CN110485939A - A kind of automatic petroleum well workover machine people - Google Patents
A kind of automatic petroleum well workover machine people Download PDFInfo
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- CN110485939A CN110485939A CN201910842056.4A CN201910842056A CN110485939A CN 110485939 A CN110485939 A CN 110485939A CN 201910842056 A CN201910842056 A CN 201910842056A CN 110485939 A CN110485939 A CN 110485939A
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- pipe
- hydraulic cylinder
- mobile platform
- big arm
- big
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- 239000003208 petroleum Substances 0.000 title claims abstract description 19
- 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 30
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000007246 mechanism Effects 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 238000011105 stabilization Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 14
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 239000003129 oil well Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002360 preparation method Methods 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
-
- 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
-
- 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
- E21B19/155—Handling between horizontal and vertical position
-
- 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
- E21B19/18—Connecting or disconnecting drill bit and drilling pipe
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 automatic petroleum well workover machine people, including correcting clamping device and hydraulic control system under pedestal, big arm assembly, pipe-grabbing mechanical arm, three axis mobile platform of pipe wrench, oil pipe, the pedestal is cuboid framework structure, and big arm assembly is mounted on pedestal front；Big arm assembly is the space framework being made of two groups of parallelogram, is provided with lift oil tank on the pedestal close to big arm assembly；Be equipped with mobile platform at the top of big arm assembly, pipe-grabbing mechanical arm install on a mobile platform, can be achieved all around to move；Three axis mobile platform of pipe wrench is located on pedestal, the three axis mobile platform of pipe wrench includes upper bracket, pipe wrench platform and lower bracket, correcting clamping device is mounted on upper bracket under oil pipe, and pipe wrench is mounted on lower bracket, and the three axis mobile platform of pipe wrench can realize that X, Y, Z-direction are mobile by sliding rail.The present invention has many advantages, such as that operating efficiency is high, place is adaptable, and operation process controllability is strong, lifts velocity-stabilization.
Description
Technical field
The present invention relates to a kind of automatic petroleum well workover machine people, belong to petroleum well workover machine people's technical field.
Background technique
In oilfield process, some oil well failures can usually occur, to make oil well return to normal production as early as possible, it is necessary to
It takes measures, debugs.Existing shaft mouth operation well workover low efficiency, be easy to cause pollution environment；It also has in the prior art
The equipment of workover treatment, still, it is low that there are the degree of automation, and most of working link needs human assistance, occupation area of equipment
Greatly, the deficiencies such as transport is inconvenient, and workflow is complicated, and operating efficiency is low.
Summary of the invention
The technical problem to be solved by the present invention is in view of the defects existing in the prior art, provide a kind of automatic petroleum well workover
Robot.
In order to solve this technical problem, the present invention provides a kind of automatic petroleum well workover machine people, including pedestal, large arm to fill
It sets, correcting clamping device and hydraulic control system under pipe-grabbing mechanical arm, three axis mobile platform of pipe wrench, oil pipe, the pedestal is length
Cube frame structure, big arm assembly are mounted on pedestal front by hinged seat one；The big arm assembly is by two groups of parallel four sides
The space framework that shape is constituted is provided with lift oil tank, drive of the big arm assembly in lift oil tank on the pedestal close to big arm assembly
Dynamic lower achievable 15~90 ° of swings；The top of big arm assembly is equipped with mobile platform, and pipe-grabbing mechanical arm is mounted on by shrinking connecting-rod
On mobile platform, it can be achieved all around to move；Before the three axis mobile platform of pipe wrench is set on the base, is located at big arm assembly
Side, the three axis mobile platform of pipe wrench includes upper bracket, pipe wrench platform and lower bracket, and correcting clamping device is mounted under oil pipe
On bracket, pipe wrench is mounted on lower bracket, and the three axis mobile platform of pipe wrench passes through the sliding rail of the X, Y, Z-direction that are set on the base
The movement of X, Y, Z-direction can be achieved.
The pedestal includes chassis, hydraulic leg, oil pipe conveying device, running gear and hydraulic station, the chassis two sides
It is respectively equipped with two groups of oil pipe conveying devices；The hydraulic leg be installed on by crossbeam and hinged seat chassis two sides front and back end,
90 ° of foldings can be realized around hinged shaft；The running gear is mounted on crossbeam bottom, and hydraulic station is mounted on chassis tail portion.
The oil pipe conveying device includes support base, mechanical arm and idler wheel, and the concave structure of support base, middle part is
Mechanical arm, two lateral roofs are equipped with idler wheel；The mechanical arm two sides are inclined, and front end is equipped with baffle, Driven by Hydraulic Cylinder mechanical arm
Realizing, 0~90 ° swings, oil pipe can be transported on the idler wheel at top.
The big arm assembly includes big arm support, mobile platform and hydraulic cylinder, and the big arm support is space frame structure,
The space frame structure is by two parallelogram and connecting rod disposed in parallel by being articulated and connected；The big arm support bottom
Portion is mounted on the base by hinge seat；Pedestal close to big arm support is equipped with hydraulic cylinder, and described hydraulic cylinder one end is fixed on
On pedestal, the other end is connect with big arm support, and big arm support realizes 0~90 ° of swing by the effect of hydraulic cylinder；The movement
Stage+module keeps horizontal in large arm cradle top and when with its swing.
The mobile platform includes rectangular frame structure, and the bottom of the frame structure passes through the top of hinged shaft and big arm support
Portion is hinged；Mobile platform top two sides are equipped with sliding rail, are equipped with flexible slide bar perpendicular to sliding rail, flexible slide bar can be vertical along sliding rail
To movement.
The pipe-grabbing mechanical arm includes manipulator, big bracket, overturning hydraulic cylinder, sliding rail, and the manipulator setting is being propped up greatly
Frame both ends；The big bracket is mounted on the sliding rail back side by hinged seat, and overturning hydraulic cylinder one end is fixed on the sliding rail back side, another
End is connect with big bracket, and in the case where overturning Driven by Hydraulic Cylinder, big bracket can realize that overturning is swung together with manipulator.
The three axis mobile platform of pipe wrench includes pipe wrench platform, lower bracket, upper bracket and moving guide rail, the pipe wrench platform
It is arranged on lower bracket, upper bracket is arranged on pipe wrench platform, and pipe wrench is mounted on pipe wrench platform, correcting gripping mechanism under oil pipe
It is mounted on upper bracket；The three axis mobile platform of pipe wrench can realize X, Y, Z-direction along the sliding rail of X, Y, Z-direction by oil cylinder driving
It is mobile.
Correcting clamping device includes left support, right support, left jaw, right jaw under the oil pipe.Left hydraulic cylinder and right liquid
Cylinder pressure, the left jaw and right jaw pass through stud connection with left support and right support respectively；In the left jaw and right jaw
Side is opposite, and outside is hinged with left hydraulic cylinder and right hydraulic cylinder respectively, and left hydraulic cylinder and the right hydraulic cylinder other end are separately fixed at
On left support and right support；Left hydraulic cylinder and right hydraulic cylinder respectively drive the opposite swing of left jaw, right jaw, realize clamping oil pipe
Movement.
The automatic petroleum well workover people further includes measuring motion, and the tail portion of base device, institute is arranged in the measuring motion
Stating measuring motion includes preceding measuring motion and rear side growth device.
The utility model has the advantages that compared with prior art, the present invention using stereo frame type large arm, operation is steady.Equipment can bilateral
Lower oil tube improves the place adaptability of equipment.Manipulator and Power Tong can transverse shifting, make equipment in the placement in well site
Position is more flexible.Have many advantages, such as that operating efficiency is high, place is adaptable, operation process controllability is strong, lifts velocity-stabilization.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of pedestal of the present invention；
Fig. 3 is the structural schematic diagram of large arm of the present invention；
Fig. 4 is the structural schematic diagram of pipe-grabbing mechanical arm of the present invention；
Fig. 5 is the mobile structural schematic diagram of three axis of pipe wrench of the present invention；
Fig. 6 is the structural schematic diagram of correcting gripping mechanism under oil pipe of the present invention；
Fig. 7 is the structural schematic diagram of oil pipe conveying device of the present invention.
In figure: correcting is pressed from both sides under the big arm assembly of I pedestal, II, III pipe-grabbing mechanical arm, three axis mobile platform of IV pipe wrench, V oil pipe
Tight device, VI measuring motion；1 hinged seat one, 2 lift oil tanks, 3 mobile platforms, 4 shrinking connecting-rods；11 chassis, 12 hydraulic legs,
13 oil pipe conveying devices, 14 running gears, 15 hydraulic stations, 16 crossbeams, 17 support bases, 18 mechanical arms, 19 idler wheels；21 large arm branch
Frame, 22 mobile platforms, 23 hydraulic cylinders, 24 hinge seats two, 25 sliding rails, 26 flexible slide bars；31 manipulators, 32 big brackets, 33 overturnings
Hydraulic cylinder, 34 sliding rails, 35 hinged seats three；41 pipe wrench platforms, 42 lower brackets, 43 upper brackets, 44 moving guide rails, 45 pipe wrench；51 is left
Bracket, 52 right supports, 53 left jaws, 54 right jaws, 55 left hydraulic cylinders, 56 right hydraulic cylinders.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
It is structural schematic diagram of the invention described in Fig. 1.
The present invention provides a kind of automatic petroleum well workover machine people, including pedestal I, big arm assembly II, pipe-grabbing mechanical arm
Correcting clamping device V and hydraulic control system under III, three axis mobile platform IV of pipe wrench, oil pipe, the pedestal I are cuboid frame
Frame structure, big arm assembly II are mounted on the front pedestal I by hinged seat 1；The big arm assembly II is by two groups of parallel four sides
The space framework that shape is constituted is provided with lift oil tank 2 on the pedestal I close to big arm assembly II, and big arm assembly II is in raising oil
15~90 ° of swings can be achieved under the driving of cylinder 2；The top of big arm assembly II is equipped with mobile platform 3, and pipe-grabbing mechanical arm III passes through
Shrinking connecting-rod 4 is mounted on mobile platform 3, can be achieved all around to move；The three axis mobile platform IV of pipe wrench is arranged the bottom of at
On seat I, it is located on front side of big arm assembly II, the three axis mobile platform IV of pipe wrench includes upper bracket 43, pipe wrench platform 41 and lower branch
Frame 42, correcting clamping device V is mounted on upper bracket 43 under oil pipe, and pipe wrench 45 is mounted on lower bracket 42, three axis of pipe wrench
The sliding rail that mobile platform IV passes through the X, Y, Z-direction that are arranged on pedestal I can realize the movement of X, Y, Z-direction.
It is the structural schematic diagram of pedestal of the present invention described in Fig. 2.
The pedestal I includes chassis 11, hydraulic leg 12, oil pipe conveying device 13, running gear 14 and hydraulic station 15, institute
It states 11 two sides of chassis and is respectively equipped with two groups of oil pipe conveying devices 13；The hydraulic leg 12 is installed by crossbeam 16 and hinged seat 17
In 11 two sides of chassis front and back end, can around hinged shaft realize 90 ° folding；The running gear 14 is mounted on 16 bottom of crossbeam, hydraulic
It stands and 15 is mounted on 11 tail portion of chassis.
It is the structural schematic diagram of large arm of the present invention described in Fig. 3.
The big arm assembly II includes big arm support 21, mobile platform 22 and hydraulic cylinder 23, and the big arm support 21 is vertical
Body frame structure, the space frame structure is by two parallelogram and connecting rod disposed in parallel by being articulated and connected；Institute
Big 21 bottom of arm support is stated to be mounted on the base by hinge seat 24；Pedestal close to big arm support is equipped with hydraulic cylinder 23, institute
It states 23 one end of hydraulic cylinder to be fixed on the base, the other end is connect with big arm support 21, and big arm support 21 passes through the work of hydraulic cylinder 23
With and realize 0~90 ° swing；The mobile platform 22 is mounted on big 21 top of arm support and holding level when with its swing.
The mobile platform 22 includes rectangular frame structure, and the bottom of the frame structure passes through hinged shaft and big arm support 21
Top it is hinged；The 22 top two sides of mobile platform are equipped with sliding rail 25, are equipped with flexible slide bar 26 perpendicular to sliding rail 25, stretch and slide
Bar 26 can be vertically moved along sliding rail 25.
It is the structural schematic diagram of pipe-grabbing mechanical arm of the present invention described in Fig. 4.
The pipe-grabbing mechanical arm III includes manipulator 31, big bracket 32, overturning hydraulic cylinder 33, sliding rail 34, the manipulator
31 are arranged at big 32 both ends of bracket；The big bracket 32 is mounted on 34 back side of sliding rail by hinged seat 35, overturns hydraulic cylinder 33
One end is fixed on 34 back side of sliding rail, and the other end is connect with big bracket 32, and in the case where overturning hydraulic cylinder 33 drives, big bracket 32 is together with machine
Tool hand 31 can realize that overturning is swung.
It is the mobile structural schematic diagram of three axis of pipe wrench of the present invention described in Fig. 5.
The three axis mobile platform IV of pipe wrench includes pipe wrench platform 41, lower bracket 42, upper bracket 43 and moving guide rail 44, institute
It states pipe wrench platform 41 to be arranged on lower bracket 42, upper bracket 43 is arranged on pipe wrench platform 41, and pipe wrench 45 is mounted on pipe wrench platform
On 41, correcting gripping mechanism V is mounted on upper bracket 43 under oil pipe；The three axis mobile platform (III) of pipe wrench is driven by oil cylinder
It is dynamic to realize that X, Y, Z-direction are moved along the sliding rail of X, Y, Z-direction.
It is the structural schematic diagram of correcting gripping mechanism under oil pipe of the present invention described in Fig. 6.
Correcting clamping device (V) includes left support 51, right support 52, left jaw 53, right jaw 54 under the oil pipe.Left liquid
Cylinder pressure 55 and right hydraulic cylinder 56, the left jaw 53 and right jaw 54 are connected with left support 51 and right support 52 by hinged shaft respectively
It connects；The left jaw 53 and 54 inside of right jaw are opposite, and outside is hinged with left hydraulic cylinder 55 and right hydraulic cylinder 56 respectively, left liquid
Cylinder pressure 55 and 56 other end of right hydraulic cylinder are separately fixed on left support 51 and right support 52；Left hydraulic cylinder 55 and right hydraulic cylinder 56
Respectively drive the opposite movement for swinging, realizing clamping oil pipe of left jaw 53, right jaw 54.
It is the structural schematic diagram of oil pipe conveying device of the present invention described in Fig. 7.
The oil pipe conveying device 13 includes support base 17, mechanical arm 18 and idler wheel 19, the concave knot of the support base 17
Structure, middle part are mechanical arm 18, and two lateral roofs are equipped with idler wheel 19；18 two sides of mechanical arm are inclined, and front end is equipped with baffle,
Driven by Hydraulic Cylinder mechanical arm 18 realizes that 0~90 ° swings, can be transported to oil pipe on the idler wheel 19 at top.
The automatic petroleum well workover people further includes measuring motion VI, and the tail of base device II is arranged in the measuring motion VI
Portion, the measuring motion VI include preceding measuring motion and rear side growth device.
The course of work of the invention:
Preliminary preparation
1, well workover robot transport vehicle is transported to well head job position nearby, unloads, position adjustment；
2, slips and elevator are installed；
3, determine well head in the position of pipe wrench platform Y direction and manipulator platform Y direction；
Play oil pipe
1, the hanged tubing string of elevator and raising；
2, after tubing string rises to second tubing coupling to slips position, slips blocks tubing string；
3, pipe wrench stretches out, shackle；
4, correcting clamp clamps top oil pipe, and lifting makes top oil pipe be detached from box cupling；
5, Arm expanding and oil pipe is grabbed；
6, elevator is detached from, and pipe wrench is retracted；
7, manipulator puts off oil pipe to the oil pipe roller-way of lifting state；
8, roller-way declines；
9, oil pipe drops down on stinger；
10, above step is repeated；
11, oil pipe is removed when stinger oil pipe is piled.
Lower oil pipe
1, oil pipe is piled up to stinger；
2, stinger rises (roller-way drops to minimum at this time) to roller-way is higher by, and then stinger declines, and makes front end oil pipe
It is rolled in V-shaped groove roller-way；
3, measuring motion measures tubing length；
4, measuring motion positions oil pipe back-end location；
5, roller-way rises to highest point；
6, manipulator grabs oil pipe and above lifting oil pipe to well head；
7, pipe wrench platform stretches out, and correcting clamp in lower section clamps oil pipe end, and guide device clamps oil pipe on manipulator, mechanical
Hand unclamps；
8, elevator packs into and blocks tubing coupling；
9, upper correcting is unclamped, and correcting clamp send oil pipe to lower section tubing coupling position；
10, it is detained on pipe wrench；
11, elevator whereabouts hands over tubing string to slips；Elevator returns back to top end.
12, above step is repeated.
Compared with prior art, the present invention using stereo frame type large arm, operation is steady.Equipment can bilateral lower oil tube,
Improve the place adaptability of equipment.Manipulator and Power Tong can transverse shifting, make equipment well site placement location more
Flexibly.Have many advantages, such as that operating efficiency is high, place is adaptable, operation process controllability is strong, lifts velocity-stabilization.
The embodiment above of the present invention, is merely illustrative, be not it is only, it is all within the scope of the present invention or it is equivalent this
Change in the range of invention is surrounded by the present invention.
Claims (9)
1. a kind of automatic petroleum well workover machine people, it is characterised in that: including pedestal (I), big arm assembly (II), pipe-grabbing mechanical arm
(III), correcting clamping device (V) and hydraulic control system, the pedestal (I) are under three axis mobile platform (IV) of pipe wrench, oil pipe
Cuboid framework structure, big arm assembly (II) are mounted on the front pedestal (I) by hinged seat one (1)；The big arm assembly (II)
For the space framework being made of two groups of parallelogram, lift oil tank is provided on the pedestal (I) close to big arm assembly (II)
(2), 15~90 ° of swings can be achieved in big arm assembly (II) under the driving of lift oil tank (2)；The top of big arm assembly (II) is equipped with
Mobile platform (3), pipe-grabbing mechanical arm (III) are mounted on mobile platform (3) by shrinking connecting-rod (4), be can be achieved all around
It is mobile；The three axis mobile platform (IV) of pipe wrench is arranged on pedestal (I), is located on front side of big arm assembly (II), the pipe wrench three
Axis mobile platform (IV) includes upper bracket (43), pipe wrench platform (41) and lower bracket (42), and correcting clamping device (V) is pacified under oil pipe
On upper bracket (43), pipe wrench (45) is mounted on lower bracket (42), and the three axis mobile platform (IV) of pipe wrench passes through setting
The sliding rail of X, Y, Z-direction on pedestal (I) can realize the movement of X, Y, Z-direction.
2. automatic petroleum well workover machine people according to claim 1, it is characterised in that: the pedestal (I) includes chassis
(11), hydraulic leg (12), oil pipe conveying device (13), running gear (14) and hydraulic station (15), chassis (11) two sides
It is respectively equipped with two groups of oil pipe conveying devices (13)；The hydraulic leg (12) is installed on bottom by crossbeam (16) and hinged seat (17)
The front and back end of frame (11) two sides can realize 90 ° of foldings around hinged shaft；The running gear (14) is mounted on crossbeam (16) bottom, liquid
Pressure station (15) is mounted on chassis (11) tail portion.
3. automatic petroleum well workover machine people according to claim 2, it is characterised in that: oil pipe conveying device (13) packet
Support base (17), mechanical arm (18) and idler wheel (19), the concave structure of the support base (17) are included, middle part is mechanical arm
(18), two lateral roofs are equipped with idler wheel (19)；Mechanical arm (18) two sides are inclined, and front end is equipped with baffle, Driven by Hydraulic Cylinder
Mechanical arm (18) realizes that 0~90 ° swings, can be transported to oil pipe on the idler wheel (19) at top.
4. automatic petroleum well workover machine people according to claim 1, it is characterised in that: the big arm assembly (II) includes big
Arm support (21), mobile platform (22) and hydraulic cylinder (23), the big arm support (21) are space frame structure, the space framework
Structure is by two parallelogram and connecting rod disposed in parallel by being articulated and connected；Big arm support (21) bottom passes through
Hinge seat (24) is mounted on the base；Pedestal close to big arm support is equipped with hydraulic cylinder (23), described hydraulic cylinder (23) one end
It is fixed on the base, the other end is connect with big arm support (21), and big arm support (21) realizes 0 by the effect of hydraulic cylinder (23)
~90 ° of swings；The mobile platform (22) is mounted at the top of big arm support (21) and keeps horizontal when with its swing.
5. automatic petroleum well workover machine people according to claim 4, it is characterised in that: the mobile platform (22) includes length
The bottom of square frame structure, the frame structure is hinged by the top of hinged shaft and big arm support (21)；The mobile platform
(22) top two sides are equipped with sliding rail (25), are equipped with flexible slide bar (26) perpendicular to sliding rail (25), flexible slide bar (26) can be along sliding rail
(25) it vertically moves.
6. automatic petroleum well workover machine people according to claim 1, it is characterised in that: pipe-grabbing mechanical arm (III) packet
Manipulator (31), big bracket (32), overturning hydraulic cylinder (33), sliding rail (34) are included, the manipulator (31) is arranged in big bracket
(32) both ends；The big bracket (32) is mounted on sliding rail (34) back side by hinged seat (35), overturns hydraulic cylinder (33) one end
It is fixed on sliding rail (34) back side, the other end is connect with big bracket (32), and under overturning hydraulic cylinder (33) driving, big bracket (32) is even
Same manipulator (31) can be achieved overturning and swing.
7. automatic petroleum well workover machine people according to claim 1, it is characterised in that: including pipe wrench platform (41), lower branch
Frame (42), upper bracket (43) and moving guide rail (44), the pipe wrench platform (41) are arranged on lower bracket (42), upper bracket (43)
It is arranged on pipe wrench platform (41), pipe wrench (45) is mounted on pipe wrench platform (41), and correcting gripping mechanism (V) is mounted under oil pipe
On upper bracket (43)；The three axis mobile platform (III) of pipe wrench can realize X, Y, Z along the sliding rail of X, Y, Z-direction by oil cylinder driving
To movement.
8. automatic petroleum well workover machine people according to claim 1, it is characterised in that: correcting clamping device under the oil pipe
It (V) include left support (51), right support (52), left jaw (53), right jaw (54).Left hydraulic cylinder (55) and right hydraulic cylinder
(56), the left jaw (53) and right jaw (54) pass through stud connection with left support (51) and right support (52) respectively；It is described
It is opposite on the inside of left jaw (53) and right jaw (54), outside respectively with left hydraulic cylinder (55) and right hydraulic cylinder (56) hingedly, a left side
Hydraulic cylinder (55) and right hydraulic cylinder (56) other end are separately fixed on left support (51) and right support (52)；Left hydraulic cylinder (55)
The opposite movement for swinging, realizing clamping oil pipe of left jaw (53), right jaw (54) is respectively driven with right hydraulic cylinder (56).
9. automatic petroleum well workover machine people according to claim 1-8, it is characterised in that: further include measuring motion
(VI), the measuring motion (VI) is arranged in the tail portion of base device (II), and the measuring motion (VI) includes preceding measuring motion
With rear side growth device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910842056.4A CN110485939A (en) | 2019-09-06 | 2019-09-06 | A kind of automatic petroleum well workover machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910842056.4A CN110485939A (en) | 2019-09-06 | 2019-09-06 | A kind of automatic petroleum well workover machine people |
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| CN110485939A true CN110485939A (en) | 2019-11-22 |
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| CN201910842056.4A Pending CN110485939A (en) | 2019-09-06 | 2019-09-06 | A kind of automatic petroleum well workover machine people |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110500032A (en) * | 2019-09-06 | 2019-11-26 | 北京鼎文融和科技有限公司 | A kind of petroleum well workover machine people's base device |
| CN112096319A (en) * | 2020-09-27 | 2020-12-18 | 济南光先数控机械有限公司 | Guide rail beam mechanism |
| CN112814592A (en) * | 2021-03-17 | 2021-05-18 | 弘朗瑞智能装备制造有限公司 | Intelligent mechanical arm for well repairing platform and intelligent well repairing vehicle |
| CN116733424A (en) * | 2023-08-15 | 2023-09-12 | 黑龙江百世永华流体设备有限公司 | Multifunctional integrated intelligent oil-sampling integrated equipment |
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| CN204457501U (en) * | 2015-02-28 | 2015-07-08 | 克拉玛依市建业有限责任公司 | A kind of oil pipe conveying device of improvement |
| CN105019835A (en) * | 2015-05-22 | 2015-11-04 | 山东天汇石油技术有限公司 | Workover operation device for oil field and method |
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| CN112096319A (en) * | 2020-09-27 | 2020-12-18 | 济南光先数控机械有限公司 | Guide rail beam mechanism |
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| CN116733424B (en) * | 2023-08-15 | 2023-10-31 | 黑龙江百世永华流体设备有限公司 | Multifunctional integrated intelligent oil-sampling integrated equipment |
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