CN201347730Y

CN201347730Y - Manipulator for automatic drill pipe racking

Info

Publication number: CN201347730Y
Application number: CNU2009200183971U
Authority: CN
Inventors: 崔学政; 刘文庆; 肖文生; 张富强
Original assignee: China University of Petroleum East China
Current assignee: China University of Petroleum East China
Priority date: 2009-01-17
Filing date: 2009-01-17
Publication date: 2009-11-18
Anticipated expiration: 2019-01-17

Abstract

The utility model provides a mechanical arm for automatically discharging drill pipes, which is used for the automatic discharge operation of drill pipes on offshore drilling platforms. Install the lifting arm assembly and the guiding arm assembly on the column. The lifting arm assembly is designed with two upper and lower brackets. The telescopic hydraulic cylinder is installed between the upper and lower brackets. The lower bracket is equipped with a lifting arm hydraulic motor and a rack and pinion mechanism. Realize the overall up and down movement of the lifting arm, the lower bracket of the lifting arm is connected with the lifting jib by the rotating pair, the upper bracket is connected with the main lifting arm by the moving pair, and the hydraulic cylinder of the lifting arm drives the upper bracket to move up and down along the axis of the column, three The additional support arm, the lifting main arm and the lifting auxiliary arm constitute two parallelogram virtual constraint mechanisms. The horizontal fetching and sending movement of the clamping claws of the lifting arm is realized based on the principle of the elliptical mechanism, and the clamping arm of the lifting arm The gripper will move back and forth in a straight line in the horizontal plane, which can make the drill pipe stand close to or away from the column. The setting of the guide arm eliminates the additional shimmy vibration of the drill pipe stand during the transfer process, and can stably hold the drill pipe stand.

Description

Drilling rod discharges mechanical arm automatically

Technical field:

The utility model relates to a kind of offshore drilling platforms drilling rod automatic discharge system mechanical arm, and the mechanical arm that especially has a plurality of passive constraint features is used for parallel type discharging frame.

Background technology:

Offshore oil drilling well at present more and more is subject to people's attention, and the offshore oil drilling well is that rig is installed on offshore boring island or the drill ship.Before the drilling well, usually drilling rod (comprising other drilling tool) is to put above deck, at first need in the drilling process drilling rod in the deck is transplanted on discharging frame (pipe setback) the derrick, also drilling rod will be transplanted on well head and carry out various drilling well process operations from the discharging frame then, or reverse sequence is transplanted on drilling rod the discharging frame and then sends back on the deck more at last from well head.This process is called the pipe racking operation or claims pipe to handle.In the tradition drillng operation, pipe racking action need multi agent cooperation is finished jointly, and this operating feature is to have danger, and any one man operation error all may cause other staff to come to harm and has a strong impact on drilling well operation and efficient.

Often meet stormy waves at sea, work under bad environment, security situation are more outstanding.Simultaneously, the Offshore Operation cost is very high, therefore, explores and makes operating machine of drilling rod, and then realize the drilling rod automation mechanized operation in the drilling process, avoids the people to contact with the direct of drilling rod, accelerates bit speed, shortens drilling period and seems particularly important.

Drilling rod discharges the important component part that mechanical arm is the drilling rod automatic discharge system automatically, offshore drilling platforms drilling rod automatic discharge system mechanical arm abroad on the offshore boring island existing a plurality of schemes be applied, thereby early stage scheme is to transfer drilling rod at mechanical arm of installation on the derrick between well head and pipe setback, be afterwards below the another one mechanical arm is installed, mechanical arm is transferred drilling rod jointly between well head and pipe setback up and down.Present scheme is that mechanical arm is installed on the special removable column substantially, the various scheme main distinctions are arm number, arm component movement mode and arm degree of freedom difference, but all coming with some shortcomings aspect the flexibility in property simple for structure and control, and domestic in this respect research almost is blank.

Summary of the invention:

Technical problem to be solved in the utility model is developed a kind of drilling rod exactly and is discharged mechanical arm automatically, makes drill-pipe stand to transfer automatically in vertical and former and later two degree of freedom, realizes the automatic discharging of safe and efficient offshore drilling platform drilling rod.

The technical scheme that its technical problem that solves the utility model adopts is: drilling rod discharges mechanical arm automatically and has column construction, the center design has column, the column bottom is seated on the offshore boring island dedicated track, the top is installed on the two-layer platform dedicated track, column design has two degree of freedom, can discharge the frame dedicated track along parallel type and move, operate so that drill-pipe stand is put at different discharging chord positions, column can also be around self axis left rotation and right rotation.The position has been installed by lift arm assembly and two mechanical arms of lead arm assembly respectively up and down at column, the end of two arms all is equipped with retaining paw can stably catch drill-pipe stand, column drives the arm rotation, can realize that the drill-pipe stand selection is towards well head or towards the discharging frame.During towards well head, can allow rig to carry out the thribble operation, during towards the discharging frame, can allow the discharging frame is picked and placeed drill-pipe stand at well head.Be installed on column two mechanical arms up and down and all have two degree of freedom, can realize that two mechanical arm clamps paws move up and down synchronously or move forward and backward synchronously with respect to column, thus can the handling drill-pipe stand or front and back send and get thribble.

The lift arm assembly that is installed on column top is by the lifting principal arm, the lifting auxiliary, the lift arm upper bracket, telescopic hydraulic cylinder, the lifting hydraulic motor, the lift arm lower carriage, the lifting tooth bar, compositions such as lift arm retaining paw, lift arm upper bracket sky is enclosed within on the column, it is fixed with tooth bar in both sides of box type column down, the lift arm lower carriage is installed on the column of tooth bar, interior cogged reducing gear and lifting hydraulic motor, on the lift arm, telescopic hydraulic cylinder is installed between the lower carriage, one end and the upper bracket of lifting principal arm are hinged, the other end is connected with the bottom of lift arm retaining paw, lifting auxiliary one end is hinged on the lower carriage bottom, and the other end is hinged on lifting principal arm mid point.On this basis, designed and be parallel to the lifting auxiliary respectively, column, three additional support arms of lifting principal arm, article three, an end of additional support arm is hinged, the other end is hinged on lift arm lower carriage top separately respectively, lifting principal arm mid point, lift arm retaining paw top, such three additional support arms have just constituted two parallelogram passive constraint mechanisms with lifting principal arm and lifting auxiliary, lift arm assembly integral body can move up and down along column, it is finished by pinion and rack, lift arm fluid motor-driven gear reduction can realize that by the rack-and-pinion effect lift arm assembly integral body moves up and down.The lift arm component design has two supports up and down, lower carriage is connected with the lifting auxiliary with revolute pair, upper bracket is connected with the lifting principal arm with moving sets, it is to realize by the ellipsograph mechanism principle that the level of lift arm retaining paw is fetched and delivered motion, lift arm Driven by Hydraulic Cylinder upper bracket moves up and down along the column axis, then retaining paw will in horizontal plane, do before and after rectilinear motion, can realize drill-pipe stand near or away from column.

The lead arm assembly that is installed in the column bottom is made up of guiding principal arm, lead arm support, lead arm hydraulic cylinder, guiding auxiliary, contiguous block and lead arm retaining paw, the guiding principal arm is made of two arms that parallel, be hinged on respectively on the lead arm support, their other end all is hinged on the contiguous block, also be hinged with the guiding auxiliary on the contiguous block, the guiding auxiliary also is made of two arms parallel to each other, the other end of guiding auxiliary is connected on the lead arm retaining paw, and the guiding principal arm has also constituted two parallelogram passive constraint mechanisms with the guiding auxiliary.Between lead arm support and guiding auxiliary, the lead arm hydraulic cylinder is installed.The lead arm assembly also has two degree of freedom, and one of them degree of freedom realizes that by the lead arm hydraulic cylinder another degree of freedom is realized by the thribble transmission by the lift arm assembly.

Owing to have telescopic hydraulic cylinder to be connected between upper bracket and the lower carriage in the lift arm assembly, lift arm hydraulic motor and pinion and rack are arranged again in the lower carriage, can realize that lift arm integral body moves up and down, the lift arm design has two supports up and down, lower carriage is connected with the lifting auxiliary with revolute pair, upper bracket is connected with the lifting principal arm with moving sets, lift arm Driven by Hydraulic Cylinder upper bracket moves up and down along the column axis, then the lift arm retaining paw will in horizontal plane, do before and after rectilinear motion, can realize drill-pipe stand near or away from column.Being provided with of lead arm eliminated drill-pipe stand and produced additional shimmyly in the handover process, can stably grasp drill-pipe stand.The parallelogram passive constraint mechanism that lift arm and lead arm are provided with can guarantee that all drill-pipe stand is in stable vertical position all the time and increases supporting capacity.

Description of drawings:

Fig. 1 is that drilling rod discharges mechanical arm overall layout chart automatically.

Fig. 2 is a lift arm modular construction schematic diagram.

Fig. 3 is a lead arm modular construction schematic diagram.

Among the figure, 1. column, 2. lift arm assembly, 3. lead arm assembly, 4. thribble is 5. discharged frame, 6. lifting principal arm, 7. lifting auxiliary, 8. lift arm upper bracket, 9. telescopic hydraulic cylinder, 10. lifting hydraulic motor, 11. the lift arm lower carriage, 12. lifting tooth bars, 13. lift arm retaining paws, 14. the guiding principal arm, 15. lead arm supports, 16. lead arm hydraulic cylinders, 17. the guiding auxiliary, 18. contiguous blocks, 19. lead arm retaining paws.

The specific embodiment:

Describe the utility model in detail below in conjunction with accompanying drawing.

As shown in Figure 1, lift arm assembly 2 is installed in up and down respectively on the column 1 with lead arm assembly 3, and two mechanical arms are held the thribble 4 of operating by terminal retaining

paw

13,19, and stand-by drill-pipe stand is arranged in discharging frame 5.The lift arm assembly is made up of lifting principal arm 6, lifting auxiliary 7, lift arm upper bracket 8, telescopic hydraulic cylinder 9, lifting hydraulic motor 10, lift arm lower carriage 11, lifting tooth bar 12, lift arm retaining paw 13 etc. as shown in Figure 2.Have two degree of freedom, lift arm upper bracket 8 is that sky is enclosed within on the column 1, can slide up and down along column 1, and lift arm lower carriage 11 is to be connected with lifting auxiliary 7 by revolute pair B.Both sides at 8 times box type columns of lift arm upper bracket are fixed with lifting tooth bar 12, lift arm lower carriage 11 is installed on the column of tooth bar, interior cogged reducing gear and lifting hydraulic motor 10, on the lift arm, telescopic hydraulic cylinder 9 is installed between the lower carriage, one end and the upper bracket 8 of lifting principal arm 6 are hinged, the bottom F point of the other end and lift arm retaining paw 13 is hinged, one end of lifting auxiliary 7 is hinged on lower carriage 11 bottom B points, the other end is hinged on the mid point D point of lifting principal arm 6, on this basis, designed and be parallel to lifting auxiliary 7 respectively, column 1, three additional support arms of lifting principal arm 6, article three, the hinged C point of an end of additional support arm, the other end is hinged on the top A point of lift arm lower carriage 11 separately respectively, the mid point D point of lifting principal arm 6, the top E point of lift arm retaining paw 13, such three additional support arms have just constituted ABCD and two parallelogram passive constraints of CDEF mechanism with lifting principal arm and lifting auxiliary, lift arm assembly 2 integral body can move up and down along column 1, it is finished by pinion and rack, lifting hydraulic motor 10 driven wheel reducing gears can realize that by the rack-and-pinion effect lift arm assembly 2 integral body move up and down.2 designs of lift arm assembly have two supports up and down, lower carriage is connected with lifting auxiliary 7 with revolute pair, upper bracket is connected with lifting principal arm 6 with moving sets, it is to realize by the ellipsograph mechanism principle that the level of lift arm retaining paw 13 is fetched and delivered motion, by upper bracket 8, lower carriage 11, lifting principal arm 6 and lifting auxiliary 7 have constituted ellipsograph mechanism, in this mechanism, with fulcrum B is the centre of gyration, telescopic hydraulic cylinder 9 is connected between the lower carriage, driving upper bracket 8 by telescopic hydraulic cylinder 9 moves up and down along column 1 with respect to lower carriage 11, then the terminal F of lift arm will do horizontal reciprocating movement, can realize drill-pipe stand near or away from column.Lift arm has added ABCDEF parallelogram passive constraint mechanism, can guarantee that drill-pipe stand is in stable vertical position all the time and increases supporting capacity.Lifting hydraulic motor 10 driven wheel reducing gears, gear reduction is installed in the lower carriage 11, and gear realizes that by the tooth bar effect lift arm assembly integral body is along column 1 lifting again.Lifting tooth bar 12 is fixed on column 1 both sides.

Lead arm assembly 3 with two degree of freedom is positioned at column lower end, as shown in Figure 3, by guiding principal arm 14, lead arm support 15, lead arm hydraulic cylinder 16, guiding auxiliary 17, contiguous block 18 and lead arm retaining paw 19 are formed, guiding principal arm 14 is made of two arms parallel to each other, the one end is by revolute pair G, H is hinged on respectively on the lead arm support 15, their other end is by revolute pair I, J is hinged on the contiguous block 18, guiding auxiliary 17 also is made of two arms parallel to each other, their end is by revolute pair K, L is hinged on the contiguous block 18, and the other end is by revolute pair M, N is hinged on the lead arm retaining paw 19.Guiding principal arm 14 has also constituted GHIJ and two parallelogram passive constraints of KLMN mechanism with guiding auxiliary 17.Between lead arm support 15 and guiding auxiliary 17 lead arm hydraulic cylinder 16 is installed, lead arm support 15 is fixed on the column 1, and lead arm retaining paw 19 can be held drill-pipe stand 4.Lead arm has been added GHIJKLMN parallelogram passive constraint mechanism, can guarantee that drill-pipe stand is in stable vertical position all the time and increases the stability and the supporting capacity of lead arm.Hydraulic cylinder 16 is installed between support 15 and the guiding auxiliary 17 can realize one of them degree of freedom of lead arm, another degree of freedom is transmitted by thribble 4 by lift arm assembly 2 and is realized, retaining paw is all designed so that the stable drilling rod of catching, the motion of two arms need coordinate synchronization up and down in two arm ends up and down.

The utility model can be used for twin-well frame semisubmersible drilling platform or drill ship deck drilling rod automatic discharge system, this system can be under a people remote control, the direct contact that does not need people and drilling pipe post finished the drill-pipe stand lifting and level seesaws, thereby promote transfer drilling rod or make drilling rod away from or near column, can operate drill collar or sleeve pipe by changing the different size paw, accelerate bit speed, alleviated labour intensity and reduced recruitment quantity, saved drilling cost.

Claims

1. A drilling rod automatic discharge mechanical arm, including a column, a lifting rack and a hydraulic motor, a lifting main arm, a lifting auxiliary arm, an upper bracket of the lifting arm, a lower bracket of the lifting arm, a telescopic hydraulic cylinder, a lifting Arm clamping gripper, guiding arm, guiding arm hydraulic cylinder, guiding arm support, guiding arm clamping gripper, characterized in that two mechanical arms of lifting arm assembly and guiding arm assembly are respectively installed on the upper and lower parts of the column, and two The end of the mechanical arm is equipped with clamping claws that can stably grasp the drill pipe stand. The lifting arm assembly is installed on the upper part of the column, which consists of a lifting main arm, a lifting jib, an upper bracket of the lifting arm, a telescopic hydraulic cylinder, The lifting hydraulic motor, the lower bracket of the lifting arm, the lifting rack, and the clamping claw of the lifting arm are composed. The lower bracket is installed on the column with a rack, and a gear reduction mechanism and a lifting hydraulic motor are installed inside. A telescopic hydraulic cylinder is installed between the upper and lower brackets of the lifting arm. The lower part of the lifting arm clamping claw is hinged, one end of the lifting jib is hinged at the bottom of the lower bracket, the other end is hinged at the midpoint of the lifting main arm, and the other three are respectively parallel to the lifting jib, the column and the lifting main arm. Additional support arms, one end of the three additional support arms are hinged together, and the other ends are respectively hinged on the upper part of the lower bracket of the lifting arm, the middle point of the lifting arm, and the upper part of the clamping claw of the lifting arm, so that the three additional supporting arms are connected to the lifting arm. The lifting main arm and the lifting jib constitute two parallelogram virtual restraint mechanisms; the guiding arm assembly is installed at the lower part of the column, and consists of the guiding main arm, the guiding arm bracket, the guiding arm hydraulic cylinder, the guiding auxiliary arm, the connecting block and the guiding arm clamp The guiding main arm is composed of two parallel arms, respectively hinged on the guiding arm bracket, and their other ends are hinged on the connecting block, and the connecting block is also hinged with a guiding auxiliary arm, and the guiding auxiliary arm is also hinged. It consists of two mutually parallel arms, the other end of the guide arm is hinged with the clamping claw of the guide arm, and the guide arm hydraulic cylinder is installed between the guide arm bracket and the guide arm.

2. The mechanical arm for automatically discharging drill pipes according to claim 1, wherein the upper bracket of the lifting arm is hinged with the main lifting arm by a moving pair, and the lower bracket of the lifting arm is hinged with the lifting jib by a rotating pair.