Multiposition and multifunctional pipe moving manipulator for submarine drilling machine

Abstract

The invention discloses a multiposition and multifunctional pipe moving manipulator for a submarine drilling machine. The multiposition and multifunctional pipe moving manipulator comprises an outer frame, a guide rail, a boom oil cylinder, a telescopic arm component, a position sensor and a manipulator component, wherein the boom oil cylinder can drive the telescopic arm component to swing on theguide rail; and a manipulator oil cylinder stretches out and draws back to drive two manipulators to open and close. According to the multiposition and multifunctional pipe moving manipulator, the boom oil cylinder stretches out and draws back to drive the telescopic arm component to reach the positions of drill pipes, drilling tools and core barrels at different floors of a drill pipe warehouse;a spring and disc spring combined structure in the manipulator oil cylinder can grab drill pipes, drilling tools and core barrels with different diameters, also can protect the pipes when the drilling pipes and the drilling tools are connected and dismantled and the core barrels are put down in the sea and taken up and is high in adaptation; and the multiposition and multifunctional pipe moving manipulator further has the advantages of being simple and compact in structure and convenient in control.

Description

technical field [0001] The invention belongs to the technical field of seabed drilling rigs, in particular to a multi-position multifunctional pipe transfer manipulator for a seabed drilling rig. Background technique [0002] The submarine drilling rig is an important equipment for seabed mineral resource exploration, seabed engineering geological survey and marine scientific research. In order to meet the exploration and sampling requirements of deeper seabed formations, the subsea drilling rig needs to carry a drill pipe library, in which there are multiple drill pipes (including drill pipes, drilling tools and core pipes, but drill pipes, drilling tools and rock Core tubes have different outer diameters). During the process of grabbing drill pipes, drilling tools and core pipes from different layers of the drill pipe warehouse and moving them to the drilling position, the pipe transfer manipulator must hold the drill pipes, drilling tools and core pipes firmly, while the...

AI Technical Summary

Problems solved by technology

During the process of grabbing drill pipes, drilling tools and core pipes from different layers of the drill pipe warehouse and moving them to the drilling position, the pipe transfer manipulator must hold the drill pipes, drilling tools and core pipes firmly, while the drill pipes, drill In the process of tool loading and unloading, as well as the process of lowering and recovering core pipes, in order to enable the drill pipe, drilling tools and core pipes to move up and down and rotate, the traditional pipe transfer manipulator can only be placed in a fully opened state. Open, affected by the motion of the seabed ocean current and the vibration of the seabed drilling rig itself, the alignment of the upper and lower drill pipes and drilling tools becomes poor. The wear and tear of the connecting and unloading thread of the drilling tool leads to the failure and scrapping of the drill pipe and the drilling tool

At the same time, affected by the seabed ocean current movement and the vibration of the subsea drilling rig itself, the core tube is in a swing state at this time, which makes it more difficult to manipulate the core tube into the orifice, greatly reducing the success of the core tube in lowering and recovery rate and work efficiency

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