CN106762589A - A kind of oil pumper timesharing arrangements for speed regulation - Google Patents

A kind of oil pumper timesharing arrangements for speed regulation Download PDF

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Publication number
CN106762589A
CN106762589A CN201710128466.3A CN201710128466A CN106762589A CN 106762589 A CN106762589 A CN 106762589A CN 201710128466 A CN201710128466 A CN 201710128466A CN 106762589 A CN106762589 A CN 106762589A
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China
Prior art keywords
oil pumper
pumping
speed
control device
oil
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CN201710128466.3A
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Chinese (zh)
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陈则宇
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Individual
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Priority to CN201710128466.3A priority Critical patent/CN106762589A/en
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04BPOSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06Control using electricity
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B43/00Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
    • E21B43/12Methods or apparatus for controlling the flow of the obtained fluid to or in wells
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04BPOSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B47/00Pumps or pumping installations specially adapted for raising fluids from great depths, e.g. well pumps
    • F04B47/02Pumps or pumping installations specially adapted for raising fluids from great depths, e.g. well pumps the driving mechanisms being situated at ground level
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04BPOSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00Motor parameters
    • F04B2203/02Motor parameters of rotating electric motors
    • F04B2203/0209Rotational speed

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

The present invention relates to a kind of oil pumper timesharing arrangements for speed regulation, including:Travel position detection device, control device and human-computer interaction device, the travel position detection device and human-computer interaction device are connected with the control device respectively, and the output end of the control device is connected with the pumping-unit motor installed on the ground;The travel position detection device is used to detect the run location of oil pumper;The human-computer interaction device is used to receive and show the speed regulating control parameter of user input;The control device is used for run location information and the speed regulating control parameter according to oil pumper, changes the frequency of supply of pumping-unit motor, so that pumping-unit motor is rotated in oil pumper down stroke by first rate, is rotated by the second speed in oil pumper upstroke;Wherein, the speed of first rate < second.Technical scheme, can solve the problem that in the prior art because sucker rod upstroke and down stroke speed are non-adjustable, and reduces pumping efficiency, increases sucker rod and the problem of oil pipe abrasion.

Description

A kind of oil pumper timesharing arrangements for speed regulation
Technical field
The present invention relates to technical field of mechanical oil extraction, and in particular to a kind of oil pumper timesharing arrangements for speed regulation.
Background technology
Oil extraction uses reciprocating piston pump mostly, and its power resources is the motor on ground.The effect of oil pumper is The circular motion of motor is changed into and is pumped, the piston for driving underground by sucker rod reaches oil pumping purpose.And Motor is uniform rotation, and it is the same that this has resulted in oil pumper up-down stroke speed.
The diameter of oil pump piston is typically much deeper than oil pumping shank diameter, and the liquid resistance being subject in down stroke compares sucker rod By the big of liquid resistance.When rate of pumping is more than a certain value, the sucker rod that will be formed above press against following piston and do Move downward, this will cause the bending of sucker rod, this at least two harms:One is that sucker rod is the bending in oil pipe R a T inwall rub repeatedly, cause the damage of R a T;Two is the flexural fatigue to form sucker rod, long The fatigue of phase can cause the disconnected de- of sucker rod.This 2 points can all cause oil well not fuel-displaced.If down stroke speed be reduced to A certain value, piston is freely descending, and sucker rod does not just bend, and just can reduce the loss for thus resulting in.But present oil pumper Up-down stroke motor speed is the same, that is to say, that up-down stroke speed is the same, to avoid rod sag, if under Having adjusted down stroke speed, upstroke speed will also reduce, and this will influence yield, and this is infeasible.
The content of the invention
In view of this, it is an object of the invention to overcome the deficiencies in the prior art, there is provided oil pumper timesharing arrangements for speed regulation, with Solve in the prior art because sucker rod upstroke and down stroke speed are non-adjustable, and reduce pumping efficiency, increase sucker rod and The problem of oil pipe abrasion.
To realize object above, the present invention is adopted the following technical scheme that:
A kind of oil pumper timesharing arrangements for speed regulation, including:Travel position detection device, control device and human-computer interaction device, Wherein,
The travel position detection device and human-computer interaction device are connected with the control device respectively, the control device Output end be connected with pumping-unit motor on the ground is installed;The travel position detection device is used to detect the fortune of oil pumper Line position is put;The human-computer interaction device is used to receive and show the speed regulating control parameter of user input;The control device is used for Run location information and the speed regulating control parameter according to oil pumper, change the frequency of supply of pumping-unit motor, so that oil pumping Electromechanical machine is rotated in oil pumper down stroke by first rate, is rotated by the second speed in oil pumper upstroke;Wherein, first The speed of speed < second.
Preferably, 1/ first rate+1/, second speed=oil pumper intrinsic cycle of operation;The speed regulating control parameter bag Include upstroke run time and down stroke run time.
Preferably, the travel position detection device includes the first proximity switch and the second proximity switch, wherein,
First proximity switch is arranged on its lowest position of oil pumper operation, when the first proximity switch state change When, control device judges that oil pumper opens upstroke, control device output upstroke frequency, so that pumping-unit motor is by the second speed Rate is rotated;Second proximity switch is arranged on the highest position of oil pumper operation, when the second proximity switch state change, Control device judges that oil pumper opens down stroke, control device output down stroke frequency, so that pumping-unit motor presses first rate Rotate.
Preferably, the travel position detection device includes the first optoelectronic switch and the second optoelectronic switch, wherein,
First optoelectronic switch is arranged on its lowest position of oil pumper operation, when the first photoelectric switch state changes When, control device judges that oil pumper opens upstroke, control device output upstroke frequency, so that pumping-unit motor is by the second speed Rate is rotated;Second optoelectronic switch is arranged on the highest position of oil pumper operation, when the second photoelectric switch state changes, Control device judges that oil pumper opens down stroke, control device output down stroke frequency, so that pumping-unit motor presses first rate Rotate.
Preferably, the travel position detection device is photoelectric encoder;
The photoelectric encoder links with belt wheel for oil pumping machine;The photoelectric encoder is used to detect belt wheel for oil pumping machine Turned position and steering, and turned position according to belt wheel for oil pumping machine and turn to run location and the direction for judging oil pumper.
Preferably, the control device includes:Collecting unit, analytic unit and frequency converter, wherein,
The collecting unit is connected with the travel position detection device, defeated for gathering the travel position detection device The run location information of the oil pumper for going out;The analytic unit is connected with the collecting unit and human-computer interaction device, for root According to the speed regulating control parameter that the run location information and user of oil pumper are input into by human-computer interaction device, pumping-unit motor is calculated Frequency of supply regulated quantity, and the frequency of supply regulated quantity is exported to the frequency converter, so as to the frequency converter changes take out The frequency of supply of oil machine motor.
Preferably, the control device includes:Collecting unit, analytic unit and electromagnetic speed regulator, wherein,
The collecting unit is connected with the travel position detection device, defeated for gathering the travel position detection device The run location information of the oil pumper for going out;The analytic unit is connected with the collecting unit and human-computer interaction device, for root According to the speed regulating control parameter that the run location information and user of oil pumper are input into by human-computer interaction device, pumping-unit motor is calculated Frequency of supply regulated quantity, and the frequency of supply regulated quantity is exported to the electromagnetic speed regulator, so that the electromagnetic speed-adjusting Device changes the rotating speed of pumping-unit motor.
Preferably, the human-computer interaction device is touch-screen.
Preferably, the human-computer interaction device is display screen and keyboard.
Preferably, the human-computer interaction device is additionally operable to the monitor in real time and oil pumper of the voltage and current of pumping-unit motor The start-up and shut-down control of motor.
The present invention uses above technical scheme, at least possesses following beneficial effect:
As shown from the above technical solution, this oil pumper timesharing arrangements for speed regulation that the present invention is provided, travel position detection dress The run location that can detect oil pumper is put, human-computer interaction device can be received and show the speed regulating control parameter of user input, Control device according to the run location information of oil pumper and the speed regulating control parameter, can change the power supply of pumping-unit motor frequently Rate, so that pumping-unit motor is rotated in oil pumper down stroke by first rate, is turned in oil pumper upstroke by the second speed It is dynamic.This oil pumper timesharing arrangements for speed regulation that the present invention is provided are improved on the basis of general oil pumper, compared to existing Technology, make oil pumper upstroke and down stroke fortune stroke speed difference it is adjustable, down stroke can effectively reduce slowly sucker rod and The abrasion of oil pipe, upstroke can reduce oil well pump leakage soon, improve pump efficiency, improve pumping efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these accompanying drawings.
A kind of schematic block circuit diagram of oil pumper timesharing arrangements for speed regulation that Fig. 1 is provided for one embodiment of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical scheme will be carried out below Detailed description.Obviously, described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Base Embodiment in the present invention, those of ordinary skill in the art are resulting on the premise of creative work is not made to be owned Other embodiment, belongs to the scope that the present invention is protected.
Below by drawings and Examples, technical scheme is described in further detail.
Referring to a kind of oil pumper timesharing arrangements for speed regulation that Fig. 1, one embodiment of the invention are provided, including:Travel position is detected Device 1, control device 2 and human-computer interaction device 3, wherein,
The travel position detection device 1 and human-computer interaction device 3 are connected with the control device 2 respectively, the control The output end of device 2 is connected with the pumping-unit motor installed on the ground;The travel position detection device 1 is used to detect pumps The run location of machine;The human-computer interaction device 3 is used to receive and show the speed regulating control parameter of user input;The control dress 2 are put for the run location information and the speed regulating control parameter according to oil pumper, changes the frequency of supply of pumping-unit motor, with Pumping-unit motor is rotated by first rate in oil pumper down stroke, rotated by the second speed in oil pumper upstroke;Its In, the speed of first rate < second.
As shown from the above technical solution, this oil pumper timesharing arrangements for speed regulation that the present invention is provided, travel position detection dress The run location that can detect oil pumper is put, human-computer interaction device can be received and show the speed regulating control parameter of user input, Control device according to the run location information of oil pumper and the speed regulating control parameter, can change the power supply of pumping-unit motor frequently Rate, so that pumping-unit motor is rotated in oil pumper down stroke by first rate, is turned in oil pumper upstroke by the second speed It is dynamic.This oil pumper timesharing arrangements for speed regulation that the present invention is provided are improved on the basis of general oil pumper, compared to existing Technology, make oil pumper upstroke and down stroke fortune stroke speed difference it is adjustable, down stroke can effectively reduce slowly sucker rod and The abrasion of oil pipe, upstroke can reduce oil well pump leakage soon, improve pump efficiency, improve pumping efficiency.
Preferably, 1/ first rate+1/, second speed=oil pumper intrinsic cycle of operation;The speed regulating control parameter bag Include upstroke run time and down stroke run time.
It is understood that this oil pumper timesharing arrangements for speed regulation that the present invention is provided, make to turn during oil pumper up-down stroke Speed is different, and in down stroke, motor speed is low, and motor speed is fast during upstroke, so as to ensure the oil pumper intrinsic cycle of operation It is constant.
Preferably, the travel position detection device 1 includes the first proximity switch and the second proximity switch, wherein,
First proximity switch is arranged on its lowest position of oil pumper operation, when the first proximity switch state change When, control device 2 judges that oil pumper opens upstroke, the output upstroke frequency of control device 2, so that pumping-unit motor presses second Speed is rotated;Second proximity switch is arranged on the highest position of oil pumper operation, when the second proximity switch state change When, control device 2 judges that oil pumper opens down stroke, the output down stroke frequency of control device 2, so that pumping-unit motor presses first Speed is rotated.
Preferably, the travel position detection device 1 includes the first optoelectronic switch and the second optoelectronic switch, wherein,
First optoelectronic switch is arranged on its lowest position of oil pumper operation, when the first photoelectric switch state changes When, control device 2 judges that oil pumper opens upstroke, the output upstroke frequency of control device 2, so that pumping-unit motor presses second Speed is rotated;Second optoelectronic switch is arranged on the highest position of oil pumper operation, when the second photoelectric switch state changes When, control device 2 judges that oil pumper opens down stroke, the output down stroke frequency of control device 2, so that pumping-unit motor presses first Speed is rotated.
Preferably, the travel position detection device 1 is photoelectric encoder;
The photoelectric encoder links with belt wheel for oil pumping machine;The photoelectric encoder is used to detect belt wheel for oil pumping machine Turned position and steering, and turned position according to belt wheel for oil pumping machine and turn to run location and the direction for judging oil pumper.
Preferably, the control device 2 includes:Collecting unit, analytic unit and frequency converter, wherein,
The collecting unit is connected with the travel position detection device 1, for gathering the travel position detection device 1 The run location information of the oil pumper of output;The analytic unit is connected with the collecting unit and human-computer interaction device 3, is used for The speed regulating control parameter that run location information and user according to oil pumper are input into by human-computer interaction device 3, calculates oil pumper The frequency of supply regulated quantity of motor, and the frequency of supply regulated quantity is exported to the frequency converter, so that the frequency converter changes Become the frequency of supply of pumping-unit motor.
Preferably, the control device 2 includes:Collecting unit, analytic unit and electromagnetic speed regulator, wherein,
The collecting unit is connected with the travel position detection device 1, for gathering the travel position detection device 1 The run location information of the oil pumper of output;The analytic unit is connected with the collecting unit and human-computer interaction device 3, is used for The speed regulating control parameter that run location information and user according to oil pumper are input into by human-computer interaction device 3, calculates oil pumper The frequency of supply regulated quantity of motor, and the frequency of supply regulated quantity is exported to the electromagnetic speed regulator, so that the electromagnetism Speed regulator changes the rotating speed of pumping-unit motor.
Preferably, the human-computer interaction device 3 is touch-screen.
Preferably, the human-computer interaction device 3 is display screen and keyboard.
Preferably, the human-computer interaction device 3 is additionally operable to monitor in real time and the oil pumping of the voltage and current of pumping-unit motor The start-up and shut-down control of electromechanical machine.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims. Term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance.Term " multiple " refers to Two or more, unless otherwise clearly restriction.

Claims (10)

1. a kind of oil pumper timesharing arrangements for speed regulation, it is characterised in that including:Travel position detection device, control device and man-machine Interactive device, wherein,
The travel position detection device and human-computer interaction device are connected with the control device respectively, the control device it is defeated Go out end and be connected with the pumping-unit motor installed on the ground;The travel position detection device is used to detect the operating position of oil pumper Put;The human-computer interaction device is used to receive and show the speed regulating control parameter of user input;The control device is used for basis The run location information of oil pumper and the speed regulating control parameter, change the frequency of supply of pumping-unit motor, so that oil pumping is electromechanical Machine is rotated in oil pumper down stroke by first rate, is rotated by the second speed in oil pumper upstroke;Wherein, first rate The speed of < second.
2. oil pumper timesharing arrangements for speed regulation according to claim 1, it is characterised in that the speed regulating control parameter includes upper Stroke run time and down stroke run time.
3. oil pumper timesharing arrangements for speed regulation according to claim 1, it is characterised in that the travel position detection device bag The first proximity switch and the second proximity switch are included, wherein,
First proximity switch is arranged on its lowest position of oil pumper operation, when the first proximity switch state change, control Device processed judges that oil pumper opens upstroke, control device output upstroke frequency, so that pumping-unit motor is turned by the second speed It is dynamic;Second proximity switch is arranged on the highest position of oil pumper operation, when the second proximity switch state change, control Device judges that oil pumper opens down stroke, control device output down stroke frequency, so that pumping-unit motor is rotated by first rate.
4. oil pumper timesharing arrangements for speed regulation according to claim 1, it is characterised in that the travel position detection device bag The first optoelectronic switch and the second optoelectronic switch are included, wherein,
First optoelectronic switch is arranged on its lowest position of oil pumper operation, when the first photoelectric switch state changes, control Device processed judges that oil pumper opens upstroke, control device output upstroke frequency, so that pumping-unit motor is turned by the second speed It is dynamic;Second optoelectronic switch is arranged on the highest position of oil pumper operation, when the second photoelectric switch state changes, control Device judges that oil pumper opens down stroke, control device output down stroke frequency, so that pumping-unit motor is rotated by first rate.
5. oil pumper timesharing arrangements for speed regulation according to claim 1, it is characterised in that the travel position detection device is Photoelectric encoder;
The photoelectric encoder links with belt wheel for oil pumping machine;The photoelectric encoder is used to detect the rotation of belt wheel for oil pumping machine Position and steering, and turned position according to belt wheel for oil pumping machine and turn to run location and the direction for judging oil pumper.
6. oil pumper timesharing arrangements for speed regulation according to any one of Claims 1 to 5, it is characterised in that the control device Including:Collecting unit, analytic unit and frequency converter, wherein,
The collecting unit is connected with the travel position detection device, for gathering the travel position detection device output The run location information of oil pumper;The analytic unit is connected with the collecting unit and human-computer interaction device, is taken out for basis The speed regulating control parameter that the run location information of oil machine and user are input into by human-computer interaction device, calculates the confession of pumping-unit motor Electric frequency regulating amount, and the frequency of supply regulated quantity is exported to the frequency converter, so that the frequency converter changes oil pumper The frequency of supply of motor.
7. oil pumper timesharing arrangements for speed regulation according to any one of Claims 1 to 5, it is characterised in that the control device Including:Collecting unit, analytic unit and electromagnetic speed regulator, wherein,
The collecting unit is connected with the travel position detection device, for gathering the travel position detection device output The run location information of oil pumper;The analytic unit is connected with the collecting unit and human-computer interaction device, is taken out for basis The speed regulating control parameter that the run location information of oil machine and user are input into by human-computer interaction device, calculates the confession of pumping-unit motor Electric frequency regulating amount, and the frequency of supply regulated quantity is exported to the electromagnetic speed regulator, so that the electromagnetic speed regulator changes Become the rotating speed of pumping-unit motor.
8. oil pumper timesharing arrangements for speed regulation according to any one of Claims 1 to 5, it is characterised in that the man-machine interaction Device is touch-screen.
9. oil pumper timesharing arrangements for speed regulation according to any one of Claims 1 to 5, it is characterised in that the man-machine interaction Device is display screen and keyboard.
10. oil pumper timesharing arrangements for speed regulation according to any one of Claims 1 to 5, it is characterised in that the man-machine interaction Device is additionally operable to the monitor in real time of the voltage and current of pumping-unit motor and the start-up and shut-down control of pumping-unit motor.
CN201710128466.3A 2017-03-06 2017-03-06 A kind of oil pumper timesharing arrangements for speed regulation Pending CN106762589A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109507915A (en) * 2018-12-07 2019-03-22 北京博清科技有限公司 Swing control system and swing control method
CN111810125A (en) * 2020-07-01 2020-10-23 北京泛华万联机电集成技术有限责任公司 Beam-pumping unit belt monitoring method and device

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US4145161A (en) * 1977-08-10 1979-03-20 Standard Oil Company (Indiana) Speed control
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CN201381841Y (en) * 2009-03-26 2010-01-13 新疆维吾尔自治区第三机床厂 Variable-frequency energy-saving control device of oil pumping unit
CN201774491U (en) * 2010-09-09 2011-03-23 章淑萍 Automatic speed regulating gear of oil extractor
CN201860286U (en) * 2010-08-03 2011-06-08 戴薇 Control system for pumping unit in oil field
CN102315821A (en) * 2010-06-29 2012-01-11 山东力久特种电机有限公司 Multifunctional energy-saving frequency-conversion control device
CN203338050U (en) * 2013-06-25 2013-12-11 大庆大华宏业石油工程技术有限公司 Variable frequency intelligent control system for oil pumping machine
CN203466767U (en) * 2013-08-13 2014-03-05 陈汉臣 Intelligent double-speed oil well frequency conversion control cabinet
CN104883113A (en) * 2015-06-03 2015-09-02 新疆敦华石油技术股份有限公司 Automatic pumping unit parameter adjusting device and method
CN105007022A (en) * 2015-09-02 2015-10-28 安徽钟南电器有限责任公司 Frequency-conversing compensating and energy saving control apparatus of oil pumping unit in oil fields

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Publication number Priority date Publication date Assignee Title
US4145161A (en) * 1977-08-10 1979-03-20 Standard Oil Company (Indiana) Speed control
CN2899283Y (en) * 2006-05-01 2007-05-09 酒泉市广通电器有限责任公司 Control cabinet of oil sucker
CN201381841Y (en) * 2009-03-26 2010-01-13 新疆维吾尔自治区第三机床厂 Variable-frequency energy-saving control device of oil pumping unit
CN102315821A (en) * 2010-06-29 2012-01-11 山东力久特种电机有限公司 Multifunctional energy-saving frequency-conversion control device
CN201860286U (en) * 2010-08-03 2011-06-08 戴薇 Control system for pumping unit in oil field
CN201774491U (en) * 2010-09-09 2011-03-23 章淑萍 Automatic speed regulating gear of oil extractor
CN203338050U (en) * 2013-06-25 2013-12-11 大庆大华宏业石油工程技术有限公司 Variable frequency intelligent control system for oil pumping machine
CN203466767U (en) * 2013-08-13 2014-03-05 陈汉臣 Intelligent double-speed oil well frequency conversion control cabinet
CN104883113A (en) * 2015-06-03 2015-09-02 新疆敦华石油技术股份有限公司 Automatic pumping unit parameter adjusting device and method
CN105007022A (en) * 2015-09-02 2015-10-28 安徽钟南电器有限责任公司 Frequency-conversing compensating and energy saving control apparatus of oil pumping unit in oil fields

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109507915A (en) * 2018-12-07 2019-03-22 北京博清科技有限公司 Swing control system and swing control method
CN109507915B (en) * 2018-12-07 2023-11-10 北京博清科技有限公司 Swing control system and swing control method
CN111810125A (en) * 2020-07-01 2020-10-23 北京泛华万联机电集成技术有限责任公司 Beam-pumping unit belt monitoring method and device

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Application publication date: 20170531

RJ01 Rejection of invention patent application after publication