CN107701128B - A kind of full-automatic petroleum well workover rod tube operation industrial robot - Google Patents
A kind of full-automatic petroleum well workover rod tube operation industrial robot Download PDFInfo
- Publication number
- CN107701128B CN107701128B CN201711025255.3A CN201711025255A CN107701128B CN 107701128 B CN107701128 B CN 107701128B CN 201711025255 A CN201711025255 A CN 201711025255A CN 107701128 B CN107701128 B CN 107701128B
- Authority
- CN
- China
- Prior art keywords
- rod tube
- rod
- conveying device
- main body
- oil pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003208 petroleum Substances 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 239000003921 oil Substances 0.000 claims abstract description 70
- 238000012545 processing Methods 0.000 claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 239000003129 oil well Substances 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 238000005086 pumping Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 210000000080 chela (arthropods) Anatomy 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 241000269793 Cryothenia peninsulae Species 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/10—Slips; Spiders ; Catching devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of full-automatic petroleum well workover rod tube operation industrial robot, which includes main body rod tube processing mechanism, rod tube stacking mechanism, rod tube conveying device, attached hydraulic oil pipe slips, sucker rod slips, rod tube line flaw detection device and GPS positioning device；Main body rod tube processing mechanism includes main body chassis, track-type facilities and robot arm device；Rod tube palletizing apparatus is equipped with stacking pedestal, mobile mechanism and robot device；Stacking pedestal is equipped with the cross-arm for shelving oil pipe and sucker rod, and rod tube conveying device includes conveying device one and conveying device two；Conveying device one is arranged in the left side of main body chassis and positioned at the lower section of flexible mechanical arm device, the rear side of conveying device one is provided with encoder measuring motion, conveying device two is located at the front end of rod tube stacking mechanism, and the transmission for realizing oil pipe and sucker rod is on same straight line with conveying device one.
Description
Technical field
The present invention relates to petroleum well workover device intelligence control technology fields, and in particular to a kind of full-automatic petroleum well workover rod tube
Operation industrial robot.
Background technology
In oilfield process, when due to oil well or the equipment fault underproduction or stopping production, or due to oil well operating condition
It changes, when needing to change production technology measure according to new situation, it is necessary to which workover operation construction is carried out to oil well.Such as flowing well
It is required for removing oil when turning pumpingh well, change oil well pump depth of setting, model or encountering oil pipe leakage, rod broken
Pipe carries out workover treatment.These work usually need well workover machine equipment to complete.Original well head workover rig is every in the prior art
Class scene will be at least made of 4-6 people, wherein 1 people opens winch, 2 people's blocked operation tubing slip of well head and replacement pipe elevator are simultaneously
Hydraulic tubing tong is operated, live oil pipe manual emission 1-2 people, it is big that there are labor intensities, and working environment is severe, site safety
Property is poor, and working efficiency is low, be easy to cause environmental pollution etc., and technical staff's stream of people's situation is serious.
It is domestic in recent years to be proposed rod tube remote control automatic discharge system and automanual successively for such case
Well workover robot, such as application No. is 201320473958.3 utility model patents to disclose a kind of well workover tubing and casing conveying dress
It sets, including tubing string, moving trolley, frame main body, cutting agency, lifting landing leg, trolley clamp fluid cylinder, trolley traveling roller machine
Structure, feed mechanism, hydraulic pressure manifold, hydraulic station and switch board assembly, fold mechanism.The moving trolley is installed on frame main body
On, trolley is installed in moving trolley and clamps fluid cylinder, cutting agency is mounted on the inside of frame main body, trolley traveling roller mechanism peace
In frame main body loaded on moving trolley one side, lifting landing leg is installed on the both ends of frame main body, and feed mechanism is installed on machine
The side of frame body, fold mechanism are installed on one end of frame main body, and hydraulic pressure manifold clamps fluid cylinder and hydraulic station with trolley respectively
And switch board assembly is connected.Although technology disclosed in the document reduces the labor of live manual emission tubing and casing to a certain extent
Fatigue resistance, but the quantity of shaft mouth operation personnel is not reduced.For another example application No. is 201210370190.7 invention is special
Sharp document discloses a kind of semi-automatic oil pipe robot device for picking slideway equipped with oil pipe, the open loop realized by remote control method
Workover treatment automatic production line is controlled, but still without labor intensity is fundamentally reduced, improves operating efficiency, drilling team
Number of workers configuration does not also change.For another example it discloses one kind application No. is 201410584164.3 patent of invention document and has
The workover treatment subsidiary engine of skid pedestal and transmission device improves workover treatment the degree of automation, but its material library main body can only be temporary
When store a certain number of oil pumping rod of oil tube, do not have the ability of the whole R a T of processing, and the invention is also without needle
The special equipment for removing and dismantling to sucker rod is not carried out the full-automatic workover operation construction to all oil pipes and sucker rod.
Invention content
In order to overcome problems of the prior art, for the defect present in the prior art, the present invention provides one
Kind is suitable for the full-automatic petroleum well workover rod tube operation industrial robot of the closed-loop control of whole oil pipes and sucker rod.
To achieve the above object, full-automatic petroleum well workover rod tube operation industrial robot of the present invention includes main body bar
Pipe processing mechanism, rod tube stacking mechanism, rod tube conveying device, attached hydraulic oil pipe slips, sucker rod slips, rod tube line flaw detection
Device and GPS positioning device；The main body rod tube processing mechanism includes main body chassis, track-type facilities and robot arm device；It is described
Main body chassis bottom is supported on the ground by hydraulic leg, and hydraulic elevator and hydraulic pressure rod tube are equipped on the track-type facilities
Pincers, track-type facilities are hinged on the front end of main body chassis, and the robot arm device includes large arm pendulous device and flexible manipulator dress
It sets, the large arm pendulous device is hingedly installed in the swing seat of main body chassis front end, and the flexible mechanical arm device is hinged on
The top of large arm pendulous device, flexible mechanical arm device can be rocked to fully horizontal or substantially vertical with large arm pendulous device
Position；The rod tube palletizing apparatus is equipped with stacking pedestal, mobile mechanism and robot device；The stacking pedestal is equipped with and is used for
The cross-arm of oil pipe and sucker rod is shelved, the rear end that the mobile mechanism is connected to stacking pedestal can be moved forward and backward, the machinery
Arm device is arranged in mobile mechanism；The rod tube conveying device includes conveying device one and conveying device two；The conveying dress
Set one and conveying device two be separately fixed on main body rod tube processing mechanism and rod tube stacking mechanism, the conveying device one be arranged
In the left side of main body chassis and positioned at the lower section of flexible mechanical arm device, the rear side of conveying device one is provided with encoder and surveys length
Device, the conveying device two are located at the front end of rod tube stacking mechanism, are on same straight line with conveying device one and realize oil pipe
With the transmission of sucker rod, when lower oil pipe or lower sucker rod operate, robot device on the rod tube palletizing apparatus by oil pipe or
Sucker rod grabs in conveying device two, and oil pipe or sucker rod are conveyed to main body rod tube by conveying device two through conveying device one
It manages mechanism and completes to transfer by robot arm device；Conversely, when playing oil pipe or sucker rod operation, main body rod tube processing mechanism will be from well
The interior oil pipe gone out or sucker rod are passed out to through conveying device one in the conveying device two of rod tube palletizing apparatus, rod tube palletizing apparatus
Arrangement stacking is carried out to the rod tube gone out and is automatically stored to computer system.
The attached hydraulic oil pipe slips is mounted on wellhead flange or preventer flange, the hydraulic sucker rod slips peace
In the fixed tubing coupling of well head.
The rod tube on-line monitoring failure detector is mounted on wellhead hydraulic tubing slip or hydraulic sucker rod slips upper bit
It sets, the bottom that GPS positioning device is located at main body rod tube processing mechanism may be implemented to be remotely located.
Particularly, the stacking pedestal on the rod tube palletizing apparatus includes stacking chassis and column, and column is fixed on stacking
Chassis rear end；Mobile mechanism on the rod tube palletizing apparatus includes fixing saddle, guide frame for moving and square frame-shaped manipulator support,
Fixed saddle level is welded on column, and below fixed saddle, guide frame for moving can edge by rack-driving for guide frame for moving setting
Fixed saddle is moved forward and backward, and sliding block is equipped on the outside of the guide frame for moving both sides, is set on the inside of the square frame-shaped manipulator support
There are sliding slot, manipulator support to be connect with the sliding block on the outside of guide frame for moving by sliding slot, manipulator support can under hydraulic cylinder drive
It is moved up and down along guide frame for moving；Robot device on the rod tube palletizing apparatus includes mechanical arm and palletizing mechanical arm, machine
One end of tool arm is provided with palletizing mechanical arm, and the other end of mechanical arm is hinged on the down either side of manipulator support and can be around
Articulated shaft horizontally rotates, and oil pipe or sucker rod can be transported in conveying device two by palletizing mechanical arm.
Particularly, the track-type facilities on the main body rod tube processing mechanism include correcting guide rail, hydraulic elevator, hydraulic pressure rod tube
Pincers, the hydraulic elevator and hydraulic stem pipe wrench are arranged on correcting guide rail, and the correcting guide rail is by upper rail, lower guideway and folding
Mechanism three parts fold, and are connected by fold mechanism between the upper rail and lower guideway, and upper rail is in hydraulic cylinder two
Driving is lower by fold mechanism foldable for 180 degrees, and correcting guide rail bottom is hinged on guiderail base, and guiderail base is fixed on
In main body chassis, the correcting guide rail is swingable 90 ° under the driving of hydraulic cylinder one.
Particularly, the large arm pendulous device includes mechanical arm, swing seat, oscillating oil cylinder and locking cylinder, and the swing seat is solid
It is scheduled in main body chassis, the mechanical arm is hinged on swing seat and is driven by oscillating oil cylinder to be rotated around swing seat；The flexible mechanical
Arm device is connect by balance staff with mechanical arm.
Particularly, the conveying device one and conveying device two include fixed guide rail, are equipped with above the fixed guide rail
Multigroup conveying roller.
Particularly, the rod tube line flaw detection device is fixedly mounted on attached hydraulic oil pipe slips or pumping rod fasterner
Watt, rod tube line flaw detection device acquisition signal is automatically entered into hind computation machine management system.
Particularly, GPS positioning device is arranged in the bottom of main body rod tube processing mechanism, can realize full-automatic petroleum well workover
The long range positioning and control of rod tube operation industrial robot.
Particularly, the end set of the measuring motion has rod tube identity recognition device, by sucker rod or oil pipe
Identification marking is reserved at box cupling, effectively the identity of online recognition difference sucker rod or oil pipe and can put different location,
And it is input to background computer system in real time, establish oil well rod tube lifecycle management database.
The invention has the advantages that：Full-automatic petroleum well workover rod tube operation industrial robot of the present invention with it is existing
Technology is compared, and high degree of automation, full closed loop control and control monitoring function are complete, coordinate the upper and lower action of workover rig winch
May be implemented well mouth oil pipe and sucker rod it is full-automatic rise, database work is established in lower operation and rod tube use state on-line monitoring
Make, it is poor thoroughly to overcome workover treatment personnel labor intensity big, well head safe poor performance, low production efficiency, high energy consumption, operability
The defects of, be conducive to the lifecycle management for establishing oil well rod tube, while by the physical manipulation type pattern of the tradition of well head 4-5 people
The auxiliary for switching to 1 people sees cast operation mode, realizes automating, being intelligent for production process, the Internet of Things for realizing equipment is remote
Range monitoring.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the full-automatic petroleum well workover rod tube operation industrial robot of the present invention.
Fig. 2 is the structural schematic diagram of the main body rod tube processing mechanism of the present invention；
Fig. 3 is the general structure schematic diagram of the rod tube stacking mechanism of the present invention；
Fig. 4 is the structural representation front view of the rod tube stacking mechanism of the present invention；
Fig. 5 is the structural schematic diagram of the track-type facilities of the present invention；
Fig. 6 is the structural schematic diagram of the robot arm device of the present invention；
Fig. 7 is the structural schematic diagram of the conveying device two of the present invention.
Fig. 8 is the structural schematic diagram of attached the hydraulic oil pipe slips and sucker rod slips of the present invention.
In figure：I main body rod tubes processing mechanism, II rod tubes stacking mechanism, III rod tubes conveying device, hydraulic oil pipe slips IV,
Sucker rod slips V, 1 main body chassis, 2 track-type facilities, 3 robot arm devices, 4 conveying devices one, 5 hydraulic elevators, 6 hydraulic pressure rod tubes
Pincers, 7 large arm pendulous devices, 8 flexible mechanical arm devices, 9 stacking pedestals, 10 mobile mechanisms, 11 robot devices, 12 conveying devices
Two, 13 oil pipes and sucker rod, 14 cross-arms, 15 chassis, 16 columns, 17 fixation saddles, 18 guide frame for moving, 19 manipulator supports, 20
Mechanical arm, 21 palletizing mechanical arms, 22 correcting guide rails, 23 hydraulic elevators, 24 hydraulic stem pipe wrench, 25 guiderail bases, 26 mechanical arms,
Guide rail, 31 conveying rollers, 32 chains are fixed in 27 swing seats, 28 oscillating oil cylinders, 29 locking cylinders, 30.
Specific implementation mode
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
Fig. 1 is the general structure schematic diagram of the full-automatic petroleum well workover rod tube operation industrial robot of the present invention.
Full-automatic petroleum well workover rod tube operation industrial robot of the present invention includes main body rod tube processing mechanism I, bar
Pipe stacking mechanism II, rod tube conveying device III, attached oil pipe hydraulic pressure slips IV, sucker rod slips V, on-Line Monitor Device VI and
GPS positioning device etc., each part are made of several function modules, and each module is using various mechanisms, hydraulic pressure, electrical etc.
Individually control；Rod tube conveying device III includes conveying device 1 and conveying device 2 12, conveying device 1 and conveying device two
12 are separately positioned on main body rod tube processing mechanism I and rod tube stacking mechanism II, and oil pipe and sucker rod 13 pass through conveying device 1
It is realized with conveying device 2 12 and main body rod tube processing mechanism I is sent to by rod tube stacking mechanism II, or by main body rod tube processor
Structure I sends rod tube stacking mechanism II to.
Fig. 2 show the structural schematic diagram of the main body rod tube processing mechanism of the present invention.
The main body rod tube processing mechanism I includes main body chassis 1, track-type facilities 2 and robot arm device 3, the main body bottom
1 bottom of disk is supported on the ground by hydraulic leg, and hydraulic elevator 5 and hydraulic stem pipe wrench 6 are equipped on the track-type facilities 2,
The track-type facilities 2 are hinged on the front end of main body chassis 1；The robot arm device 3 includes large arm pendulous device 7 and flexible mechanical
Arm device 8, the large arm pendulous device 7 are hingedly installed in the swing seat of 1 front end of main body chassis, the flexible mechanical arm device
8 are hinged on the top of large arm pendulous device 7, and flexible mechanical arm device 8 can be rocked to fully horizontal or complete with large arm pendulous device 7
Complete vertical position；The conveying device 1 is arranged in the left side of main body chassis 1 and is located at the lower section of flexible mechanical arm device 8,
The rear side of conveying device 1 is provided with encoder measuring motion.
The main body chassis 1 of the main body rod tube processing mechanism I is used to support entire main part, other main part moulds
Block is installed in main body chassis 1, and entire main part engineering transportation can be increased to by the Telescopic of hydraulic leg
Above chassis, convenience in transport；When well site is installed, the flexible hydraulic cylinder of driving hydraulic leg can adjust the exhibition of hydraulic leg
Open position.It can be adjusted according to well head height according to adjusting driving hydraulic cylinder position the case where operation field and adjusting expansion
The relative altitude of hydraulic leg, realization body are docked with well head, and main body rod tube processing mechanism I hydraulic legs, which have, shrinks range
The features such as extensively (small after contraction, developed area is adjustable), convenient transportation, place is highly practical.
Fig. 3 show the general structure schematic diagram of the rod tube stacking mechanism of the present invention.
Fig. 4 show the structural representation front view of the rod tube stacking mechanism of the present invention.
The rod tube palletizing apparatus II is equipped with stacking pedestal 9, mobile mechanism 10 and robot device 11, on stacking pedestal 9
Side is equipped with the cross-arm 14 for shelving oil pipe and sucker rod 13, and mobile mechanism 10 is fixed on the rear end of stacking pedestal 9 and can be former
After move, robot device 11 be arranged in mobile mechanism 10, conveying device 2 12 is arranged in the front end of stacking pedestal 9.
The conveying device 2 12 is on same straight line the transmission for realizing oil pipe and sucker rod 13 with conveying device 1；
Oil pipe and sucker rod 13 are sent in conveying device 2 12 by robot device 11, and oil pipe and sucker rod 13 are passed through by conveying device 2 12
Conveying device 1 is conveyed to main body rod tube processing mechanism I and completes to transfer；Conversely, main body rod tube processing mechanism I will be from well
The oil pipe and sucker rod 13 gone out is passed out to through conveying device 1 in the conveying device 2 12 of rod tube palletizing apparatus II, rod tube stacking
Device II carries out arrangement stacking to the oil pipe and sucker rod 13 of receiving and information is automatically stored to background computer system.
Particularly, the stacking pedestal 9 on the rod tube palletizing apparatus II includes stacking chassis 15 and column 16, and column 16 is solid
It is scheduled on 15 rear end of stacking chassis；Mobile mechanism 10 on the rod tube palletizing apparatus II includes fixed saddle 17, guide frame for moving 18
With the manipulator support 19 of square frame-shaped, fixed 17 level of saddle is welded on column 16, and the setting of guide frame for moving 18 is in fixed saddle
17 lower sections, guide frame for moving 18 can be moved forward and backward by rack-driving along fixed saddle 17, and 18 liang of outsides of the guide frame for moving are all provided with
There are sliding block, 19 inside of the square frame-shaped manipulator support to be equipped with sliding slot；Manipulator support 19 on the rod tube palletizing apparatus II
It is connect with the sliding block of 18 both sides of guide frame for moving by sliding slot, manipulator support 19 can be along guide frame for moving 18 under hydraulic cylinder drive
It moves up and down；Robot device 11 on the rod tube palletizing apparatus II includes mechanical arm 20 and palletizing mechanical arm 21, stacking
Manipulator 21 is arranged in the end of mechanical arm 20, and the other end of mechanical arm 20 is hinged under the both sides of manipulator support 19
Side can simultaneously horizontally rotate around articulated shaft；Oil pipe and sucker rod 13 are transported in conveying device 2 12 by palletizing mechanical arm 21.
Particularly, the main function of the rod tube palletizing apparatus II is storage oil pipe and sucker rod 13, works as industrial robot
When repairing oil well, need first to go out oil pipe and sucker rod 13 from well and be transported to rod tube palletizing apparatus II, rod tube
Palletizing apparatus II carries out ordered arrangement by automated machine arm device 11 to the oil pipe and sucker rod 13 of reception, completes well workover and makees
Host is conveyed to by mechanical handle stem pipe again after industry and completes decentralization.
The configuration of the present invention is simple, rationally, it is reliable, rod tube system can be received or send out automatically, in the process for storing rod tube
Middle palletizing mechanical arm automatic-discharging rod tube system is simultaneously automatically entered into hind computation machine management system.The characteristics of device is can
Labor intensity, system full closed loop control are greatly reduced, high safety and reliability does not need operating personnel and puts and transport
Petroleum pipeline or sucker rod save a large amount of human and material resources, reduce oil rod tube drain time, improve rod tube system meter
Calculate machine information management level.
Fig. 5 show the structural schematic diagram of the track-type facilities of the present invention.
Track-type facilities 2 on the main body rod tube processing mechanism I include correcting guide rail 22, hydraulic elevator 23, hydraulic pressure rod tube
Pincers 24, the hydraulic elevator 23 and hydraulic stem pipe wrench 24 are arranged on correcting guide rail 22, the correcting guide rail 22 by upper rail, under
Guide rail and fold mechanism three parts fold, and are connected by fold mechanism between the upper rail and lower guideway, upper rail exists
Pass through fold mechanism foldable for 180 degrees under the driving of hydraulic cylinder two；22 bottom of correcting guide rail is hinged on guiderail base 25,
Guiderail base 25 is fixed in main body chassis 1, and the correcting guide rail 22 is swingable 90 ° under the driving of hydraulic cylinder one.
Particularly, the main function of the track-type facilities 2 is adjustment pithead position, promotion and decentralization to hydraulic elevator 23
Guiding role is played, track-type facilities 2 are integrated with hydraulic elevator guide rail, move up and down guide rail, hydraulic stem pipe wrench 24, guide rail adjustment dress
It sets.0-90 ° of track-type facilities hunting range is kept flat after being rotated by 90 ° on main body rod tube processing mechanism I, simple in structure, conjunction
It manages, is reliable, distinguishing feature is labor intensity reduction, and security reliability improves, and does not need operating personnel station well head and operates, saves
A large amount of human and material resources, improve lower oil tube or sucker rod working efficiency.
Fig. 6 show the structural schematic diagram of the robot arm device of the present invention.
The robot arm device 3 includes large arm pendulous device 7 and flexible mechanical arm device 8.
The large arm pendulous device 7 includes mechanical arm 26, swing seat 27, oscillating oil cylinder 28 and locking cylinder 29, the swing seat
27 are fixed in main body chassis 1, and the mechanical arm 26 is hinged on swing seat 27 and is driven by oscillating oil cylinder 28 to be rotated around swing seat 27；
The flexible mechanical arm device 8 is connect by balance staff with mechanical arm 26.
Particularly, the robot arm device 3 is when playing oil pipe or sucker rod, by rod tube under the vertical state of well head with flexibility
Manipulator 8 clamps rod tube, is swung since 105 ° by large arm, and when to 85 °, flexible manipulator 8 starts to rotate from 90 °, when big
When arm swing device 7 swings to 40 °, flexible manipulator 8 turns to 0 ° of state of level, and large arm pendulous device 7 continues to swing to water
Equal 0 ° of state.After large arm pendulous device 7 and flexible manipulator 8 are horizontality, oil pipe and sucker rod 13 are horizontally placed to defeated
It send device to connect, send the position of rod tube；After rod tube enters conveying device during lower oil pipe or sucker rod, flexible manipulator 8 will
Rod tube puts rod tube position from conveying device and captures and clamp rod tube, and large arm pendulous device 7 starts to swing since 0 ° of level, when
When large arm pendulous device 7 swings to 35 °, flexible manipulator 8 starts to rotate from 0 °, soft when large arm pendulous device 7 swings to 85 °
The property complete rotation in 90 ° of manipulator 8, large arm pendulous device 7 continues to swing to 105 ° is sent to well head upright position by rod tube.Large arm is put
0-105 ° of 7 hunting range of dynamic device, 0-90 ° of 8 slewing area of flexible manipulator.The robot arm device 3 is simple and reasonable for structure,
Reliably, can rod tube be easily put into well head upright position from horizontal position, significantly reduces labor intensity, improved safe and reliable
Property, do not need operating personnel operates to well head, saves a large amount of human and material resources, improves work efficiency.
Fig. 7 show the structural schematic diagram of the conveying device two of the present invention.
The rod tube conveying device III includes conveying device 1 and conveying device 2 12.The conveying device 1 and defeated
It includes fixed guide rail 30 to send device 2 12, and 30 top of the fixed guide rail is equipped with multigroup conveying roller 31.The conveying roller (31)
It is driven by chain (32).
Particularly, the rod tube conveying device III is using the rod tube palletizing apparatus parts II, oil pipe and pumping
Beam hanger 13 is transported to the left side of main body rod tube processing mechanism I from rod tube palletizing apparatus II, when measuring motion is touched in rod tube end
It is sent out immediately after fixed end switch and surveys long signal, the jacking hydraulic cylinder of conveying device 1 jacks up rod tube and arrives after the completion of rod tube survey is long
Next designated position can run the action of mechanical arm module.Rod tube conveying device III is suitable for, two kinds of moulds of lower rod tube
Formula effectively combines conveying and the long two kinds of functions of survey, and shortening removes the rod tube time, improves working efficiency, structure is more
Compact and reasonable.
Particularly, the measuring motion rise, lower rod tube during rod tube realized survey long function, comprising surveying long fixed fill
Long mobile device two parts are set and surveyed, after oil pipe and sucker rod 13 enter conveying device 2 12, survey long mobile device in liquid
Push rod is swung to above roller-way under cylinder pressure driving, hydraulic motor drives leading screw, leading screw to drive push rod movement, coordinate rollgang
Action, surveys long fixing device and stretches out and reach designated position to mobile terminal under Driven by Hydraulic Cylinder, the oil pipe when promotion or oil pumping
Bar top to fixing end ring flange when, after the space of compressed spring makes contact-making switch sender, mobile terminal obtain signal stopping act,
The displacement distance of encoder output catch bar can be obtained by the length of every oil pipe or sucker rod, measuring motion application in this way
The length of the both of which of Yu Qi, lower oil pipe or sucker rod, automatic measurement oil pipe or sucker rod has length measurement precision height, record
Identification marking is reserved at the features such as data are fast, sucker rod or tubing coupling, has rod tube identification in measuring motion end set
Device can effectively identify the identity of different sucker rods or oil pipe, establish oil well rod tube lifecycle management database, improve
Oil well Internet of Things management level.Rod tube is effectively conveyed and is surveyed long, three kinds of function knots of online recognition by rod tube conveying device III
It is combined together, reduces labor intensity, improve work efficiency, more compact structure is reasonable.
Fig. 8 is the structural schematic diagram of attached the hydraulic oil pipe slips and sucker rod slips of the present invention.
The hydraulic oil pipe slips IV and sucker rod slips V includes slip spider, slips body and slip insert etc., hydraulic oil pipe
Slips IV is fixedly mounted on by tubing slip seat flange on wellhead flange or preventer flange, and profit is computerizedd control hydraulic cylinder
Automatic clamping oil pipe is played the role of in lifting, and sucker rod slips V is fixedly mounted on by tubing coupling on oil pipe, by controlling automatically
Clamping oil pumping bar body is played the role of in the raising action of hydraulic cylinder processed.The various sizes of oil pipe of clamping or sucker rod can pass through
Various sizes of slip insert is replaced to realize.The line flaw detection device is fixed on the upper position of slip system, in raising oil
The service condition that rod tube can be monitored when pipe or sucker rod on-line, to having the rod tube of damage and alarm and specially treated.
The high degree of automation of full-automatic petroleum well workover rod tube operation industrial robot of the present invention is, it can be achieved that oil
The automation of workover treatment, intellectualized operation, overcome conventional petroleum well workover labor intensity is big, site safety performance is poor,
Work efficiency rate is low, high energy consumption, and operability is poor, pollutes the defects of environment, while more human body power manipulation types (4-5 people) are converted to 1 people
Keeping an eye on property operation, realize production process automation and intelligentized control method and Internet of Things monitoring.
The series of detailed descriptions listed above only for the present invention feasible embodiment specifically
Bright, they are all without departing from equivalent implementations made by technical spirit of the present invention not to limit the scope of the invention
Or change should all be included in the protection scope of the present invention.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (10)
1. a kind of full-automatic petroleum well workover rod tube operation industrial robot, it is characterised in that：The full-automatic petroleum well workover rod tube is made
Industry industrial robot includes main body rod tube processing mechanism (I), rod tube stacking mechanism (II), rod tube conveying device (III), attached liquid
Pressuring oil pipe slips (IV), sucker rod slips (V), rod tube line flaw detection device (VI) and GPS positioning device；The rod tube conveying dress
It includes conveying device one (4) and conveying device two (12) to set (III), and conveying device one (4) and conveying device two (12) are set respectively
It sets on main body rod tube processing mechanism (I) and rod tube stacking mechanism (II)；The main body rod tube processing mechanism (I) includes main body bottom
Disk (1), track-type facilities (2) and robot arm device (3), main body chassis (1) bottom are supported on the ground by hydraulic leg,
Hydraulic elevator (5) and hydraulic stem pipe wrench (6) are installed, track-type facilities (2) are hinged on main body chassis on the track-type facilities (2)
(1) front end；The robot arm device (3) includes large arm pendulous device (7) and flexible mechanical arm device (8), the large arm pendulum
Dynamic device (7) and the swing seat in main body chassis (1) are hinged, and the flexible mechanical arm device (8) is hinged on large arm pendulum
At the top of dynamic device (7), flexible mechanical arm device (8) can be rocked to fully horizontal or substantially vertical with large arm pendulous device (7)
Position；The conveying device one (4) setting is conveying on the left of main body chassis (1) and below flexible mechanical arm device (8)
It is provided with measuring motion on rear side of device one (4)；The rod tube stacking mechanism (II) is equipped with stacking pedestal (9), mobile mechanism
(10) it is equipped with the cross-arm (14) for shelving oil pipe and sucker rod (13), is moved with robot device (11), stacking pedestal (9) top
Motivation structure (10) is fixed on the rear end of stacking pedestal (9), and robot device (11) is arranged in mobile mechanism (10), conveying device
Two (12) are arranged in the front end of stacking pedestal (9)；The conveying device two (12) is in conveying device one (4) on same straight line
Realize the transmission of oil pipe and sucker rod (13)；Oil pipe and sucker rod (13) are sent to conveying device two (12) by robot device (11)
On, oil pipe and sucker rod (13) are conveyed to main body rod tube processing mechanism (I) simultaneously by conveying device two (12) through conveying device one (4)
Complete decentralization；Conversely, main body rod tube processing mechanism (I) also can fill the oil pipe gone out from well and sucker rod (13) through conveying
It sets one (4) to pass out in the conveying device two (12) of rod tube stacking mechanism (II), oil pipe of the rod tube stacking mechanism (II) to receiving
Arrangement stacking is carried out with sucker rod (13) and information is automatically entered into computer management system.
2. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：The code
Pile pedestal (9) includes stacking chassis (15) and column (16), and column (16) is fixed on stacking chassis (15) rear end；The moving machine
Structure (10) includes the manipulator support (19) for fixing saddle (17), guide frame for moving (18) and square frame-shaped, and fixed saddle (17) is horizontal
It is welded on column (16), guide frame for moving (18) setting is below fixed saddle (17) and can be led along fixation by rack-driving
Frame (17) back-and-forth motion, (18) two outside of the guide frame for moving are equipped with sliding block, and sliding slot is equipped on the inside of manipulator support (19) and is led to
It crosses sliding slot to connect with the sliding block of guide frame for moving (18) both sides, manipulator support (19) can be led under the drive of hydraulic cylinder along moving
Frame (18) moves up and down.
3. a kind of full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 2, it is characterised in that：The machine
Tool arm device (11) includes mechanical arm (20) and palletizing mechanical arm (21), and palletizing mechanical arm (21) is arranged in mechanical arm (20)
End, the other end of mechanical arm (20) is hinged on the down either side of manipulator support (19), and can be around articulated shaft level
Rotation；Oil pipe and sucker rod (13) can be transported in conveying device two (12) by palletizing mechanical arm (21).
4. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：It is described to lead
Rail device (2) includes correcting guide rail (22), hydraulic elevator (5) and hydraulic stem pipe wrench (6), the hydraulic elevator (5) and hydraulic stem
Pipe wrench (6) is arranged on correcting guide rail (22)；The correcting guide rail (22) is rolled over by upper rail, lower guideway and fold mechanism three parts
It is folded to form, it is connected by fold mechanism between the upper rail and lower guideway, upper rail passes through folding under the driving of hydraulic cylinder two
Folded mechanism can fold 180 °；Correcting guide rail (22) bottom is hinged on guiderail base (25), and guiderail base (25) is fixed
In main body chassis (1), the correcting guide rail (22) can swing 90 ° under the driving of hydraulic cylinder one.
5. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：It is described big
Arm swing device (7) includes mechanical arm (26), swing seat (27), oscillating oil cylinder (28) and locking cylinder (29), the swing seat (27)
It is fixed in main body chassis (1), mechanical arm (26) is hinged on swing seat (27), and mechanical arm (26) can be driven by oscillating oil cylinder (28)
It is dynamic to be rotated around swing seat (27)；The flexible mechanical arm device (8) is connect by balance staff with mechanical arm (26).
6. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in any one in claim 1-5, feature exist
In：The conveying device one (4) and conveying device two (12) include fixed guide rail (30), are set above the fixed guide rail (30)
There are multigroup conveying roller (31), the conveying roller (31) to be driven by chain (32).
7. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：Described
Attached hydraulic oil pipe slips (IV) is fixedly mounted on wellhead flange or preventer flange, and the sucker rod slips (V) is fixed
In tubing coupling.
8. a kind of full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 7, it is characterised in that：Described
Rod tube line flaw detection device (VI) is fixedly mounted on attached hydraulic oil pipe slips (IV) or on sucker rod slips (V), and rod tube exists
Line failure detector (VI) acquisition signal is automatically entered into hind computation machine management system.
9. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：GPS is fixed
Position device is arranged in the bottom of main body rod tube processing mechanism (I), can realize full-automatic petroleum well workover rod tube operation industrial machine
The long range positioning and control of people.
10. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim 1, it is characterised in that：It is described
The end set of measuring motion have rod tube identity recognition device, by reserving identification marking at sucker rod or tubing coupling,
Effectively the identity of online recognition difference sucker rod or oil pipe and different location can be put, and be input to hind computation in real time
Machine system establishes oil well rod tube lifecycle management database.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025255.3A CN107701128B (en) | 2017-10-27 | 2017-10-27 | A kind of full-automatic petroleum well workover rod tube operation industrial robot |
| PCT/CN2017/111513 WO2019080216A1 (en) | 2017-10-27 | 2017-11-17 | Full-automatic industrial robot for oil workover rod and tube operations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025255.3A CN107701128B (en) | 2017-10-27 | 2017-10-27 | A kind of full-automatic petroleum well workover rod tube operation industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107701128A CN107701128A (en) | 2018-02-16 |
| CN107701128B true CN107701128B (en) | 2018-07-24 |
Family
ID=61176250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711025255.3A Active CN107701128B (en) | 2017-10-27 | 2017-10-27 | A kind of full-automatic petroleum well workover rod tube operation industrial robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107701128B (en) |
| WO (1) | WO2019080216A1 (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109944558B (en) * | 2019-04-27 | 2023-12-12 | 河北华盟机械制造有限公司 | Automatic hoisting operation platform for drilling oil pipe |
| CN110238871A (en) * | 2019-06-29 | 2019-09-17 | 杭州宇控机电工程有限公司 | A kind of deep seven function proportional hydraulic manipulator machine systems in full sea of clack box separated set type |
| CN110424908B (en) * | 2019-09-03 | 2024-05-24 | 济南高维度智能科技有限公司 | Oil well maintenance robot |
| CN110454100A (en) * | 2019-09-04 | 2019-11-15 | 智动时代(北京)科技有限公司 | A kind of super single operation industrial robot device of drilling and repairing well and method |
| CN110485939A (en) * | 2019-09-06 | 2019-11-22 | 北京鼎文融和科技有限公司 | A kind of automatic petroleum well workover machine people |
| CN110454101A (en) * | 2019-09-06 | 2019-11-15 | 北京鼎文融和科技有限公司 | A kind of automatic petroleum well workover machine people's oil pipe conveying device |
| CN110552638B (en) * | 2019-10-25 | 2024-02-02 | 郭子江 | Unmanned operation device for automatic control of oil field |
| CN110685617B (en) * | 2019-11-05 | 2024-04-26 | 胜利油田胜机石油装备有限公司 | Oilfield workover operation device |
| CN112096319B (en) * | 2020-09-27 | 2024-07-02 | 济南光先数控机械有限公司 | Guide rail beam mechanism |
| CN114109281B (en) * | 2021-10-14 | 2024-05-24 | 天津渤海杰瑞石油装备有限公司 | Pulley device and pressurized operation equipment |
| CN114033318A (en) * | 2021-11-16 | 2022-02-11 | 熊珍福 | Overturning workover rig with function of preventing gravity unbalance |
| CN114136257B (en) * | 2021-12-08 | 2023-06-20 | 中国石油大学胜利学院 | Online length measuring and positioning device for inner pipe rod of integrated catwalk for oil field well workover and use method |
| CN114320190B (en) * | 2021-12-21 | 2024-07-05 | 中国石油化工股份有限公司 | Intelligent full-electric workover rig |
| CN114293923A (en) * | 2021-12-31 | 2022-04-08 | 上海洁壤环保科技有限公司 | Telescopic slide rail mechanism of working arm |
| CN114370244A (en) * | 2022-02-25 | 2022-04-19 | 徐工(重庆)工程技术有限公司 | Modular automatic drill pipe tripping system for well repair |
| CN115949353B (en) * | 2023-03-13 | 2023-05-05 | 胜利油田康贝石油工程装备有限公司 | Workover system and method with vertical guide lateral lifting follow-up manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204591184U (en) * | 2015-03-24 | 2015-08-26 | 四川宏华石油设备有限公司 | A kind of automation drilling tool board migration device |
| CN205189787U (en) * | 2015-11-03 | 2016-04-27 | 四川宏华石油设备有限公司 | Dynamic catwalk |
| CN205577894U (en) * | 2016-03-26 | 2016-09-14 | 山东胜利石油装备产业技术研究院 | Full -automatic intelligent hydraulic pressure workover rig |
| WO2016181272A1 (en) * | 2015-05-08 | 2016-11-17 | Siaem S.A.S. Di Carini Stefano E Paolo & C. | Equipment for handling drill pipes |
| CN205876235U (en) * | 2016-08-04 | 2017-01-11 | 山东拓博节能科技有限公司 | Automatic well workover machine people |
| CN304297444S (en) * | 2017-09-26 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4591006A (en) * | 1981-03-26 | 1986-05-27 | Chevron Research Company | Well servicing rig |
| US5711382A (en) * | 1995-07-26 | 1998-01-27 | Hansen; James | Automated oil rig servicing system |
| CN2903346Y (en) * | 2006-03-14 | 2007-05-23 | 濮阳市中原锐实达石油设备有限公司 | Full auto hydraulic spider |
| US20150368993A1 (en) * | 2007-11-13 | 2015-12-24 | Advanced Heli-Core Inc. | Core Drilling Components and Methods |
| CN105672908B (en) * | 2016-03-26 | 2017-02-08 | 山东胜利石油装备产业技术研究院 | Full-automatic intelligent hydraulic workover rig |
| CN304297442S (en) * | 2017-03-24 | 2017-09-26 |
-
2017
- 2017-10-27 CN CN201711025255.3A patent/CN107701128B/en active Active
- 2017-11-17 WO PCT/CN2017/111513 patent/WO2019080216A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN304297444S (en) * | 2017-09-26 | |||
| CN204591184U (en) * | 2015-03-24 | 2015-08-26 | 四川宏华石油设备有限公司 | A kind of automation drilling tool board migration device |
| WO2016181272A1 (en) * | 2015-05-08 | 2016-11-17 | Siaem S.A.S. Di Carini Stefano E Paolo & C. | Equipment for handling drill pipes |
| CN205189787U (en) * | 2015-11-03 | 2016-04-27 | 四川宏华石油设备有限公司 | Dynamic catwalk |
| CN205577894U (en) * | 2016-03-26 | 2016-09-14 | 山东胜利石油装备产业技术研究院 | Full -automatic intelligent hydraulic pressure workover rig |
| CN205876235U (en) * | 2016-08-04 | 2017-01-11 | 山东拓博节能科技有限公司 | Automatic well workover machine people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107701128A (en) | 2018-02-16 |
| WO2019080216A1 (en) | 2019-05-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107701128B (en) | A kind of full-automatic petroleum well workover rod tube operation industrial robot | |
| CN109322628B (en) | Unmanned operation equipment for small workover wellhead | |
| CN203822194U (en) | Mechanized working device for oil field well repair | |
| CN107208464B (en) | Modular racking system for a drilling rig | |
| US8936424B1 (en) | Vertical pipe handler with pivoting arms and smart grip | |
| CN207609392U (en) | A kind of full-automatic petroleum well workover rod tube operation industrial robot | |
| CN104563912B (en) | A kind of well drilling pipe column automation operating system | |
| US7744327B2 (en) | Tubular handling apparatus and a drilling rig | |
| KR940008639B1 (en) | Well drilling | |
| CN107476769A (en) | A kind of all-hydraulic intelligent workover rig | |
| CN108301794B (en) | Petroleum workover robot | |
| US11613932B2 (en) | Pipe handling system and method | |
| US10900300B2 (en) | System and method for delivering a tubular pipe segment to a drill rig floor | |
| CN205259938U (en) | Anchor rod drilling carriage of four arms group | |
| CN104389532A (en) | Mechanization workover treatment system capable of replacing wellhead manual operation | |
| CN209025626U (en) | The unmanned working equipment of light maintenance well head | |
| CN105604504A (en) | Oil well pipe fitting conveying robot | |
| CN103821464B (en) | Tubing string vertical vehicular full-automatic smart hydraulic workover rig | |
| CN203614056U (en) | Automatic operation system of drilling tubular column | |
| CN107905746A (en) | A kind of oil drilling and repairing well removes and puts the well formula robot device of tubing string | |
| CN106321098A (en) | Automatic coal mining machine operation system and method based on machine vision and multi-sensor fusion | |
| US3633767A (en) | Pipe-racking apparatus for oil well derricks or the like | |
| CN204941388U (en) | A kind of oil well repairing operation automation equipment | |
| CN206722778U (en) | A kind of petroleum well workover Work robot | |
| CN208749313U (en) | A kind of petroleum well workover Work robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |