CN109025858B - oil field on-site oil pipe transporting and loading method - Google Patents
oil field on-site oil pipe transporting and loading method Download PDFInfo
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- CN109025858B CN109025858B CN201810884040.5A CN201810884040A CN109025858B CN 109025858 B CN109025858 B CN 109025858B CN 201810884040 A CN201810884040 A CN 201810884040A CN 109025858 B CN109025858 B CN 109025858B
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- 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
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Abstract
the invention discloses an oil field on-site oil pipe transporting and loading method, which relates to the field of oil field production and comprises the following steps: arranging spare oil pipes on an oil pipe stack, wherein the oil pipe stack is in a rectangular layout, a bridge seat is arranged at the bottom of the oil pipe stack, the oil pipes in the oil pipe stack are arranged in layers, and a cross arm pipe is arranged between each layer of oil pipe and the adjacent layer of oil pipe; marginal lines and walking routes are designed around the oil pipe stack, the marginal lines are located at two ends of the oil pipes, the marginal lines extend along the arrangement direction of the oil pipes, and the walking routes are connected with the marginal lines; when the oil pipe on the oil pipe stack needs to be transported, controlling the two robots to walk to the marginal lines at the two ends of the oil pipe on the oil pipe stack according to the walking route; the robot identifies the height and the position of the uppermost oil pipe on the oil pipe stack through the camera; and so on. This application can realize oil pipe's high efficiency, standard and laborsaving shipment to guarantee the oil field normal production.
Description
Technical Field
The invention relates to the field of oilfield production, in particular to an oilfield field oil pipe transporting and loading method.
background
In the development and production of oil fields, a production preparation team is responsible for the work of pipe transportation, cleaning, maintenance and the like in all oil field production. Taking pipe transportation as an example, the number of oil pipes shipped by a production preparation team in Jinzhou oil production plants is about 1500-2000 per day, the production preparation team in the oil production plants at present has 52 oil pipe stacks, and the number of oil pipes of various types and models is nearly 26 ten thousand, and the oil pipes are important bases for ensuring oil field production and operation.
In production, there are two main ways of shipping oil pipes, namely mechanical and manual. The mechanical mode is that a crane is matched with a truck, an oil pipe is hoisted in batches and installed on the truck, and the oil pipe is conveyed to a production site through the truck; the manual mode is to use a four-wheel vehicle and two-person operation mode, namely, the oil pipes on the oil pipe stack are moved to the four-wheel vehicle one by manpower, the four-wheel vehicle can be generally provided with 120 to 140 oil pipes, and the specific number depends on the weight and the outer diameter size of the pipe column. Among the two oil pipe loading modes, the first type of mechanical operation is that only a steel wire rope sleeve needs to be hung manually, which is more convenient, but dangerous points such as falling of an oil pipe and disconnection of a steel wire rope sleeve clamp exist, in addition, the cooperation of one elevator needs 3474 yuan, and the operation mode is cancelled in the current large environment with low oil price. The second kind is for carrying oil pipe one by one, two people are a set, prepare the common oil pipe of big team to transport worker 46 at present, 23 groups of car numbers, all take the mode of carrying oil pipe every day, carry oil pipe from the oil pipe buttress to the four-wheel car, intensity of labour is big, an average 300Kg of oil pipe, long-term operation like this makes the people easily feel tired, and two when cooperating, cause the accident that the personnel were hurt in the single person of lifting the pipe easily, secondly it is long consuming time. In the current society and the age with developed technology, a plurality of hidden dangers exist when the backward technology is still used in oil field production, meanwhile, the time for loading the oil pipe is about 90min, the production timeliness is low, and once the oil pipe is loaded and transported for a long time, all the production links in the later period can be influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the technical problem to be solved by the embodiment of the invention is to provide an oil field on-site oil pipe transporting and loading method, which can realize efficient, standard and labor-saving transporting of oil pipes so as to ensure normal production of oil fields.
the specific technical scheme of the embodiment of the invention is as follows:
An oil field on-site oil pipe transporting and loading method comprises the following steps:
Arranging spare oil pipes on an oil pipe stack, wherein the oil pipe stack is in a rectangular layout, a bridge seat is arranged at the bottom of the oil pipe stack, the oil pipes in the oil pipe stack are arranged in layers, and a cross arm pipe is arranged between each layer of oil pipe and the adjacent layer of oil pipe;
Marginal lines and walking routes are designed around the oil pipe stack, the marginal lines are located at two ends of the oil pipes, the marginal lines extend along the arrangement direction of the oil pipes, and the walking routes are connected with the marginal lines;
When the oil pipe on the oil pipe stack needs to be carried, controlling two robots to walk to marginal lines at two ends of the oil pipe on the oil pipe stack according to a walking route;
The robot identifies the height and the position of the uppermost oil pipe on the oil pipe stack through the camera;
according to the height and the position of the oil pipe obtained through recognition, the robot controls the mechanical arm of the robot to rise to the height and the position of the oil pipe on the uppermost layer through the lifting mechanism;
The two robots insert the telescopic rods on the mechanical arms into the uppermost oil pipe, and then the oil pipes on the telescopic rods are lifted to a preset height through the lifting mechanism;
The two robots travel simultaneously to carry the oil pipes on the telescopic rods to the upper portion of the transport vehicle, then the oil pipes on the telescopic rods are lowered onto the transport vehicle through the lifting mechanism, and then the telescopic rods on the mechanical arms are pulled out of the oil pipes.
In a preferred embodiment, the travel routes have different markings, and the robot is able to form the respective travel routes according to the set marking sequence.
In a preferred embodiment, the oilfield site tubing shipping method further comprises the steps of:
After the telescopic rod on the mechanical arm pulls out the oil pipe, the cross arm pipe is placed above a layer of oil pipe on the transport vehicle;
and controlling the two robots to walk to the marginal lines at the two ends of the oil pipe on the oil pipe stack according to the walking route, and repeating the corresponding steps so as to carry the uppermost oil pipe on the oil pipe stack to the transport vehicle.
In a preferred embodiment, the oilfield site tubing shipping method further comprises the steps of:
and when the oil pipes on the uppermost layer of the oil pipe stack are all carried to the transport vehicle by the robot, the cross arm pipes above the oil pipe stack are moved out.
in a preferred embodiment, the preset height is higher than the highest height of the oil pipe on the transport vehicle or the height of the oil pipe on the transport vehicle.
In a preferred embodiment, the oilfield site tubing shipping method further comprises the steps of:
and after the two robots finish oil pipe transferring operation, the two robots walk to a robot parking workshop according to a walking route.
In a preferred embodiment, the walking route is connected by the robot parking shop to a marginal line around the tubing stack.
In a preferred embodiment, each of the margin lines has a different number, thereby enabling the robot to reach a particular margin line along a walking route.
In a preferred embodiment, the robot further comprises a manual operation system, and an operator can remotely operate the robot through the manual operation system and the camera.
In a preferred embodiment, there are four of the marginal lines around the stack, the marginal lines being divided into two groups, the marginal lines in each group being parallel and the marginal lines in the different groups being perpendicular.
the technical scheme of the invention has the following remarkable beneficial effects:
According to the oil field on-site oil pipe transporting and loading method, the robot automatically travels from the robot parking workshop to the periphery of the oil pipe stack to mechanically, automatically and quickly transport the oil pipes on the oil pipe stack, a series of problems of high transporting cost, high labor intensity, long time consumption, multiple potential safety hazards and the like are effectively solved, standard transporting, labor-saving transporting and efficient transporting of the oil pipes are realized, and normal production of the oil field is guaranteed.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims. Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
Drawings
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for facilitating the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. Those skilled in the art, having the benefit of the teachings of this invention, may choose from the various possible shapes and proportional sizes to implement the invention as a matter of case.
FIG. 1 is a flow chart of steps of a method for loading oil field tubing on site in an embodiment of the invention;
FIG. 2 is a walking route diagram of the oil pipe handling device in the embodiment of the present invention;
FIG. 3 is a schematic illustration of the handling of the pipe-handling apparatus in an embodiment of the present invention.
Reference numerals of the above figures:
1. A robot parking shop; 2. a walking route; 3. a margin line; 4. a transport vehicle; 5. stacking the oil pipes; 6. an oil pipe; 7. a robot; 71. a telescopic rod.
Detailed Description
The details of the present invention can be more clearly understood in conjunction with the accompanying drawings and the description of the embodiments of the present invention. However, the specific embodiments of the present invention described herein are for the purpose of illustration only and are not to be construed as limiting the invention in any way. Any possible variations based on the present invention may be conceived by the skilled person in the light of the teachings of the present invention, and these should be considered to fall within the scope of the present invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, indirect connections through intermediaries, and the like. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In order to realize efficient, normative and labor-saving loading and transporting of oil pipes and guarantee normal production of oil fields, the application provides an oil field on-site oil pipe loading method, fig. 1 is a flow chart of steps of the oil field on-site oil pipe loading method in the embodiment of the invention, and as shown in fig. 1, the oil field on-site oil pipe loading method comprises the following steps:
S101: the spare oil pipes 6 are arranged on the oil pipe stacks 5, the oil pipe stacks 5 are in rectangular arrangement, bridge seats are arranged at the bottoms of the oil pipe stacks 5, the oil pipes 6 in the oil pipe stacks 5 are arranged in layers, and cross arm pipes are arranged between the oil pipes 6 in each layer and the oil pipes in adjacent layers.
in this step, fig. 3 is a schematic diagram of the transportation of the oil pipe transportation device in the embodiment of the present invention, as shown in fig. 3, cleaned oil pipes 6 are arranged on the oil pipe piles 5 in a conventional manner, the oil pipe piles 5 are arranged in a rectangular shape, the oil pipes 6 are arranged on the oil pipe piles 5 in a parallel state, and a plurality of bridge seats are arranged at the bottom of the oil pipe piles 5 for arranging the oil pipes 6 layer by layer and preventing the oil pipes 6 from falling to the ground. The oil pipes 6 in the oil pipe stack 5 are arranged in layers, and a cross arm pipe is arranged between the oil pipe 6 of each layer and the oil pipe of the adjacent layer and used for fixing the oil pipes 6. Generally, the oil pipes 6 of adjacent layers are also in a parallel state.
S102: marginal lines 3 and walking routes 2 are designed around the oil pipe stack 5, the marginal lines 3 are located at two ends of the oil pipes 6, the marginal lines 3 extend along the arrangement direction of the oil pipes 6, and the walking routes 2 are connected with the marginal lines 3.
In this step, fig. 2 is a traveling route diagram of the oil pipe carrying device in the embodiment of the present invention, as shown in fig. 2, at least two marginal lines 3 are provided around the oil pipe stack 5, the two marginal lines 3 are located at two ends of the oil pipe 6, the two marginal lines 3 extend along the arrangement direction of the oil pipe 6, and the traveling route 2 is connected to the marginal lines 3. The walking route 2 has different marks, the robot 7 can form the corresponding walking route 2 according to different mark sequences, therefore, each walking route 2 can be edited through different marks, the walking route 2 of the robot 7 meeting the requirements is formed, and the robot 7 can reach the position where the robot 7 needs to reach according to the edited walking route 2. The walking route 2 is connected by the robot parking shop to a marginal line 3 around the oil stack 5.
In a preferred embodiment, there are four marginal lines 3 around the stack 5, and the marginal lines 3 may be divided into two groups, with the marginal lines 3 in each group being parallel and the marginal lines 3 in different groups being perpendicular. In this embodiment, four marginal lines 3 can be used for carrying the oil pipes 6 on the oil pipe stack 5 in four directions on site.
In both embodiments, each margin line 3 has a different number, so that the robot 7 can reach a specific margin line 3 along the walking route 2.
S103: when the oil pipe 6 on the oil pipe stack 5 needs to be carried, two robots 7 are controlled to travel to the marginal lines 3 at two ends of the oil pipe 6 on the oil pipe stack 5 according to the traveling route 2.
In the embodiment, when the oil pipe 6 on the oil pipe pile 5 needs to be transported, two robots 7 are controlled to travel from the robot parking workshop to the boundary lines 3 at the two ends of the oil pipe 6 on the oil pipe pile 5 along different set traveling routes 2. The robot 7 then makes an adjustment to direct its robot arm side towards the end of the tubing 6.
S104: the robot 7 identifies the height and position of the uppermost oil pipe 6 on the oil pipe stack 5 through a camera.
In the present embodiment, the robot 7 is equipped with a camera, and the height and position of the uppermost oil tube 6 on the oil tube stack 5 are obtained by analyzing data acquired by camera shooting.
S105: according to the identified height and position of the oil pipe 6, the robot 7 controls the mechanical arm to rise to the height and position of the uppermost oil pipe 6 through the lifting mechanism.
In the present embodiment, the robot 7 includes a lifting mechanism and a robot arm, and the lifting mechanism can be adjusted in height to change the height of the robot arm. In this way, according to the identified height and position of the oil pipe 6, the robot 7 controls the mechanical arm to rise to the height and position of the uppermost oil pipe 6 through the lifting mechanism. This position is required to meet the position requirement of the robot arm in alignment with the position of the end of the tubing 6.
s106: the two robots 7 insert the telescopic rods 71 on the robot arms into the uppermost oil pipe 6, and then lift the oil pipe 6 on the telescopic rods 71 to a preset height by the lifting mechanism.
In this step, as shown in fig. 3, the robot arm of the robot 7 has a telescopic rod 71, and the telescopic rod 71 can be extended and shortened in the horizontal direction, and is used for extending into the end of the oil pipe 6 and lifting the oil pipe 6. The distance between the telescopic bars 71 can be adjusted so that the distance between adjacent telescopic bars 71 is equal to the distance between adjacent oil pipes 6. The two robots 7 on the marginal line 3 of the oil pipe stack 5 insert the telescopic rods 71 on the mechanical arms into the two ends of the uppermost oil pipe 6, and then the oil pipe 6 on the telescopic rods 71 is lifted to a preset height through the lifting mechanism, so that the oil pipe 6 is lifted. The preset height may be a height above the highest height of the oil pipe 6 on the transportation cart 4 or a height at which the transportation cart 4 holds the oil pipe 6.
S107: the two robots 7 travel simultaneously to carry the oil pipes 6 on the telescopic rods 71 to the upper side of the transport vehicle 4, then the oil pipes 6 on the telescopic rods 71 are lowered onto the transport vehicle 4 through the lifting mechanism, and then the telescopic rods 71 on the mechanical arms are pulled out of the oil pipes 6.
In this step the vehicle 4 is located beside the stack 5, in particular the vehicle 4 is located between the marginal lines 3 around the stack 5, the vehicle 4 being located alongside the stack 5. The two robots 7 simultaneously travel along the respective marginal lines 3, so that the oil pipes 6 carried on the telescopic rods 71 are conveyed to the upper side of the transport vehicle 4, then the oil pipes 6 on the telescopic rods 71 are lowered onto the transport vehicle 4 through the lifting mechanism, and then the telescopic rods 71 on the mechanical arms are contracted, so that the telescopic rods 71 pull out the oil pipes 6, and at the moment, the oil pipes 6 are placed on the transport vehicle 4.
S108: after the telescopic rod 71 on the mechanical arm pulls out the oil pipe 6, the cross arm pipe is placed above the layer of oil pipe 6 on the transport vehicle 4.
In this step, in order to place a plurality of layers of oil pipes 6 on the transportation vehicle 4 and increase the transportation amount, after the oil pipes 6 are pulled out by the telescopic rods 71 on the robot arms, cross arm pipes for separating and fixing the oil pipes 6 of each layer are placed above the oil pipes 6 of one layer on the transportation vehicle 4. Because the cross arm pipe quality is less, consequently the placing of cross arm pipe can be through artificial mode, so help improving the handling efficiency of oil pipe 6.
s109: and controlling the two robots 7 to walk to the marginal lines 3 at the two ends of the oil pipe on the oil pipe stack 5 according to the walking route 2, and repeating the corresponding steps so as to convey the uppermost oil pipe 6 on the oil pipe stack 5 to the transport vehicle 4.
S110: when the oil pipes 6 on the uppermost layer of the oil pipe stack 5 are all carried to the transport vehicle 4 by the robot, the cross arm pipes above the oil pipe stack 5 are moved out.
In this step, in order to enable the robot 7 to transport the oil tubes 6 on the lower layer of the oil tube stack 5, after all the oil tubes 6 on the upper layer of the oil tube stack 5 are transported to the transport vehicle 4 by the robot, the cross arm tubes above the oil tube stack 5 need to be removed.
S111: after the two robots 7 finish oil pipe transferring operation, the two robots 7 walk to a robot parking workshop according to the walking route 2.
in all the steps described above, the robot 7 may further include a manual operation system, and an operator can remotely operate the robot 7 through the manual operation system and the camera, thereby realizing a complicated carrying operation.
The operation in an actual field shows that the time for transporting one oil pipe through the telescopic rod 71 at one time is about 46s, 5 oil pipes are transported through the telescopic rod 71 at one time in the design, calculation is carried out according to the data, 100 oil pipes are operated by the method, the time is about 15min, the production time is improved by nearly 6 times compared with the traditional method, the manual labor intensity is basically low in the whole process, only when the first layer of oil pipe is completed, two cross arm pipes are transported in order manually, and the operation is very convenient and fast.
According to the oil field on-site oil pipe transporting and loading method, the robot 7 automatically travels from the robot parking workshop to the periphery of the oil pipe stack 5 to mechanically, automatically and rapidly transport the oil pipes on the oil pipe stack 5, a series of problems of high transporting cost, high labor intensity, long time consumption, multiple potential safety hazards and the like are effectively solved, standard transporting, labor-saving transporting and efficient transporting of the oil pipes are realized, and normal production of the oil field is guaranteed.
all articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional. A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. the oil field on-site oil pipe transporting and loading method is characterized by comprising the following steps:
Arranging spare oil pipes on an oil pipe stack, wherein the oil pipe stack is in a rectangular layout, a bridge seat is arranged at the bottom of the oil pipe stack, the oil pipes in the oil pipe stack are arranged in layers, and a cross arm pipe is arranged between each layer of oil pipe and the adjacent layer of oil pipe;
Marginal lines and walking routes are designed around the oil pipe stack, the marginal lines are located at two ends of the oil pipes, the marginal lines extend along the arrangement direction of the oil pipes, and the walking routes are connected with the marginal lines;
when the oil pipe on the oil pipe stack needs to be carried, controlling two robots to walk to marginal lines at two ends of the oil pipe on the oil pipe stack according to a walking route;
The robot identifies the height and the position of the uppermost oil pipe on the oil pipe stack through the camera;
According to the height and the position of the oil pipe obtained through recognition, the robot controls the mechanical arm of the robot to rise to the height and the position of the oil pipe on the uppermost layer through the lifting mechanism;
The two robots insert the telescopic rods on the mechanical arms into the uppermost oil pipe, and then the oil pipes on the telescopic rods are lifted to a preset height through the lifting mechanism;
The two robots travel simultaneously to carry the oil pipes on the telescopic rods to the upper portion of the transport vehicle, then the oil pipes on the telescopic rods are lowered onto the transport vehicle through the lifting mechanism, and then the telescopic rods on the mechanical arms are pulled out of the oil pipes.
2. The oilfield site tubing shipper method of claim 1, wherein the travel routes have different markings, and the robot is capable of forming the respective travel routes according to the set marking sequence.
3. The oilfield field tubing shipper method of claim 1, further comprising the step of:
after the telescopic rod on the mechanical arm pulls out the oil pipe, the cross arm pipe is placed above a layer of oil pipe on the transport vehicle;
and controlling the two robots to walk to the marginal lines at the two ends of the oil pipe on the oil pipe stack according to the walking route, and repeating the corresponding steps so as to carry the uppermost oil pipe on the oil pipe stack to the transport vehicle.
4. The oilfield field tubing shipper method of claim 1, further comprising the step of:
and when the oil pipes on the uppermost layer of the oil pipe stack are all carried to the transport vehicle by the robot, the cross arm pipes above the oil pipe stack are moved out.
5. The oilfield site tubing shipping method of claim 1, wherein the predetermined height is a height above a highest height of the tubing on the transport vehicle or a height at which the transport vehicle holds the tubing.
6. the oilfield field tubing shipper method of claim 1, further comprising the step of:
And after the two robots finish oil pipe transferring operation, the two robots walk to a robot parking workshop according to a walking route.
7. The oilfield site tubing shipper method of claim 6, wherein the walking route is connected by the robotic parking shop to a marginal line around the tubing stack.
8. The oilfield field tubing shipper method of claim 1, wherein each of the marginal lines has a different number, thereby enabling the robot to reach the particular marginal line along a walking route.
9. The oilfield site tubing shipper method of claim 1, wherein the robot further comprises a human operating system, and wherein an operator can remotely operate the robot through the human operating system and the camera.
10. The oilfield field tubing shipping method of claim 1, wherein the number of the marginal lines around the tubing stack is four, the marginal lines are divided into two groups, the marginal lines in each group are parallel, and the marginal lines in different groups are perpendicular.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810884040.5A CN109025858B (en) | 2018-08-06 | 2018-08-06 | oil field on-site oil pipe transporting and loading method |
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| CN201810884040.5A CN109025858B (en) | 2018-08-06 | 2018-08-06 | oil field on-site oil pipe transporting and loading method |
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| CN109025858B true CN109025858B (en) | 2019-12-10 |
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| CN202039796U (en) * | 2011-01-26 | 2011-11-16 | 上海君悦铁盾机械工程技术有限公司 | Pipe inlet and outlet device for oil field derrick pipe feeding machine |
| CN202441285U (en) * | 2012-02-08 | 2012-09-19 | 李英民 | Mechanical hand special for borehole operation |
| CN104563917A (en) * | 2013-10-27 | 2015-04-29 | 中国石油化工集团公司 | Multifunctional robot for drilling site |
| CN203603794U (en) * | 2013-11-28 | 2014-05-21 | 胜利油田胜机石油装备有限公司 | Mechanized workover treatment tube rod conveying device |
| CN203822203U (en) * | 2014-01-13 | 2014-09-10 | 中国石油化工股份有限公司 | Mechanical well repairing operation ground automatic pipe arrangement device |
| CN104389532A (en) * | 2014-01-13 | 2015-03-04 | 中国石油化工股份有限公司 | Mechanization workover treatment system capable of replacing wellhead manual operation |
| CA2855105A1 (en) * | 2014-06-25 | 2015-12-25 | Unknown | Scara robotic pipe racking system |
| CN204299501U (en) * | 2014-12-12 | 2015-04-29 | 崔诗光 | A kind of oil well tubing string framed bent |
| CN206722778U (en) * | 2017-03-24 | 2017-12-08 | 济南芯乐智能设备有限公司 | A kind of petroleum well workover Work robot |
| CN207609392U (en) * | 2017-10-27 | 2018-07-13 | 济南芯乐智能设备有限公司 | A kind of full-automatic petroleum well workover rod tube operation industrial robot |
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| CN109025858A (en) | 2018-12-18 |
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