A drilling floor robot

Abstract

The utility model relates to the technical field of oil drilling and workover operation, especially relates to a drilling floor robot. The drilling floor robot includes a supporting manipulator, the supporting manipulator includes a fixed seat, a manipulator body, an opening and closing drive assembly, a first guide wheel and a second guide wheel. By the first guide wheel, the manipulator body and the second guide wheel are sequentially and spaced apart on the fixed seat in the vertical direction, the pipe tool in the clamping state above the well mouth is supported in multiple points, the first guide wheel and the second guide wheel are configured to constrain the lateral movement of the pipe tool when the rim thereof is in contact with the outer wall of the pipe tool. When the drilling floor robot supports the pipe tool above the well mouth in cooperation with the travelling block, the manipulator body clamps the pipe tool, the upper and lower guide wheels are in contact with the outer wall of the pipe tool at the same time, two additional constraint points are formed, the pipe tool is prevented from tilting when being pushed to the well mouth and being in the vertical state, thereby improving the stability of the pipe tool in the vertical state at the well mouth.

Description

Technical Field

[0001] This utility model relates to the field of oil drilling and well workover technology, and in particular to a drilling platform robot. Background Technology

[0002] In the field of oil drilling and well workover operations, the placement and transportation of pipes, drill collars, casing, and other tools are core aspects of ensuring operational efficiency, safety, and the integrity of the tools.

[0003] In existing technologies, during the transfer of pipes on the drilling platform, the manipulator mounted on the derrick, in conjunction with the traveling block, pushes the pipes transported via the catwalk to the mouse hole or wellhead position. When the pipe is at the wellhead, it must remain vertical to facilitate docking with the pipes below and subsequent alignment processing. However, when the manipulator, in conjunction with the traveling block, pushes the pipe to the wellhead, the pipe is prone to tilting, severely affecting the convenience and accuracy of subsequent docking operations. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, this utility model provides a drilling robot that solves the technical problem that the pipe is prone to tilting when it is located at the wellhead, which affects the docking efficiency and thus leads to low operation efficiency.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0008] This utility model provides a drilling robot for supporting pipes in oil drilling and workover, including a supporting manipulator. The supporting manipulator includes a fixed base, a manipulator body, an opening and closing drive assembly, a first guide wheel, and a second guide wheel. The first guide wheel, the manipulator body, and the second guide wheel are arranged vertically from top to bottom on the fixed base at intervals to provide multi-point straightening of the pipes clamped above the wellhead. The opening and closing drive assembly is used to drive the manipulator body to open and close to clamp or release the pipes. The first guide wheel and the second guide wheel are configured to constrain the lateral movement of the pipes when their rims contact the outer wall of the pipes.

[0009] Preferably, both the first guide wheel and the second guide wheel are rotary structures; and the rim of the rotary structure is provided with a V-shaped groove that is adapted to the outer wall of the pipe.

[0010] Preferably, the first guide wheel has guide portions on both sides of its axial direction; the first guide wheel and the guide portions are integrally formed and the connection is transitioned by an arc.

[0011] Preferably, the second guide wheel is rotatably disposed within the receiving space of the fixed base; the first guide wheel is disposed on the fixed base via a connecting frame; the first guide wheel is rotatably connected to the connecting frame.

[0012] Preferably, it further includes a detection component; the detection component includes a hinge frame, a shield, and a photoelectric sensor; the shield is disposed on the hinge frame, and the hinge frame is hinged to the connecting frame; the photoelectric sensor is disposed on a fixed base; the hinge frame can drive the shield to move so as to block or avoid the detection light path of the photoelectric sensor.

[0013] Preferably, the robot body includes two opposing grippers, one end of which is mounted on a fixed base via a pin; the opening and closing drive assembly includes a telescopic drive component, a guide block, a sliding block, and two connecting rods; the guide block is mounted on the fixed base and has a groove, and the sliding block is slidably connected to the groove of the guide block; the first ends of the two connecting rods are respectively hinged to both sides of the sliding block, and the second ends of the two connecting rods are respectively connected to the hinge points on the two grippers; the telescopic end of the telescopic drive component is connected to the sliding block, driving the sliding block to move along the groove, so that the two grippers rotate around their pins and thus open and close.

[0014] Preferably, it further includes a support, a linear motion component, a rotating component, and a telescopic component; the linear motion component is disposed on the drilling platform surface, the support is disposed on the moving end of the linear motion component through the rotating component, and the rotating component can drive the support to rotate along its own axis; the proximal end of the telescopic component is connected to the support, and the distal end of the telescopic component is connected to the fixed seat of the supporting robot, so as to drive the supporting robot to move horizontally telescopically.

[0015] Preferably, the telescopic assembly includes a telescopic forearm, a telescopic rear arm, and a telescopic actuator; the distal end of the telescopic forearm is connected to the robot body, the proximal end of the telescopic forearm is hinged to the distal end of the telescopic rear arm, and the proximal end of the telescopic rear arm is hinged to the support; the fixed end of the telescopic actuator is connected to the support, and the driving end of the telescopic actuator is connected to the telescopic forearm, so as to drive the telescopic forearm and the telescopic rear arm to extend and retract in the horizontal plane.

[0016] Preferably, the linear motion component includes a linear drive unit, a track, and a traveling frame; the rotary component is disposed on the traveling frame, and the linear drive unit drives the traveling frame to reciprocate linearly along the track.

[0017] Preferably, it also includes a wire-laying frame; the wire-laying frame is disposed at the end of the track.

[0018] (III) Beneficial Effects

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

[0020] This utility model discloses a drilling robot for supporting pipes in oil drilling and workover operations. It includes a supporting manipulator, which comprises a fixed base, a manipulator body, an opening / closing drive assembly, a first guide wheel, and a second guide wheel. The opening / closing drive assembly drives the manipulator body to open and close to grip or release the pipe. By arranging the first guide wheel, the manipulator body, and the second guide wheel vertically, from top to bottom, at intervals on the fixed base, the manipulator, when gripped above the wellhead, is aligned at multiple points. The first and second guide wheels are configured to constrain the lateral movement of the pipe when their rims contact the outer wall of the pipe. When the drilling robot, in conjunction with the traveling block, supports the pipe above the wellhead, the manipulator body grips the pipe, and both guide wheels simultaneously contact the outer wall of the pipe, forming two additional constraint points. This effectively restricts the pipe's lateral freedom, preventing it from tilting when pushed to a vertical position at the wellhead. This improves the stability of the pipe in a vertical position at the wellhead, facilitating subsequent docking with other pipes inside the wellhead, increasing docking efficiency, and ultimately improving operational efficiency. Attached Figure Description

[0021] Figure 1 A schematic diagram of the structure supporting the robotic arm;

[0022] Figure 2 for Figure 1 Horizontal sectional view;

[0023] Figure 3 A schematic diagram of the structure supporting the robot arm and the pipe fitting;

[0024] Figure 4 This is a structural diagram of a drilling robot (with the telescopic components retracted).

[0025] Figure 5 A schematic diagram of the extended telescopic component;

[0026] Figure 6 A schematic diagram of the structure supporting the robotic arm, telescopic components, and supports.

[0027] [Explanation of Labels in the Attached Image]

[0028] 1: Supporting robot arm; 11: Fixed base; 12: Robot arm body; 121: Gripper; 13: Opening and closing drive assembly; 131: Telescopic drive component; 132: Guide block; 133: Sliding block; 134: Connecting rod; 14: First guide wheel; 15: Second guide wheel; 16: Guide part; 17: Connecting frame;

[0029] 2: Detection component; 21: Hinge frame; 22: Shielding plate; 23: Photoelectric sensor;

[0030] 3: Support;

[0031] 4: Linear movement component; 41: Linear drive unit; 42: Track; 43: Walking frame;

[0032] 5: Rotating component;

[0033] 6: Telescopic components: 61: Telescopic forearm; 62: Telescopic rear arm; 63: Telescopic actuator;

[0034] 7: Cable tray;

[0035] 8: Pipes and fittings. Detailed Implementation

[0036] To better explain and facilitate understanding of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 4 and Figure 5 As shown, this embodiment of the utility model provides a drilling platform robot for supporting pipe tools 8 during oil drilling and well workover. Figure 1 As shown, the drilling robot includes a supporting manipulator 1, which includes a fixed base 11, a manipulator body 12, an opening and closing drive assembly 13, a first guide wheel 14 and a second guide wheel 15. The opening and closing drive assembly 13 is used to drive the manipulator body 12 to open and close to clamp or release the pipe tool 8.

[0038] like Figure 3 As shown, the first guide wheel 14, the robot arm body 12, and the second guide wheel 15 are arranged vertically from top to bottom on the fixed base 11 at intervals to provide multi-point straightening for the pipe 8 clamped above the wellhead. The first guide wheel 14 and the second guide wheel 15 are configured to constrain the lateral movement of the pipe 8 when their rims contact the outer wall of the pipe 8. When the drilling robot, in conjunction with the traveling block, supports the pipe 8 above the wellhead, the robot arm body 12 clamps the pipe 8, and both guide wheels simultaneously contact the outer wall of the pipe 8, forming two additional constraint points. This effectively restricts the lateral freedom of the pipe 8, preventing it from tilting when pushed to a vertical position above the wellhead. This improves the stability of the pipe 8 in a vertical position at the wellhead, facilitating subsequent docking with other pipes inside the wellhead, increasing docking efficiency, and ultimately improving overall operational efficiency.

[0039] like Figure 1 As shown, both the first guide wheel 14 and the second guide wheel 15 are rotary structures, and the center of the rim of the rotary structure is provided with a V-shaped groove that adapts to the outer wall of the pipe 8. The V-shaped groove can adapt to the outer wall of the pipe 8 of different diameters, and the V-shaped groove improves the stability and reliability of the constraint.

[0040] The first guide wheel 14 has guide portions 16 on both sides along its axial direction. The minimum diameter of the guide portions 16 is larger than the maximum diameter at both ends of the first guide wheel 14. The first guide wheel 14 and the guide portions 16 are integrally formed, and the connection is achieved through an arc transition. By setting the guide portions 16 with a larger diameter, a guiding structure is formed. This allows the guide portions 16 to smoothly guide the pipe 8 to the correct position in the V-groove even if the initial position of the pipe 8 is slightly deviated. This greatly reduces the accuracy requirements for the pipe 8 entering the V-groove and makes the operation smoother.

[0041] In this embodiment, the second guide wheel 15 is rotatably disposed within the receiving space of the fixed base 11, and the first guide wheel 14 is disposed on the fixed base 11 via the connecting frame 17, with the first guide wheel 14 rotatably connected to the connecting frame 17. Since both the first guide wheel 14 and the second guide wheel 15 are rotatably disposed, the sliding contact with the pipe 8 is changed to rolling contact, reducing the wear of the pipe 8.

[0042] like Figure 1 As shown, the drilling robot also includes a detection component 2, which includes a hinge frame 21, a shielding plate 22, and a photoelectric sensor 23. The shielding plate 22 is mounted on the hinge frame 21, which is hinged to the connecting frame 17. The photoelectric sensor 23 is mounted on the fixed base 11. The hinge frame 21 can rotate under the pressure of the pipe tool 8, causing the shielding plate 22 to move in or out, thereby blocking or avoiding the detection light path of the photoelectric sensor 23. The hinge frame 21 has a U-shaped structure with a rotating rod in the middle that can rotate.

[0043] By cooperating with the photoelectric sensor 23 and the hinged baffle 22, it is possible to detect whether the tube 8 has accurately entered the predetermined clamping position of the supporting robot 1. The detection signal can be used to trigger the automatic clamping action of the robot body 12 or to provide feedback to the operator, avoiding clamping failure caused by the tube 8 not being in the correct position, and improving the intelligence level of the entire system. The control logic (such as signal transmission path, control program instructions, etc.) that triggers the automatic clamping action of the robot body 12 based on the detection signal and the display interaction logic that provides feedback to the operator both adopt conventional control methods in the field, and their specific control processes are existing technologies, which will not be described in detail here.

[0044] like Figure 2As shown, the robotic arm body 12 includes two opposing grippers 121, one end of which is mounted on a fixed base 11 via a pin. The opening / closing drive assembly 13 includes a telescopic drive component 131, a guide block 132, a sliding block 133, and two connecting rods 134. The guide block 132 is mounted on the fixed base 11 and has a groove. The sliding block 133 is slidably connected to the groove of the guide block 132. The first ends of the two connecting rods 134 are respectively hinged to both sides of the sliding block 133, and the second ends of the two connecting rods 134 are respectively connected to the hinge points on the two grippers 121. The telescopic end of the telescopic drive component 131 is connected to the sliding block 133, driving the sliding block 133 to move along the groove, thereby causing the two grippers 121 to rotate around their pins and thus open and close. The telescopic drive component 131 is driven by an electric cylinder and includes a motor and an electric cylinder body. The guide block 132 and the slide groove ensure the straightness and stability of the movement of the sliding block 133, so that the two grippers 121 can open and close synchronously and smoothly, with uniform clamping force, ensuring the reliability of clamping and the protection of the pipe tool 8.

[0045] like Figure 5 As shown, the drilling robot also includes a support 3, a linear motion component 4, a rotating component 5, and a telescopic component 6. The linear motion component 4 is mounted on the drilling platform. The support 3 is mounted on the moving end of the linear motion component 4 via the rotating component 5, which enables the support 3 to rotate along its own axis. The proximal end of the telescopic component 6 is connected to the support 3, and the distal end is connected to the fixed seat 11 of the supporting manipulator 1, thereby enabling the supporting manipulator 1 to move horizontally. Through the cooperation of the linear motion component 4, the rotating component 5, and the telescopic component 6, the supporting manipulator 1 can move over a wide range and be accurately positioned on the drilling platform, thus better cooperating with the traveling block to move the pipe tool 8 and accurately move the pipe tool 8 to the wellhead or mouse hole.

[0046] like Figure 6 As shown, the telescopic assembly 6 includes a telescopic forearm 61, a telescopic rear arm 62, and a telescopic actuator 63. The distal end of the telescopic forearm 61 is connected to the robot body 12, the proximal end of the telescopic forearm 61 is hinged to the distal end of the telescopic rear arm 62, and the proximal end of the telescopic rear arm 62 is hinged to the support 3. The fixed end of the telescopic actuator 63 is connected to the support 3, and the driving end of the telescopic actuator 63 is connected to the telescopic forearm 61 to drive the telescopic forearm 61 and the telescopic rear arm 62 to extend and retract in the horizontal plane. The folding linkage mechanism formed by the hinged telescopic forearm 61 and rear arm achieves a large-stroke telescopic movement in the horizontal plane. This structure occupies less space when retracted and has a larger working range when extended. It should be noted that in this embodiment, the proximal end refers to the side closer to the support 3, and the distal end refers to the side farther from the support 3. The rotating assembly 5 can be a rotary slip ring, or other equivalent structures with the function of rotating around its own axis can be selected according to actual working conditions to drive the support 3 to rotate along its own axis.

[0047] The linear motion component 4 includes a linear drive unit 41, a track 42, and a traveling frame 43. The rotating component 5 is mounted on the traveling frame 43. The linear drive unit 41 drives the traveling frame 43 to reciprocate linearly along the track 42. In practical applications, the linear drive unit 41 can adopt various drive forms such as a lead screw, hydraulic cylinder, or linear motor, or other equivalent drive structures can be flexibly selected according to actual working conditions.

[0048] The drilling robot also includes a cable holder 7, which is located at the end of the track 42. The cable holder 7 can guide the pipeline used by the drilling robot, effectively preventing the pipeline from getting tangled or worn during the robot's reciprocating motion, and extending the service life of the pipeline.

[0049] In the description of this utility model, 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 utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0050] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0051] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0053] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A drilling robot for supporting pipe tools (8) in oil drilling and well workover, characterized in that, Including the supporting robotic arm (1); The supporting manipulator (1) includes a fixed base (11), a manipulator body (12), an opening and closing drive assembly (13), a first guide wheel (14), and a second guide wheel (15); The first guide wheel (14), the robot body (12), and the second guide wheel (15) are arranged vertically from top to bottom on the fixed base (11) to provide multi-point straightening for the pipe (8) clamped above the wellhead; The opening and closing drive assembly (13) is used to drive the robot body (12) to open and close to clamp or release the tube (8); The first guide wheel (14) and the second guide wheel (15) are configured to constrain the lateral movement of the pipe (8) when their rims contact the outer wall of the pipe (8).

2. The drilling robot as described in claim 1, characterized in that: Both the first guide wheel (14) and the second guide wheel (15) are rotating structures; Furthermore, the rim of the rotating body structure is provided with a V-shaped groove in the middle that is adapted to the outer wall of the pipe (8).

3. The drilling robot as described in claim 2, characterized in that: The first guide wheel (14) has guide portions (16) on both sides of its axial direction; The first guide wheel (14) and the guide part (16) are integrally formed and the connection is transitioned by a rounded arc.

4. The drilling robot as described in claim 2 or 3, characterized in that: The second guide wheel (15) is rotatably disposed within the receiving space of the fixed base (11); The first guide wheel (14) is mounted on the fixed base (11) via a connecting frame (17); The first guide wheel (14) is rotatably connected to the connecting frame (17).

5. The drilling robot as described in claim 4, characterized in that: It also includes a detection component (2); The detection component (2) includes a hinge frame (21), a baffle plate (22), and a photoelectric sensor (23); The shield (22) is disposed on the hinge frame (21), and the hinge frame (21) is hinged to the connecting frame (17); The photoelectric sensor (23) is mounted on the fixed base (11); The hinge frame (21) can drive the shield (22) to move, so as to block or avoid the detection optical path of the photoelectric sensor (23).

6. The drilling robot as described in claim 1, characterized in that: The robotic arm body (12) includes two opposing grippers (121), one end of which is mounted on the fixed base (11) via a pin. The opening and closing drive assembly (13) includes a telescopic drive component (131), a guide block (132), a sliding block (133), and two connecting rods (134); The guide block (132) is disposed on the fixed base (11), and the guide block (132) is provided with a sliding groove. The sliding block (133) is slidably connected to the sliding groove of the guide block (132). The first ends of the two connecting rods (134) are respectively hinged to the two sides of the sliding block (133), and the second ends of the two connecting rods (134) are respectively connected to the hinge points on the two grippers (121); The telescopic drive (131) is connected to the sliding block (133) at its telescopic end, which drives the sliding block (133) to move along the slide groove so that the two grippers (121) rotate around their pins and thus open and close.

7. The drilling robot as described in claim 1, characterized in that: It also includes a support (3), a linear motion assembly (4), a rotation assembly (5), and a telescopic assembly (6); The linear motion component (4) is disposed on the drilling platform, and the support (3) is disposed on the moving end of the linear motion component (4) through the rotating component (5). The rotating component (5) can drive the support (3) to rotate along its own axis. The proximal end of the telescopic component (6) is connected to the support (3), and the distal end of the telescopic component (6) is connected to the fixed seat (11) of the supporting manipulator (1) to drive the supporting manipulator (1) to move horizontally.

8. The drilling robot as described in claim 7, characterized in that: The telescopic assembly (6) includes a telescopic forearm (61), a telescopic rear arm (62), and a telescopic actuator (63); The distal end of the telescopic forearm (61) is connected to the manipulator body (12), the proximal end of the telescopic forearm (61) is hinged to the distal end of the telescopic rear arm (62), and the proximal end of the telescopic rear arm (62) is hinged to the support (3). The fixed end of the telescopic actuator (63) is connected to the support (3), and the driving end of the telescopic actuator (63) is connected to the telescopic forearm (61) to drive the telescopic forearm (61) and the telescopic rear arm (62) to extend and retract in the horizontal plane.

9. The drilling robot as described in claim 7, characterized in that: The linear motion assembly (4) includes a linear drive unit (41), a track (42), and a walking frame (43); The rotating component (5) is mounted on the walking frame (43), and the linear drive unit (41) drives the walking frame (43) to reciprocate linearly along the track (42).

10. The drilling robot as described in claim 9, characterized in that: It also includes cable trays (7); The wire rack (7) is located at the end of the track (42).

Images