CN103244062B - Marine drilling platform automatic tube-arranging system - Google Patents
Marine drilling platform automatic tube-arranging system Download PDFInfo
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- CN103244062B CN103244062B CN201310189710.9A CN201310189710A CN103244062B CN 103244062 B CN103244062 B CN 103244062B CN 201310189710 A CN201310189710 A CN 201310189710A CN 103244062 B CN103244062 B CN 103244062B
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Abstract
The invention discloses a kind of marine drilling platform automatic tube-arranging system, comprise derrick, at least one group for capturing and discharge the tube-grasping device of drilling rod, hydraulic catwalk, the PLC control device of rat hole and control total system, described derrick is fixed on offshore boring island, described rat hole is fixed on the below of offshore boring island, it is characterized in that: described guide rail upright columns is provided with upper and lower two mechanical arms, on described, the front end of lower mechanical arm is provided with rotary connecting seat, the rotary connecting seat of described upper mechanical arm being at least provided with one grabs on pipe hand and one, shackle device, the rotary connecting seat of described lower mechanical arm is at least provided with one and grabs pipe hand.Advantage of the present invention is: realize drilling rod and dock in the air, automatically can regulate the position of upper and lower drilling rod, can shorten docking time, increase work efficiency in docking operation, reduces construction cost.
Description
Technical field
The present invention relates to a kind of wellbore construction equipment, specifically, relate to a kind of marine drilling platform automatic tube-arranging system.
Background technology
In wellbore construction operation process, drilling tool (drilling rod, drill collar, sleeve pipe etc.) docking thribble is a very important operation, and each thribble needs docking twice.Existing offshore boring island pipe system is achieved a butt joint by iron driller or Power Tong mostly in docking operation, drilling tool all will be placed in rat hole by each docking to carry out, take out in rat hole after docking, the position of manual synchronizing drilling rod is needed in docking operation, make the whole docking operation time longer, inefficiency.In addition, the drilling tool thribble delivery ratio after docking is more consuming time, does not also have special equipment at present.Therefore, a kind of new technical scheme is needed to solve above-mentioned technical problem.
Summary of the invention
The object of this invention is to provide one can realize drilling tool (drilling rod, drill collar, sleeve pipe etc.) and dock in the air, drilling tool thribble or convenient, the safe and reliable marine drilling platform automatic tube-arranging system of single conveying.
The technical scheme that the present invention solves the problems of the technologies described above employing is:
Marine drilling platform automatic tube-arranging system, comprise derrick, at least one group for capturing and discharge the tube-grasping device of drilling rod, the hydraulic catwalk matched with tube-grasping device, the rat hole matched with tube-grasping device and controlling the PLC control device of total system, described derrick is fixed on offshore boring island, described hydraulic catwalk be used for by Drill-pipe conveyed to assigned address, be convenient to the crawl of tube-grasping device, described rat hole is fixed on the below of offshore boring island, for the docking of drilling rod provides space, described tube-grasping device comprises: the guide rail upright columns being used for fixing mechanical arm, the seat of honour that be connected rotary with 360 °, guide rail upright columns top, with 360 ° of rotary lower seats be connected bottom guide rail upright columns, be fixed on the downing track on offshore boring island and the uplink path being fixed on crown, on described, lower seat is separately fixed at, in downing track, described guide rail upright columns is provided with upper and lower two mechanical arms, on described, the front end of lower mechanical arm is provided with rotary connecting seat, the rotary connecting seat of upper mechanical arm is at least provided with one grabs on pipe hand and one, shackle device, the rotary connecting seat of lower mechanical arm is at least provided with one and grabs pipe hand, or being at least provided with one on the rotary connecting seat of upper mechanical arm grabs pipe hand, the rotary connecting seat of lower mechanical arm is at least provided with one grab on pipe hand and one, shackle device.
On described, shackle device is provided with moment of torsion real-time inspection and control device.
Also comprise gantry robot arm device, the grabbing device that described gantry robot arm device comprises two portal frames be arranged in parallel, be arranged at hoisting cross beam between two portal frames, be fixed on the swing arm on hoisting cross beam and be fixed on bottom swing arm, the upper and lower end of described portal frame is all separately fixed on derrick and offshore boring island by orbit, and described hoisting cross beam is fixed on portal frame by fluctuating orbit.
Described grabbing device is grabbed pipe hand by three and is formed, and wherein at least one is grabbed pipe and is provided with falling proof device on hand.
Described hoisting cross beam is upper and lower two, is fixed on lower hoisting cross beam to the swingable formula in top of described swing arm.
The amplitude of fluctuation of described swing arm is each 90 ° around.
The present invention implements long-distance monitor and control by PLC control device to each parts, realizes remotely controlled operation, reaches the standard of the unmanned operation of offshore boring island, reduces the danger of bad weather construction, ensures offshore boring island personal safety.
Advantage of the present invention is: realize drilling rod and dock in the air, automatically the position of upper and lower drilling rod can be regulated in docking operation, avoid, occur in shackle process the generation of stuck phenomenon, docking time can be shortened, increase work efficiency, reduce the use of iron driller or Power Tong, reduce construction cost, can be docked drill pipe joint by gantry robot arm device simultaneously or thribble is transported to well head from pipe slacking block or thribble is transported to assigned address.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the structural representation of embodiments of the invention 2.
Fig. 3 is the structural representation of gantry robot arm device.
Fig. 4 is the grabbing device structural representation of gantry robot arm device.
Fig. 5 is the structural representation of embodiment 3.
Fig. 6 is the structural representation of embodiment 4.
Wherein: 1, derrick, 2, tube-grasping device, 3, hydraulic catwalk, 4, rat hole, 5, offshore boring island, 6, drilling rod, 7, mechanical arm, 8, guide rail upright columns, 9, the seat of honour, 10, lower seat, 11, downing track, 12, uplink path, 13, pipe hand is grabbed, 14, upper, shackle device, 15, moment of torsion real-time inspection and control device, 16, gantry robot arm device, 17, portal frame, 18, hoisting cross beam, 19, swing arm, 20, grabbing device, 21, orbit, 22, fluctuating orbit, 23, multistage hydraulic cylinder, 24, falling proof device, 25, rotary connecting seat.
Detailed description of the invention
Embodiment 1
As shown in Figure 1, Figure 3 and Figure 4, marine drilling platform automatic tube-arranging system, comprise derrick 1, at least one group for the tube-grasping device 2 capturing and discharge drilling rod 6, the hydraulic catwalk 3 matched with tube-grasping device, the rat hole 4 matched with tube-grasping device and the PLC control device (not shown in FIG.) that controls total system, derrick 1 is fixed on offshore boring island 5, hydraulic catwalk 3, for drilling rod 6 is delivered to assigned address, is convenient to the crawl of tube-grasping device, rat hole 4 is fixed on the below of offshore boring island, for the docking of drilling rod provides space, tube-grasping device comprises: the guide rail upright columns 8 being used for fixing mechanical arm 7, the seat of honour 9 that be connected rotary with 360 °, guide rail upright columns 8 top, with 360 ° of rotary lower seats 10 be connected bottom guide rail upright columns, be fixed on the downing track 11 on offshore boring island and the uplink path 12 being fixed on crown, on, lower seat is separately fixed at, in downing track, guide rail upright columns 8 is provided with upper and lower two mechanical arms 7, upper, the front end of lower mechanical arm is provided with rotary connecting seat 25, the rotary connecting seat 25 of upper mechanical arm is provided with one grabs on pipe hand 13 and one, shackle device 14, on, shackle device 14 is positioned at the below that pipe hand 13 is grabbed on top, the rotary connecting seat 25 of lower mechanical arm is provided with two and grabs pipe hand 13, simultaneously upper, shackle device 14 is provided with moment of torsion real-time inspection and control device 15.
Transport for the ease of drill-pipe stand, pipe system also comprises gantry robot arm device 16, the grabbing device 20 that gantry robot arm device comprises two portal frames be arranged in parallel 17, be arranged at hoisting cross beam 18 between two portal frames, be fixed on the swing arm 19 on hoisting cross beam and be fixed on bottom swing arm, the upper and lower end of portal frame 17 is all separately fixed on derrick 1 and offshore boring island 5 by orbit 21, and hoisting cross beam 18 is fixed on portal frame by fluctuating orbit 22.In order to strengthen steadiness, hoisting cross beam 18 is upper and lower two, being fixed on lower hoisting cross beam to the swingable formula in top of swing arm 19, driving swing arm 19 to swing by arranging multistage hydraulic cylinder 23 on upper hoisting cross beam, the amplitude of fluctuation of swing arm can reach 90 °, left and right.Convenient and swift in order to capture thribble, grabbing device 20 is grabbed pipe hand by three and is formed, and in order to safety, grabs pipe be provided with falling proof device 24 on hand at middle one, causes the accident to prevent thribble in transportation because power-off or other reasons fall.
Here be noted that gantry robot arm device except there is transport thribble function, can also make up a joint to drilling rod or other drilling tools.Namely capturing drilling rod or other drilling tools (as: drill collar, sleeve pipe) by grabbing pipe hand, coordinating iron driller or Power Tong to carry out single docking, be transported to assigned address after docking again and place.Whole process can complete separately, also synchronously can carry out with tube-grasping device, not interfere with each other.
Comb step of the present invention is:
(1) connect power source, tube-grasping device is threaded to its hydraulic catwalk position matched, and the pipe hand of grabbing on upper mechanical arm captures first drilling rod;
(2) upper mechanical arm rises to certain altitude, and drilling rod becomes vertical state;
(3) two under on mechanical arm is grabbed pipe hand and is captured second drilling rod, above-mentioned to certain altitude, and drilling rod becomes vertical state;
(4) upper mechanical arm declines, first drilling rod is made to be positioned at the top of second drilling rod, if the position of upper and lower two drilling rods there occurs skew, drilling rod is driven to rotate the position of the upper and lower drilling rod of adjustment by rotary connecting seat on upper and lower mechanical arm, the effect reaching fine setting or correct, ensures that upper and lower drilling rod is through drilling rod centralizer;
(5) upper, shackle device action, by two drilling rod docking, upper button process implements security control by moment of torsion real-time inspection and control device;
(6) mechanical arm declines simultaneously up and down, placed by drilling rod in rat hole, after lower mechanical arm drops to certain altitude, on lower mechanical arm two grab pipe hand automatically unclamps and shrinks, upper mechanical arm unclamps after continuing to drop to certain altitude, the air operated slips clamping drilling rod of rat hole mouth;
(7) the pipe hand of grabbing of upper mechanical arm captures the 3rd drilling rod and rises to certain altitude;
(8) under, two of mechanical arm grab the drilling rod in pipe hand grip rat hole;
(9) upper mechanical arm drops to certain altitude, makes the 3rd drilling rod be positioned at the top of first drilling rod, through drilling rod centralizer;
(10) upper, shackle device action, docks drilling rod;
(11) upper and lower mechanical arm rises simultaneously, the drilling rod after docking is drained into pipe slacking block for subsequent use, completes docking comb process.
And in comb process, the drill-pipe stand in pipe slacking block synchronously can be transported to well head and use by gantry robot arm device, transportation and comb process do not interfere with each other, and independently carry out.
Whole comb, transportation completely can PLC control device, realize remotely controlled operation, reach the standard of the unmanned operation of offshore boring island by long-distance monitor and control instrument, reduce the danger of bad weather construction, ensure offshore boring island personal safety.
Embodiment 2
As shown in Figure 2, the rotary connecting seat 25 of upper mechanical arm is provided with two and grabs pipe hand 13, the rotary connecting seat 25 of lower mechanical arm is provided with one grab on pipe hand 13 and one, shackle device 14, upper, shackle device 14 is positioned at the top that pipe hand 13 is grabbed in bottom, is provided with moment of torsion real-time inspection and control device 15 on upper, shackle device 14 simultaneously.
Other structures of the present embodiment are with embodiment 1.
Embodiment 3
As shown in Figure 5, the rotary connecting seat 25 of upper mechanical arm is provided with three and grabs pipe hand 13, the rotary connecting seat 25 of lower mechanical arm is provided with two grab on pipe hand 13 and one, shackle device 14, upper, shackle device 14 is positioned at the top that pipe hand 13 is grabbed in bottom, is provided with moment of torsion real-time inspection and control device 15 on upper, shackle device 14 simultaneously.
Other structures of the present embodiment are with embodiment 1.
Embodiment 4
As shown in Figure 6, the rotary connecting seat 25 of upper mechanical arm is provided with one and grabs pipe hand 13, the rotary connecting seat 25 of lower mechanical arm is provided with one grab on pipe hand 13 and one, shackle device 14, upper, shackle device 14 is positioned at the top that pipe hand 13 is grabbed in bottom, is provided with moment of torsion real-time inspection and control device 15 on upper, shackle device 14 simultaneously.
Other structures of the present embodiment are with embodiment 1.
Claims (5)
1. marine drilling platform automatic tube-arranging system, comprise derrick, at least one group for capturing and discharge the tube-grasping device of drilling rod, the hydraulic catwalk matched with tube-grasping device, the rat hole matched with tube-grasping device and controlling the PLC control device of total system, described derrick is fixed on offshore boring island, described hydraulic catwalk be used for by Drill-pipe conveyed to assigned address, be convenient to the crawl of tube-grasping device, described rat hole is fixed on the below of offshore boring island, for the docking of drilling rod provides space, described tube-grasping device comprises: the guide rail upright columns being used for fixing mechanical arm, the seat of honour that be connected rotary with 360 °, guide rail upright columns top, with 360 ° of rotary lower seats be connected bottom guide rail upright columns, be fixed on the downing track on offshore boring island and the uplink path being fixed on crown, on described, lower seat is separately fixed at, in downing track, it is characterized in that: described guide rail upright columns is provided with upper and lower two mechanical arms, on described, the front end of lower mechanical arm is provided with rotary connecting seat, the rotary connecting seat of described upper mechanical arm being at least provided with one grabs on pipe hand and one, shackle device, the rotary connecting seat of described lower mechanical arm is at least provided with one and grabs pipe hand, or on the rotary connecting seat of upper mechanical arm, be at least provided with one grab pipe hand, the rotary connecting seat of described lower mechanical arm is at least provided with one and grabs pipe hand and upper a, shackle device, simultaneously, also comprise gantry robot arm device, the grabbing device that described gantry robot arm device comprises two portal frames be arranged in parallel, be arranged at hoisting cross beam between two portal frames, be fixed on the swing arm on hoisting cross beam and be fixed on bottom swing arm, the upper and lower end of described portal frame is all separately fixed on derrick and offshore boring island by orbit, and described hoisting cross beam is fixed on portal frame by fluctuating orbit.
2. marine drilling platform automatic tube-arranging system according to claim 1, is characterized in that: on described, shackle device is provided with moment of torsion real-time inspection and control device.
3. marine drilling platform automatic tube-arranging system according to claim 1, is characterized in that: described grabbing device is grabbed pipe hand by three and formed, and wherein at least one is grabbed pipe and is provided with falling proof device on hand.
4. marine drilling platform automatic tube-arranging system according to claim 1, is characterized in that: described hoisting cross beam is upper and lower two, is fixed on lower hoisting cross beam to the swingable formula in top of described swing arm.
5. marine drilling platform automatic tube-arranging system according to claim 1, is characterized in that: the amplitude of fluctuation of described swing arm is each 90 ° around.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310189710.9A CN103244062B (en) | 2013-05-20 | 2013-05-20 | Marine drilling platform automatic tube-arranging system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310189710.9A CN103244062B (en) | 2013-05-20 | 2013-05-20 | Marine drilling platform automatic tube-arranging system |
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| CN103244062A CN103244062A (en) | 2013-08-14 |
| CN103244062B true CN103244062B (en) | 2015-11-25 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104563912B (en) * | 2013-10-27 | 2016-08-31 | 中国石油化工集团公司 | A kind of well drilling pipe column automation operating system |
| CN105804677A (en) * | 2016-03-29 | 2016-07-27 | 四川宏华石油设备有限公司 | Pipe processing device |
| CN105863520B (en) * | 2016-05-13 | 2017-12-12 | 重庆勤牛工程机械有限责任公司 | A kind of drill boom assembly of high-speed hydraulic drilling machine |
| CN108945298B (en) * | 2018-05-30 | 2019-12-31 | 武汉理工大学 | Marine underwater detection support structure and operation method thereof |
| CN110725655B (en) * | 2019-11-05 | 2021-05-11 | 中国海洋石油集团有限公司 | Drilling pipe processing workstation |
| CN112096318B (en) * | 2020-08-14 | 2022-11-11 | 四川宏华石油设备有限公司 | Pipe conveying system and conveying method |
| CN113738292B (en) * | 2021-09-07 | 2023-05-26 | 兰州兰石石油装备工程股份有限公司 | Continuous tripping drilling machine with jack-up platform |
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Effective date of registration: 20180131 Address after: 226400, Jiangsu, Nantong province Rudong County town of Tong Tong Road No. 88 Patentee after: Jiangsu Rudong Jinyou Machinery Co. Ltd. Address before: 226400 Rudong County, Nantong Province town of West Road, No. 22, No. Patentee before: Liu Chengjian |
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