A system and method for automatically grabbing and placing drill pipes by a joint crane

Abstract

The invention discloses an automatic drill rod catching and releasing system and method for a joint crane. The system comprises a joint crane body and grab bar control equipment; an output end of the grab bar control equipment is connected with the joint crane body; the joint crane body comprises a main body rotator (1), a main arm (2), an auxiliary arm (3) and a holder (4); one end of the main arm (2) is hinged onto the main body rotator (1), and the other end of the main arm (2) is hinged to the front end of the auxiliary arm (3); and the tail end of the auxiliary arm (3) is equipped with the holder (4) capable of rotating along the central shaft of the auxiliary arm (3). The grab bar control equipment comprises an industrial camera and an upper controller, wherein the upper controller is used for realizing drill rod catching and releasing control according to an image shot by the industrial camera. According to the automatic drill rod catching and releasing system and method provided by the invention, positioning precision is high, positioning time is short, ability requirements on a crane operator are reduced, and operating efficiency is improved.

Description

technical field [0001] The invention relates to a system and method for automatically grabbing and releasing drill pipes by a joint crane. Background technique [0002] The articulated crane is a commonly used drill pipe transfer equipment for offshore drilling platforms, offshore drilling ships, and semi-submersible drilling platforms; currently, the commonly used drill pipe transfer methods for articulated cranes include empirical methods and auxiliary positioning methods. [0003] The experience method is that the operator of the joint crane relies on his own operating ability, and realizes the grasping and method of the drill pipe in the drill pipe storage area and the grasping and placement of the drill pipe catwalk according to long-term operating experience. This method can be freely and flexibly selected A certain drill pipe is grasped, and a certain area is placed in the drill pipe placement area; however, it takes a long time to grab the drill pipe and place the dr...

AI Technical Summary

Problems solved by technology

[0003] The experience method is that the operator of the joint crane relies on his own operating ability, and realizes the grasping and method of the drill pipe in the drill pipe storage area and the grasping and placement of the drill pipe catwalk according to long-term operating experience. This method can be freely and flexibly selected A certain drill pipe is grasped, and a certain area is placed in the drill pipe placement area; however, it takes a long time to grab the drill pipe and place the drill pipe, and it is easy to damage the crane clamp and the crane clamp due to incorrect alignment of the drill pipe and grasping errors. drill pipe catwalk

[0004] The auxiliary positioning method is to accurately measure the relative position of the mechanism by installing a liquid cylinder displacement sensor and an encoder on each rotating shaft of the joint crane and the rotating mechanism; before the equipment is operated, the target position of each action mechanism is preset, and each mechanism of the joint crane moves to Automatically stop after the target position, and finally achieve the joint crane to accurately place the drill pipe to the drill pipe catway slot, and accurately grab the drill pipe from the drill pipe catway slot; compared with the empirical method, the auxiliary positioning method grabs the drill pipe and It is more accurate to place the drill pipe and align it with the drill pipe, which takes less time and requires less skill for the operator. There are fewer damage accidents to the joint crane clamp and the drill pipe catwalk due to incorrect operation alignment, and the operation efficiency is greatly improved; However, this method can only realize the auxiliary positioning operation of the drill pipe catway slot and the drill pipe catway drill pipe to the storage area, and cannot effectively realize the positioning operation of the drill pipe in the drill pipe storage area. Picking and placing drill pipes in the area still needs to rely on operator experience

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