A drill positioning and automatic grab transfer device

Abstract

The utility model belongs to the technical field of drilling intelligent equipment, specifically provides a kind of drilling tool positioning and automatic grabbing transfer device, including two groups of mobile grabbing unit and controller, two groups of mobile grabbing unit left and right horizontal setting, mobile grabbing unit includes horizontal guide rail, vertical guide rail, horizontal drive component (3), vertical driving part, stand, support cantilever and grabbing piece, solve the existing positioning precision low, and the problem of poor stability, path planning single, low efficiency, the utility model satisfies the storage and taking out demand of drilling tool in storage area, realizes the automation of drilling tool access, improves positioning precision, operating efficiency and security, and grabbing piece adopts electromagnetic chuck, and grabbing stability is good, and drilling tool is not easy to damage.

Description

Technical Field

[0001] This utility model belongs to the field of drilling intelligent equipment technology, specifically relating to a drill bit positioning and automatic grasping and transfer device. Background Technology

[0002] After a drilling mission in an onshore oilfield is completed, the drill string needs to be temporarily stored in a catwalk before being packed and transported to the next well site. Traditional methods of storing and retrieving drill string in crates rely primarily on a pipe grabber or manual pushing. This method has several drawbacks: 1. It is heavily reliant on manpower, leading to low efficiency. 2. It carries high safety risks, with accidents easily occurring during the operation. 3. It involves high labor intensity for workers.

[0003] With the increasing level of automation, some automatic drill bit storage and retrieval devices have emerged. However, most of these devices use grippers similar to pipe grippers to store and retrieve drill bits. Since a single drill bit can weigh up to 350 kg and be up to 12 meters long, these gripper devices require a large torque and complex motion paths to load the drill bit into the container. Traditional drill bit storage containers rely on manual labor or simple robotic arms for retrieval, which also has the following drawbacks: 1. Low positioning accuracy: manual position detection is uncertain, and mechanical positioning relies on fixed paths, making it difficult to adapt to dynamic storage environments. 2. Poor gripping stability: traditional grippers are easily affected by oil and wear on the drill bit surface, leading to slippage or damage. 3. Simple path planning: the robotic arm movement relies solely on a preset trajectory, resulting in long idle strokes and low efficiency. Utility Model Content

[0004] This utility model provides a drill bit positioning and automatic gripping and transfer device. Its objectives are threefold: first, to overcome the problems of low positioning accuracy, uncertainty in manual position detection, reliance on fixed paths for mechanical positioning, and difficulty in adapting to dynamic storage environments in existing technologies; second, to overcome the problems of poor gripping stability, with traditional grippers easily affected by oil and wear on the drill bit surface, leading to slippage or damage; and third, to overcome the problems of simplistic path planning, robotic arm movement relying solely on preset trajectories, long idle strokes, and low efficiency.

[0005] Therefore, this utility model provides a drill bit positioning and automatic gripping and transfer device, including two sets of mobile gripping units and a controller. The two sets of mobile gripping units are arranged horizontally facing each other. Each mobile gripping unit includes a horizontal guide rail, a vertical guide rail, a horizontal drive component, a vertical drive component, a column, a support cantilever, and a gripping component. The column is vertically arranged, with the horizontal guide rail connected longitudinally and vertically on the outer side of the column. The horizontal drive component is connected to the upper end of the column, and the vertical guide rail is connected vertically on the outer side of the column away from the horizontal guide rail. The support cantilever is connected laterally and vertically on the vertical guide rail. The vertical drive component is connected to the support cantilever near the column, and the gripping component is connected to the lower end of the support cantilever away from the column. The controller is electrically connected to the horizontal drive component and the vertical drive component in the two sets of mobile gripping units.

[0006] Preferably, the moving gripping unit has two horizontal guide rails, which are arranged parallel to each other with an upper and lower gap.

[0007] Preferably, the horizontal drive assembly includes a drive motor and a rack. The drive motor is connected to the upper end of the column, and the power output end of the drive motor is connected to the rack, which is parallel to the horizontal guide rail.

[0008] Preferably, a plurality of pulleys are provided between the support cantilever and the vertical guide rail.

[0009] Preferably, the vertical drive component includes a second drive motor, and the power output end of the second drive motor is connected to multiple pulleys.

[0010] Preferably, multiple pulleys are provided between the horizontal guide rail and the column.

[0011] Preferably, the mobile gripping unit further includes a connecting plate 1, and the column is connected to multiple pulleys 2 through the connecting plate 1.

[0012] Preferably, the gripping component is an electromagnetic chuck.

[0013] Preferably, a laser sensor is connected to the support cantilever, and the laser sensor is electrically connected to the controller.

[0014] Preferably, both drive motor one and drive motor two are servo motors.

[0015] The beneficial effects of this utility model are: The drill bit positioning and automatic gripping and transfer device provided by this utility model controls the horizontal drive component through the controller. The horizontal drive component drives the column, vertical drive component, support cantilever and gripper to move horizontally along the horizontal guide rail. The controller controls the vertical drive component, which drives the vertical drive component, support cantilever and gripper to move vertically along the vertical guide rail until the gripper of the two sets of moving gripping units moves to the target position of the drill bit, completing the gripping or lowering of the drill bit. This meets the storage and retrieval requirements of the drill bit in the storage area, realizes the automation of drill bit storage and retrieval, and improves positioning accuracy, operation efficiency and safety. The gripper uses an electromagnetic chuck, which has good gripping stability and is not easy to damage the drill bit. Attached Figure Description

[0016] The present invention will be further described in detail below with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the moving gripper unit; Figure 2 This is a structural diagram of the vertical drive component and pulley one.

[0018] Explanation of reference numerals in the attached drawings: 1. Horizontal guide rail; 2. Vertical guide rail; 3. Horizontal drive assembly; 4. Vertical drive component; 5. Column; 6. Support cantilever; 7. Gripper; 8. Rack; 9. Pulley 1; 10. Pulley 2; 11. Connecting plate 1. Detailed Implementation

[0019] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0020] Example 1: like Figure 1 and Figure 2 As shown, a drill bit positioning and automatic gripping and transfer device includes two sets of mobile gripping units and a controller. The two sets of mobile gripping units are arranged horizontally facing each other. Each mobile gripping unit includes a horizontal guide rail 1, a vertical guide rail 2, a horizontal drive assembly 3, a vertical drive component 4, a column 5, a support cantilever 6, and a gripping component 7. The column 5 is vertically arranged, and the outer side of the column 5 is longitudinally and vertically connected to the horizontal guide rail 1. The upper end of the column 5 is connected to the horizontal drive assembly 3, and the outer side of the column 5 away from the horizontal guide rail 1 is vertically connected to the vertical guide rail 2. The vertical guide rail 2 is laterally and vertically connected to the support cantilever 6. The vertical drive component 4 is connected to the support cantilever 6 near the column 5, and the gripping component 7 is connected to one end of the support cantilever 6 away from the column 5. The controller is electrically connected to the horizontal drive assembly 3 and the vertical drive component 4 in the two sets of mobile gripping units.

[0021] Specifically, in use, two sets of mobile gripping units are positioned horizontally facing each other at target position one. The controller controls the horizontal drive component 3, which moves the column 5, vertical drive component 4, support cantilever 6, and gripping component 7 horizontally along the horizontal guide rail 1. The controller also controls the vertical drive component 4, causing it to move vertically along the vertical guide rail 2, until the gripping component 7 of both sets of mobile gripping units moves to target position two of the drill string. The gripping component 7 then grips the drill string, completing the gripping process. Following the same steps, the controller controls the two sets of mobile gripping units to move the gripping component 7, which is holding the drill string, to target position three for lowering, completing the lowering of the drill string. This meets the storage and retrieval requirements of the drill string in the storage area, automating drill string storage and retrieval, and improving positioning accuracy, operational efficiency, and safety. An existing controller is used, meeting the control requirements; its specific structure will not be described in detail here.

[0022] Example 2: Based on Embodiment 1, the number of horizontal guide rails 1 in the moving gripping unit is 2, and the 2 horizontal guide rails 1 are arranged parallel to each other with an interval between them.

[0023] Specifically, the two horizontal guide rails 1 are arranged parallel to each other at intervals, which increases the contact area with the column 5, disperses the load, and thus improves the overall load-bearing capacity, making it suitable for transporting heavy drilling tools. Since the two horizontal guide rails 1 are parallel and the column 5 is connected perpendicularly to the horizontal guide rails 1, the relative positional accuracy between the two horizontal guide rails 1 is guaranteed, enabling the column 5 installed on the horizontal guide rails 1 to achieve high-precision linear movement, improving the overall movement accuracy and positioning accuracy. The two horizontal guide rails 1 and the column 5 form a stable frame structure, which can effectively resist deformation and vibration caused by external forces, maintain good rigidity during movement, reduce swaying and deviation, and ensure the stable operation of the drilling tool.

[0024] Preferably, the horizontal drive assembly 3 includes a drive motor and a rack 8. The drive motor is connected to the upper end of the column 5, and the power output end of the drive motor is connected to the rack 8. The rack 8 is parallel to the horizontal guide rail 1.

[0025] Specifically, the lower part of the drive motor is fixedly connected to the upper end of the column 5. When the power output end of the drive motor rotates, its interaction with the rack 8 drives the column 5, the vertical drive component 4, the support cantilever 6 and the gripping component 7 to move horizontally along the horizontal guide rail 1. The structure is simple and the operation is stable.

[0026] Preferably, a plurality of pulleys 9 are provided between the supporting cantilever 6 and the vertical guide rail 2.

[0027] Specifically, multiple pulleys 9 facilitate the smooth vertical movement of the support cantilever 6 on the vertical guide rail 2.

[0028] Preferably, the plurality of pulleys 9 are divided into two groups. The front plate of the supporting cantilever 6 is connected to the vertical guide rail 2 in front of the column 5 via one group of pulleys 9, and the rear plate of the supporting cantilever 6 is connected to the vertical guide rail 2 behind the column 5 via another group of pulleys 9.

[0029] Specifically, the front and rear plates of the support cantilever 6 are connected to the column 5 via a set of pulleys 9, ensuring that the support cantilever 6 is stably connected to the vertical guide rail 2 and improving the stability of the support cantilever 6 when it moves.

[0030] Preferably, the vertical drive component 4 includes a second drive motor, and the power output end of the second drive motor is connected to multiple pulleys 9.

[0031] Specifically, the pulley 9 is driven by the second drive motor to move along the vertical guide rail 2. The structure is simple. By using the second drive motor to drive the pulley 9 and cooperating with the vertical guide rail 2, the bending moment borne by the movement is reduced.

[0032] Preferably, each set of pulleys is divided into a left pulley set and a right pulley set, and the power output end of the drive motor is connected to the right pulley set.

[0033] Specifically, by driving the right pulley group with the second drive motor, the support cantilever 6 can be moved stably along the vertical guide rail 2, which is a simple structure.

[0034] Preferably, multiple pulleys 10 are provided between the horizontal guide rail 1 and the column 5.

[0035] Specifically, multiple pulleys 10 ensure that the column 5 moves smoothly along the horizontal guide rail 1.

[0036] Preferably, the mobile gripping unit further includes a connecting plate 11, and the column 5 is connected to multiple pulleys 10 through the connecting plate 11.

[0037] Specifically, the stability of the sliding connection between the column 5 and the horizontal guide rail 1 is improved by connecting plate 11.

[0038] Preferably, the plurality of pulleys 10 are divided into upper and lower groups, and the upper and lower groups of pulleys 10 ensure that the column 5 does not derail when it moves, thereby improving the stability of the movement.

[0039] Preferably, the gripping component 7 is an electromagnetic chuck.

[0040] Specifically, the electromagnetic chuck has a fast adsorption and release response speed, and the gripping action can be completed simply by turning the power on and off, without the need for manual fixing or disassembly, which greatly shortens the single operation time. It has wide adaptability and can be used for a variety of drilling tool types; it protects the drilling tools, reduces damage to the drilling tool surface, and has good safety and stability.

[0041] Preferably, the bottom of the electromagnetic chuck is a horizontal arc surface with a central axis.

[0042] Specifically, a horizontally oriented arc surface along the central axis better fits the drilling tool.

[0043] Preferably, a laser sensor is connected to the support cantilever 6, and the laser sensor is electrically connected to the controller.

[0044] Specifically, the laser sensor is used to receive information sent by the controller, detect the height, quantity, and storage information of the drill bit, and send the detected height, quantity, and storage information of the drill bit back to the controller, resulting in a high degree of automation.

[0045] Preferably, both drive motor one and drive motor two are servo motors.

[0046] Specifically, servo motors are easy to work with controllers, and the controllers can impose synchronization constraints to avoid dragging or pulling during the hoisting of drill bits.

[0047] Example 3: Based on Embodiment 2, a method for using a drill bit positioning and automatic gripping and transfer device includes the following steps: two sets of mobile gripping units are set horizontally facing each other at target position one; the controller controls the horizontal drive component 3, which drives the column 5, vertical drive component 4, support cantilever 6, and gripping component 7 to move horizontally along the horizontal guide rail 1; the controller controls the vertical drive component 4, which drives the support cantilever 6 and gripping component 7 to move vertically along the vertical guide rail 2, until the gripping component 7 of the two sets of mobile gripping units moves to target position two of the drill bit, and the gripping component 7 grips the drill bit, completing the gripping of the drill bit; following the above steps, the controller controls the two sets of mobile gripping units to move the gripping component 7 holding the drill bit to target position three for lowering, completing the lowering of the drill bit.

[0048] Specifically, the drill string positioning and automatic gripping and transfer device of this utility model can be installed on the drill string storage box. Two sets of horizontally installed moving gripping units can realize the picking and placing of drill strings. The process includes drill string entering the box, drill string exiting the box, and handling abnormal processes. Taking the drill string exiting the box process as an example, its implementation process is explained in detail: When the controller is powered on, it synchronizes the drill string storage information. The drill string storage information is fed back by the laser sensor installed on the support cantilever 6 and stored in the controller. It also performs a self-check and synchronization every time it is powered on. When the number of drill strings changes, the controller adjusts the drill string storage information according to the height change fed back by the laser sensor, thereby realizing the detection of the number of drill strings. The controller locates the retrievable drill bit based on stored information. Rack 8 is mounted on the storage box frame. When the power output of drive motor one rotates, its interaction with rack 8 drives column 5, vertical drive component 4, support cantilever 6, and gripper 7 to move horizontally along horizontal guide rail 1. Drive motor two drives pulley one 9 to move along vertical guide rail 2. Pulley one 9 drives vertical drive component 4, support cantilever 6, and gripper 7 to move vertically along vertical guide rail 2 until the gripper 7 of both sets of moving gripping units moves to the designated position of the drill bit. Then, the electromagnetic chuck is energized to pick up the drill bit, completing the gripping process. Following these steps, the controller controls the two sets of moving gripping units to move the gripper 7 holding the drill bit to the designated position for lowering. The electromagnetic chuck is then de-energized to complete the lowering of the drill bit. This automates the drill bit retrieval process, improving drill bit storage and retrieval efficiency while enhancing operational safety. This invention enables the positioning and transfer of drill bits during storage and retrieval in a storage and transport box. The horizontal guide rail 1 and vertical guide rail 2 are combined to drive the support cantilever 6 and the end electromagnetic chuck to the drill bit storage position in the storage and transport box for positioning. The electromagnetic chuck replaces ordinary grippers for gripping the drill bit, reducing the torque required by the drive motor. The actuation mechanism uses motors (drive motor one and drive motor two) to drive rollers (pulley one 9 and pulley two 10), combined with the guide rails (horizontal guide rail 1 and vertical guide rail 2), to ensure stability during drill bit transfer, reduce the bending moment on the overall structure during movement, lower the risk of overall structural deformation, and ensure more stable movement.

[0049] In the description of this utility model, it should be understood that if terms such as "outer", "inner", "upper", etc. are used to indicate the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model.

[0050] The above examples are merely illustrative of this utility model and do not constitute a limitation on the scope of protection of this utility model. All designs that are the same as or similar to this utility model are within the scope of protection of this utility model.

Claims

1. A drill bit positioning and automatic gripping and transfer device, characterized in that: It includes two sets of mobile gripping units and a controller. The two sets of mobile gripping units are arranged horizontally facing each other. The mobile gripping unit includes a horizontal guide rail (1), a vertical guide rail (2), a horizontal drive component (3), a vertical drive component (4), a column (5), a support cantilever (6), and a gripping component (7). The column (5) is set vertically. The outer side of the column (5) is connected to the horizontal guide rail (1) in a longitudinal direction. The upper end of the column (5) is connected to the horizontal drive component (3). The outer side of the column (5) away from the horizontal guide rail (1) is connected to the vertical guide rail (2) in a vertical direction. The vertical guide rail (2) is connected to the support cantilever (6) in a horizontal direction. The support cantilever (6) near the column (5) is connected to the vertical drive component (4). The support cantilever (6) away from the column (5) is connected to the gripping component (7) at one end. The controller is electrically connected to the horizontal drive component (3) and the vertical drive component (4) in the two sets of mobile gripping units.

2. The drill bit positioning and automatic gripping and transfer device as described in claim 1, characterized in that: The number of horizontal guide rails (1) in the mobile gripping unit is 2, and the 2 horizontal guide rails (1) are arranged parallel to each other with an interval between them.

3. The drill bit positioning and automatic gripping and transfer device as described in claim 1, characterized in that: The horizontal drive assembly (3) includes a drive motor and a rack (8). The drive motor is connected to the upper end of the column (5), and the power output end of the drive motor is connected to the rack (8). The rack (8) is parallel to the horizontal guide rail (1).

4. The drill bit positioning and automatic gripping and transfer device as described in claim 3, characterized in that: Multiple pulleys (9) are provided between the support cantilever (6) and the vertical guide rail (2).

5. The drill bit positioning and automatic gripping and transfer device as described in claim 4, characterized in that: The vertical drive component (4) includes a second drive motor, and the power output end of the second drive motor is connected to multiple pulleys (9).

6. The drill bit positioning and automatic gripping and transfer device as described in claim 1, characterized in that: Multiple pulleys (10) are provided between the horizontal guide rail (1) and the column (5) to connect them.

7. The drill bit positioning and automatic gripping and transfer device as described in claim 6, characterized in that: The mobile gripping unit also includes a connecting plate (11), and the column (5) is connected to multiple pulleys (10) through the connecting plate (11).

8. The drill bit positioning and automatic gripping and transfer device as described in claim 1, characterized in that: The gripper (7) is an electromagnetic chuck.

9. The drill bit positioning and automatic gripping and transfer device as described in claim 8, characterized in that: A laser sensor is connected to the support cantilever (6), and the laser sensor is electrically connected to the controller.

10. The drill bit positioning and automatic gripping and transfer device as described in claim 5, characterized in that: Both drive motor one and drive motor two are servo motors.

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