井架排管机器人研制

Research and Manufacture of Mast Handling Robot

排管机器人用于在二层台排放架与井口之间抓取与排放钻杆,是钻井平台钻杆自动排放系统中最为繁忙的装置,在提高钻井安全性及经济性方面发挥着重要的作用。介绍了井架排管机器人的总体机械结构及主要技术参数、液压控制原理。本设备适合于X-Y型排管架结构,具有结构简单、操作灵活可靠、运动稳定、操作空间大等优势,适合于陆地橇装钻机平台、海洋钻机平台立根自动排放操作。

Handing robot plays a very important role in improving safety and cost cutting of drill- ing rlg,which is used for handling drilling pipes between the well center and set back area. Pipe- racking on drill floor is the most frequent procedure in automated pipe racking operation of drill- ing platform. In this paper,the general design of mast handing robot is provided, main parameter s of the mechanisms are introduced, hydraulic system chart and control mode of the mechanisms are presented. The device introduced in this paper is fits for X-Y type racking platform, which has many advantages like simple structure, simple and reliable operation, working stability, larger working range. The device can be used on land drilling rig and sea drilling rig for pipe racking op- eration.