate welded together and the surface is quenched to achieve a hardness of HRC45-50, which improves the wear resistance of the track.

[0054] All steel components are hot-dip galvanized, with a zinc coating thickness of ≥80μm, to enhance their corrosion resistance.

[0055] The camera has a resolution of 1920×1080, providing clear images.

[0056] With a field of view of 120°, it can cover a large observation range.

[0057] With an IP67 protection rating, it can withstand harsh working environments;

[0058] The hydraulic system is equipped with a safety valve with an opening pressure of 22MPa to prevent the system pressure from becoming too high.

[0059] Each moving part is equipped with both mechanical and electrical limit protection to ensure that the equipment operates within a safe range.

[0060] It is equipped with three emergency stop buttons, which are installed on the control panel, robotic arm and electrical control cabinet respectively, so as to facilitate the quick stop of equipment operation in emergency situations.

[0061] Installation Process: Before installation, carefully inspect the hydraulic lines, hydraulic station (if optional), electrical control cabinet, and power cables of the robotic arm to check for any missing or damaged components during transportation. Also check for any parts that require lubrication before installation. First, determine the placement of the entire machine. For the initial installation, hoist the entire machine to the middle of the two support pillars. During hoisting, pay attention to safety and slowly hoist the entire machine to the designated position. Use a pry bar to fine-tune the placement of the machine, ensuring that the center line of the machine coincides with the center line of the wellhead. Finally, measure the distance between the travel track and the edges of the two support pillars to ensure consistency on both sides. Then, weld the base plate of the travel track firmly to the drill platform. The power source for the robotic arm is provided by the integrated hydraulic station. The hydraulic valve group is installed on the robotic arm trolley body, therefore, it is necessary to connect the hydraulic lines between the integrated hydraulic station and the hydraulic valve group. Therefore, connecting the hydraulic system of the robotic arm only requires connecting the inlet, outlet, and unloading ports of the valve assembly to the integrated hydraulic station. The connection between the valve assembly and each hydraulic actuator is completed during assembly. When connecting, pay attention to the labels on each pipeline. Connection can only be made if the labels of two connected pipelines match. Incorrect connection will cause equipment to malfunction, fail to operate, or cause other dangerous damage to the equipment. The robotic arm's electrical control cabinet is also installed inside the main body. Connecting the electrical control system only requires connecting the platform's power line, communication line, and camera cable to the electrical control cabinet. Other internal wiring connections are completed during assembly.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0063] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the features in the embodiments disclosed in this invention can be combined with each other in any way. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A fully electric-driven drilling platform manipulator for a drilling rig, comprising a drilling platform (1), a carriage assembly (4), a manipulator base (6), a manipulator arm (2), and a gripper assembly (5), characterized in that, The upper end of the drilling platform (1) is equipped with a travel track assembly (3); The trolley assembly (4) is mounted on the walking track assembly (3), the robotic arm base (6) is mounted on the trolley assembly (4), the robotic arm (2) is mounted on the robotic arm base (6), and the gripper assembly (5) is mounted on the drive end of the robotic arm (2). The gripper assembly (5) includes a gripper seat (503) mounted on the drive end of the robotic arm (2). A gripper arm (504) is mounted on the upper end of the gripper seat (503). A gripper telescopic cylinder (502) is mounted on the front side of the upper end of the gripper arm (504). A linkage mechanism (508) is mounted on the drive end of the gripper telescopic cylinder (502). A camera (501) is mounted on the front end of the linkage mechanism (508). The upper rear side of the gripper arm (504) is equipped with an upper roller (505), the side wall of the gripper arm (504) is equipped with a side roller (506), the gripper arm (504) is equipped with a finger (507), and the gripper arm (504) is equipped with a proximity switch (509).

2. The drilling rig's all-electric drive drilling platform manipulator according to claim 1, characterized in that, The robotic arm (2) includes a robotic arm hinge base (205) mounted on a robotic arm base (6). The hinge end of the robotic arm hinge base (205) is fitted with a rear arm a (203). The end of the rear arm a (203) is hinged with a rear arm b (204). The end of the rear arm b (204) is hinged with a forearm a (202). The end of the forearm a (202) is hinged with a forearm b (201).

3. The drilling rig's all-electric drive drilling platform manipulator according to claim 2, characterized in that, The upper end of the robotic arm base (6) is equipped with a robotic arm telescopic cylinder (206), and the drive end of the robotic arm telescopic cylinder (206) is connected to the forearm a (202).

4. The drilling rig's all-electric drive drilling platform manipulator according to claim 1, characterized in that, The trolley assembly (4) includes a trolley body (401) mounted on the walking track assembly (3), a rotary reducer (403) of the trolley body (401), a rotary hydraulic rotary joint (409) mounted on the drive end of the rotary reducer (403), a robotic arm seat (6) mounted on the hydraulic rotary joint (409), and a walking wheel rotation mechanism (402) mounted on both sides of the bottom end of the trolley body (401).

5. A drilling rig all-electric drive drilling platform manipulator according to claim 4, characterized in that, The travel track assembly (3) includes a base plate (304) mounted on the drilling platform (1). The upper end of the base plate (304) is equipped with three travel tracks (303). Each of the three travel tracks (303) is equipped with a drag chain base plate (301). A drag chain (302) is mounted on the drag chain base plate (301). A rack (305) is mounted on the side wall of the drag chain (302). The drag chain (302) and the rack (305) are both engaged with the travel wheel rotation mechanism (402).

6. The drilling rig's all-electric drive drilling platform manipulator according to claim 1, characterized in that, The inner walls of the three travel tracks (303) are fitted with drag chain guards (306).

7. A drilling rig all-electric drive drilling platform manipulator according to claim 4, characterized in that, The upper end of the trolley body (401) is equipped with a travel reducer (404), the drive end of the travel reducer (404) is equipped with a travel motor (405), and the drive end of the rotary reducer (403) is equipped with a rotary motor (406).

8. A drilling rig all-electric drive drilling platform manipulator according to claim 7, characterized in that, The walking motor (405) is equipped with a walking encoder (407), and the rotary motor (406) is equipped with a rotary encoder (408).

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