CN111119736A - Drilling machine - Google Patents

Abstract

The invention relates to the field of oil drilling and production equipment, in particular to a drilling machine, which comprises: the drilling machine further comprises a pipe processing system, wherein the pipe processing system comprises a pipe processing robot, and the pipe processing robot comprises a stand column, a mounting frame and a clamping arm; the mounting rack is connected with the upright column in a sliding mode, the clamping arm is rotatably connected with the mounting rack, the clamping arm can rotate in a vertical plane, and a clamping portion used for clamping the pipe is arranged on the clamping arm. The pipe can be directly taken from the ground by arranging the pipe processing robot on the rotary machine, and the posture of the pipe is adjusted, so that a temporary stand box does not need to be arranged on the derrick, and the load of the derrick is reduced.

Description

Drilling machine

Technical Field

The invention relates to oil drilling and production equipment, in particular to a drilling machine.

Background

In an oil and gas drilling system, in order to improve the working efficiency, especially the working efficiency of tripping operation, a temporary storage area of a drill rod column, namely a setback area, is usually arranged in or outside a derrick. The drill rods are joined together by two, three or four stands, discharging vertically into the stand box area.

In order to achieve the purpose, the drilling system needs to be provided with a plurality of devices such as a pipe erecting box, a pipe arranging machine, a pipe erecting mechanical arm, a rat hole, a catwalk and the like. The equipment is operated in a cooperative mode, a single drill rod is horizontally transferred to the rotary table through anchoring, the single drill rod is adjusted to be in a vertical posture from the horizontal posture by the vertical root receiving manipulator, the single drill rod is connected into a vertical root under the cooperation of the rat hole, the vertical root is delivered to the vertical root box by the pipe arranging machine, and when the vertical root needs to be placed at a well mouth, the target vertical root is taken out of the vertical root box by the pipe arranging machine, transferred to the well mouth and delivered to the top drive.

The stand box is used as a temporary stand storage device and is one of key devices for improving the working efficiency. The setback needs to have a large enough capacity to store drill rods at all drilling depths, so the setback needs to have a large enough structural size, structural strength, and rigidity to meet its operational needs. Meanwhile, the stand box is arranged at the middle upper part of the derrick, so that the gravity center height of the whole derrick is increased, and the connection reliability is met by local reinforcement. When the stand box is filled with stands, the stand load of the derrick is greatly increased; the full stand condition also greatly increases the windward area of wind load, increases the acting force of wind on the derrick, and simultaneously the area of the stand box of the drill floor also needs enough structural strength to support the weight of all stands. When emergency happens, all the stands need to be taken out of the stand box in time and disassembled into single stands to be placed in a pipe yard. This results in a huge amount of work and a large amount of waste of work efficiency.

Meanwhile, in order to achieve the purpose, equipment such as a pipe arranging machine, a mechanical arm for connecting a vertical root, a rat hole, a catwalk and the like needs to be arranged for cooperative work, and the equipment is also one of important cost components of a drilling system.

Disclosure of Invention

The invention aims to: the drilling machine is provided for solving the problems that in the prior art, the derrick load is large due to the fact that a temporary stand box needs to be placed on the derrick, the stand box is taken out in emergency, a large amount of work efficiency is wasted, and a large amount of equipment needed for connecting the stand is needed.

In order to achieve the purpose, the invention adopts the technical scheme that:

the present invention provides a drilling rig comprising: the drilling machine further comprises a pipe processing system, wherein the pipe processing system comprises a pipe processing robot, and the pipe processing robot comprises a stand column, a mounting frame and a clamping arm; the mounting rack is connected with the upright column in a sliding mode, the clamping arm is rotatably connected with the mounting rack, the clamping arm can rotate in a vertical plane, and a clamping portion used for clamping the pipe is arranged on the clamping arm. The drilling machine provided by the invention can directly take pipes from the ground by arranging the pipe processing robot and adjust the postures of the pipes, so that a temporary stand box does not need to be arranged on the derrick, and the load of the derrick is favorably reduced. Meanwhile, the waste of working efficiency caused when all the stands need to be taken out from the temporary stand box in emergency can be avoided. Specifically, the clamping arm is used for taking the pipe and is rotatably connected with the mounting frame, so that the clamping arm can be used for adjusting the posture of the pipe; in addition, the mounting frame is connected with the upright column in a sliding mode, so that after the clamping arm takes the pipe, enough space for adjusting the posture of the pipe can be provided, and the clamping arm can drive the pipe to adjust the posture conveniently.

As a preferable scheme of the invention, the upright post and the mounting frame are slidably connected through a pulley.

As a preferred scheme of the invention, the pipe treatment robot further comprises an attitude adjusting driving piece, one end of the attitude adjusting driving piece is hinged with the mounting frame, and the output end of the attitude adjusting driving piece is hinged with the clamping arm; the posture adjusting driving member, the mounting frame and the clamping arm form a triangular posture adjusting mechanism, and the length of one side formed by the posture adjusting driving member can be extended or shortened. The posture adjustment of the clamping arm is realized through the structure, the structure is simple, and the triangular structure is stable under the condition that the posture adjustment driving part does not output force. Specifically, the attitude adjustment driving part can be set to be a hydraulic oil cylinder, can output large force and is convenient to control.

As a preferred scheme of the invention, the clamping arm is provided with a connecting lug which is in a triangular structure, and the connecting point of the posture adjusting driving piece and the clamping arm is positioned on the connecting lug. Through set up the connection lug that is the triangle structure on the centre gripping arm, can avoid the centre gripping arm to produce the interference with all the other structures such as mounting bracket in the gesture adjustment process, be convenient for installation and structural design.

As a preferable scheme of the invention, the mounting frame comprises a variable amplitude component and a base; the base is fixedly connected with the pulley, and the amplitude variation assembly is hinged with the base.

As a preferable scheme of the invention, the amplitude-changing assembly comprises a first amplitude-changing rod, a second amplitude-changing rod and a connecting plate; the base, the first amplitude transformer, the second amplitude transformer and the connecting plate form a parallelogram mechanism; the first amplitude transformer is used as a driving rod of the parallelogram mechanism, the second amplitude transformer is used as a driven rod of the parallelogram mechanism, the base is used as a rack of the parallelogram mechanism, and the connecting plate is used as a connecting rod of the parallelogram mechanism; the attitude adjusting driving part, the clamping arm and the connecting plate on the mounting frame form an attitude adjusting mechanism. Through foretell structure, the base, first amplitude transformer, second amplitude transformer and even board form parallelogram mechanism, make under the drive of first amplitude transformer, even the board can the translation and do not take place to rotate, the rethread is even the board, gesture adjustment mechanism that gesture adjustment driving piece and centre gripping arm are constituteed drives the centre gripping arm, can be under the condition that the gesture adjustment of centre gripping arm has been accomplished, realize the translation of centre gripping arm, thereby adjust the distance between centre gripping arm and the stand, be convenient for operate the pipe utensil and aim at the well head.

As the preferable scheme of the invention, the amplitude variation assembly also comprises an amplitude variation driving piece, one end of the amplitude variation driving piece is hinged with the base, and the other end of the amplitude variation driving piece is hinged with the first amplitude variation rod; the amplitude variation driving piece, the first amplitude variation rod and the base form a triangular amplitude variation driving mechanism, and the length of one side formed by the amplitude variation driving piece can be extended or shortened. The rotation of the first amplitude transformer is realized through the amplitude-variable driving structure, and the amplitude-variable driving structure of the triangular structure is relatively stable under the condition that the amplitude-variable driving piece does not need to output force. Furthermore, the amplitude-variable driving piece is arranged as a hydraulic oil cylinder, so that large force can be output and the control is convenient.

As a preferable aspect of the present invention, the pipe treatment robot further includes an upper support frame and a lower support frame; one end of the upright post is rotatably connected with an upper support frame, and the upper support frame is fixedly connected with the derrick; the other end of the upright post is rotatably connected with the lower support frame, and the lower support frame is fixedly connected with the derrick base. The upper support frame is used for providing a rotating guide for the upright post, and the lower support frame is used for supporting the upright post. The upper support frame and the lower support frame constrain the two ends of the upright column together, so that the upright column can be prevented from overturning.

In a preferred embodiment of the present invention, one end of the holding arm is provided with one holding portion, and the other end of the holding arm is provided with the other holding portion. The clamping part is used for clamping the pipe. At least two clamping parts are arranged on the clamping arm, so that the pipe tool can be more stable.

As a preferable aspect of the present invention, the pipe tool handling system further includes a pipe tool storage unit for storing the pipe tools, and the pipe tool handling robot is used for taking out the pipe tools from the pipe tool storage unit or for placing the pipe tools on the pipe tool storage unit.

As a preferable aspect of the present invention, a pipe storage assembly includes a pipe storage rack including a rack body and at least two abutting pieces; the pipe storage assembly is provided with a storage surface, the abutting stop blocks are convexly arranged on the storage surface and connected with the frame body, and a storage space is formed between at least two abutting stop blocks.

As a preferred aspect of the present invention, the tube storage assembly further comprises at least two whip drives and at least two whip rods; the tube storage rack is provided with a storage surface opposite to the storage surface; the deflecting driving pieces are correspondingly connected with the deflecting rods one by one; the angle-producing rod has a first working position and a second working position, when the angle-producing rod is located at the first working position, the distance from the first end of the storage surface to the support surface is greater than the distance from the second end of the storage surface to the support surface, and when the angle-producing rod is located at the second working position, the distance from the first end of the storage surface to the support surface is less than the distance from the second end of the storage surface to the support surface. Through above-mentioned structure, the position that the whipstock was made in whipstock drive switches between first operating position and second operating position for the pipe utensil can roll to the direction of needs. For example, when a pipe needs to be taken, the pipe is rolled to the direction close to the derrick; when the pipe is required to be stored, the pipe is rolled away from the derrick.

As a preferred scheme of the invention, one end of the deflecting bar is hinged with the frame body, and the connecting point of the deflecting bar and the frame body is close to the first end of the storage surface; the other end of the deflecting rod is close to the second end of the storage surface and is hinged with one end of a deflecting driving piece, and the other end of the deflecting driving piece is hinged with the frame body through an installation lug plate; the whipstock drive member may be extendable or retractable. The movement of the diagonal rod is realized through the structure, and the structure is simple and stable. Further, the whipstock drive may be provided as a hydraulic ram.

As a preferred aspect of the present invention, the tube storage assembly further comprises at least two roll-over stands and at least two roll-over drives; the overturning frame is connected with the pipe storage frame, the overturning frame is provided with a clamping surface, the clamping surface comprises a first bending part and a second bending part, the clamping surface is made to be an inwards concave bending surface, and the overturning frame is hinged with the position, close to the first end of the storage surface, on the frame body; one end of the overturning driving piece is hinged with the frame body, and the other end of the overturning driving piece is hinged with one end, far away from the clamping surface, of the overturning frame. Through above-mentioned structure, the roll-over stand can cooperate with the whipstock, and when getting the pole, the roll-over stand can keep apart a pipe utensil wherein with other pipe utensils, is convenient for get the pipe operation, avoids once getting the condition of a plurality of pipes.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:

the drilling machine provided by the invention can directly take out pipes from the ground or the pipe storage assembly and adjust the postures of the pipes, so that a temporary setback box does not need to be arranged on a derrick, and the load of the derrick is reduced. Meanwhile, the waste of working efficiency caused when all the stands need to be taken out from the temporary stand box in emergency can be avoided. Specifically, the clamping arm is used for taking the pipe and is rotatably connected with the mounting frame, so that the clamping arm can be used for adjusting the posture of the pipe; in addition, the mounting frame is connected with the upright column in a sliding mode, so that after the clamping arm takes the pipe, enough space for adjusting the posture of the pipe can be provided, and the clamping arm can drive the pipe to adjust the posture conveniently.

Drawings

Fig. 1 is a schematic structural diagram of a drilling machine provided inembodiment 1 of the present invention.

Fig. 2 is a partially enlarged view of a V portion in fig. 1.

Fig. 3 is a schematic structural diagram of a pipe handling system according toembodiment 1 of the present invention.

Fig. 4 is a partially enlarged view of a portion a in fig. 3.

Fig. 5 is a schematic structural diagram of a pipe handling robot according toembodiment 1 of the present invention.

Fig. 6 is a schematic structural view of a pipe storage rack provided inembodiment 1 of the present invention.

Fig. 7 is a schematic perspective view of a pipe storage rack provided inembodiment 1 of the present invention.

Fig. 8 is a schematic view of the pipe storage rack according toembodiment 1 of the present invention when the first bent portion is higher than the storage surface.

Fig. 9 is a schematic view of the pipe storage rack according toembodiment 1 of the present invention when the second bent portion is higher than the storage surface.

Fig. 10 is a schematic view of the pipe handling robot according toembodiment 1 of the present invention when lifting a pipe.

Fig. 11 is a schematic view of the pipe handling robot according toembodiment 1 of the present invention in adjusting the posture of the pipe from horizontal to vertical.

Fig. 12 is a partially enlarged view of a portion B in fig. 11.

Fig. 13 is a schematic view of the pipe handling robot according toembodiment 1 of the present invention after adjusting the posture of the pipe to be vertical.

Fig. 14 is a partially enlarged view of a portion C in fig. 13.

Fig. 15 is a schematic view of the pipe handling robot according toembodiment 1 of the present invention after the column starts to rotate.

Fig. 16 is a schematic view of the pipe handling robot provided inembodiment 1 of the present invention after the column is rotated to position the pipe above the derrick substructure.

Fig. 17 is a schematic structural diagram of a pipe handling robot according toembodiment 1 of the present invention, which aligns a pipe string with the center of a wellhead.

Fig. 18 is a partially enlarged view of a portion D in fig. 17.

Fig. 19 is a schematic structural view of a mounting bracket of a drilling machine provided inembodiment 2 of the present invention.

Icon: 1-a pipe handling robot; 11-upright post; 12-an upper support frame; 13-lower support frame; 14-a sled; 15-a mounting frame; 151-a base; 152-a horn assembly; 1521-first horn; 1522-second horn; 1523-connecting plate; 1524-variable amplitude drive; 16-attitude adjustment drives; 17-a gripper arm; 171-connecting bumps; 172-a grip; 2-a derrick; 21-a derrick substructure; 22-well head centre; 3-a tubing storage assembly; 301-tube storage rack; 31-a frame body; 32-a resisting block; 33-a storage space; 34-a storage surface; 35-a support surface; 36-making a diagonal rod; 37-a whipstock drive; 38-a roll-over stand; 381-a first bend; 382-a second bending part; 39-tumble drive; 4-pipe tool; 5-drilling a bench iron roughneck; 6-lifting the system.

Detailed Description

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

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

Referring to fig. 1 and 2, an embodiment of the present invention provides a drilling rig including aderrick 2, aderrick substructure 21, a hoistsystem 6, a drillfloor iron roughneck 5, and a pipe handling system. Ahoisting system 6 is connected to the top of thederrick 2 and is used to lift and lower thetubular 4 during drilling. Theiron driller 5 is connected with thederrick base 21 and used for righting and clamping thepipe 4 and carrying out the make-up and break-out. A pipe handling system is connected to thederrick 2 for storage and retrieval of thepipe 4.

Compared with the prior art, the drilling machine provided by the invention does not need to use equipment such as a derrick butt box, a pipe arranging machine, a butt mechanical arm, a rat hole, a catwalk and the like to pick and place thepipe 4, so that the load of thederrick 2 is greatly reduced, field equipment is simplified, and the storage space is saved.

Referring to fig. 3 to 18, the pipe string handling system in the present embodiment includes a pipestring handling robot 1 and a pipestring storage unit 3. The pipetool storage assembly 3 is used for being placed on the ground and storing thepipe tool 4, and meanwhile, when the pipetool storage assembly 3 needs to be taken out, the storedpipe tool 4 can be isolated fromother pipe tools 4, so that the pipetool processing robot 1 can take out the pipe tool conveniently. Thetubular handling robot 1 is used to retrieve tubulars from thetubular storage assembly 3, to perform attitude adjustments on thetubulars 4, and then to transport thetubulars 4 to thewellhead center 22 to facilitate the pipe lowering operation.

Referring to fig. 3 to 5, in particular, thepipe handling robot 1 includes anupper support frame 12, alower support frame 13, acolumn 11, a mountingframe 15, agripping arm 17, and a postureadjustment driving member 16.

One end of theupright post 11 is rotatably connected with theupper support frame 12, and the other end of theupright post 11 is rotatably connected with thelower support frame 13. Theupper support frame 12 is used for connecting with thederrick 2, and thelower support frame 13 is used for connecting with thederrick base 21. Theupper support frame 12 is used for providing restraint and rotary guidance for theupright post 11, and thelower support frame 13 is mainly used for bearing the overturning moment of theupright post 11.

The mountingframe 15 is slidably connected to theupright 11 by atrolley 14. Specifically, thetrolley 14 is slidably connected to theupright 11, and the mountingbracket 15 is fixedly connected to thetrolley 14, so that when thetrolley 14 slides along theupright 11, the mountingbracket 15 slides along the upright 11 together with thetrolley 14.

The mountingframe 15 includes abase 151 and ahorn assembly 152. Thebase 151 is attached to thetrolley 14 and theamplitude variation assembly 152 is attached to thebase 151. Thehorn assembly 152 is connected at one end to thebase 151 and at the other end of thehorn assembly 152 to thegripping arm 17 and theattitude adjustment drive 16. Theamplitude variation assembly 152 is used for driving theclamping arm 17 and the attitude adjusting drivingpiece 16 to translate, so that the clampingarm 17 can move away from or close to theupright post 11.

In particular, thehorn assembly 152 includes afirst horn 1521, asecond horn 1522, aweb 1523, and ahorn drive member 1524.

One end of thefirst amplitude transformer 1521 is hinged with thebase 151, and the other end of thefirst amplitude transformer 1521 is hinged with the connectingplate 1523; one end of thesecond horn 1522 is hinged to thebase 151, and the other end of thesecond horn 1522 is hinged to thelink plate 1523. With the above structure, thefirst horn 1521, thesecond horn 1522, thelink plate 1523, and the base 151 are connected to form a parallelogram structure. Thefirst amplitude transformer 1521 serves as a driving rod in a parallelogram structure, thesecond amplitude transformer 1522 serves as a driven rod in the parallelogram structure, the connectingplate 1523 serves as a connecting rod for connecting the driving rod and the driven rod, and thebase 151 serves as a frame, so that thesecond amplitude transformer 1522 can be driven to rotate together through rotation of thefirst amplitude transformer 1521, and the connectingplate 1523 can be driven to translate. The rotation of thefirst horn 1521 is driven by: one end of the amplitudevariation driving member 1524 is hinged to thebase 151, and the other end of the amplitudevariation driving member 1524 is hinged to the firstamplitude variation rod 1521, so that the amplitudevariation driving member 1524, thebase 151 and the firstamplitude variation rod 1521 form an amplitude variation driving mechanism with a triangular structure, and one side formed by the amplitudevariation driving member 1524 can be extended or shortened, so that the firstamplitude variation rod 1521 is driven to rotate. Specifically, thevariable amplitude drive 1524 is a hydraulic cylinder.

In other embodiments of the invention, it is also possible to have thefirst horn 1521 as a driven horn and thesecond horn 1522 as a driving horn. The amplitudevariation driving component 1524 is hinged to the secondamplitude variation rod 1522 and can drive the secondamplitude variation rod 1522 to rotate, so that the connectingplate 1523 is driven to translate, and the firstamplitude variation rod 1521 is driven to rotate.

Thelink plate 1523 also forms a triangular posture adjustment mechanism together with the postureadjustment driving member 16 and theclamp arm 17, and one side formed by the postureadjustment driving member 16 can be extended or shortened. Specifically, one end of the attitude adjusting drivingmember 16 is hinged to the connectingplate 1523, the other end of the attitude adjusting drivingmember 16 is hinged to the clampingarm 17, and the connectingplate 1523 is further hinged to the clampingarm 17. In this embodiment, theattitude adjustment actuator 16 is a hydraulic cylinder.

When theattitude adjustment drive 16 is extended or shortened, theclamp arm 17 is rotated accordingly. In this embodiment, the postureadjustment driving member 16 extends or shortens in the plane where the vertical direction is located, so as to drive the clampingarm 17 to rotate in the plane where the vertical direction is located, and thus the posture of the clampingarm 17 can be changed between the horizontal direction and the vertical direction.

In order to avoid the obstruction of the mountingframe 15 or theamplitude variation assembly 152 and the like to the posture adjustment of the clampingarm 17, a connectinglug 171 is arranged on the clampingarm 17, the connectinglug 171 is in a triangular structure, and the connecting point of the postureadjustment driving member 16 and the clampingarm 17 is positioned on the connectinglug 171; the connection point of the connectingplate 1523 and the clampingarm 17 is also located on the connectingprojection 171, so that during the rotation of the clampingarm 17, the body of the clampingarm 17 and the mountingframe 15 or theamplitude variation assembly 152 and other structures can keep a gap, thereby avoiding interference.

One end of the holdingarm 17 is provided with one holdingportion 172, and the other end of the holdingarm 17 is provided with the other holdingportion 172. The clampingportion 172 has a clamping space for clamping thepipe 4.

When the amplitudevariation driving component 1524 drives the firstamplitude variation rod 1521 to rotate, the connectingplate 1523 can only translate along with the connectingplate 1523, so that if the length of the attitude adjustingdriving component 16 is kept constant at this time, the attitude adjustingdriving component 16 and the clampingarm 17 both translate along with the connectingplate 1523. When thefirst amplitude transformer 1521 rotates, one end of thefirst amplitude transformer 1521 far away from the base 151 moves in a direction close to or far away from theupright 11, and then the first amplitude transformer drives the clampingarm 17 to move in a direction far away from or close to theupright 11, so that the distance between thepipe 4 clamped by the clampingarm 17 and theupright 11 is adjusted.

Referring to fig. 6-9, thetube storage assembly 3 is adapted to be disposed below thetube handling robot 1 such that thetube 4 can be gripped from thetube storage assembly 3 when thegripper 172 of thetube handling robot 1 is proximate to the lower end of thecolumn 11.

The pipestring storage assembly 3 includes a pipestring storage rack 301, awhipstock drive 37, awhipstock rod 36, a roll-over rack 38, and a roll-over drive 39.

Wherein thetube storage rack 301 includes a rack body 31 and astopper 32. In the present embodiment, the frame body 31 has a hexahedral frame structure. Thestopper 32 is connected to the frame 31.

Thetubing storage assembly 3 includes oppositely disposed storage surfaces 34 and support surfaces 35 thereon. In storing thepipe string 4, thesupport surface 35 is used for contacting the ground, thestorage surface 34 faces upward, the number of thestoppers 32 is four, the tops of the fourstoppers 32 are higher than thestorage surface 34, astorage space 33 is formed between the fourstoppers 32, and thepipe string 4 can be placed in thestorage space 33.

Awhipstock drive 37 is connected to thewhipstock 36 for providing different directional inclinations on thestorage surface 34 to enable thepipe 4 on thestorage surface 34 to be rotated in a predetermined direction. Specifically, awhipstock drive 37 and awhipstock 36 are attached to onetube storage rack 301. Awhipstock drive member 37 is hingedly connected to thewhipstock rod 36.

The side ofwhipstock driving piece 37 one end through installation otic placode and support body 31 is articulated to be connected with, and thewhipstock driving piece 37 other end is articulated with 36 one end of whipstock, and thewhipstock 36 other end is articulated with support body 31. Thewhipstock driving member 37, thewhipstock 36 and the frame body 31 form a triangular structure, wherein the length of one side formed by thewhipstock driving member 37 can be extended or shortened. Specifically, in the present embodiment, thewhipstock drive 37 is selected to be a cylinder.

Thestorage surface 34 has first and second oppositely disposed ends. Thewhipstock 36 has a first operative position and a second operative position. With themonument rod 36 in the first working position, the first end of thestorage surface 34 is spaced further from thesupport surface 35 than the second end of thestorage surface 34 is spaced from thesupport surface 35; when themonument rod 36 is in the second working position, the first end of thestorage surface 34 is spaced from thesupport surface 35 by a distance that is less than the distance that the second end of thestorage surface 34 is spaced from thesupport surface 35.

One end of theturning driving member 39 is fixedly connected with the frame body 31, and the other end of theturning driving member 39 is hinged with the turningframe 38. The roll-overstand 38 is hingedly connected to the frame 31 adjacent a first end of thestorage surface 34. Thetumble driving member 39, thetumble frame 38 and the frame body 31 form a triangular structure, and one side constituted by thetumble driving member 39 can be extended or shortened. Specifically, thetumble drive 39 is provided as a cylinder.

The roll-overstand 38 has a holding surface, and specifically, the holding surface includes a firstbent portion 381 and a secondbent portion 382. When theturnover driving member 39 is shortened, the firstbent portion 381 is lower than thestorage surface 34, and the secondbent portion 382 is higher than thestorage surface 34, so that a space for accommodating asingle pipe tool 4 is formed between the secondbent portion 382 and the abuttingblock 32 at one end, so as to clamp thepipe tool 4 to be grabbed or just put down, and the remainingpipe tools 4 are accommodated between the secondbent portion 382 and the abuttingblock 32 at the other end. When the roll-over drive 39 is extended and the roll-overstand 38 is rotated, thetube 4 which has just been lowered can roll towards the lower end of thestorage surface 34 until thefirst bend 381 is above thestorage surface 34 and thesecond bend 382 is below thestorage surface 34.

Through the cooperation of theturning driving part 39, the turningframe 38, thewhipstock driving part 37 and thewhipstock 36, thepipe tool 4 can be moved to a preset direction, so that thepipe tool 4 can be conveniently grabbed, put down and stored.

The working principle of the drilling machine provided by the embodiment of the invention is as follows:

the pipe tool handling system may be used for pipe extraction:

specifically, before thepipe handling robot 1 takes out the pipe, thedeflecting driving member 37 on thepipe storage assembly 3 is extended to make the deflectingrod 36 located at the second working position, the firstbent part 381 of the roll-overstand 38 is higher than thestorage surface 34, and thepipe 4 on thestorage surface 34 rolls towards the roll-overstand 38 until being blocked by the firstbent part 381; then the turningframe 38 is turned over under the action of theturning driving member 39, so that the firstbent portion 381 is lower than thestorage surface 34, and the secondbent portion 382 is higher than thestorage surface 34, and then one of thetube tools 4 is isolated by the secondbent portion 382, which is convenient for the tubetool handling robot 1 to take out the tube;

when taking the pipe, the clampingarm 17 is in a horizontal state, thepulley 14 drives the mountingrack 15 to move downwards, and the two clampingparts 172 clamp thepipe 4;

referring to fig. 10, after the pipe is taken out, thepulley 14 drives the mountingrack 15 to ascend along theupright post 11, and thepipe 4 ascends along with the ascending; referring to fig. 11-14, theattitude adjustment drive 16 is then extended, whereupon thegripper arms 17 are rotated in a vertical plane, so that the attitude of thepipe 4 is adjusted from a horizontal orientation to a vertical orientation; referring to fig. 15-18, thecolumn 11 is then rotated about its length to position thepipe 4 above thederrick substructure 21; thevariable amplitude drive 1524 is extended or shortened in length to adjust the distance of the tubular 4 from thecolumn 11 so that thetubular 4 is aligned with thewellhead center 22 for easy down pipe.

The pipe tool handling system may also be used for storage operations:

specifically, after thedownhole pipe 4 is lifted, thecolumn 11 is rotated until thegripping arm 17 is located above thederrick 2, and thegripping part 172 on thegripping arm 17 grips thepipe 4, and at this time, thegripping arm 17 extends in the vertical direction; thecolumn 11 is then rotated about its axis until thepipe 4 is positioned directly above thepipe storage assembly 3; theattitude adjustment drive 16 is shortened so that the attitude of thegripping arm 17 and thepipe 4 is adjusted from the vertical direction to the horizontal direction; thetackle 14 then drives the mountingframe 15, the clampingarm 17 and thepipe 4 to slide downwards to be close to thepipe storage assembly 3; thegripper 172 then releases thetube 4, placing thetube 4 onto thetube storage assembly 3;

the placedpipe 4 is close to the first end of thestorage surface 34 and is separated by thesecond bend 382, at which time thewhip drive 37 is shortened, thewhip stock 36 is in the first operating position, the placedpipe 4 rolls along thestorage surface 34 into the recesses of thefirst bend 381 and thesecond bend 382, and then the roll stand 38 is turned over, thesecond bend 382 being lower than thestorage surface 34 so that the placedpipe 4 can continue to roll until it rolls to the second end of thestorage surface 34.

The drilling machine provided by the embodiment of the invention has the beneficial effects that:

1. the pipe can be directly taken from the position below the platform of thederrick 2, so that a temporary storage device for thepipe 4 is not required to be arranged on thederrick 2, the load borne by thederrick 2 is reduced, the gravity center of thederrick 2 is favorably lowered, and the safety is favorably improved;

2. the multiple functions of pipe taking, transportation, posture adjustment of thepipe 4, pipe lowering and the like can be realized only by the pipe processing system, so that the repeated arrangement of equipment such as a pipe arranging machine, a mechanical arm for connecting a stand, a rat hole, a catwalk and the like is not needed, the load of thederrick 2 is further reduced, and the field arrangement space is saved;

3. all thepipes 4 can be stored in thepipe 4 storage yard, so that the disassembly operation of thepipes 4 is avoided in emergency, and unnecessary efficiency waste is reduced;

4. in the prior art, in order to facilitate the transportation and lifting of thepipe 4, the placing direction of thepipe 4 is longitudinal (i.e. thederrick 2 is located on the extension line of the pipe 4), and the transportation distance of thepipe 4 is long in this placing manner, but by the pipe treatment system provided by the embodiment of the present invention, the placing posture of thepipe 4 in the yard is changed from longitudinal to transverse, so that the utilization rate of the yard is provided, the transportation distance of thepipe 4 is shortened, and the efficiency is improved.

It should be noted that: in this embodiment, thetube storage unit 3 includes two tube storage racks 301 arranged at intervals, and eachtube storage rack 301 is provided with onewhip driving member 37, onewhip rod 36, oneinversion driving member 39, and oneinversion rack 38. In other embodiments of the present invention, if it is necessary to provide thepipe storage rack 301, thewhipstock drive 37, thewhipstock 36, theinversion drive 39, and theinversion rack 38, the number correspondence of the above five components may be varied, and does not necessarily have to be in the form described in this embodiment. Namely: it is not necessary that awhipstock 36 and a roll-overstand 38 be attached to atube storage rack 301. In the entire pipe string storage assembly 3: the number of the tube storage racks 301 should be set to at least one; the number of the whipstock drives 37 and thewhipstock rods 36 should be at least two so as to facilitate the support of theelongated pipe 4, enabling thepipe 4 to be placed horizontally; the number of the roll-over stands 38 and roll-over drives 39 should be at least two to facilitate accurate separation of theindividual tubulars 4. For example, only one tubestring storage rack 301 may be provided, and at least two whipstock drives 37, at least twowhipstock rods 36, at least two roll-over stands 38, and at least two roll-over drives 39 may be connected to this tubestring storage rack 301.

Example 2

Please refer to fig. 19. The present embodiment provides a drilling machine, which is different from the drilling machine inembodiment 1 in that: in this embodiment, theamplitude module 152 is not included on thetube handling robot 1.

Specifically, in this embodiment, the mountingframe 15 is fixedly connected to thetrolley 14. One end of the attitude adjusting drivingmember 16 is connected with the mountingframe 15, and the output end of the attitude adjusting drivingmember 16 is hinged with the clampingarm 17. Thegripping arm 17 is hinged to the mountingframe 15. The mountingframe 15, the attitude adjusting drivingmember 16 and theclamp arm 17 form a triangular attitude adjusting mechanism for adjusting the attitude of thepipe 4, and the length of one side formed by the attitude adjusting drivingmember 16 can be extended or shortened, so that theclamp arm 17 can be driven to rotate.

The distance between thegripping arm 17 and the mountingframe 15 is such that: so that thecolumn 11 can rotate thepipe 4 on the grippingarms 17 to just above thecentre 22 of the wellhead while bringing thepipe 4 to rotate above the platform of thederrick 2. Namely: thewellhead centre 22 is located at a distance from thecolumn 11 equal to the distance between thegripping arm 17 and thecolumn 11.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (14)

1. A drilling machine comprises a derrick, a derrick base, a lifting system and an iron roughneck, wherein the derrick base is connected with the bottom of the derrick, the lifting system is connected with the derrick, and the iron roughneck is connected with the derrick base;

the mounting bracket with stand slidable ground is connected, the centre gripping arm with the mounting bracket is rotationally connected, the centre gripping arm can be at vertical plane internal rotation, be equipped with the clamping part that is used for centre gripping pipe utensil on the centre gripping arm.

2. The drilling rig of claim 1, wherein the column is slidably connected to the mounting bracket by a trolley.

3. The drilling rig of claim 2, further comprising an attitude adjustment drive, one end of the attitude adjustment drive being hinged to the mounting frame and the other end of the attitude adjustment drive being hinged to the clamping arm;

the posture adjustment driving piece, the mounting frame and the clamping arm form a triangular posture adjustment mechanism, and the length of one side formed by the posture adjustment driving piece can be extended or shortened.

4. The drilling machine as claimed in claim 3, wherein the clamping arm is provided with a connecting projection, the connecting projection is of a triangular structure, and the connecting point of the attitude adjustment driving member and the clamping arm is located on the connecting projection.

5. The drilling rig of claim 4, wherein the mounting bracket includes a luffing assembly and a base;

the base is fixedly connected with the pulley, and the amplitude variation assembly is hinged with the base.

6. The drilling rig of claim 5, wherein the horn assembly comprises a first horn, a second horn, and a web;

the base, the first amplitude transformer, the second amplitude transformer and the connecting plate form a parallelogram mechanism;

the first amplitude transformer is used as a driving rod of the parallelogram mechanism, the second amplitude transformer is used as a driven rod of the parallelogram mechanism, the base is used as a rack of the parallelogram mechanism, and the connecting plate is used as a connecting rod of the parallelogram mechanism;

the posture adjusting mechanism is composed of the posture adjusting driving piece, the clamping arm and the connecting plate on the mounting rack.

7. The drilling rig as recited in claim 6, wherein the luffing assembly further comprises a luffing drive, one end of the luffing drive being hinged to the base and the other end of the luffing drive being hinged to the first luffing jib;

the amplitude-variable driving piece, the first amplitude-variable rod and the base form a triangular amplitude-variable driving mechanism, and the length of one side formed by the amplitude-variable driving piece can be extended or shortened.

8. The drilling rig of any of claims 1-7, wherein the pipe handling robot further comprises an upper support rack and a lower support rack;

one end of the upright post is rotatably connected with the upper support frame, and the upper support frame is fixedly connected with the derrick;

the other end of the upright post is rotatably connected with the lower support frame, and the lower support frame is fixedly connected with the derrick base.

9. The drilling machine of claim 1, wherein one end of the gripping arm is provided with one gripping portion and the other end of the gripping arm is provided with another gripping portion.

10. The drilling rig of claim 1, wherein the pipe string handling system further comprises a pipe string storage assembly;

the pipe storage assembly is used for storing pipe tools, and the pipe tool processing robot is used for taking pipes from the pipe storage assembly or placing the pipe tools on the pipe storage assembly.

11. The drilling rig of claim 10, wherein the pipe storage assembly comprises a pipe storage rack comprising a rack body and at least two resistance blocks;

the pipe storage assembly is provided with a storage surface, the top surface of the abutting block is higher than the storage surface, the abutting block is connected with the frame body, and a storage space is formed between at least two abutting blocks.

12. The drilling rig of claim 11, wherein the pipe storage assembly further comprises at least two whipstock drives and at least two whipstock rods, the whipstock drives being connected to the whipstock rods in a one-to-one correspondence;

the tube manufacturing diagonal rod is connected with the tube storage rack;

a surface of the pipe storage rack opposite the storage surface is a support surface;

the angle-producing rod has a first working position and a second working position, when the angle-producing rod is located at the first working position, the distance from the first end of the storage surface to the supporting surface is greater than the distance from the second end of the storage surface to the supporting surface, and when the angle-producing rod is located at the second working position, the distance from the first end of the storage surface to the supporting surface is less than the distance from the second end of the storage surface to the supporting surface.

13. The drilling rig of claim 12, wherein the angle-building rod is hingedly connected at one end to the rack and the point of connection of the angle-building rod to the rack is proximate the first end of the storage surface;

the other end of the deflecting rod is close to the second end of the storage surface and is hinged with one end of the deflecting driving piece, and the other end of the deflecting driving piece is hinged with the frame body through an installation lug plate;

the whipstock drive member is extendable or retractable.

14. The drilling rig of claim 13, wherein the pipe string storage assembly further comprises at least two roll-over stands and at least two roll-over drives, the roll-over stands being connected to the pipe string storage stands;

the turnover frame is provided with a clamping surface, the clamping surface comprises a first bending part and a second bending part, the clamping surface is an inwards concave bending surface, and the turnover frame is hinged with the frame body at a position close to the first end of the storage surface;

the turnover driving piece is hinged to the frame body, and the other end of the turnover driving piece is hinged to one end, far away from the clamping face, of the turnover frame.

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