CN109944546B - Subsea drilling rig walking system and method - Google Patents
Subsea drilling rig walking system and method Download PDFInfo
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- CN109944546B CN109944546B CN201910162083.7A CN201910162083A CN109944546B CN 109944546 B CN109944546 B CN 109944546B CN 201910162083 A CN201910162083 A CN 201910162083A CN 109944546 B CN109944546 B CN 109944546B
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Abstract
本发明公开了一种海底钻机行走系统及方法，涉及钻井设备技术领域，包括：装载平台、连接柱、浮箱和动力装置；装载平台与浮箱之间通过连接柱连接，装载平台用于装载海底钻机钻井装置；浮箱包括充排水装置，用于通过浮箱排水，使海底钻机行走系统上升，或通过浮箱吸水，使海底钻机行走系统下降；动力装置装载在连接柱上，用于在海底钻机行走系统处于漂浮状态时推动海底钻机行走系统进行移动，以到达目标区域。本发明具有运动灵活，精度高，操作比较方便，适用性更强，实用范围更加的广泛，成本低的优点。
The present invention discloses a submarine drilling rig walking system and method, which relates to the technical field of drilling equipment, including: a loading platform, a connecting column, a pontoon and a power device; the loading platform and the pontoon are connected by a connecting column, and the loading platform is used to load the submarine drilling rig drilling equipment; the pontoon includes a filling and drainage device, which is used to drain water through the pontoon to make the submarine drilling rig walking system rise, or to absorb water through the pontoon to make the submarine drilling rig walking system descend; the power device is loaded on the connecting column, and is used to push the submarine drilling rig walking system to move when the submarine drilling rig walking system is in a floating state, so as to reach the target area. The present invention has the advantages of flexible movement, high precision, relatively convenient operation, stronger applicability, wider practical scope and low cost.
Description
Technical Field
The invention relates to the technical field of drilling equipment, in particular to a submarine drilling machine walking system and a submarine drilling machine walking method.
Background
With the continuous development of offshore oil to deep water and the development of other new energy sources such as combustible ice, the submarine drilling machine has shown a unique application prospect. The traditional submarine drilling machine is a fixed structure and can not move when working on the seabed.
In order to solve the above-mentioned drawbacks of the conventional subsea drilling machines, solutions are also currently proposed, for example, that the subsea drilling machine is transported to the target area by means of a tug and then the subsea drilling machine is slowly transported to the target area by means of a floating crane, which is particularly demanding for the staff controlling the floating crane, and that the errors present are relatively large and costly. After the work is completed, the vehicle is lifted away by the floating crane after being disassembled and assembled, and is transported to the next target area by the towing ship.
Disclosure of Invention
Therefore, the technical problem to be solved by the embodiment of the invention is that the submarine drilling machine in the prior art is inconvenient to move.
Therefore, the walking system of the submarine drilling machine comprises a loading platform, a connecting column, a buoyancy tank and a power device;
the loading platform is connected with the buoyancy tank through a connecting column and is used for loading a drilling device of the submarine drilling machine;
The buoyancy tank comprises a water charging and discharging device and is used for discharging water through the buoyancy tank so as to enable the submarine drilling machine travelling system to ascend or enable the submarine drilling machine travelling system to descend through water absorption of the buoyancy tank;
The power device is loaded on the connecting column and used for pushing the submarine drilling machine running system to move when the submarine drilling machine running system is in a floating state so as to reach a target area.
Preferably, the buoyancy tanks comprise at least two small buoyancy tanks which operate independently.
Preferably, the power means comprises a propeller means.
Preferably, the propeller means comprises forward propulsion propeller means, backward propulsion propeller means, leftward propulsion propeller means and rightward propulsion propeller means;
The forward propulsion propeller device, the backward propulsion propeller device, the left propulsion propeller device and the right propulsion propeller device are respectively arranged on different outer sides of the connecting column, the forward propulsion propeller device is used for forward propulsion motion control, the backward propulsion propeller device is used for backward propulsion motion control, the left propulsion propeller device is used for left propulsion motion control, and the right propulsion propeller device is used for right propulsion motion control.
Preferably, the utility model also comprises supporting feet;
The supporting feet are connected with the bottom of the buoyancy tank and are used for standing the buoyancy tank on the seabed ground in a lifting manner.
Preferably, the supporting legs and the buoyancy tank are connected in a relatively movable manner.
Preferably, the support foot comprises telescopic means for adjusting the length of the support foot.
Preferably, the device also comprises a positioning device for positioning the submarine drilling machine running system in real time.
The walking method of the submarine drilling machine provided by the embodiment of the invention comprises the following steps of:
the buoyancy tank absorbs water, so that the submarine drilling machine walking system descends;
The power device pushes the submarine drilling machine traveling system to perform coarse adjustment and large displacement movement while descending;
judging whether the submarine drilling machine walking system reaches a preset area or not;
when the submarine drilling machine running system reaches a preset area, the buoyancy tank stops sucking and draining water, so that the submarine drilling machine running system stops descending;
the power device pushes the submarine drilling machine traveling system to conduct fine adjustment small displacement movement;
judging whether the submarine drilling machine walking system reaches a target area or not, wherein the target area is inside a preset area;
when the submarine drilling machine traveling system reaches a target area, the power device stops pushing, so that the submarine drilling machine traveling system stops moving;
the buoyancy tank absorbs water to enable the submarine drilling machine traveling system to descend so as to be located on the seabed ground.
Preferably, the method further comprises the following steps:
draining the buoyancy tank to enable the submarine drilling machine traveling system to ascend;
the power device pushes the submarine drilling machine traveling system to move while ascending so as to reach the position above the next target area.
The technical scheme of the embodiment of the invention has the following advantages:
1. According to the submarine drilling machine walking system provided by the embodiment of the invention, the submarine drilling machine is lifted up through the buoyancy tank for drainage, the submarine drilling machine is moved to a target area through the power device, and then the submarine drilling machine is lowered down to the target area through the buoyancy tank for water absorption, so that walking under the sea is realized. The walking device can accurately reach a target area, can automatically move to the next working place, is flexible in movement, high in precision, convenient to operate, strong in applicability and wide in practical range. Meanwhile, the cost required by the process of disassembling and assembling the traditional submarine drilling machine and lifting the floating crane is saved, and the cost can be greatly reduced.
2. According to the submarine drilling machine walking method, the speed and the efficiency of self-moving are improved, the moving precision is improved, and the submarine drilling machine can reach a target area more accurately through the combination of floating box water filling and draining and coarse-adjustment large-displacement movement and fine-adjustment small-displacement movement control of the power device.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view showing a specific example of a traveling system of a subsea rig in embodiment 1 of the present invention;
fig. 2 is a schematic structural view of another specific example of the running system of the subsea rig in embodiment 1 of the present invention;
fig. 3 is a flowchart showing a specific example of the walking method of the subsea rig in embodiment 2 of the present invention.
Reference numerals 1-loading platform, 2-connecting column, 3-buoyancy tank, 4-supporting leg, 5-power device, 51-forward propulsion propeller device, 52-backward propulsion propeller device, 53-left propulsion propeller device, 54-right propulsion propeller device.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In describing the present invention, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The use of the terms "comprises" and/or "comprising," when used in this specification, are intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention. The terms "mounted," "connected," and "connected" are to be construed broadly, and may, for example, be fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, or in communication with the interior of two elements, or wirelessly connected, or wired. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Although the exemplary embodiments are described as using multiple units to perform the exemplary process, it is understood that the exemplary process may also be performed by one or more modules. In addition, it is understood that the term controller/control unit refers to a hardware device comprising a memory and a processor. The memory is configured as a memory module and the processor is specifically configured to execute the processes stored in the memory module to thereby perform one or more processes.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1
The embodiment provides a submarine drilling machine walking system, which comprises a loading platform 1, a connecting column 2, a buoyancy tank 3, supporting legs 4, a power device 5 and a positioning device, as shown in figure 1.
The loading platform 1 is connected with the buoyancy tank 3 through the connecting column 2, and the loading platform 1 is used for loading a drilling device of the submarine drilling machine. The connecting columns 2 are selected to be proper in number according to the size of the loading platform 1 so as to achieve stable connection. Preferably, the number is 4 or more, and as shown in fig. 1, the number of the connecting columns 2 is 4, and the connecting columns are respectively connected to four corners of the rectangle of the loading platform 1.
The buoyancy tank 3 comprises a water filling and draining device for draining water through the buoyancy tank 3 to enable the submarine drilling machine walking system to ascend or for absorbing water through the buoyancy tank 3 to enable the submarine drilling machine walking system to descend. The buoyancy tank 3 may be an integral buoyancy tank, and the water is filled and discharged by the integral buoyancy tank. Preferably, the buoyancy tank 3 comprises at least two small buoyancy tanks which work independently, each of which can be used for independent water filling and draining, so that the loading platform 1 can slightly move obliquely to avoid obstacles or correct the inclination of the submarine drilling rig running system caused by the influence of the ocean complex environment such as ocean currents and the like. As shown in fig. 1, the buoyancy tank 3 comprises two small buoyancy tanks which work independently and are respectively positioned at the left side and the right side below the loading platform 1, and each small buoyancy tank is connected with 2 connecting columns 2 and is connected with the loading platform 1. By controlling the water sucking and draining amount, the submarine drilling machine can be controlled to slowly descend and ascend, and the moving precision is improved.
A power unit 5 is loaded on the connection column 2 for pushing the subsea rig running system to move to reach the target area when the subsea rig running system is in a floating state. The movement herein refers to movement due to the pushing force in the front, rear, left, and right directions (positive and negative x-axis, y-axis directions as shown in fig. 1), and movement due to the pushing force in the front, rear, left, and right directions together with the buoyancy tank water filling and draining.
Preferably, the power means 5 includes, but is not limited to, a propeller arrangement. As shown in fig. 2, the propeller devices include a forward propulsion propeller device 51, a backward propulsion propeller device 52, a leftward propulsion propeller device 53, and a rightward propulsion propeller device 54. The forward propulsion propeller device 51, the backward propulsion propeller device 52, the left propulsion propeller device 53 and the right propulsion propeller device 54 are respectively installed on different outer sides of the connecting column 2, as shown in fig. 2, four sets of propeller devices 51, 52, 53 and 54 are all installed on the outer sides of the connecting column 2, so that water flow is not blocked during propulsion, and propulsion efficiency is improved. Two forward propulsion propeller devices 51 are respectively installed on the left and right sides of the left and right front connection posts 2 for forward propulsion motion control, two backward propulsion propeller devices 52 are respectively installed on the left and right sides of the left and right rear connection posts 2 for backward propulsion motion control, two leftward propulsion propeller devices 53 are respectively installed on the front and rear sides of the left and right rear connection posts 2 for leftward propulsion motion control, and two rightward propulsion propeller devices 54 are respectively installed on the front and rear sides of the right and left rear connection posts 2 for rightward propulsion motion control. Each group of propeller devices are arranged in two, so that stable translational propulsion can be ensured, angular turning movement control can be realized, and the flexibility of propulsion movement of the power device is improved. Preferably, the walking control of the power device and the positioning of the positioning device are adopted, and the two moving modes of coarse adjustment and fine adjustment are adopted, wherein the coarse adjustment is realized by controlling the propeller device to realize the large-displacement walking of the submarine drilling machine and move to a target drilling area, and then the fine adjustment is realized by controlling the small-displacement movement of the propeller device to enable the submarine drilling machine to find the drilling well position.
The supporting feet 4 are connected to the bottom of the buoyancy tank 3 for supporting the buoyancy tank 3 on the seabed ground. As shown in fig. 1, the bottom of the buoyancy tank is connected with four supporting feet 4, which plays a role in supporting a working platform and reducing contact with sediment on the seabed, so that friction force generated by contact between sediment and the bottom buoyancy tank can be effectively reduced when the buoyancy tank is drained and lifted, and the problem of adhesion force generated by the buoyancy tank and sediment on the seabed is solved.
Preferably, the supporting feet 4 and the buoyancy tank 3 are connected in a relatively movable manner. The supporting legs 4 and the buoyancy tank 3 can move relatively to adapt to different seabed conditions, and the relative movement mode can be realized through a gear rack mode or a hydraulic mode and the like.
Preferably, the support feet 4 comprise telescopic means for adjusting the length of the support feet 4 to accommodate uneven seafloor surfaces, keeping the loading platform level.
The positioning device is used for positioning the submarine drilling machine running system in real time. The positioning device is sealingly loaded on the loading platform 1, preferably near the wellhead edge.
According to the submarine drilling machine walking system, the submarine drilling machine is lifted up through the buoyancy tank for drainage, the submarine drilling machine is moved to the target area through the power device, then the submarine drilling machine is lowered down through the buoyancy tank for water absorption, and the submarine drilling machine is located in the target area to walk under the sea. The walking device can accurately reach a target area, can automatically move to the next working place, is flexible in movement, high in precision, convenient to operate, strong in applicability and wide in practical range. Meanwhile, the cost required by the process of disassembling and assembling the traditional submarine drilling machine and lifting the floating crane is saved, and the cost can be greatly reduced.
Example 2
The present embodiment provides a submarine drilling machine walking method applied to the submarine drilling machine walking system of embodiment 1, as shown in fig. 3, the method includes the following steps:
S1, the buoyancy tank 3 absorbs water to enable the submarine drilling machine running system to descend.
S2, the power device 5 pushes the submarine drilling machine traveling system to move in a rough adjustment and large displacement mode while descending. For example, the method for coarse-adjustment large displacement movement is that the propeller device generates larger thrust by adopting larger rotating speed to control the submarine drilling machine traveling system to move, and the water absorption speeds of the eight propeller devices and the buoyancy tank are adjusted according to the real-time coordinate position collected by the positioning device and the preset route, so that the submarine drilling machine is moved according to the preset route.
And S3, judging whether the submarine drilling machine traveling system reaches a preset area, wherein the preset area surrounds a target area and is generally arranged in the range of a few meters of a square circle. And when the submarine drilling machine traveling system does not reach the preset area, the submarine drilling machine traveling system keeps moving.
S4, stopping water suction and drainage of the buoyancy tank 3, stopping descending of a submarine drilling machine traveling system, enabling the submarine drilling machine to float at a stable height, facilitating follow-up translational fine tuning control of the submarine drilling machine, and improving movement control precision.
S5, the power device 5 pushes the submarine drilling machine traveling system to conduct fine adjustment small displacement movement, the method of the fine adjustment small displacement movement is to judge whether the change amount of the submarine drilling machine positioning position is smaller than or equal to the preset change amount, the preset change amount can be set according to actual sea conditions, when the change amount of the submarine drilling machine positioning position is smaller than or equal to the preset change amount, the submarine drilling machine is considered to be in a stable floating state, the movement distance is calculated according to the distance between the submarine drilling machine current position and a target area, the movement amount in the x-axis direction and the movement amount in the y-axis direction are calculated and decomposed, and the eight propeller devices are controlled to enable the movement amount of the submarine drilling machine in the x-axis direction and the movement amount in the y-axis direction to reach the upper portion of the target area, so that the movement accuracy is improved.
S6, judging whether the submarine drilling machine traveling system reaches a target area, wherein the target area is inside a preset area. And when the submarine drilling machine traveling system does not reach the target area, the submarine drilling machine traveling system keeps moving.
And S7, stopping pushing by the power device 5, and stopping moving the submarine drilling machine traveling system.
S8, the buoyancy tank 3 absorbs water, so that the submarine drilling machine traveling system descends to be located on the submarine ground, namely a target area.
Preferably, the subsea rig walking method further comprises the steps of:
s9, draining the buoyancy tank 3 to enable the submarine drilling machine traveling system to ascend.
S10, the power device 5 pushes the submarine drilling machine traveling system to move while ascending so as to reach the position above the next target area, preferably, the moving method can adopt the coarse-adjustment large-displacement movement and the fine-adjustment small-displacement movement, only the water suction action is replaced by the water discharge action, and then the power device 5 stops pushing so as to stop the submarine drilling machine traveling system. The buoyancy tank 3 then absorbs water, causing the subsea rig travel system to descend to sit on the seabed floor, i.e., the next target area.
According to the submarine drilling machine walking method, the speed and the efficiency of self-moving are improved through the combination of the floating box water filling and draining and the coarse adjustment large displacement movement and the fine adjustment small displacement movement control of the power device, the moving precision is improved, and the submarine drilling machine can reach a target area more accurately.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
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| WO2004018826A1 (en) * | 2002-08-22 | 2004-03-04 | Hansen, Henning | Subsea drilling module for use in drilling of oil and gas wells |
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| US9254893B2 (en) * | 2013-11-11 | 2016-02-09 | Conocophillips Company | Subsea platform transporter (SPT) |
| CN104002938B (en) * | 2014-05-28 | 2016-09-07 | 中国石油集团东方地球物理勘探有限责任公司 | A kind of combined type an ultra shallow aqueous vapor rifle Seismic Source System and process |
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| CN201148193Y (en) * | 2008-01-11 | 2008-11-12 | 西南石油大学 | A water cushion self-propelled ocean drilling platform |
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| CN210067967U (en) * | 2019-02-23 | 2020-02-14 | 中国石油大学(华东) | Subsea drilling rig walking system |
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