CN105604505A - Bridge thribble pipe racking device and pipe racking method - Google Patents
Bridge thribble pipe racking device and pipe racking method Download PDFInfo
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- CN105604505A CN105604505A CN201610001649.4A CN201610001649A CN105604505A CN 105604505 A CN105604505 A CN 105604505A CN 201610001649 A CN201610001649 A CN 201610001649A CN 105604505 A CN105604505 A CN 105604505A
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- thribble
- connecting rod
- servo motor
- oil cylinder
- bridge
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
Abstract
The invention discloses a bridge thribble pipe racking device. The device comprises a travelling mechanism, a vertical column (1), a linear transmission mechanism, a thribble clamping device and a thribble lifting mechanism, wherein the linear transmission mechanism comprises a servo motor (2), a screw rod (3) and a sliding sleeve (4) mounted on the screw rod (3); the screw rod (3) is rotationally mounted on the vertical column (1) in the length direction of the vertical column (1); the servo motor (2) is fixedly mounted on the vertical column (1); the output end of the servo motor (2) is connected with the screw rod (3); the invention further discloses a bridge thribble pipe racking method. The bridge thribble pipe racking device has the benefits that the degree of automation is high, automatic racking of pipe columns is realized, the stress condition of thribbles can be monitored in real time, thribbles with different pipe diameters can be racked, the thribbles are effectively prevented from being damaged, the drilling efficiency is improved, and the device is safe and reliable.
Description
Technical field
The present invention relates to a kind of bridge thribble pipe racking device and comb method.
Background technology
The energy provides power for a national development, and along with China's rapid development of economy, China strengthens gradually to the demand of the energy, becomes the consumption big country of petroleum gas. 2014, the external interdependency of China's oil accessed 59.5%, and the external interdependency of natural gas reaches 32.2%. Higher external interdependency is on the hazard the energy security of China, strengthens China's energy development dynamics and can alleviate to a certain extent Pressure on Energy, but need high-tech, high efficiency petroleum drilling and mining equipment.
China's oil natural gas resource reserves are large, but lack efficient winning apparatus. It is more careful that China's land drilling well industry adopts new drilling equipment, due to the domestic advanced rig in land and relevant equipment slower development thereof, and external new drilling equipment is expensive, therefore the drilling well service company of the most domestic new technology of being unwilling to take the lead in attempting, but allow first use of other companies, determine again whether use according to the quality that uses result. This careful behavior has not only caused the slower development of China's oil equipment, has also reduced the production efficiency of petroleum gas. In recent years, be huge because each company progressively recognizes the potential benefit of automated drilling, comprise and guarantee drilling safety, improve drilling efficiency, reduce drilling period, improve drilling well economy etc., the demand trend of automated drilling equipment strengthens day by day.
China's land automated drilling slower development, part drilling company is also in the rotary drilling with traditional. Due to the popularization of Programmable Logic Controller (PLC) on rig and iron driller, automatic elevator, the use that the sophisticated equipment such as is driven in top makes modern drilling machine automaticity higher. Drilling monitor system that electronic driller possesses, integrated drilling instrument, anticollision system etc. are the important composition factors of automated drilling, the trend that on-site wireless communication, toxic gas detection, the liquid electronic driller electric integrated and man-machine interface control that it develops is subsequently automatic drilling machine. Top drive technology is one of oil-well rig major transformation, and it not only saves the time of making up a joint, and improves drilling safety, enhances productivity, and also has back reaming and prevent the function of bit freezing, in directed drilling process, can reduce significantly the total time that pulls out of hole.
Although there is the automation pipe system that integration module is higher abroad, but expensive, maintenance cost is high, and system architecture complexity, size is larger, takies larger derrick space, consider China's land rig derrick geometry feature, use external automation pipe system will change largely derrick geometry, even can change drilling mode, therefore external pipe system is not promoted the use of.
A kind of drilling platforms pipe system is disclosed in Chinese patent CN200910009451.0, it comprises Multi-station rat hole, derrick, pipe-grabbing mechanical arm and iron driller, Multi-station rat hole provides at least two rat hole body drilling rods to insert station, in rat hole body, correspondence disposes drilling rod centralizer, lifting hydraulic cylinder, drilling rod buffer unit and lifting pulley group one by one, successively drilling rod is picked up to put into rat hole body and propose drilling rod from rat hole body by pipe-grabbing mechanical arm and docked, the present invention also provides and has used said system to carry out the method for comb. The present invention has adopted Multi-station rat hole structure, and at least two comb stations are provided, and can two single tubes be arranged in rat hole simultaneously, and after the 3rd single tube connects, can directly be connected with remaining single tube. This system cannot effectively be protected thribble, and is difficult to carry out continuously the comb of thribble.
In Chinese patent CN, 201420856151.2 disclose a kind of coiled tubing automatic tube-arranging system, comprise initiatively driving-chain wheels and driven driving-chain wheels, initiatively driving-chain wheels comprise driving shaft, drive sprocket, first grade transmission chain bar, one-level driven shaft and first grade transmission chain wheel, drive sprocket is connected by first grade transmission chain bar with first grade transmission chain wheel, initiatively drive sprocket is connected by driving shaft and roller of continuous oil pipe are coaxial, driving-chain wheels comprise secondary transmission sprocket wheel, secondary transmission chain, three grades of drive sprockets, secondary driven shaft, the Bidirectional-screw of torque limiter and 2 cun of pitch, three grades of drive sprockets are connected by secondary driven shaft is coaxial with the Bidirectional-screw of torque limiter and 2 cun of pitch, the gear ratio of drive sprocket and first grade transmission chain wheel is 52:39, the number of teeth of three grades of drive sprockets is 64. this pipe system is installed complicated, implements more difficult, cannot promote employing.
In Chinese patent CN a kind of marine drilling platform automatic tube-arranging system is disclosed in 201310189710.9, 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 drilling platforms, described rat hole is fixed on the below of drilling platforms, it is characterized in that: in described guide rail upright columns, be provided with upper and lower two mechanical arms, on described, on the front end of lower mechanical arm, be provided with rotary connecting seat, on the rotary connecting seat of described upper mechanical arm, being at least provided with one grabs on pipe hand and one, shackle device, on the rotary connecting seat of described lower mechanical arm, be at least provided with one and grab pipe hand. this system cannot effectively be protected thribble, and is difficult to carry out continuously the comb of thribble, and complicated operation, cannot keep flat thribble on ground.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art, provide that a kind of automaticity is high, the automatic-discharging of realizing tubing string, can Real-Time Monitoring thribble stressing conditions, can carry out comb, effectively avoid thribble to be pressed from both sides damages, raising drilling efficiency, safe and reliable bridge thribble pipe racking device and comb method the thribble of different tube diameters.
Object of the present invention is achieved through the following technical solutions: a kind of bridge thribble pipe racking device, it comprises walking mechanism, column, linear transmission mechanism, thribble clamping device, thribble lifting mechanism, linear transmission mechanism is made up of servomotor, screw mandrel and the sliding sleeve that is arranged on screw mandrel, screw mandrel is rotatably mounted on column along the length direction of column, servomotor is fixedly installed on column, and the output of servomotor is connected with screw mandrel;
Described walking mechanism is by channel-section steel I, channel-section steel II, turning cylinder, upper backup pad, lower supporting plate, top chock, step, oscillating motor, servo motor A and gear composition, in channel-section steel I and channel-section steel II, be provided with tooth bar, upper backup pad is parallel to lower supporting plate setting, upper backup pad and lower supporting plate are all arranged between channel-section steel I and channel-section steel II, top chock is installed on upper backup pad top surface, step is installed on the top surface of lower supporting plate, the upper and lower side of turning cylinder is installed on respectively in top chock and step, the bottom of turning cylinder is connected with the top flange of column, top and its output that oscillating motor is arranged at top chock are connected with turning cylinder, between upper backup pad and lower supporting plate, be provided with two servo motor A, two servo motor A are symmetricly set in the both sides of turning cylinder, the output of two servo motor A is all connected with gear, wheel and rack engagement,
Described thribble clamping device is by clamping oil cylinder, servo motor B, cylindrical shell, left caliper, right caliper body, limit baffle ring, extension spring, pressure sensor, bearing pin and cushion composition, cylindrical shell is horizontally disposed with, the left part of cylindrical shell is provided with ring flange, servo motor B is arranged on the end face of ring flange and its output is connected with ring flange, bearing pin is perpendicular to cylindrical shell and be fixed on the right part of cylindrical shell, on bearing pin, be hinged with left caliper arranged in a crossed manner and right caliper body, the caudal peduncle of left caliper and right caliper body is all arranged in cylindrical shell, the working end of left caliper and right caliper body is all arranged at the outside of cylindrical shell, the working end of left caliper and right caliper body is provided with circular trough, the surface of two circular troughs is provided with cushion, left, between right caliper body and cushion, be provided with pressure sensor, described clamping oil cylinder is arranged in cylindrical shell and is fixedly installed on ring flange, on the piston rod of clamping oil cylinder, be hinged with connecting rod I arranged in a crossed manner and connecting rod II, the caudal peduncle of connecting rod II and left caliper is hinged, the caudal peduncle of connecting rod I and right caliper body is hinged, described extension spring is arranged between left caliper and the working end of right caliper body, on extension spring, be provided with limit baffle ring, on limit baffle ring, be provided with arc groove,
Described thribble lifting mechanism is by elevating ram, adjust oil cylinder, connecting rod A, connecting rod B and comb arm composition, elevating ram is perpendicular to column and be fixedly installed in sliding sleeve top, one end of comb arm is articulated with the bottom of sliding sleeve, one end of connecting rod A is articulated with on the piston rod of elevating ram, one end of the other end of connecting rod A and connecting rod B is hinged, the other end of connecting rod B is hinged on the middle part of comb arm, the cylinder barrel of adjusting oil cylinder is articulated with the top surface of comb arm, the piston rod of adjusting oil cylinder is articulated with the upper end of servo motor B, described comb arm is articulated with the bottom of servo motor B.
It also comprises computer and the data converter being connected with computer, and described data converter is connected with two pressure sensors, and described computer is connected with servomotor, servo motor A, servo motor B, elevating ram, adjustment oil cylinder and clamping oil cylinder.
Described connecting rod I and connecting rod II are symmetrical arranged about clamping oil cylinder.
The inner side of described channel-section steel I and channel-section steel II top-side panel is provided with upper rail, and the inner side of channel-section steel I and channel-section steel II bottom side plate is provided with lower guideway.
Four corners of described upper backup pad and lower supporting plate are all provided with guide wheel, and the guide wheel being positioned on upper backup pad is installed on respectively on two upper rails, and the guide wheel being positioned on lower supporting plate is installed on respectively on lower guideway.
On the inwall of described cylindrical shell, be provided with two slide rails.
Hinged place between hinged place, connecting rod II and left caliper between described connecting rod I and right caliper body is all provided with castor, and two described castors are installed on respectively in slide rail.
Between described upper backup pad and lower supporting plate, be provided with multiple supports.
A comb method for bridge thribble pipe racking device, it comprises the following steps:
After S1, walking mechanism, move, control two servo motor A and export counterclockwise torque, torque driven gear rotates counterclockwise, and gear moves backward on tooth bar so that thribble clamping device relies on well head, when walking mechanism moves to after suitable distance, close two servo motor A;
S2, the crawl of thribble, the piston rod of controlling elevating ram stretches out, elevating ram is through connecting rod A, connecting rod B drives comb arm to move away from column direction, above the region of the working end of left caliper and right caliper body formation faces well head and when limit baffle ring leans against in thribble, close elevating ram and control clamping oil cylinder and retract, clamping oil cylinder drives the working end closure of left caliper and right caliper body through connecting rod I and connecting rod II, thereby thribble is held tightly to the crawl that has realized thribble between two cushions, in the crawl process of thribble, adjust stretching out of cylinder piston rod or retract to ensure that cylindrical shell is all the time in level by control,
The lifting of S3, thribble, controls servomotor and does forward, and servomotor drives screw mandrel to rotate, and screw mandrel drives sliding sleeve to move upward, thereby whole thribble clamping device is upwards mentioned, and further thribble is pulled up;
The piston rod of S4, control elevating ram is retracted, elevating ram drives comb arm towards the motion of column direction through connecting rod A, connecting rod B, adjusts stretching out of cylinder piston rod or retract to ensure that cylindrical shell is all the time in level in the retraction process of elevating ram by control;
The rotation of S5, thribble passes into hydraulic oil in oscillating motor, and oscillating motor drives turning cylinder to turn clockwise 90 °, thereby by thribble clamping device half-twist, further by thribble half-twist, closes subsequently oscillating motor;
The reach of S6, walking mechanism, controls two servo motor A and exports clockwise torque, and torque driven gear clockwise rotates, and gear to reach, when thribble is during just to the opening of adjacent two fingerboards, is closed two servo motor A on tooth bar;
The comb of S7, thribble, the piston rod of first controlling elevating ram stretches out, elevating ram drives comb arm to do exercises away from column direction through connecting rod A, connecting rod B, thereby thribble is sent on drilling floor surface along fingerboard, then controlled servomotor and reverse, servomotor moves downward sliding sleeve, controlling subsequently clamping oil cylinder stretches out, what now clamp oil cylinder drives the working end of left caliper and right caliper body to open through connecting rod I and connecting rod II, thereby thribble is put down, and has realized the comb of thribble.
The present invention has the following advantages: the working end of (1) left caliper of the present invention and right caliper body is provided with circular trough, the surface of two circular troughs is provided with cushion, in the time that thribble is clamped between two cushions, cushion can effectively avoid occurring due to thribble discontinuity the phenomenon of thribble crimp in the time clamping thribble. (2) between left and right caliper of the present invention and cushion, be provided with pressure sensor; data converter is connected with two pressure sensors; data converter is connected with computer; in the time that thribble is stressed, pressure signal is converted to electrical signal transfer to computer through data converter; operating personnel are the stressed size in Real-Time Monitoring thribble on computers; adjust the size of clamping oil cylinder power output according to stressed size, therefore well protected thribble, further avoided crushing of thribble. (3) piston rod of adjustment oil cylinder of the present invention is articulated with the upper end of servo motor B, described comb arm is articulated with the bottom of servo motor B, servo motor B can drive ring flange to do the rotation of 360 °, thereby makes the thribble being held in level, so that thribble is positioned on ground. (4) automaticity of the present invention is high, can be efficiently, safety, fast thribble is positioned on drilling floor surface, greatly alleviate workman's labour intensity.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the structural representation of walking mechanism of the present invention;
Fig. 4 is the front view that removes channel-section steel I and channel-section steel II in Fig. 3;
Fig. 5 is the top view of Fig. 3;
Fig. 6 is the left view of Fig. 3;
Fig. 7 is the A-A cutaway view of Fig. 4;
The structural representation of Fig. 8 thribble clamping device of the present invention;
Fig. 9 is that the B of Fig. 8 is to view;
Figure 10 is that the present invention captures the structural representation before thribble;
Figure 11 is the structural representation that the present invention captures thribble;
Figure 12 is the structural representation that the present invention is put into thribble drilling floor surface;
In figure, 1-column, 2-servomotor, 3-screw mandrel, 4-sliding sleeve, 5-channel-section steel I, 6-channel-section steel II, 7-turning cylinder, 8-upper backup pad, 9-lower supporting plate, 10-top chock, 11-step, 12-oscillating motor, 13-servo motor A, 14-gear, 15-tooth bar, 16-clamps oil cylinder, 17-servo motor B, 18-cylindrical shell, 19-left caliper, 20-right caliper body, 21-limit baffle ring, 22-extension spring, 23-pressure sensor, 24-bearing pin, 25-cushion, 26-ring flange, 27-connecting rod I, 28-connecting rod II, 29-elevating ram, 30-adjusts oil cylinder, 31-connecting rod A, 32-connecting rod B, 33-comb arm, 34-computer, 35-data converter, 36-upper rail, 37-lower guideway, 38-guide wheel, 39-slide rail, 40-castor, 41-support, 42-well head, 43-fingerboard, 44-thribble.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described, and protection scope of the present invention is not limited to the following stated:
As shown in Fig. 1-9, a kind of bridge thribble pipe racking device, it comprises walking mechanism, column 1, linear transmission mechanism, thribble clamping device, thribble lifting mechanism, linear transmission mechanism is made up of servomotor 2, screw mandrel 3 and the sliding sleeve 4 that is arranged on screw mandrel 3, screw mandrel 3 is rotatably mounted on column 1 along the length direction of column 1, servomotor 2 is fixedly installed on column 1, the output of servomotor 2 is connected with screw mandrel 3, in the time of servomotor 2 forward, servomotor 2 drives sliding sleeve 4 to move upward, thereby drives thribble clamping device to move upward; In the time that servomotor 2 reverses, servomotor 2 drives sliding sleeve 4 to move downward, thereby drives thribble clamping device to move downward.
As shown in Fig. 3-7, walking mechanism is by channel-section steel I5, channel-section steel II6, turning cylinder 7, upper backup pad 8, lower supporting plate 9, top chock 10, step 11, oscillating motor 12, servo motor A13 and gear 14 form, in channel-section steel I5 and channel-section steel II6, be provided with tooth bar 15, upper backup pad 8 is parallel to lower supporting plate 9 and arranges, upper backup pad 8 and lower supporting plate 9 are all arranged between channel-section steel I5 and channel-section steel II6, between upper backup pad 8 and lower supporting plate 9, be provided with multiple supports 41, top chock 10 is installed on upper backup pad 8 top surfaces, step 11 is installed on the top surface of lower supporting plate 9, the upper and lower side of turning cylinder 7 is installed on respectively in top chock 10 and step 11, the bottom of turning cylinder 7 is connected with the top flange of column 1, top and its output that oscillating motor 12 is arranged at top chock 10 are connected with turning cylinder 7, in the time passing into hydraulic oil to the oil-in of oscillating motor 12, hydraulic coupling is converted to moment of torsion by oscillating motor 12, torque drive column 1 turns clockwise 90 °, in the time passing into hydraulic oil to the oil return opening of oscillating motor 12, hydraulic coupling is converted to moment of torsion by oscillating motor 12, and torque drive column 1 is rotated counterclockwise 90 °. as shown in Fig. 3-7, between upper backup pad 8 and lower supporting plate 9, be provided with two servo motor A13, two servo motor A13 are symmetricly set in the both sides of turning cylinder 7, and the output of two servo motor A13 is all connected with gear 14, and gear 14 engages with tooth bar 15. in the time that servo motor A13 exports counterclockwise torque, torque driven gear 14 rotates counterclockwise, and gear 14 moves backward on tooth bar 15, in the time of servo motor A13 output clockwise torque, torque driven gear 14 clockwise rotates, and gear 14 moves forward on tooth bar 15.
As shown in Figure 8 and Figure 9, thribble clamping device is by clamping oil cylinder 16, servo motor B17, cylindrical shell 18, left caliper 19, right caliper body 20, limit baffle ring 21, extension spring 22, pressure sensor 23, bearing pin 24 and cushion 25 form, cylindrical shell 18 is horizontally disposed with, the left part of cylindrical shell 18 is provided with ring flange 26, servo motor B17 is arranged on the end face of ring flange 26 and its output is connected with ring flange 26, bearing pin 24 is perpendicular to cylindrical shell 18 and be fixed on the right part of cylindrical shell 18, on bearing pin 24, be hinged with left caliper arranged in a crossed manner 19 and right caliper body 20, the caudal peduncle of left caliper 19 and right caliper body 20 is all arranged in cylindrical shell 18, the working end of left caliper 19 and right caliper body 20 is all arranged at the outside of cylindrical shell 18, the working end of left caliper 19 and right caliper body 20 is provided with circular trough, the surface of two circular troughs is provided with cushion 25, cushion 25 is rubber blanket, left, between right caliper body and cushion 25, be provided with pressure sensor 23, described clamping oil cylinder 16 is arranged in cylindrical shell 18 and is fixedly installed on ring flange 26, on the piston rod of clamping oil cylinder 16, be hinged with connecting rod I27 arranged in a crossed manner and connecting rod II28, connecting rod I27 and connecting rod II28 are symmetrical arranged about clamping oil cylinder 16, the caudal peduncle of connecting rod II28 and left caliper 19 is hinged, the caudal peduncle of connecting rod I27 and right caliper body 20 is hinged, described extension spring 22 is arranged between left caliper 19 and the working end of right caliper body 20, on extension spring 22, be provided with limit baffle ring 21, on limit baffle ring 21, be provided with arc groove, in the time that thribble touches arc groove, can control the piston rod of clamping oil cylinder 16 retracts, clamping oil cylinder 16 drives the working end closure of left caliper 19 and right caliper body 20 through connecting rod I27 and connecting rod II28, when thribble is clamped between two cushions 25, cushion 25 can effectively avoid occurring due to thribble discontinuity the phenomenon of thribble crimp in the time clamping thribble.
As depicted in figs. 1 and 2, thribble lifting mechanism is by elevating ram 29, adjust oil cylinder 30, connecting rod A31, connecting rod B32 and comb arm 33 form, elevating ram 29 is perpendicular to column 1 and be fixedly installed in sliding sleeve 4 tops, one end of comb arm 33 is articulated with the bottom of sliding sleeve 4, one end of connecting rod A31 is articulated with on the piston rod of elevating ram 29, one end of the other end of connecting rod A31 and connecting rod B32 is hinged, the other end of connecting rod B32 is hinged on the middle part of comb arm 33, the cylinder barrel of adjusting oil cylinder 30 is articulated with the top surface of comb arm 33, the piston rod of adjusting oil cylinder 30 is articulated with the upper end of servo motor B17, described comb arm 33 is articulated with the bottom of servo motor B17.
It also comprises computer 34 and the data converter 35 being connected with computer 34, described data converter 35 is connected with two pressure sensors 23, described computer 34 is connected with servomotor 2, servo motor A13, servo motor B17, elevating ram 29, adjustment oil cylinder 30 and clamping oil cylinder 16, can be controlled the startup of servomotor 2, servo motor A13 and servo motor B17 or be closed by computer 34; Can also control clamping oil cylinder 16, adjust the stretching out or retract of piston rod of oil cylinder 30 and elevating ram 29 by computer 34; In addition described pressure sensor 23 receives the stressing conditions of thribble in the time being held; and pressure signal is converted to electrical signal transfer to computer 34 by data converter 35; operating personnel can be on computer 34 the stressed size in Real-Time Monitoring thribble; adjust the size of clamping oil cylinder 16 power outputs according to stressed size; therefore well protect thribble, further avoided crushing of thribble.
The inner side of described channel-section steel I5 and channel-section steel II6 top-side panel is provided with upper rail 36, and the inner side of channel-section steel I5 and channel-section steel II6 bottom side plate is provided with lower guideway 37; Four corners of described upper backup pad 8 and lower supporting plate 9 are all provided with guide wheel 38, and the guide wheel 38 being positioned on upper backup pad 8 is installed on respectively on two upper rails 36, and the guide wheel 38 being positioned on lower supporting plate 9 is installed on respectively on lower guideway 37.
On the inwall of described cylindrical shell 18, be provided with two slide rails 39, the hinged place between hinged place, connecting rod II28 and left caliper 19 between connecting rod I27 and right caliper body 20 is all provided with castor 40, and two described castors 40 are installed on respectively in slide rail 39.
As shown in Figure 10-12, a kind of comb method of bridge thribble pipe racking device, it comprises the following steps:
After S1, walking mechanism, move, control two servo motor A13 and export counterclockwise torque, torque driven gear 14 rotates counterclockwise, and gear 14 moves backward on tooth bar 15 so that thribble clamping device relies on well head 42, when walking mechanism moves to after suitable distance, close two servo motor A13;
S2, the crawl of thribble, the piston rod of controlling elevating ram 29 stretches out, elevating ram 29 is through connecting rod A31, connecting rod B32 drives comb arm 33 away from column 1 direction motion, above the region of the working end of left caliper 19 and right caliper body 20 formation faces well head and when limit baffle ring 21 leans against in thribble, close elevating ram and control clamping oil cylinder 16 and retract, clamping oil cylinder 16 drives the working end closure of left caliper 19 and right caliper body 20 through connecting rod I27 and connecting rod II28, thereby thribble is held tightly to the crawl that has realized thribble between two cushions 25, in the crawl process of thribble, adjust stretching out of oil cylinder 30 piston rods or retract to ensure that cylindrical shell 18 is all the time in level by control,
The lifting of S3, thribble, controls servomotor 2 and does forward, and servomotor 2 drives screw mandrel to rotate, and screw mandrel 3 drives sliding sleeve 4 to move upward, thereby whole thribble clamping device is upwards mentioned, and further thribble is pulled up;
The piston rod of S4, control elevating ram is retracted, elevating ram 29 drives comb arm 33 towards column 1 direction motion through connecting rod A, connecting rod B, adjusts stretching out of oil cylinder 30 piston rods or retract to ensure that cylindrical shell 18 is all the time in level in the retraction process of elevating ram 29 by control;
The rotation of S5, thribble passes into hydraulic oil in oscillating motor 12, and oscillating motor 12 drives turning cylinder 7 to turn clockwise 90 °, thereby by thribble clamping device half-twist, further by thribble half-twist, closes subsequently oscillating motor 12;
The reach of S6, walking mechanism, controls two servo motor A13 and exports clockwise torque, and torque driven gear 14 clockwise rotates, and gear 14 to reach, when thribble is during just to the opening of adjacent two fingerboards 43, is closed two servo motor A13 on tooth bar 15;
The comb of S7, thribble, the piston rod of first controlling elevating ram 29 stretches out, elevating ram 29 drives comb arm 33 to do exercises away from column 1 direction through connecting rod A31, connecting rod B32, thereby thribble is sent on drilling floor surface along fingerboard 43, controlling servomotor 2 reverses again, servomotor 2 moves downward sliding sleeve 4, controlling subsequently clamping oil cylinder 16 stretches out, what now clamp oil cylinder 16 drives the working end of left caliper 19 and right caliper body 20 to open through connecting rod I27 and connecting rod II28, thereby thribble is put down, realized the comb of thribble.
The above is only the preferred embodiment of the present invention, be to be understood that the present invention is not limited to disclosed form herein, should not regard the eliminating to other embodiment as, and can be used for various other combinations, amendment and environment, and can, in contemplated scope described herein, change by technology or the knowledge of above-mentioned instruction or association area. And the change that those skilled in the art carry out and variation do not depart from the spirit and scope of the present invention, all should be in the protection domain of claims of the present invention.
Claims (9)
1. a bridge thribble pipe racking device, it is characterized in that: it comprises walking mechanism, column (1), linear transmission mechanism, thribble clamping device, thribble lifting mechanism, linear transmission mechanism is made up of servomotor (2), screw mandrel (3) and the sliding sleeve (4) that is arranged on screw mandrel (3), screw mandrel (3) is rotatably mounted on column (1) along the length direction of column (1), it is upper that servomotor (2) is fixedly installed in column (1), and the output of servomotor (2) is connected with screw mandrel (3);
Described walking mechanism is by channel-section steel I(5), channel-section steel II(6), turning cylinder (7), upper backup pad (8), lower supporting plate (9), top chock (10), step (11), oscillating motor (12), servo motor A(13) and gear (14) composition, channel-section steel I(5) and channel-section steel II(6) in be provided with tooth bar (15), upper backup pad (8) is parallel to lower supporting plate (9) setting, upper backup pad (8) and lower supporting plate (9) are all arranged at channel-section steel I(5) and channel-section steel II(6) between, top chock (10) is installed on upper backup pad (8) top surface, step (11) is installed on the top surface of lower supporting plate (9), the upper and lower side of turning cylinder (7) is installed on respectively in top chock (10) and step (11), the bottom of turning cylinder (7) is connected with the top flange of column (1), top and its output that oscillating motor (12) is arranged at top chock (10) are connected with turning cylinder (7), between upper backup pad (8) and lower supporting plate (9), be provided with two servo motor A(13), two servo motor A(13) be symmetricly set in the both sides of turning cylinder (7), two servo motor A(13) output be all connected with gear (14), gear (14) engages with tooth bar (15),
Described thribble clamping device is by clamping oil cylinder (16), servo motor B(17), cylindrical shell (18), left caliper (19), right caliper body (20), limit baffle ring (21), extension spring (22), pressure sensor (23), bearing pin (24) and cushion (25) composition, cylindrical shell (18) is horizontally disposed with, the left part of cylindrical shell (18) is provided with ring flange (26), servo motor B(17) be arranged on the end face of ring flange (26) and its output is connected with ring flange (26), bearing pin (24) is perpendicular to cylindrical shell (18) and be fixed on the right part of cylindrical shell (18), on bearing pin (24), be hinged with left caliper arranged in a crossed manner (19) and right caliper body (20), the caudal peduncle of left caliper (19) and right caliper body (20) is all arranged in cylindrical shell (18), the working end of left caliper (19) and right caliper body (20) is all arranged at the outside of cylindrical shell (18), the working end of left caliper (19) and right caliper body (20) is provided with circular trough, the surface of two circular troughs is provided with cushion (25), left, between right caliper body and cushion (25), be provided with pressure sensor (23), described clamping oil cylinder (16) is arranged in cylindrical shell (18) and is fixedly installed on ring flange (26), on the piston rod of clamping oil cylinder (16), be hinged with connecting rod I(27 arranged in a crossed manner) and connecting rod II(28), connecting rod II(28) hinged with the caudal peduncle of left caliper (19), connecting rod I(27) hinged with the caudal peduncle of right caliper body (20), described extension spring (22) is arranged between left caliper (19) and the working end of right caliper body (20), on extension spring (22), be provided with limit baffle ring (21), limit baffle ring is provided with arc groove on (21),
Described thribble lifting mechanism is by elevating ram (29), adjust oil cylinder (30), connecting rod A(31), connecting rod B(32) and comb arm (33) composition, elevating ram (29) is perpendicular to column (1) and be fixedly installed in sliding sleeve (4) top, one end of comb arm (33) is articulated with the bottom of sliding sleeve (4), connecting rod A(31) one end be articulated with on the piston rod of elevating ram (29), connecting rod A(31) the other end and connecting rod B(32) one end hinged, connecting rod B(32) the other end be hinged on the middle part of comb arm (33), the cylinder barrel of adjusting oil cylinder (30) is articulated with the top surface of comb arm (33), adjust oil cylinder (30) piston rod be articulated with servo motor B(17) upper end, described comb arm (33) is articulated with servo motor B(17) bottom.
2. a kind of bridge thribble pipe racking device according to claim 1, it is characterized in that: it also comprises computer (34) and the data converter (35) being connected with computer (34), described data converter (35) is connected with two pressure sensors (23), described computer (34) and servomotor (2), servo motor A(13), servo motor B(17), elevating ram (29), adjust oil cylinder (30) and clamp oil cylinder (16) be connected.
3. a kind of bridge thribble pipe racking device according to claim 1, is characterized in that: described connecting rod I(27) and connecting rod II(28) be symmetrical arranged about clamping oil cylinder (16).
4. a kind of bridge thribble pipe racking device according to claim 1, it is characterized in that: described channel-section steel I(5) and channel-section steel II(6) inner side of top-side panel is provided with upper rail (36), channel-section steel I(5) and channel-section steel II(6) inner side of bottom side plate is provided with lower guideway (37).
5. a kind of bridge thribble pipe racking device according to claim 1, it is characterized in that: described upper backup pad (8) and four corners of lower supporting plate (9) are all provided with guide wheel (38), the guide wheel (38) being positioned on upper backup pad (8) is installed on respectively two upper rails (36) above, and the guide wheel (38) being positioned on lower supporting plate (9) is installed on respectively on lower guideway (37).
6. a kind of bridge thribble pipe racking device according to claim 1, is characterized in that: on the inwall of described cylindrical shell (18), be provided with two slide rails (39).
7. a kind of bridge thribble pipe racking device according to claim 1, it is characterized in that: described connecting rod I(27) and right caliper body (20) between hinged place, connecting rod II(28) and left caliper (19) between hinged place castor (40) is all installed, described two castors (40) are installed on respectively in slide rail (39).
8. a kind of bridge thribble pipe racking device according to claim 1, is characterized in that: between described upper backup pad (8) and lower supporting plate (9), be provided with multiple supports (41).
9. a comb method for bridge thribble pipe racking device, is characterized in that: it comprises the following steps:
After S1, walking mechanism, move, control two servo motor A(13) export counterclockwise torque, torque driven gear (14) rotates counterclockwise, gear (14) moves backward on tooth bar (15) so that thribble clamping device relies on well head (42), when walking mechanism moves to after suitable distance, close two servo motor A(13);
S2, the crawl of thribble, the piston rod of controlling elevating ram (29) stretches out, elevating ram (29) is through connecting rod A(31), connecting rod B(32) drive comb arm (33) to move away from column (1) direction, above the region of the working end of left caliper (19) and right caliper body (20) formation faces well head and when limit baffle ring (21) leans against in thribble, close elevating ram and control clamping oil cylinder (16) and retract, clamping oil cylinder (16) is through connecting rod I(27) and connecting rod II(28) driving left caliper (19) and the working end closure of right caliper body (20), thereby thribble is held tightly to the crawl that has realized thribble between two cushions (25), in the crawl process of thribble, adjust stretching out of oil cylinder (30) piston rod or retract to ensure that cylindrical shell (18) is all the time in level by control,
The lifting of S3, thribble, controls servomotor (2) and does forward, and servomotor (2) drives screw mandrel to rotate, and screw mandrel (3) drives sliding sleeve (4) to move upward, thereby whole thribble clamping device is upwards mentioned, and further thribble is pulled up;
The piston rod of S4, control elevating ram is retracted, elevating ram (29) drives comb arm (33) towards the motion of column (1) direction through connecting rod A, connecting rod B, adjusts stretching out of oil cylinder (30) piston rod or retract to ensure that cylindrical shell (18) is all the time in level in the retraction process of elevating ram (29) by control;
The rotation of S5, thribble, in oscillating motor (12), pass into hydraulic oil, oscillating motor (12) drives turning cylinder (7) to turn clockwise 90 °, thereby by thribble clamping device half-twist, by thribble half-twist, close subsequently oscillating motor (12) further;
The reach of S6, walking mechanism, control two servo motor A(13) export clockwise torque, torque driven gear (14) clockwise rotates, gear (14) is upper to reach at tooth bar (15), when thribble is during just to the opening of adjacent two fingerboards (43), close two servo motor A(13);
S7, the comb of thribble, the piston rod of first controlling elevating ram (29) stretches out, elevating ram (29) is through connecting rod A(31), connecting rod B(32) drive comb arm (33) to do exercises away from column (1) direction, thereby thribble is sent on drilling floor surface along fingerboard (43), controlling servomotor (2) reverses again, servomotor (2) moves downward sliding sleeve (4), controlling subsequently clamping oil cylinder (16) stretches out, now clamp oil cylinder (16) through connecting rod I(27) and connecting rod II(28) drive left caliper (19) and the working end of right caliper body (20) to open, thereby thribble is put down, realize the comb of thribble.
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| CN107476771A (en) * | 2017-09-30 | 2017-12-15 | 青岛天时海洋石油装备有限公司 | Derrick union machine and its operating method |
| CN112096317A (en) * | 2020-08-11 | 2020-12-18 | 四川宏华石油设备有限公司 | Drilling platform surface pipe column processing equipment |
| CN112627746A (en) * | 2020-11-27 | 2021-04-09 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN113108965A (en) * | 2021-05-07 | 2021-07-13 | 孙洪茂 | Pantograph pressure detection equipment and method |
| CN115992657A (en) * | 2023-01-09 | 2023-04-21 | 山东爱特机电技术有限责任公司 | Automatic racking platform pipe arranging device for drilling machine operation |
| WO2024076746A1 (en) * | 2022-10-07 | 2024-04-11 | Schlumberger Technology Corporation | Bridge racker with retractable gripper |
| WO2024076763A1 (en) * | 2022-10-07 | 2024-04-11 | Schlumberger Technology Corporation | Bridge offline activity racking crane |
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| WO2024076746A1 (en) * | 2022-10-07 | 2024-04-11 | Schlumberger Technology Corporation | Bridge racker with retractable gripper |
| WO2024076763A1 (en) * | 2022-10-07 | 2024-04-11 | Schlumberger Technology Corporation | Bridge offline activity racking crane |
| CN115992657A (en) * | 2023-01-09 | 2023-04-21 | 山东爱特机电技术有限责任公司 | Automatic racking platform pipe arranging device for drilling machine operation |
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