A drilling platform pipe string alignment and centering device

Abstract

This utility model discloses a drill string straightening and centering device, relating to the field of drill string straightening, comprising: a platform; a slip guide device installed on the top of the platform; a track sliding device with a track trolley installed on the top of the platform; a load-bearing lifting device fixedly installed on the top of the track trolley and sliding along the track sliding device under the drive of the track trolley; a robotic arm assembly installed on the load-bearing lifting device; and a gripping device installed on the robotic arm assembly for gripping the drill string. This utility model improves construction safety, enables unmanned wellhead operation, avoids the safety risks associated with traditional well workover operations, and also has good environmental adaptability and reliability, reduces maintenance costs, and provides faster response speed for drill string transportation compared to traditional transportation, increasing well workover efficiency.

Description

Technical Field

[0001] This utility model relates to the field of tubing straightening technology, and in particular to a tubing straightening and centering device for a drilling platform. Background Technology

[0002] In oil drilling operations, the straightening and alignment of the tubing string on the drill table is a crucial step, directly impacting drilling efficiency and operational safety. Traditional tubing string straightening and alignment operations rely heavily on manual labor, which is not only physically demanding but also lacks precision, posing significant safety hazards. With the continuous development of drilling technology, the requirements for automation, intelligence, and precision in tubing string straightening and alignment devices are becoming increasingly string-high.

[0003] During well workover operations, the tubing string is typically aligned manually. This method is labor-intensive, inefficient in alignment, and carries certain risks. Utility Model Content

[0004] This invention provides a drilling platform tubing alignment and centering device to solve the problems of manual tubing alignment and centering during well workover operations, which is labor-intensive, inefficient, and potentially dangerous.

[0005] The technical problem solved by this utility model is achieved by the following technical solution:

[0006] A drill string alignment and centering device for a drilling platform includes:

[0007] platform;

[0008] The guide device is installed on top of the platform;

[0009] A track sliding device is provided for the track trolley, and the track sliding device is installed on the top of the platform;

[0010] The load-bearing lifting device is fixedly installed on the top of the rail trolley and slides along the rail sliding device under the drive of the rail trolley;

[0011] Robotic arm assembly, which is mounted on a load-bearing lifting device;

[0012] The gripping device, mounted on the robotic arm assembly, is used to grip the tubular column.

[0013] Optionally, the slip guide device includes:

[0014] The slip seat is bolted to the top of the platform and located at the wellhead;

[0015] The slip assembly is installed inside the slip seat;

[0016] The slip hydraulic cylinder is mounted on the slip seat and drives the slip assembly to move through the slip transmission mechanism during extension and retraction.

[0017] The guide cone is mounted on the slip seat and rotates under the drive of the guide cone hydraulic cylinder.

[0018] Optionally, the kava component includes:

[0019] The slip plate is installed inside the slip seat;

[0020] The chuck lever is mounted on the chuck plates and moves up and down under the drive of the chuck transmission mechanism.

[0021] Optionally, the slip transmission mechanism consists of two connecting arms that are pinned together, with the two connecting arms pinned to the slip lifting rod and the slip hydraulic cylinder, respectively.

[0022] Optionally, the track sliding device includes:

[0023] The guide rails are bolted to the platform, and every two adjacent guide rails are fixed together by a rail connector.

[0024] Optionally, the track trolley includes:

[0025] The main body of the trolley is movably mounted on the track sliding device, and a power drive device for driving the trolley body to move is provided between the main body of the trolley and the track sliding device.

[0026] The load wheel is mounted on the main body of the trolley and is engaged with the sliding device along the track;

[0027] The centering wheel bracket is mounted on the main body of the trolley.

[0028] The centering wheel is rotatably mounted on the centering wheel bracket and contacts the track sliding device.

[0029] Optionally, the power drive device includes:

[0030] The first drive gear is mounted on the main body of the vehicle and is driven by a motor;

[0031] A rack is fixedly mounted on the track sliding device and meshes with the first drive gear.

[0032] Optionally, the load-bearing lifting device includes:

[0033] A base with a dovetail groove is rotatably mounted on the top of the trolley body;

[0034] The driven gear is fixedly mounted on the bottom of the base;

[0035] The second drive gear is mounted on the main body of the trolley and drives the driven gear to rotate under the drive of the motor;

[0036] The first hydraulic cylinder is fixedly installed inside the dovetail groove by bolts;

[0037] Connector 1 is fixedly installed on the first hydraulic cylinder.

[0038] Optionally, the robotic arm assembly includes:

[0039] The front frame slides up and down along the dovetail groove under the drive of the first hydraulic cylinder;

[0040] The midframe is connected to the front frame by pins, and the forearm and forearm auxiliary arm are connected to it.

[0041] A second hydraulic cylinder is installed between the front frame and the middle frame to drive the middle frame to slide.

[0042] The rear frame is pin-connected to the center frame by a rear arm and a rear arm auxiliary arm.

[0043] The rear arm and the forearm are connected by a connecting rod pin.

[0044] Optionally, the gripping device includes:

[0045] The robotic arm connecting plate is fixedly installed on the load-bearing lifting device;

[0046] The robotic arm base, which consists of several units, is mounted on the robotic arm connection plate;

[0047] The gripper connector is mounted on the robot arm base;

[0048] A claw, which is installed at the end of the claw connector;

[0049] The third hydraulic cylinder is mounted on the robot arm base;

[0050] Connector 2 is fixedly installed on the third hydraulic cylinder, and driven by the third hydraulic cylinder, it drives the gripper connector to rotate through the transmission plate.

[0051] The beneficial effects of this utility model are:

[0052] This device improves construction safety, enables unmanned operation at the wellhead, avoids the safety risks associated with traditional well repair worker operations, and also has good environmental adaptability and reliability, while reducing maintenance costs.

[0053] Compared to traditional transportation, tubing transport offers a faster response time and increases well workover efficiency.

[0054] The double parallelogram mechanism formed by the forearm and forearm auxiliary arm, and the rear arm and rear arm auxiliary arm of the robotic arm assembly ensures that the column remains vertical at all times, achieving the function of column alignment and facilitating quick and easy fastening without damaging the fasteners. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of the structure of this utility model;

[0057] Figure 2 This utility model Figure 1 Enlarged schematic diagram of the structure at point A in the middle;

[0058] Figure 3 This is a schematic diagram of the guide device for the slips of this utility model;

[0059] Figure 4 This is a schematic diagram of the gripping device of this utility model;

[0060] Figure 5 This is a schematic diagram of the track trolley structure of this utility model;

[0061] Figure 6 This is a schematic diagram of the structure of the load-bearing lifting device of this utility model;

[0062] Figure 7 This is a schematic diagram of the robotic arm assembly structure of this utility model.

[0063] In the diagram: 100, Platform;

[0064] 200. Slip guide device; 210. Slip seat; 220. Slip assembly; 221. Slip piece; 222. Slip lifting rod; 230. Slip hydraulic cylinder; 240. Slip transmission mechanism; 250. Guide cone; 260. Guide cone hydraulic cylinder;

[0065] 300. Track trolley; 310. Trolley body; 320. Power drive device; 321. First drive gear; 322. Rack; 330. Straightening wheel bracket; 340. Straightening wheel; 350. Load wheel;

[0066] 400. Track sliding device; 410. Guide rail; 420. Track connector;

[0067] 500. Load-bearing lifting device; 510. Base; 511. Dovetail groove; 520. Driven gear; 530. Second drive gear; 540. First hydraulic cylinder; 550. Connecting part one;

[0068] 600. Robotic arm assembly; 610. Front frame; 620. Middle frame; 630. Forearm; 640. Forearm auxiliary arm; 650. Second hydraulic cylinder; 660. Rear frame; 670. Rear arm; 680. Rear arm auxiliary arm; 690. Linkage pin;

[0069] 700. Gripping device; 710. Robot arm connecting plate; 720. Robot arm base; 730. Hand gripper connector; 740. Claw hand; 750. Third hydraulic cylinder; 760. Connector two; 770. Transmission plate. Detailed Implementation

[0070] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below with reference to specific illustrations.

[0071] Reference Figure 1-7 The drill string alignment and centering device shown includes:

[0072] Platform 100 provides stable support for the entire system;

[0073] The slip guide device 200 is installed on top of the platform 100 to ensure the precise alignment and operation of the slips and to ensure that the string remains centered during the lifting and lowering process.

[0074] The track trolley 300 is equipped with a track sliding device 400, which is installed on the top of the platform 100. The track is smooth and durable, ensuring that the track trolley 300 moves smoothly.

[0075] The load-bearing lifting device 500 is fixedly installed on the top of the rail trolley 300 and slides along the rail sliding device 400 under the drive of the rail trolley 300. It has a strong lifting capacity and can safely lift and lower heavy objects.

[0076] In this embodiment, the load-bearing lifting device 500 can adopt the cooperation of threaded rod and threaded sleeve in the prior art, so that the threaded rod drives the robotic arm assembly 600 to lift and adjust the height during the start-up process. Similarly, the load-bearing lifting device 500 can also adopt the structure described below to realize the lifting and adjusting of the robotic arm assembly 600.

[0077] The robotic arm assembly 600 is mounted on the load-bearing lifting device 500 and is flexibly adjustable to adapt to different height requirements. In this embodiment, the robotic arm assembly 600 can be implemented using various existing technologies such as linear motors, hydraulic rods, or electric push rods.

[0078] The gripping device 700, which is mounted on the robotic arm assembly 600, is used to grip the tubing. It is precisely designed, easy to operate, and ensures the safe gripping and release of the tubing.

[0079] The working principle of this embodiment is as follows:

[0080] In use, the tube is passed downward through the clamping guide device 200 and activated to clamp the tube. Then, the drive structure on the track trolley 300 is activated according to the clamping position, causing the track trolley 300 to move along the track sliding device 400 under the action of the drive structure. During the movement, the load lifting device 500, the robotic arm assembly 600, and the gripping device 700 slide around the clamping guide device 200 as the center. Then, the load lifting device 500 is activated according to the clamping position to adjust the height of the gripping device 700. Then, the robotic arm assembly 600 is activated to bring the gripping device 700 closer to the tube, so that the gripping device 700 clamps and fixes the tube.

[0081] This device improves construction safety, enables unmanned operation at the wellhead, avoids the safety risks associated with traditional well repair worker operations, and also has good environmental adaptability and reliability, while reducing maintenance costs.

[0082] Compared to traditional transportation, tubing transport offers a faster response time and increases well workover efficiency.

[0083] By setting the slip guide device 200, the tubing string can be precisely guided and aligned, and reliable clamping of the tubing string can be achieved, further improving the guiding accuracy of the tubing string entering the wellhead and ensuring the accuracy of tubing string alignment and centering.

[0084] In some embodiments of this utility model, reference is made to Figure 3 As shown, the guide device 200 includes:

[0085] The slip seat 210 is bolted to the top of the platform 100 and located at the wellhead to ensure stability and alignment;

[0086] The slip assembly 220, which is installed inside the slip seat 210, is able to firmly grip the drill pipe or casing;

[0087] The slip hydraulic cylinder 230 is mounted on the slip seat 210 and drives the slip assembly 220 to move through the slip transmission mechanism 240 during extension and retraction, thereby achieving the clamping and release of the drill rod or casing;

[0088] The guide cone 250 is mounted on the slip seat 210 and rotates under the drive of the guide cone hydraulic cylinder 260, guiding the drill rod or casing to accurately enter the working position of the slip assembly 220.

[0089] The slip guide device 200 enables precise guidance and alignment of the tubing string. The slip assembly 220, under the action of the slip hydraulic cylinder 230 and the slip transmission mechanism 240, can reliably clamp the tubing string. The guide cone 250 rotates under the drive of the guide cone hydraulic cylinder 260, further improving the guiding accuracy of the tubing string entering the wellhead and ensuring the accuracy of tubing string alignment and centering.

[0090] The working principle of this embodiment is as follows:

[0091] Start the slip hydraulic cylinder 230, which drives the slip transmission mechanism 240 to rotate during the extension and retraction process. During the rotation of the slip transmission mechanism 240, the slip assembly 220 is raised and lowered. At the same time, the start of the guide cone hydraulic cylinder 260 will drive the two guide cones 250 to close and guide the tubing.

[0092] In some embodiments of this utility model, reference is made to Figure 3 As shown, the Kava component 220 includes:

[0093] The slip 221 is installed inside the slip seat 210 and ensures a firm gripping force when in contact with the drill bit;

[0094] The clamping rod 222 is installed on the clamping plate 221 and moves up and down under the drive of the clamping transmission mechanism 240 to achieve precise control of the clamping plate 221, ensuring reliable operation under different working conditions, thereby realizing the clamping and loosening operation of the pipe column.

[0095] In some embodiments of this utility model, reference is made to Figure 3 As shown, the slip transmission mechanism 240 consists of two connecting arms that are pinned together. The two connecting arms are pinned to the slip lifting rod 222 and the slip hydraulic cylinder 230, respectively.

[0096] Among them, flexible angle transmission is achieved. When the piston rod of the hydraulic cylinder extends or retracts, the two connecting arms form a lever transmission through a rotating pair connected by pins, which converts the hydraulic power into the radial contraction or opening action of the slips, thereby achieving stable clamping of the tubing.

[0097] In some embodiments of this utility model, reference is made to Figure 2 As shown, the track sliding device 400 includes:

[0098] The guide rail 410 is bolted to the platform 100 and serves as the basic support structure of the device. Every two adjacent guide rails 410 are fixed together by a rail connector 420.

[0099] The track connector 420 can be fastened using a combination of tenon and bolt: first, initial positioning is achieved through the end tenon groove, and then secondary reinforcement is achieved using two sets of M12 anti-loosening bolts.

[0100] In some embodiments of this utility model, reference is made to Figure 2 and Figure 5 As shown, the track trolley 300 includes:

[0101] The trolley body 310 is movably mounted on the guide rail 410. A power drive device 320 for driving the trolley body 310 to move is provided between the trolley body 310 and the guide rail 410. The power drive device 320 is usually composed of an electric motor and a gear system to ensure that the trolley body 310 moves smoothly and accurately along the guide rail 410. The distance between the trolley body 310 and the wellhead remains unchanged during the sliding process.

[0102] The load wheel 350 is mounted on the trolley body 310 and cooperates with the guide rail 410. There are two load wheels 350, located on both sides respectively. The load wheel 350 is provided with a groove, which can cooperate with the protrusion on the guide rail 410 to ensure that the trolley is always on the guide rail 410.

[0103] The centering wheel bracket 330 is mounted on the trolley body 310;

[0104] The centering roller 340 is rotatably mounted on the centering roller bracket 330 and contacts the guide rail 410. There are two sets of centering rollers 340, each set with four load rollers 350. The upper two sides of the guide rail 410 are located between the two centering rollers 340 at the upper position and the two centering rollers 340 at the lower position. The upper and lower centering rollers 340 contact the guide rail 410 and roll, which plays a limiting role and prevents the trolley from tilting.

[0105] In some embodiments of this utility model, reference is made to Figure 2 and Figure 5 As shown, the power drive unit 320 includes:

[0106] The first drive gear 321 is mounted on the trolley body 310 and driven by a motor to ensure smooth operation and precise control.

[0107] The rack 322 is fixedly mounted on the guide rail 410 and meshes with the first drive gear 321, achieving smooth linear motion.

[0108] The working principle of this embodiment is as follows:

[0109] Start the motor, which drives the first drive gear 321 to rotate. During the rotation, the first drive gear 321 rotates along the rack 322, causing the first drive gear 321 to drive the trolley body 310 to move along the guide rail 410 under the action of the rack 322.

[0110] In some embodiments of this utility model, reference is made to Figure 6 As shown, the load-bearing lifting device 500 includes:

[0111] A base 510 with a dovetail groove 511 is rotatably mounted on the top of the trolley body 310 to ensure that the robotic arm assembly 600 does not detach from the dovetail groove 511.

[0112] Driven gear 520 is fixedly mounted on the bottom of base 510;

[0113] The second drive gear 530 is mounted on the trolley body 310 and drives the driven gear 520 to rotate under the drive of the motor. The normal drive base 510 rotates when the motor starts, relying on the cooperation of the driven gear 520 and the second drive gear 530.

[0114] The first hydraulic cylinder 540 is fixedly installed inside the dovetail groove 511 by bolts;

[0115] Connector 550 is fixedly installed on the first hydraulic cylinder 540 to ensure the connection is firm and reliable, so that the first hydraulic cylinder 540 drives the robotic arm assembly 600 to move up and down when it is started.

[0116] The working principle of this embodiment is as follows:

[0117] Start the motor, which drives the second drive gear 530 to rotate, and under the action of meshing, drives the base 510 to rotate through the driven gear 520.

[0118] When the first hydraulic cylinder 540 is activated, it will drive the connecting part 550 to rise and fall, so that the connecting part 550 will drive the robotic arm assembly 600 to rise and fall synchronously during the rising and falling process.

[0119] In some embodiments of this utility model, reference is made to Figure 7 As shown, the robotic arm assembly 600 includes:

[0120] The front frame 610 slides up and down along the dovetail groove 511 under the drive of the first hydraulic cylinder 540;

[0121] The middle frame 620 is pin-connected to the front frame 610 by a forearm 630 and a forearm auxiliary arm 640.

[0122] A second hydraulic cylinder 650 is installed between the front frame 610 and the middle frame 620 to drive the middle frame 620 to slide.

[0123] The rear frame 660 is pin-connected to the middle frame 620 by a rear arm 670 and a rear arm auxiliary arm 680;

[0124] The rear arm 670 and the forearm 630 are connected by a connecting pin 690 to form a deformable parallelogram. The middle connecting pin 690 can drive the parallelogram to deform.

[0125] Among them, the robotic arm component 600 adopts a double parallelogram structure, which can ensure that the vertical plane of the rear frame remains vertical to the ground at all times, making it easy for the gripping mechanism to keep the column upright at all times.

[0126] The working principle of this embodiment is as follows:

[0127] The second hydraulic cylinder 650 is activated, causing it to pull or push the middle frame 620 to move. Under the action of the connecting rod pin 690, the middle frame 620 deforms into a parallelogram, causing the gripping device 700 to move and adjust its position.

[0128] In some embodiments of this utility model, reference is made to Figure 4 As shown, the gripping device 700 includes:

[0129] The robotic arm connecting plate 710 is fixedly installed on the load-bearing lifting device 500 to ensure that the entire gripping device is stable and reliable.

[0130] There are several robotic arm bases 720, which are mounted on the robotic arm connecting plate 710;

[0131] The gripper connector 730 is mounted on the robot arm base 720;

[0132] The claw 740, which is mounted on the end of the claw connector 730, can adapt to objects of different shapes and sizes;

[0133] The third hydraulic cylinder 750, which is mounted on the robot arm base 720, provides strong power support to ensure smooth and efficient gripping action;

[0134] Connector 2 760 is fixedly installed on the third hydraulic cylinder 750. Driven by the third hydraulic cylinder 750, it drives the gripper connector 730 to rotate through the transmission plate 770, thereby achieving precise gripping and releasing operations.

[0135] The working principle of this embodiment is as follows:

[0136] Start the third hydraulic cylinder 750, which pushes or drives the gripper connector 730 through the connector 760 and the transmission plate 770, causing the gripper connector 730 to drive the gripper 740 to clamp the tube column or release the clamping of the tube column.

[0137] The working method of this utility model:

[0138] During the takeover preparation phase, the track trolley 300 moves to the working position. During this movement, the rack 322 inside the guide rail 410 engages in first gear transmission with the first drive gear 321 of the track trolley 300, providing driving force for the movement of the track trolley 300. While the track trolley 300 moves, the robotic arm assembly 600 on the load of the track trolley 300 is in a retracted state, ensuring smooth operation of the track trolley 300. Furthermore, when the track trolley 300 stops, the self-locking function of the motor restricts the rotation of the first drive gear 321, achieving positioning of the track trolley 300.

[0139] After the track trolley 300 stops, the second drive gear 530 and the driven gear 520 inside the track trolley 300 perform the second gear transmission, the robotic arm assembly 600 turns towards the column, and at the same time the gripping device 700 begins to open, ready to take over the tube.

[0140] During the takeover phase, the second hydraulic cylinder 650 extends, driving the forearm 630 and rear arm 670 to extend, and the load-bearing lifting device 500 begins to move. The first hydraulic cylinder 540 adjusts the overall height of the robotic arm assembly 600. Through length and height control of the robotic arm assembly 600, the gripper 740 reaches the position of the tube column. The third hydraulic cylinder 750 drives the gripper 740 to grasp the tube column.

[0141] During the tubing transport phase, the second drive gear 530 and driven gear 520 engage in second gear transmission, causing the gripper 740 to turn towards the wellhead. The first hydraulic cylinder 540 begins to move, controlling the overall height of the gripping device 700 to prevent collisions between the tubing and the gripping device 700. The second hydraulic cylinder 650 begins to adjust the extension distance of the forearm 630 and the rear arm 670. Based on the pre-set working stroke of the second hydraulic cylinder 650, the gripper 740 quickly reaches above the wellhead. Simultaneously, the hydraulic cylinder of the slip guide device 200 extends, driving the slip guide device 200 to rotate. The two hydraulic devices merge and reach a vertical position, assisting in the alignment of the tubing.

[0142] During the tubing alignment stage, the slip hydraulic cylinder 230 keeps the lower tubing clamped at the wellhead position; the slip guide device 200 is in a vertical position and clamped. The gripper 740 keeps holding the tubing, and the robotic arm assembly 600 begins to move downwards, driving the tubing downwards. Once the tubing is within the slip guide device 200, the gripper 740 releases the tubing, completing the tubing alignment.

[0143] During the tubing string reconnection phase, the gripper 740 tightens the tubing string again to straighten it; the hydraulic cylinder 230 retracts, exposing the interface between the upper and lower tubing strings; other devices reconnect the tubing string. After reconnection is completed, the gripper 740 releases the tubing string; the slips 221 open, and the tubing string begins to be lowered into the well.

[0144] During the recovery preparation phase, when the upper end of the tubing is 1 meter away from the wellhead, the slip hydraulic cylinder 230 drives the slip 221 to clamp the tubing again, preventing it from falling into the well, and waits for the next alignment; the second gear inside the trolley body 310 drives the gripping device 700 to turn towards the wellhead again; the second hydraulic cylinder 650 begins to adjust the extension distance of the robotic arm assembly 600, and the third hydraulic cylinder 750 drives the claw 740 to open; prepare to connect the tubing, the slip guide device 200 closes, and prepare for the next alignment.

[0145] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A rig floor tubular string centralising device, characterised in that, include: Platform (100); A guide device (200) is mounted on top of the platform (100); A track sliding device (400) is provided with a track trolley (300), the track sliding device (400) being installed on the top of the platform (100); The load-bearing lifting device (500) is fixedly installed on the top of the rail trolley (300) and slides along the rail sliding device (400) under the drive of the rail trolley (300); A robotic arm assembly (600) is mounted on a load-bearing lifting device (500); A gripping device (700), which is mounted on a robotic arm assembly (600), is used to grip the tubular column.

2. The drilling platform pipe string alignment and centering device according to claim 1, characterized in that: The slip guide device (200) includes: The slip seat (210) is bolted to the top of the platform (100) and located at the wellhead; The slip assembly (220) is installed inside the slip seat (210); A slip hydraulic cylinder (230) is mounted on a slip seat (210) and drives the slip assembly (220) to move through a slip transmission mechanism (240) during extension and retraction; The guide cone (250) is mounted on the slip seat (210) and rotates under the drive of the guide cone hydraulic cylinder (260).

3. The drilling platform pipe string alignment and centering device according to claim 2, characterized in that: The kava assembly (220) includes: The slip plate (221) is installed inside the slip seat (210); The chuck lever (222) is mounted on the chuck plate (221) and moves up and down under the drive of the chuck transmission mechanism (240).

4. The drilling platform pipe string alignment and centering device according to claim 3, characterized in that: The slip transmission mechanism (240) consists of two connecting arms that are pinned together. The two connecting arms are pinned to the slip lifting rod (222) and the slip hydraulic cylinder (230), respectively.

5. The drilling platform pipe string alignment and centering device according to claim 1, characterized in that: The track sliding device (400) includes: The guide rails (410) are bolted to the platform (100), and every two adjacent guide rails (410) are fixed together by a rail connector (420).

6. The drilling platform pipe string alignment and centering device according to claim 1, characterized in that: The track trolley (300) includes: The trolley body (310) is movably mounted on the track sliding device (400), and a power drive device (320) for driving the trolley body (310) to move is provided between the trolley body (310) and the track sliding device (400). The load wheel (350) is mounted on the trolley body (310) and cooperates with the track sliding device (400); A centering wheel bracket (330) is mounted on the trolley body (310); The centering wheel (340) is rotatably mounted on the centering wheel bracket (330) and contacts the track sliding device (400).

7. The drilling platform pipe string alignment and centering device according to claim 6, characterized in that: The power drive unit (320) includes: The first drive gear (321) is mounted on the main body (310) of the trolley and is driven by a motor; A rack (322) is fixedly mounted on a track sliding device (400) and meshes with a first drive gear (321).

8. The drilling platform pipe string alignment and centering device according to claim 6, characterized in that: The load-bearing lifting device (500) includes: A base (510) with a dovetail groove (511) is rotatably mounted on the top of the trolley body (310); Driven gear (520), which is fixedly mounted on the bottom of base (510); The second drive gear (530) is mounted on the main body (310) of the trolley and drives the driven gear (520) to rotate under the drive of the motor; The first hydraulic cylinder (540) is fixedly installed inside the dovetail groove (511) by bolts; Connector 1 (550) is fixedly installed on the first hydraulic cylinder (540).

9. A drill string alignment and centering device according to claim 8, characterized in that: The robotic arm assembly (600) includes: The front frame (610) slides up and down along the dovetail groove (511) under the drive of the first hydraulic cylinder (540); The middle frame (620) is connected to the front frame (610) by a pin with a forearm (630) and a forearm auxiliary arm (640). A second hydraulic cylinder (650) is installed between the front frame (610) and the middle frame (620) to drive the middle frame (620) to slide. The rear frame (660) is pin-connected to the middle frame (620) by a rear arm (670) and a rear arm auxiliary arm (680). The rear arm (670) and the forearm (630) are connected by a connecting pin (690).

10. The drilling platform pipe string alignment and centering device according to claim 1, characterized in that: The gripping device (700) includes: The robotic arm connecting plate (710) is fixedly mounted on the load-bearing lifting device (500); A number of robotic arm bases (720) are provided and mounted on a robotic arm connecting plate (710); A gripper connector (730) is mounted on a robotic arm base (720); A claw (740) is mounted on the end of a claw connector (730); The third hydraulic cylinder (750) is mounted on the robot arm base (720); Connector 2 (760) is fixedly installed on the third hydraulic cylinder (750) and drives the gripper connector (730) to rotate through the transmission plate (770) under the drive of the third hydraulic cylinder (750).

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