CN111335830B - Automatic catwalk and method - Google Patents
Automatic catwalk and method Download PDFInfo
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- CN111335830B CN111335830B CN202010190426.3A CN202010190426A CN111335830B CN 111335830 B CN111335830 B CN 111335830B CN 202010190426 A CN202010190426 A CN 202010190426A CN 111335830 B CN111335830 B CN 111335830B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 60
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 238000005259 measurement Methods 0.000 claims description 16
- 238000005452 bending Methods 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 15
- 238000010586 diagram Methods 0.000 description 10
- 230000004888 barrier function Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 230000004308 accommodation Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 239000007921 spray Substances 0.000 description 1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- Environmental & Geological Engineering (AREA)
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- General Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
An automatic catwalk and a method relate to the technical field of oilfield equipment, and the automatic catwalk comprises: a frame; the lifting bracket is connected with the frame; the holding tank is connected with the lifting support in a sliding mode and comprises a first end portion and a second end portion which are arranged oppositely, and the first end portion is provided with a first baffle; the length measuring mechanism is connected with the lifting support and is positioned at the second end side of the accommodating groove; the length measuring mechanism comprises a telescopic part, a second baffle plate and a length measuring hydraulic cylinder, the telescopic part is connected with the lifting support in a sliding manner, one end of the length measuring hydraulic cylinder is connected with the lifting support, the other end of the length measuring hydraulic cylinder is connected with the telescopic part, and the second baffle plate is connected with the telescopic part; the length measuring hydraulic cylinder comprises a first displacement sensor, and the first displacement sensor is used for measuring displacement information of a piston rod of the length measuring hydraulic cylinder; the control unit is connected with the first displacement sensor and used for calculating the length of the pipe according to the displacement information detected by the first displacement sensor.
Description
Technical Field
The invention relates to the technical field of petroleum equipment, in particular to an automatic catwalk and a method for measuring the length of a pipe.
Background
During well repair operation, the length of an oil pipe (the distance from the outer side of a coupling to a screw thread) needs to be manually measured on site, the number of the oil pipes on site is large (hundreds of oil pipes), two persons are needed to stand at two ends of the oil pipe to pull a tape to measure and record, time and labor are consumed, the working efficiency is low, and mistakes are easy to make.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the automatic catwalk, which improves the working efficiency and the measuring accuracy.
The invention provides an automatic catwalk which comprises a rack and a lifting support, wherein the lifting support is connected with the rack; the automated catwalk further comprises:
the accommodating groove is connected with the lifting support in a sliding mode and comprises a first end part and a second end part which are arranged oppositely, and the first end part is provided with a first baffle;
the length measuring mechanism is connected with the lifting bracket and is positioned at the second end side of the accommodating groove; the length measuring mechanism comprises a telescopic part, a second baffle and a length measuring hydraulic cylinder, the telescopic part is slidably connected with the lifting support, one end of the length measuring hydraulic cylinder is connected with the lifting support, the other end of the length measuring hydraulic cylinder is connected with the telescopic part, and the second baffle is connected with the telescopic part; the length measuring hydraulic cylinder comprises a first displacement sensor, and the first displacement sensor is used for measuring displacement information of a piston rod of the length measuring hydraulic cylinder;
and the control unit is connected with the first displacement sensor and used for calculating the length of the pipe according to the displacement information detected by the first displacement sensor.
Further, one end of the second baffle plate is rotatably/movably connected with the telescopic part; the second shutter is rotatable/movable to a first position opposite the first shutter and a second position offset from the first position.
Furthermore, the length measuring mechanism further comprises a turning hydraulic cylinder, one end of the turning hydraulic cylinder is pivoted with the telescopic part, and the other end of the turning hydraulic cylinder is pivoted with the second baffle and used for driving the second baffle to rotate.
Further, the automatic catwalk further comprises a pressure transmitter for detecting the oil inlet pressure of the length measuring hydraulic cylinder; the pressure transmitter is in signal connection with the control unit; the control unit is used for acquiring the displacement information from the first displacement sensor when the pressure measured by the pressure transmitter reaches a preset value.
Further, still include: the safety righting mechanism is connected with the accommodating groove and is used for righting the pipe in the accommodating groove and avoiding the bending of the pipe;
the number of the safety righting mechanisms is multiple, and at least one safety righting mechanism is arranged on each of two side walls of the accommodating groove;
the safety centering mechanism further comprises a centering arm and a centering hydraulic cylinder, one end of the centering hydraulic cylinder is pivoted with the first end of the centering arm, and the other end of the centering hydraulic cylinder is pivoted with the accommodating groove; the second end of the righting arm is in a free state, and the position between the first end and the second end of the righting arm is pivoted with one side wall of the accommodating groove.
Another aspect of the invention also provides a method of measuring the length of a pipe using an automated catwalk, comprising the steps of:
clamping the pipe in a length direction of the pipe;
acquiring displacement information of a piston rod of the length measuring hydraulic cylinder;
calculating the length of the pipe according to the displacement information.
Further, the step of clamping the pipe in the length direction of the pipe further comprises, before the step of clamping the pipe:
the second baffle is opposed to the first baffle.
Further, the step of clamping the pipe string in the length direction thereof comprises, before the step of:
righting the tube to retain the tube within the receiving groove.
Further, the step of clamping the pipe in the length direction thereof comprises:
moving a second baffle plate in the direction of the first baffle plate;
acquiring an oil pressure value of an oil inlet cavity of the length measuring hydraulic cylinder;
judging whether the oil pressure value is smaller than a preset value,
if so, continuing to move the second baffle plate towards the first baffle plate;
if not, keeping the oil pressure value at the preset value.
Further, calculating the length of the tube from the displacement information comprises:
calculating the length J of a single pipe to be measured:
J＝H+K-C
wherein J is the length of a single pipe to be tested; h is the effective measurement length of the accommodating groove, and the distance between the end faces of the first baffle and the second baffle in opposite directions when the piston rod of the length measurement hydraulic cylinder retracts to the limit position; k is the displacement of the length measuring hydraulic cylinder piston rod relative to the retraction limit state of the length measuring hydraulic cylinder piston rod; c is the effective thread length;
calculating the total length of the pipe L:
where N is the total number of tubes 4, i ═ 1, 2, 3 … … N.
The automatic catwalk and the method have the following beneficial effects: the automatic catwalk can automatically measure the length of the pipe, and improves the working efficiency and the accuracy of pipe length measurement.
Further, the second shutter is rotatable/movable to a first position opposite to the first shutter and a second position offset from the first position. The second baffle is arranged on the lifting bracket, and when the lifting bracket is required to be used, the second baffle is rotated or moved to a position opposite to the first baffle; when not using, can rotate or remove other positions with the second baffle, further improve work efficiency, reduced staff's intensity of labour.
Furthermore, when the pipe is positioned in the accommodating tank, the righting hydraulic cylinder can push the righting arms on the left side and the right side of the accommodating tank to be closed, so that the righting effect on the pipe can be achieved, and the precision of length measurement is ensured; the pipe can be prevented from falling out of the containing groove, and the use safety of the equipment is improved.
Drawings
Fig. 1 is a schematic structural diagram of an automated catwalk according to an embodiment of the present invention, wherein the automated catwalk is in a falling state.
Fig. 2 is a schematic structural diagram of an automated catwalk according to an embodiment of the present invention, wherein the automated catwalk is in a raised state.
Fig. 3 is a schematic structural diagram of a length measuring mechanism in an automatic catwalk according to an embodiment of the present invention.
Fig. 4 is a right side view of fig. 3 with the second vane in a raised condition.
Fig. 5 is a right side view of fig. 3 with the second shutter in a falling state.
Fig. 6 is a schematic structural diagram of a safety centering mechanism in an automated catwalk according to an embodiment of the present invention, wherein the safety centering mechanism is in an open state.
Fig. 7 is a schematic structural diagram of a safety centering mechanism in an automated catwalk according to an embodiment of the present invention, wherein the safety centering mechanism is in a closed state.
Fig. 8 is a schematic diagram of an automated catwalk according to an embodiment of the invention.
Fig. 9 is a flow chart of a method for measuring the length of a pipe in accordance with an embodiment of the present invention.
Fig. 10 is a schematic flow chart of a pipe length measuring method according to another embodiment of the present invention.
Fig. 11 is a schematic flow chart of a pipe length measuring method according to yet another embodiment of the present invention.
Fig. 12 is a side view of an automated catwalk of one embodiment of the present invention.
Description of the reference numerals
1-a rack, 101-a lifting hydraulic cylinder, 2-a lifting support, 201-a first support, 202-a second support, 3-a containing tank, 310-a first baffle, 320-a swinging hydraulic cylinder, 330-a driving part, 4-a pipe, 5-a length measuring mechanism, 510-a telescopic part, 520-a second baffle, 521-a connecting lug, 522-a turning hydraulic cylinder, 523-a turning support, 530-a length measuring hydraulic cylinder, 531-a first displacement sensor, 6-a safety centering mechanism, 601-a centering arm, 602-a pin shaft, 603-a centering hydraulic cylinder, 7-a control unit, 701-a processor, 702-a memory, 8-a pressure transmitter, 9-a pipe detecting sensor, 10-a first feeding mechanism and 11-a second feeding mechanism, 1001-feeding cylinder, 1002-swing arm, 1003-feeding arm, 1004-first hook body, 1103-second feeding arm, 1104-second hook body, 12-rush spray pipe column, 13-pipe bent frame and 14-telescopic cylinder.
Detailed Description
Other objects and advantages of the present invention will become apparent from the following explanation of the preferred embodiments of the present application.
First embodiment
Fig. 1 is a schematic structural diagram of an automated catwalk according to an embodiment of the present invention, wherein the automated catwalk is in a falling state. Fig. 2 is a schematic structural diagram of an automated catwalk according to an embodiment of the present invention, wherein the automated catwalk is in a raised state.
As shown in fig. 1 and 2, an automated catwalk includes: frame 1, lifting support 2, holding tank 3 and length measuring mechanism 5.
Wherein, the lifting bracket 2 is connected with the frame 1; the holding tank 3 is slidably connected with the lifting bracket 2. Specifically, the lifting bracket 2 includes a first bracket 201, a second bracket 202 and a telescopic hydraulic cylinder 14, the first bracket 201 is pivotally connected to the frame 1, the second bracket 202 is slidably connected to the first bracket 201, and the second bracket 202 extends in the same direction as the first bracket 201. In this embodiment, the second frame 202 is embedded inside the first frame 201, and preferably, rollers are disposed between the second frame 202 and the first frame 201 to reduce the relative movement resistance between the second frame 202 and the first frame 201.
One end of the telescopic hydraulic cylinder 14 is connected with the first frame body, and the other end is connected with the second frame body, and the telescopic hydraulic cylinder 14 is used for pushing the second frame body 202 to slide along the first frame body 201.
The accommodating groove 3 includes a first end and a second end which are oppositely disposed, and the first end is provided with a first baffle 310. The receiving groove 3 is pivotally connected to the second frame 202.
The length measuring mechanism 5 is connected to the second frame 202 of the lifting bracket 2 and located at the second end of the accommodating groove 3.
The length measuring hydraulic cylinder 530 comprises a first displacement sensor 531, and the first displacement sensor 531 is used for measuring displacement information of a piston rod of the length measuring hydraulic cylinder 530 relative to a cylinder barrel; the control unit 7 is connected to the first displacement sensor 531, and is configured to calculate the length of the pipe 4 according to the displacement information detected by the first displacement sensor 531.
According to the technical scheme, a clamping type measuring mode is adopted, the pipe 4 is arranged in the accommodating groove 3, one end of the pipe abuts against the first baffle plate 310, and the other end of the pipe abuts against the second baffle plate 520. The technical scheme can accurately measure the length of a single pipe 4 and accumulate the total length of the pipe 4, and improves the working efficiency and the accuracy of pipe length measurement.
Specifically, in this embodiment, the lifting bracket 2 is pivotally connected to the frame 1, one end of the lifting hydraulic cylinder 101 is pivotally connected to the frame 1, and the other end is pivotally connected to the lifting bracket 2. As shown in fig. 1, when the piston rod of the lift cylinder 101 is retracted, the lift bracket 2 falls down onto the frame 1. As shown in fig. 2, when the piston rod of the elevation cylinder 101 is extended, one end of the elevation bracket 2 is rotated upward. And, holding tank 3 and lifting support 2 slidable connection, holding tank 3 can right and upwards slide, carry pipe fitting 4 for example oil pipe to workover platform direction.
The accommodating groove 3 preferably has a V-shaped cross section. The first end of the accommodating groove 3 is provided with a first baffle 310, and the second end of the accommodating groove 3 is open. The holding tank 3 is used to convey the tube 4, allowing the tube 4 to slide inside the tank.
In some embodiments, the second flap 520 is capable of rotating/moving to a first position opposite the first flap 310 and a second position offset from the first position. The second baffle 520 is mounted on the lifting bracket 2, and when the lifting bracket is required to be used, the second baffle 520 is rotated or moved to a position opposite to the first baffle 310; when not in use, the second baffle 520 can be rotated or moved to other positions, so that the working efficiency is further improved, and the labor intensity of workers is reduced.
Fig. 3 is a schematic structural diagram of a length measuring mechanism 5 in an automatic catwalk according to an embodiment of the present invention. Fig. 4 is a right side view of fig. 3, wherein the second flap 520 is in a lifted state. Fig. 5 is a right side view of fig. 3, in which the second barrier 520 is in a falling state.
In some embodiments, as shown in fig. 3, the length measuring mechanism 5 includes a telescopic portion 510 and a length measuring hydraulic cylinder 530, and the telescopic portion 510 is slidably connected to the lifting bracket 2. One end of the length measuring hydraulic cylinder 530 is connected to the lifting bracket 2, and the other end is connected to the telescopic part 510. The length measuring hydraulic cylinder 530 comprises a first displacement sensor 531, and the first displacement sensor 531 is used for measuring displacement information of a piston rod of the length measuring hydraulic cylinder 530. The first displacement sensor 531 is disposed on the hydraulic cylinder.
The telescopic part 510 is slidably connected with the lifting support 2, and the telescopic part 510 and the lifting support 2 can be slidably connected through rollers, so that the sliding resistance is reduced. The length measuring cylinder 530 can push the telescopic part 510 to slide along the extending direction of the lifting bracket 2, so that the telescopic part 510 extends out of the lifting bracket 2 or retracts into the lifting bracket 2.
As shown in fig. 4 and 5, one end of the second shutter 520 is rotatably coupled to the telescopic part 510. The length measuring mechanism 5 further comprises a turning hydraulic cylinder 522, wherein one end of the turning hydraulic cylinder 522 is pivoted with the telescopic part 510, and the other end of the turning hydraulic cylinder 522 is pivoted with the second baffle 520 and is used for driving the second baffle 520 to rotate. One side of the second baffle 520 is provided with a connecting lug 521, and the turning hydraulic cylinder 522 is pivoted with the connecting lug 521. The turning support 523 can be fixed on the lower side of the movable portion, the turning support 523 is pivoted with the turning hydraulic cylinder 522, and an included angle is formed between the turning hydraulic cylinder 522 and the second baffle 520, so that the turning hydraulic cylinder 522 can push the second baffle 520 to rotate conveniently.
In addition, the second baffle 520 can also be connected with the movable part in a sliding manner in the vertical direction, that is, when measuring the length, the second baffle 520 extends upwards; after the work is completed, the second shutter 520 is retracted downward. Preferably, the extending and retracting action of the second shutter 520 may be pushed by a hydraulic cylinder.
By providing the second barrier 520 in a rotatable/movable structure, the second barrier 520 can be rotated/moved to a desired position when in use, and can be rotated/moved to other positions when not in use, so that the apparatus is not hindered from operation and transportation.
In some embodiments, the automated catwalk further comprises a control unit 7, wherein the control unit 7 is in signal connection with the first displacement sensor 531 for calculating the length of the pipe according to the displacement information detected by the first displacement sensor 531. Therefore, any structure capable of playing the above role can be used as the control unit 7 in the present embodiment, specifically, for example: a PLC, a computer, a mobile phone, a tablet or other smart device, etc.
In the automated catwalk of some embodiments, a tube detection sensor 9 is further included, the tube detection sensor 9 being connected to the housing tank 3, the tube detection sensor 9 being in signal connection with the control unit 7. The tube detecting sensor 9 is used to detect whether the housing tank 3 has the tube 4. Further, the tube detection sensor 9 may be a proximity sensor. The pipe detecting sensor 9 may be plural and arranged along the housing tank 3.
In an alternative of this embodiment, the control unit 7 includes a processor 701 and a memory 702.
The processor 701 is in signal connection with the first displacement sensor 531, and is configured to receive displacement information of the piston rod of the length measuring cylinder 530, and calculate the length of the pipe 4 according to the displacement information.
The memory 702 is in signal communication with the processor 701 for storing the distance between the first and second baffles 310 and 520, the effective thread length on the tube 4, and the length of the single tube 4 calculated by the processor 701.
The length of the single tube 4 is:
J＝H+K-C
wherein, J is the length of the single pipe fitting 4 to be measured, H is the effective measurement length of the accommodating groove 3, K is the displacement of the piston rod of the length measurement hydraulic cylinder 530, and C is the effective screw length male-threaded length.
The effective measurement length of holding tank 3 specifically is: when the piston rod of the length measuring cylinder 530 is retracted to the extreme position, the distance between the facing side end surfaces of the first flap 310 and the second flap 520 can be measured and calibrated by a box ruler or the like.
After the measurement is finished, the test result is recorded into the processor 701, the effective measurement length H and the effective screw length C of the accommodating groove 3 are stored in the memory 702, and after the displacement K measured by the first displacement sensor 531 is recorded into the processor 701, the processor 701 calculates the length J of the pipe 4 according to the formula and stores the calculation result in the memory 702.
Further, the processor 701 may accumulate the lengths of all the individual tubes 4 conveyed by the automated catwalk:
where L is the total length of the tube 4, N is the total number of tubes 4, and i is 1, 2, 3 … … N.
In this embodiment, the automatic catwalk further includes a hydraulic system, and the hydraulic system is connected to the length measurement hydraulic cylinder 530, and is configured to deliver hydraulic oil to the length measurement hydraulic cylinder 530, and drive a piston rod of the length measurement hydraulic cylinder 530 to extend or retract. The hydraulic system comprises a pressure transmitter 8 for detecting the oil pressure in the length measuring hydraulic cylinder 530; the pressure transmitter 8 is in signal connection with the control unit 7, and the control unit 7 is configured to obtain the displacement information from the first displacement sensor 531 when the pressure measured by the pressure transmitter 8 reaches a preset value.
Second embodiment
In the implementation of the technical solution of the present invention, the inventor found that, after the first baffle 310 and the second baffle 520 clamp the pipe 4, the middle part of the pipe 4 may be bent, which may affect the accuracy of the measurement and may even cause a safety accident.
In order to solve the technical problem, the technical scheme of the invention further comprises a safety righting mechanism 6. Fig. 6 is a schematic structural diagram of the safety centering mechanism 6 in the automated catwalk according to an embodiment of the present invention, wherein the safety centering mechanism 6 is in an open state. The safety righting mechanism 6 in fig. 7 is in a closed state.
As shown in fig. 6 and 7, the safety centering mechanism 6 includes a centering arm 601 and a centering cylinder 603. One end of the righting hydraulic cylinder 603 is pivoted with the first end of the righting arm 601, and the other end of the righting hydraulic cylinder 603 is pivoted with the accommodating groove 3. The second end of the righting arm 601 is in a free state, and the position between the first end and the second end of the righting arm 601 is pivoted with one side wall of the accommodating groove 3 through a pin shaft 602. Further, at least one safety centering mechanism 6 is provided on the left and right sides of the accommodating groove 3, respectively. Therefore, when the pipe tool 4 is positioned in the accommodating groove 3, the righting hydraulic cylinder 603 can push the righting arms 601 on the left side and the right side of the accommodating groove 3 to be closed, so that the righting effect on the pipe tool 4 can be achieved, and the length measuring precision is ensured; the tube 4 can be prevented from falling out of the containing groove 3, and the use safety of the device is improved.
Third embodiment
As shown in fig. 9, a method for measuring the length of a pipe using an automated catwalk mainly comprises the following steps:
s200, clamping the pipe 4 in a length direction of the pipe 4;
s400, acquiring displacement information of a piston rod of the length measuring hydraulic cylinder 530;
s600, calculating the length of the pipe 4 according to the displacement information.
Further, as shown in fig. 10, the step S200 of clamping the pipe tool 4 in the length direction further includes:
s100, the second barrier 520 is opposite to the first barrier 310.
Specifically, the first flap 310 is fixed to one end of the accommodating tank 3, and the second flap 520 is rotatable or movable to a position opposite to the first flap 310, so that the tube 4 can be gripped.
Further, the step of clamping the tube 4 in the length direction of the tube 4 comprises, before the step of:
the pipe is straightened, so that the pipe is kept in the accommodating groove (shown in reference to fig. 6 and 7), when the pipe 4 is positioned in the accommodating groove 3, the straightening hydraulic cylinder 603 can push the straightening arms 601 at the left side and the right side of the accommodating groove 3 to be closed, so that the pipe 4 can be straightened, and the length measuring precision is ensured; the tube 4 can be prevented from falling out of the containing groove 3, and the use safety of the device is improved.
As shown in fig. 11, the step of clamping the tube 4 in the length direction of the tube 4 comprises:
s220, moving the second barrier 520 toward the first barrier 310;
s240, acquiring an oil pressure value of an oil inlet cavity of the length measuring hydraulic cylinder 530;
s260, judging whether the oil pressure value is smaller than a preset value or not,
if yes, step S220 is executed in a loop manner, and the second baffle 520 continues to move towards the first baffle 310;
if not, executing step S280 to keep the oil pressure value at the preset value.
When the automatic catwalk measures the length of the pipe, the second baffle 520 and the first baffle 310 can press the pipe 4 at two ends of the pipe 4, and the pressing force can be effectively controlled within a reasonable range. Therefore, the automatic catwalk can accurately measure the length of the pipe.
Fourth embodiment
As shown in fig. 12, the automated catwalk of the present invention includes a first feeding mechanism 10 and a second feeding mechanism 11, and the first feeding mechanism 10 and the second feeding mechanism 11 are respectively located on both sides of the frame 1 in the width direction.
Specifically, the first feeding mechanism 10 specifically includes a feeding cylinder 1001, a swing arm 1002 and a feeding arm 1003, wherein a fixed end of the feeding arm 1003 is connected to the rack 1 through a rotating shaft, a free end of the feeding arm 1003 is provided with a first hook 1004, and the first hook 1004 is used for hooking the pipe 4 from the pipe rack 13 and conveying the pipe to the accommodating groove 3. The fixed end of the swing arm 1002 is fixedly connected with the rotating shaft of the feeding arm 1003. One end of the feeding cylinder 1101 is pivoted with the frame 1, and the other end is pivoted with the free end of the swing arm 1002. Thus, when the piston rod of the feeding cylinder 1101 extends/retracts, the swing arm 1002 can be driven to rotate around the rotating shaft, and then the feeding arm 1003 can be driven to swing around the rotating shaft, so that the first hook body 1004 can be driven to convey the tube 4 on the tube bent frame 13 to the accommodating groove 3.
The second feeding mechanism 11 and the first feeding mechanism 10 are symmetrically disposed about the rack 1, and therefore, detailed description of a specific structure of the second feeding mechanism 11 is omitted, it should be noted that the second feeding mechanism 11 includes a rotatable second feeding arm 1103, and a free end of the second feeding arm 1103 has a second hook 1104.
Fig. 12 also shows the swing drive mechanism of the accommodating groove 3. Specifically, the swing driving mechanism includes a driving portion 330 disposed at a lower side of the receiving tank 3 and fixedly connected to the receiving tank 3, and a swing cylinder 320. One end of the swing hydraulic cylinder 320 is pivotally connected to the lifting frame 2, and the other end is pivotally connected to the free end of the driving part 330. The swing cylinder is used to drive the accommodating tank 3 to swing between both sides in the width direction thereof. In the present embodiment, the accommodating groove 3 has three states, i.e., a first state, a second state, and a third state. Specifically, in the first state, the opening direction of the accommodation groove 3 is oriented to the left direction in fig. 12; in the second state, the opening direction of the accommodation groove 3 is toward the right side in fig. 12; in the third state, the opening direction of the accommodating groove 3 faces upward. The stroke of the swing cylinder 320 is set to be suitable for driving the accommodating tank 3 to switch between the first state, the second state, and the third state.
It should be noted that in this embodiment, the feeding cylinder 1001 is provided with a second displacement sensor, and the swing cylinder 320 is provided with a third displacement sensor. The second displacement sensor and the third displacement sensor are respectively in signal connection with the control unit 7.
The control unit 7 can acquire the position state of the feeding cylinder 1001 through the second displacement sensor; and the position state of the swing cylinder 320 can be acquired by the third displacement sensor. The control unit 7 can control the feeding hydraulic cylinder 1001 and the swing hydraulic cylinder 320 to work in cooperation through a hydraulic system.
As shown in fig. 12, the control unit 7 first controls the piston rod of the swing cylinder 320 to extend, and the notch of the accommodation groove 3 inclines to the left; then, the piston rod of the upper feed cylinder 1001 is extended, and the first hook body 1004 hooks one pipe and conveys the pipe to the housing groove 3. Then, the accommodating groove 3 swings to the third state (notch upward) to measure the length and convey.
Fifth embodiment
The present embodiment explains the automatic lowering mode. It should be noted that the riser and downtube modes referred to in this specification are military versus uphole modes of operation.
[ automatic lifting Process ]
Step A: first feed mechanism 10 puts into holding tank 3 inside with the pipe, and whether the pipe has the pipe in holding tank 3 to pipe detection sensor 9 detects, if have the pipe in holding tank 3, first feed mechanism 10 resets to the third state.
And B: the accommodating groove 3 rotates to a state where the notch faces upward.
And C: the piston rod of the length measuring hydraulic cylinder 530 is extended to the extreme position.
Step D: the reverse cylinder 522 drives the second barrier 520 to rotate to a position opposite to the first barrier 310. A displacement sensor may be provided in the tilt cylinder 522, so that the control unit 7 can confirm and control the position of the second shutter 520 based on the displacement sensor. The centralizing cylinder 603 drives the centralizing arm 601 to centralize the pipe fitting.
Step E: the length measuring hydraulic cylinder 530 drives the second baffle 520 to move towards the direction of the first baffle 310, when the pressure of the hydraulic circuit reaches a preset value, the action is stopped, and the displacement K of the current length measuring hydraulic cylinder is recorded. After acquiring the displacement information, the length measuring hydraulic cylinder 530 pushes the second baffle 520 to release the tube 4. Moreover, the tilting cylinder 522 drives the second baffle 520 to reset, and the piston rod of the length measuring cylinder 530 retracts. The centralizing cylinder 603 drives the centralizing arm 601 to release the tube.
Step F: the lifting hydraulic cylinder 101 lifts the lifting support 2, automatically stops after reaching a preset position, waits for confirmation of the wellhead end, and pushes the accommodating tank 3 to slide for a certain distance along the lifting support 2 to the wellhead end after the confirmation is obtained.
And (5) the wellhead end executes actions such as pipe hanger elevator hanging and the like, and the material loading process is finished.
[ automatic descent procedure ]
Step G: the piston rod of the telescopic hydraulic cylinder 14 retreats and stops when it reaches a predetermined position.
Step H: the piston rod of the elevation cylinder 101 retreats to reach a predetermined position and stops.
Step I: the accommodating tank 3 is turned over to the first state.
Sixth embodiment
The present embodiment describes an automatic pipe lifting and length measuring mode of an automatic catwalk.
[ automatic lifting Process ]
Step J: the accommodating groove 3 is automatically adjusted, namely turned to the third state.
Step K: the lift cylinder 101 is lifted and automatically stopped when reaching a predetermined position.
Step L: the piston rod of the telescopic hydraulic cylinder 14 advances to reach a predetermined position and then automatically stops.
The wellhead manipulator puts the pipe into the holding tank 3.
[ automatic descent procedure ]
Step M: the piston rod of the telescopic hydraulic cylinder 101 is retracted to reach a predetermined position and then automatically stopped.
And step N: the piston rod of the elevation cylinder 101 is lowered to reach a predetermined position and then automatically stopped.
Step O: the piston rod of the length measuring hydraulic cylinder 530 is extended to the extreme position.
Step P: the reverse cylinder 522 drives the second barrier 520 to rotate to a position opposite to the first barrier 310. The centralizing cylinder 603 drives the centralizing arm 601 to centralize the pipe fitting.
Step Q: the length measuring hydraulic cylinder 530 drives the second baffle 520 to move towards the direction of the first baffle 310, when the pressure of the hydraulic circuit reaches a preset value, the action is stopped, and the displacement K of the current length measuring hydraulic cylinder is recorded. After acquiring the displacement information, the length measuring hydraulic cylinder 530 pushes the second baffle 520 to release the tube 4. Moreover, the tilting cylinder 522 drives the second baffle 520 to reset, and the piston rod of the length measuring cylinder 530 retracts. The centralizing cylinder 603 drives the centralizing arm 601 to release the tube.
Step R: the holding tank 3 is turned to the first state, and the pipe 4 inside the holding tank rolls onto the pipe bent frame 13.
The displacement sensors are arranged on the hydraulic cylinders, and the control unit is in signal connection with the displacement sensors, so that the control unit can acquire the states of the hydraulic cylinders, and can control the hydraulic cylinders to work cooperatively through the hydraulic system.
Seventh embodiment
The possibility of blowout exists in the well repairing process, and the key problem of blowout control is how to quickly convey the blowout control pipe column to the well mouth in the emergency state of blowout control. In order to solve the technical problem, the automatic catwalk of the embodiment is further provided with a blowout control mode.
As shown in fig. 12, the automated catwalk of the present invention includes a first feeding mechanism 10 and a second feeding mechanism 11, and the first feeding mechanism 10 and the second feeding mechanism 11 are respectively located on both sides of the frame 1 in the width direction. The second feeding mechanism 11 and the first feeding mechanism 10 are symmetrically arranged about the frame 1.
Further, the first feeding mechanism 10 of the present embodiment is used to perform a normal pipe conveyance task. And the second hook 1104 of the second feeding mechanism 11 is provided with a blowout control pipe column 12.
In case take place the blowout, according to well head operating personnel custom, when having the tubular column in the holding tank 3, be need to send the tubular column to the well head and accomplish the execution reset command after the current action, still directly carry out reset command, carry the tubular column to the bank of tubes frame, let the catwalk resume initial condition, two kinds of modes are by operation personnel autonomous selection.
The first step is to execute the reset action; and the second step is to execute the action of one-key blowout control and blowout control of the pipe column.
The execution of the reset action specifically comprises the steps of enabling the catwalk to recover the initial state, specifically, looking from the tail end of the catwalk to the wellhead end, enabling the initial default mode to be a left feeding mode, enabling the initial state of the notch to be a left side, and enabling the blowout control pipe column to wait on the right side.
The operation of executing the one-key blowout control and delivery of the blowout control tubular column is specifically that the accommodating groove 3 is firstly turned to the side of the second feeding mechanism 11. The second feeding arm 1103 in the second feeding mechanism 11 drives the tubular column to be sprayed upwards to convey the tubular column 12 to the accommodating groove 3. Then, the housing groove 3 rotates to a state in which the notch faces upward. The lifting hydraulic cylinder 101 lifts the lifting support 2, automatically stops after reaching a preset position, waits for confirmation of the wellhead end, and pushes the accommodating tank 3 to slide for a certain distance along the lifting support 2 to the wellhead end after the confirmation is obtained.
After the blowout control operation is finished, the automatic catwalk is reset again and restored to the initial state.
From this, this embodiment's automatic catwalk can appear unusually at the well head, when needing to carry the tubular column of rush-spraying, can be with the quick transport to the well head of the tubular column of rush-spraying.
The apparatus of the present application has been described in detail with reference to the preferred embodiments thereof, however, it should be noted that those skilled in the art can make modifications, alterations and adaptations based on the above disclosure without departing from the spirit of the present application. The present application includes the specific embodiments described above and any equivalents thereof.
Claims (3)
1. An automatic catwalk comprises a rack and a lifting support, wherein the lifting support is connected with the rack; its characterized in that, automatic catwalk still includes:
the accommodating groove is connected with the lifting support in a sliding mode and comprises a first end part and a second end part which are arranged oppositely, and the first end part is provided with a first baffle;
the length measuring mechanism is connected with the lifting bracket and is positioned at the second end side of the accommodating groove; the length measuring mechanism comprises a telescopic part, a second baffle and a length measuring hydraulic cylinder, the telescopic part is slidably connected with the lifting support, one end of the length measuring hydraulic cylinder is connected with the lifting support, the other end of the length measuring hydraulic cylinder is connected with the telescopic part, and the second baffle is connected with the telescopic part; the length measuring hydraulic cylinder comprises a first displacement sensor, and the first displacement sensor is used for measuring displacement information of a piston rod of the length measuring hydraulic cylinder;
the control unit is connected with the first displacement sensor and used for calculating the length of the pipe according to the displacement information detected by the first displacement sensor;
the safety righting mechanism is connected with the accommodating groove and is used for righting the pipe in the accommodating groove and avoiding the bending of the pipe;
the number of the safety righting mechanisms is multiple, and at least one safety righting mechanism is arranged on each of two side walls of the accommodating groove;
the safety centering mechanism further comprises a centering arm and a centering hydraulic cylinder, one end of the centering hydraulic cylinder is pivoted with the first end of the centering arm, and the other end of the centering hydraulic cylinder is pivoted with the accommodating groove; the second end of the righting arm is in a free state, and the position between the first end and the second end of the righting arm is pivoted with one side wall of the accommodating groove;
the automatic catwalk further comprises a pressure transmitter for detecting the oil inlet pressure of the length measuring hydraulic cylinder; the pressure transmitter is in signal connection with the control unit; the control unit is used for acquiring the displacement information from the first displacement sensor when the pressure measured by the pressure transmitter reaches a preset value;
one end of the second baffle plate is rotatably/movably connected with the telescopic part; the second shutter is rotatable/movable to a first position opposite the first shutter and a second position offset from the first position.
2. The automated catwalk according to claim 1, wherein the length measuring mechanism further comprises a turning hydraulic cylinder, one end of the turning hydraulic cylinder is pivotally connected to the telescopic portion, and the other end of the turning hydraulic cylinder is pivotally connected to the second baffle for driving the second baffle to rotate.
3. A method of measuring the length of a pipe using the automated catwalk of claim 1 or 2, comprising the steps of:
the second baffle is opposite to the first baffle;
righting the tube to retain the tube within the receiving groove;
clamping the pipe in a length direction thereof;
acquiring displacement information of a piston rod of the length measuring hydraulic cylinder;
calculating the length of the pipe according to the displacement information;
wherein the step of clamping the pipe in the length direction of the pipe comprises:
moving a second baffle plate in the direction of the first baffle plate;
acquiring an oil pressure value of an oil inlet cavity of the length measuring hydraulic cylinder;
judging whether the oil pressure value is smaller than a preset value,
if so, continuing to move the second baffle plate towards the first baffle plate;
if not, keeping the oil pressure value at the preset value;
wherein calculating the length of the tube from the displacement information comprises:
calculating the length J of a single pipe to be measured:
wherein J is the length of a single pipe to be tested; h is the effective measurement length of the accommodating groove, namely the distance between the end faces of the first baffle and the second baffle in opposite directions when the piston rod of the length measurement hydraulic cylinder retracts to the limit position; k is the displacement of the length measuring hydraulic cylinder piston rod relative to the retraction limit state of the length measuring hydraulic cylinder piston rod; c is the effective thread length;
calculating the total length of the pipe L:
where N is the total number of tubes 4, i =1, 2, 3 … … N.
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| CN202010190426.3A CN111335830B (en) | 2020-03-18 | 2020-03-18 | Automatic catwalk and method |
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| CN111335830B true CN111335830B (en) | 2022-02-22 |
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| US9540878B2 (en) * | 2012-06-21 | 2017-01-10 | Superior Energy Services—North America Services, Inc | Method and apparatus for inspecting and tallying pipe |
| CN108286421A (en) * | 2018-01-31 | 2018-07-17 | 宝鸡石油机械有限责任公司 | A kind of drilling well stockyard tubing string mechanization processing method and processing unit |
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| CA3027903A1 (en) * | 2017-12-18 | 2019-06-18 | Nabors Drilling Technologies Usa, Inc. | Catwalk tubular measurement |
| CN209689594U (en) * | 2019-05-07 | 2019-11-26 | 三一集团有限公司湖南分公司 | Oil pipe length measuring device and Mao Dao |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8915310B2 (en) * | 2012-06-21 | 2014-12-23 | Superior Energy Services—North America Services, Inc. | Long lateral completion system and method |
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|---|---|---|---|---|
| US9540878B2 (en) * | 2012-06-21 | 2017-01-10 | Superior Energy Services—North America Services, Inc | Method and apparatus for inspecting and tallying pipe |
| CA3027903A1 (en) * | 2017-12-18 | 2019-06-18 | Nabors Drilling Technologies Usa, Inc. | Catwalk tubular measurement |
| CN108286421A (en) * | 2018-01-31 | 2018-07-17 | 宝鸡石油机械有限责任公司 | A kind of drilling well stockyard tubing string mechanization processing method and processing unit |
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