CN113775302B - Rod and tube conveying device, rod and tube conveying system and method for automatically conveying rod and tube - Google Patents
Rod and tube conveying device, rod and tube conveying system and method for automatically conveying rod and tube Download PDFInfo
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- CN113775302B CN113775302B CN202110809627.1A CN202110809627A CN113775302B CN 113775302 B CN113775302 B CN 113775302B CN 202110809627 A CN202110809627 A CN 202110809627A CN 113775302 B CN113775302 B CN 113775302B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 156
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 238000003032 molecular docking Methods 0.000 claims abstract description 11
- 230000000903 blocking effect Effects 0.000 claims description 38
- 230000005540 biological transmission Effects 0.000 claims description 35
- 230000004044 response Effects 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 9
- 230000007723 transport mechanism Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 4
- 101100293261 Mus musculus Naa15 gene Proteins 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 8
- 241001669679 Eleotris Species 0.000 description 5
- 238000005553 drilling Methods 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000003129 oil well Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 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
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
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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
- E21B19/10—Slips; Spiders ; Catching devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Mechanical Engineering (AREA)
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Specific Conveyance Elements (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The application relates to a rod pipe conveying device, which comprises a mounting frame, a conveying device for receiving and conveying the rod pipe and an adjusting device for adjusting the abutting position of the rod pipe relative to a rod pipe warehouse, and is characterized in that the conveying device comprises a first conveying mechanism for lifting movement of the rod pipe and a second conveying mechanism for horizontal movement of the rod pipe; the adjusting device comprises a first adjusting mechanism for adjusting the docking height and a second adjusting mechanism for adjusting the docking angle. The application also relates to a rod pipe conveying system comprising the rod pipe conveying device and a method for automatically conveying the rod pipe by using the rod pipe conveying system.
Description
Technical Field
The present application relates to oil well servicing equipment, and more particularly, to a rod and pipe conveying apparatus for achieving transitional transportation of a rod and pipe between a pipe clamping manipulator and a rod and pipe warehouse, and a rod and pipe conveying system including the same. In addition, the application also relates to a method for realizing automatic conveying of the rod pipe by using the rod pipe conveying system.
Background
It is well known that during oilfield workover operations, tubing or sucker rods (hereinafter collectively referred to as "rod string") in an oil well are transported and discharged to a rod string library during a tripping operation, and removed from the rod string library and transported to a wellhead during a running operation to complete the running operation. The lifting and the lowering of the pipe are important and necessary operation flows in petroleum well workover operation, the traditional manual operation mode is that an oil pipe elevator directly hangs an oil pipe coupling, a small pulley is arranged on the other end of the oil pipe, and the small pulley performs the pipe lifting and the lowering operation along an oil pipe slideway. In the working flow of lifting and lowering of well repairing operation, the oil pipe can be transported in a transition mode between the pipe clamping manipulator and the pipe warehouse through the pipe conveying device.
Currently, there are few semi-automated workover rig manufacturers that use catwalks with lifting functions to transport pole and pipe libraries to pole and pipe between a pipe clamping robot or elevator. For example, chinese patent CN111827904B discloses a method for transporting a pipe of a drilling platform, which involves using catwalk to transport the pipe from a drilling site to the drilling platform, thereby completing the transportation of the pipe. Chinese patent CN208203178U discloses an environment-friendly workover oil pipe conveying device, which comprises an oil pipe transfer device and an adaptive pipe bridge. And the oil pipe is conveyed to the pipe bridge by utilizing the oil pipe conveying device so as to realize automatic arrangement of the oil pipes.
However, none of these prior art racking devices is fully automated and thus cannot match the functional needs of fully automated workover rigs. Accordingly, there is a need for a rod and tube transport system that enables rapid, accurate, and automated, intelligent transitional transport of rod and tubes.
Disclosure of Invention
Therefore, the application is based on the background, and aims to provide an automatic and intelligent rod pipe conveying device, so that the rod pipe can be accurately transported back and forth from a pipe clamping manipulator to a rod pipe warehouse, and the requirement of an automatic well repair operation technology can be met.
According to an aspect of the present application, there is provided a pipe conveying apparatus comprising a mounting frame, a conveying apparatus for receiving and conveying a pipe, and an adjusting apparatus for adjusting a docking position of the pipe relative to a pipe magazine, characterized in that the conveying apparatus comprises a first conveying mechanism for lifting movement of the pipe and a second conveying mechanism for horizontal movement of the pipe; the adjusting device comprises a first adjusting mechanism for adjusting the docking height and a second adjusting mechanism for adjusting the docking angle.
Advantageously, the first conveying mechanism comprises a transmission shaft assembly and a motor assembly for driving the transmission shaft assembly, at least two groups of transmission chain wheels are arranged on the transmission shaft assembly, a first transmission chain capable of synchronously lifting is arranged on each group of transmission chain wheels, and a rod pipe receiving mechanism is fixedly connected to the first transmission chain of each group of transmission chain wheels; the second conveying mechanism comprises at least two groups of first horizontal push-pull cylinders which work synchronously.
Advantageously, the rod tube receiving mechanism comprises a bracket for fixedly connecting to the first drive chain and a V-shaped roller portion for receiving a rod tube.
Advantageously, the piston rod of the first horizontal push-pull cylinder is fixed on the bracket, and the cylinder body is fixedly connected to the V-shaped roller portion such that the rod tube received in the V-shaped roller portion is movable in the horizontal direction between the first horizontal position and the second horizontal position when the cylinder body reciprocates in the horizontal direction with respect to the piston rod.
Advantageously, the bar-pipe receiving mechanism further comprises a first guide roller fixed on the support, the bar-pipe receiving mechanism following the first transmission chain via the first guide roller in a lifting movement along a first slide on the mounting frame.
The first adjusting mechanism is characterized by comprising at least two groups of driving cylinders and chain wheel shafts connected with piston rods of the driving cylinders, wherein each chain wheel shaft is provided with two opposite chain wheels, each chain wheel is provided with a second transmission chain which is synchronously transmitted, one end of the second transmission chain is fixed on the mounting frame, and the other end of the second transmission chain can move up and down along with the reciprocating motion of the piston rod; and a sleeper beam assembly is fixedly connected to a second transmission chain of each group of chain wheels, and the sleeper beam assembly follows the second transmission chain to perform lifting motion along a second slideway on the mounting frame through a second guide roller.
Advantageously, the bolster assembly comprises a first bolster and a second bolster hinged to each other, between which are also arranged in a hinged manner a telescopic cylinder, the telescopic movement of the piston rod of which enables adjustment of the angle between the second bolster and the first bolster, thereby adjusting the said docking angle of the rod tube with respect to the rod tube magazine.
Advantageously, the corbel assembly is also fixedly connected with a tube pushing mechanism, a tube turning mechanism and a rod tube blocking mechanism.
Advantageously, the push tube mechanism comprises a second horizontal push-pull cylinder and a pusher attached to a piston rod of the second horizontal push-pull cylinder, the tube turning mechanism comprises a jacking cylinder and a tube turning member attached to a piston rod of the jacking cylinder, and the rod tube blocking mechanism comprises a blocking cylinder and a blocking member attached to a piston rod of the blocking cylinder.
Advantageously, sensor means are provided on the conveyor means and the adjustment means to detect information about the respective travel positions and the presence of the rod tube and to provide this information to the rod tube transport control system, enabling an automated transport of the rod tube between the tube gripping robot and the rod tube magazine.
According to another aspect of the application, it is also proposed a rod and tube conveying system comprising a box and two rod and tube conveying devices as described above symmetrically arranged on two opposite sides of the box, each rod and tube conveying device being connected to a respective side of the box via a respective mounting bracket.
According to the application, the application further provides a method for automatically conveying the rod pipe by utilizing the rod pipe conveying system, and the rod pipe conveying device on one side is selectively started according to the relative positions of the rod pipe warehouse and the rod pipe conveying system.
Advantageously, in the tube lifting operation flow, a tube lifting conveying step of conveying the tube from the tube gripping robot to the tube bank is performed, and before the tube lifting conveying step is performed, the following preparatory steps are performed:
-bringing the push tube mechanism, the tube turning mechanism, the rod tube blocking mechanism and the second transport mechanism to a rest position; and
-adjusting the height of the bolster assembly and the angle between the first bolster and the second bolster in the bolster assembly to ensure that the second bolster is docked obliquely downward to the rod and tube magazine to facilitate automatic draining of rod and tubes to the rod and tube magazine by gravity.
The pipe lifting and conveying step comprises the following substeps:
-upon detection of the gripping of the rod tube by the tube gripping robot, controlling the first conveying mechanism to convey the rod tube receiving mechanism upwards to the uppermost position;
-the collet robot placing the stem tube on the stem tube receiving mechanism in response to the signal of the travel sensor at the highest position;
-upon detecting that the wand is in place in the wand receiving mechanism, controlling the second conveying mechanism to move to the working position to transfer the wand receiving mechanism from the first horizontal position to the second horizontal position;
-controlling the first conveyor mechanism to transfer the rod tube receiving mechanism down to the lowermost position in response to the signal of the travel sensor at the second horizontal position to drop the rod tube onto the first bolster;
-upon detection of the tube being in place on the first bolster, controlling the tube pushing mechanism to move to an operative position to push the tube outwardly to roll the tube down the second bolster obliquely downward into the tube garage; and
-controlling the push tube mechanism to return to the rest position to await the tube lifting work flow of the next rod tube.
In the pipe-down operation flow, a pipe-down conveying step of conveying a pipe from a pipe magazine to a pipe-gripping robot is performed, and before the pipe-down conveying step is performed, the following preparation steps are performed:
-bringing the push tube mechanism, the tube turning mechanism into a rest position and the tube blocking mechanism and the second transport mechanism into an operative position;
-moving the wand receiving mechanism to a lowermost position awaiting receipt of a wand; and
-adjusting the height of the bolster assembly and the angle between the first bolster and the second bolster in the bolster assembly to ensure that the second bolster is docked obliquely upward to the rod and tube magazine to facilitate automatic reception of rod and tubes from the rod and tube magazine by gravity.
The down pipe conveying step comprises the following substeps:
-upon detection of the presence of a rod tube at the rod tube blocking mechanism, controlling the tube turning mechanism to move to an operating position to raise the rod tube above the rod tube blocking mechanism and to drop the rod tube along the inclined surface of the tube turning mechanism over the rod tube blocking mechanism onto the first bolster;
-after detecting that the rod tube is in place on the first bolster, controlling the first conveyor mechanism to move the rod tube receiving mechanism upward to receive the rod tube and move the rod tube together to the uppermost position;
-controlling the second conveying mechanism to return to the rest position to transfer the rod tube receiving mechanism from the second horizontal position to the first horizontal position in response to a signal of the travel sensor at the uppermost position;
-controlling the gripping robot to grip the rod tube from the rod tube receiving mechanism in response to the signal of the travel sensor at the first horizontal position;
-upon detecting the absence of a vial in the vial receiving mechanism, controlling the first transport mechanism to move the vial receiving mechanism downwardly to the lowermost position; and
-controlling the second conveyor to move to the working position to await the next down tube workflow of the rod tube.
The rod pipe conveying device and the rod pipe conveying system not only can meet the conveying of the rod pipes with multiple specifications, but also can be applied to a full-automatic workover rig so as to realize automatic conveying, arrangement and the like of the rod pipes. Because the whole operation process is automatically controlled, the efficiency of well repair operation is greatly improved, and the well repair operation is more automatic, intelligent and modern.
Drawings
The above and other features and advantages of the present application will become more readily appreciated from the following description with reference to the accompanying drawings, in which:
fig. 1 schematically shows a perspective view of a rod and tube conveying system according to the present application;
fig. 2 schematically shows a front view of a rod and tube conveying system according to the present application;
FIG. 3 partially illustrates a drive cylinder assembly included in an adjustment device;
fig. 4 is a perspective view schematically showing a stem pipe receiving mechanism included in the stem pipe apparatus according to the present application;
FIG. 5 schematically illustrates a process schematic of one of the rod and tube conveying apparatuses included in the rod and tube conveying system according to the present application in a pipe lifting operation; and
fig. 6 schematically shows a process diagram of one of the rod and tube conveying apparatuses included in the rod and tube conveying system according to the present application for rod and tube conveyance in a down pipe operation.
Detailed Description
The application is described in further detail below with reference to the drawings and to specific embodiments. Descriptions of orientations such as "upper", "lower", "left", "right", etc., which may be used in the following description, are merely for convenience of description and are not intended to limit the inventive arrangements in any way unless explicitly stated. In addition, terms such as "first," "second," and the like are also used hereinafter to describe elements of the present application, and these terms are used solely to distinguish between the individual elements and are not intended to limit the nature, sequence, order, or number of such elements.
Fig. 1 is a perspective view schematically showing a rod and tube transfer system 1 according to the present application, in which the rod and tube transfer system 1 includes a housing 2 and rod and tube transfer devices 3 symmetrically disposed on two opposite sides of the housing 2 (e.g., on left and right sides in fig. 1). During actual operation, the system may selectively activate one of the rod and tube conveying apparatuses 3 according to the relative position of the rod and tube magazine (not shown) and the rod and tube conveying system 1.
Referring in particular to fig. 2, the rod and tube conveying device 3 generally comprises a mounting frame 4, a conveyor for receiving and conveying the rod and tube 5, and an adjustment device for adjusting the docking position of the rod and tube 5 relative to the rod and tube magazine. The conveying device comprises a first conveying mechanism for lifting movement of the rod tube 5 and a second conveying mechanism for horizontal movement of the rod tube 5; the adjusting device comprises a first adjusting mechanism for adjusting the docking height and a second adjusting mechanism for adjusting the docking angle. In the pipe lifting process, the adjusting device can select a proper height and angle position so that the pipe 5 can be automatically discharged into the pipe warehouse through the pipe conveying system 1; in the down pipe process, the adjusting device can select a suitable height and angle position, so that the rod pipe 5 can be automatically received from the rod pipe warehouse into the rod pipe conveying system 1.
According to a specific embodiment, the first conveying mechanism comprises a transmission shaft assembly 6 and a motor assembly 7 for driving the transmission shaft assembly 6, at least two groups of transmission chain wheels 8 (as three groups are shown in fig. 1-2) are mounted on the transmission shaft assembly 6, and two first transmission chains 9 capable of synchronous lifting and lowering movement are mounted on each group of transmission chain wheels 8. Therefore, the transmission shaft assembly 6 can drive six first transmission chains 9 to synchronously move up and down through the motor assembly 7. A rod tube receiving mechanism 10 is fixedly connected to the first drive chain 9 of each set of drive sprockets 8, so that the rod tube receiving mechanism 10 can perform a lifting movement together with the first drive chain 9.
The rod tube receiving mechanism 10 includes a bracket 12 for fixedly connecting to the chain piece of the first drive chain 9 (e.g., by a fastening screw 11 shown in fig. 4) and a V-roller portion 13 for receiving the rod tube 5. By the structure of the V-shaped roller portion 13, it is possible to receive and convey rod pipes of various pipe diameter specifications. Of course, other forms of wand tube receiving arrangements are possible as long as the delivery of multiple sizes of wand tubes can be met.
Referring particularly to fig. 4, the rod tube receiving mechanism 10 further includes a first horizontal push-pull cylinder 14 serving as a second conveying mechanism, a piston rod 15 of the first horizontal push-pull cylinder 14 being fixed to the bracket 12, and a cylinder 16 being fixedly connected to the V-shaped roller portion 13, for example, by a threaded fastener, so that the V-shaped roller portion 13 receiving the rod tube can be horizontally moved along a slide path within the bracket 12 (for example, from a first horizontal position P1 to a second horizontal position P2 in fig. 5 and from the second horizontal position P2 to the first horizontal position P1 in fig. 6) when the cylinder 16 reciprocates with respect to the piston rod 15.
It will be appreciated that in order to achieve the receiving and conveying of the rod and tube, the various sets of driving members involved in the conveyor, including the sprocket/chain, the horizontal push-pull cylinder and other adjustment members mentioned hereinafter, are controlled to move in synchronism to achieve stable conveying of the rod and tube.
Furthermore, referring to fig. 4, the rod-tube receiving mechanism 10 further includes a first guide roller 17 fixed to the bracket 12, and the rod-tube receiving mechanism 10 is capable of following the first transmission chain 9 to perform a lifting movement along a first slideway (not specifically shown in the drawings) on the mounting frame 4 via the first guide roller 17, for example, in directions indicated by up and down arrows in fig. 5 to 6.
According to a specific embodiment, the first adjustment mechanism comprises at least two sets (three sets are shown in fig. 1-2) of driving cylinders 18 and sprocket shafts 20 (see fig. 3 in particular) connected to the piston rods 19 of the respective driving cylinders 18, each sprocket shaft being provided with two opposite sprockets, each sprocket being provided with a synchronously driven second drive chain 21, one end of the second drive chain 21 being fixed to the mounting frame 4 and the other end being capable of following the reciprocating movement of the piston rod 19 for lifting movement. A sleeper beam assembly 22 is fixedly connected to the second driving chain 21 of each set of chain wheels, and the sleeper beam assembly 22 follows the second driving chain 21 to perform lifting movement along a second slideway (not specifically shown in the figure) on the mounting frame 4 via a second guide roller, so that the height of the sleeper beam assembly 22 is allowed to be adjusted to achieve a proper height for seamless butt joint with a rod and tube warehouse.
In order to achieve a suitable angle of butt joint of the rod tube with the rod tube magazine seamlessly, the bolster assembly 22 comprises a first bolster 23 and a second bolster 24 hinged to each other, and a telescopic cylinder 25 is also arranged in a hinged manner between said first bolster 23 and second bolster 24, the telescopic movement of the piston rod of the telescopic cylinder 25 enabling adjustment of the angle between the second bolster 24 and the first bolster 23, thereby adjusting said angle of butt joint of the rod tube with respect to the rod tube magazine.
For example, during pipe transfer in pipe running as shown in fig. 5, the second bolster 24 is positioned obliquely downward with respect to the first bolster 23 so that the pipe received from the pipe clamping robot and dropped onto the bolster assembly 22 can be automatically discharged downward into the pipe magazine by gravity, whereas during pipe transfer in pipe running as shown in fig. 6, the second bolster 24 is positioned obliquely upward with respect to the first bolster 23 so that the pipe can be automatically discharged from the pipe magazine onto the bolster assembly 22 along the second bolster 24 by gravity.
Advantageously, a push tube mechanism, a tube turning mechanism, and a rod tube blocking mechanism are also fixedly connected to the bolster assembly 22. According to the specific embodiment shown in fig. 5 and 6, the push tube mechanism comprises a second horizontal push-pull cylinder 26 and a push member 27 attached to the piston rod of the second horizontal push-pull cylinder 26. When the rod tube 5 is conveyed onto the upper surface of the first bolster 23 via the rod tube receiving mechanism 10, the pushing member 27 can push the rod tube 5 outward to automatically roll the rod tube 5 down the first and second bolsters 23, 24 into the rod tube bank by gravity; the tube turning mechanism comprises a jacking cylinder 28 and a tube turning member 29 attached to the piston rod of the jacking cylinder, and the rod tube blocking mechanism comprises a blocking cylinder and a blocking member 30 attached to the piston rod of the blocking cylinder. When a rod tube in the rod tube stock rolls down the second bolster 24 and is blocked on the first bolster 23 via the blocking member 30, the piston rod of the jacking cylinder 28 can be extended to jack up the rod tube, and the rod tube is passed over the blocking member 30 by the inclined surface on the turning tube member 29 to wait to be received by the rod tube receiving mechanism 10 and conveyed upward.
It should be noted that each of the above-mentioned cylinders (including horizontal push-pull cylinder, drive cylinder, jack cylinder, telescopic cylinder, blocking cylinder, etc.) used as power mechanism may take the form of a cylinder, an oil cylinder, or an electric cylinder as known in the art.
In addition, as a clear difference from the rod and pipe conveying device in the prior art, the conveying device and the adjusting device in the rod and pipe conveying device are provided with the sensing device, so that information related to each stroke position and the existence of the rod and pipe can be detected, and the information can be provided for a well repairing operation system (such as a rod and pipe conveying control system) to realize automatic conveying of the rod and pipe between the pipe clamping manipulator and the rod and pipe warehouse, thereby better matching the pipe lifting and pipe descending operation flow involved in the well repairing operation process.
Next, an automated transportation process of the wand pipes involved in the lifting and lowering work flows will be described in detail with reference to fig. 5 and 6.
First, in the pipe lifting operation flow, a pipe lifting conveying step of conveying a pipe from a pipe clamping manipulator to a pipe library is performed, and before the pipe lifting conveying step is performed, the following preparation steps are performed:
bringing the push tube mechanism, the tube turning mechanism and the tube blocking mechanism to rest positions, i.e. bringing the second horizontal push-pull cylinder 26 of the push tube mechanism, the jacking cylinder 28 of the tube turning mechanism and the blocking cylinder of the tube blocking mechanism, respectively, to retracted positions;
bringing the second conveyor mechanism to a rest position (e.g. retracting the first horizontal push-pull cylinder 14); and
the height of the bolster assemblies 22 and the angle between the first bolster 23 and the second bolster 24 in the bolster assemblies 22 are adjusted, particularly according to the height of the field rod and tube magazine, to ensure that the second bolster 24 is seamlessly abutted obliquely downward against the rod and tube magazine, thereby facilitating automatic drainage of rod and tubes to the rod and tube magazine by gravity.
Specifically, referring to fig. 5, the tube lifting and conveying step for a single rod tube mainly comprises the following sub-steps:
upon detecting that the gripping robot grips a rod tube, controlling the first conveying mechanism (e.g. operating the motor assembly 7 in a first direction) to convey the rod tube receiving mechanism 10 up to the uppermost position;
-the collet robot places the stem tube on the stem tube receiving mechanism 10 (e.g. the V-roller portion 13) in response to the signal of the travel sensor at the highest position;
after detecting that the wand is in place in the wand receiving mechanism 10, controlling the second conveying mechanism to move to an operative position (e.g. extending the first horizontal push-pull cylinder 14) to transfer the wand receiving mechanism (e.g. the V-roller portion 13 receiving the wand) from the first horizontal position to the second horizontal position;
in response to the signal of the travel sensor at the second horizontal position, controlling the first conveying mechanism (e.g., operating the motor assembly 7 in a second direction opposite to the first direction) to convey the stalk tube receiving mechanism 10 downward to the lowest position (which is slightly lower than the upper surface of the first corbel) to drop the stalk tube onto the first corbel 23;
upon detecting that the rod tube is in place on the first bolster 23, controlling the push tube mechanism to move to an operative position (e.g., extending the piston rod of the second horizontal push-pull cylinder 26) to push the rod tube outwardly, thereby rolling the rod tube down the second bolster 24, which is inclined downwardly, into the rod tube magazine; and
control the push-tube mechanism to return to the rest position (e.g. retract the piston rod of the second horizontal push-pull cylinder 26) to await the tube-lifting work flow of the next tube rod.
Next, in the tube feeding operation flow, a tube feeding step of feeding the tube from the tube stock to the tube gripping robot is performed, and before the tube feeding step is performed, the following preparatory steps are performed:
bringing the push tube mechanism, the tube turning mechanism into a rest position and the tube blocking mechanism into an operating position, i.e. bringing the second horizontal push-pull cylinder 26 of the push tube mechanism, the jacking cylinder 28 of the tube turning mechanism into a retracted rest position and the blocking cylinder of the tube blocking mechanism into an extended operating position, respectively;
moving the second conveyor to the working position (e.g. extending the first horizontal push-pull cylinder 14);
control the first conveying mechanism to move the rod tube receiving mechanism 10 to a lowest position (which is slightly lower than the upper surface of the first bolster 23) waiting to receive the rod tube; and
adjusting the height of the bolster assembly 22 and the angle between the first bolster 23 and the second bolster 24 in the bolster assembly 22 to ensure that the second bolster 24 is seamlessly docked obliquely upward to the rod and tube magazine to facilitate automatic reception of rod and tubes from the rod and tube magazine using the force of gravity.
Specifically, referring to fig. 6, the down tube conveying step for a single rod tube mainly includes the following sub-steps:
upon detecting the presence of a rod tube at the rod tube blocking mechanism (e.g., blocking member 31), controlling the tube flipping mechanism to an operating position (e.g., extending the piston rod of the lift cylinder 28) to lift the rod tube above the rod tube blocking mechanism and drop the rod tube onto the first bolster 23 across the rod tube blocking mechanism along the inclined surface of the tube flipping mechanism (e.g., tube flipping member 29);
after detecting that the tube is in place on the first bolster 23, controlling the first conveyor mechanism to move the tube receiving mechanism 10 upward to receive the tube and move the tube together to the uppermost position;
controlling the second conveying mechanism to return to the rest position (e.g., retracting the first horizontal push-pull cylinder 14) to transfer the rod-tube receiving mechanism from the second horizontal position to the first horizontal position in response to the signal of the travel sensor at the uppermost position;
-controlling the gripping robot to grip the rod tube from the rod tube receiving mechanism in response to the signal of the travel sensor at the first horizontal position;
-upon detecting the absence of a vial in the vial receiving mechanism, controlling the first transport mechanism to move the vial receiving mechanism downwardly to the lowermost position; and
control the movement of the second conveyor to the working position (e.g. to extend the first horizontal push-pull cylinder 14) to await the next down tube flow of the rod tube.
Thus, through the rod pipe conveying process in the pipe lifting and pipe descending operation, the rod pipe can be conveyed between the rod pipe warehouse and the pipe clamping manipulator in a fully-automatic and intelligent manner through the rod pipe conveying system, so that the operation efficiency and the operation reliability of the automatic workover rig pipe lifting and pipe descending operation are greatly improved.
It should be noted that the above-described embodiments should be regarded as illustrative only, and the present application is not limited to these embodiments. Many changes and modifications may be made by one skilled in the art without departing from the scope or spirit of the application, by considering the contents of this specification. The true scope of the application is defined by the following claims and their equivalents.
Claims (16)
1. A pipe conveying device comprising a mounting frame, a conveying device for receiving and conveying the pipe and an adjusting device for adjusting the butt joint position of the pipe relative to a pipe warehouse, characterized in that the conveying device comprises a first conveying mechanism for lifting movement of the pipe and a second conveying mechanism for horizontal movement of the pipe; the adjusting device comprises a first adjusting mechanism for adjusting the docking height and a second adjusting mechanism for adjusting the docking angle; the first adjusting mechanism comprises at least two groups of driving cylinders and chain wheel shafts connected with piston rods of the driving cylinders, two opposite chain wheels are arranged on each chain wheel shaft, a second transmission chain for synchronous transmission is arranged on each chain wheel, one end of the second transmission chain is fixed on the mounting frame, and the other end of the second transmission chain can move up and down along with the reciprocating motion of the piston rods.
2. The pipe conveying device according to claim 1, wherein the first conveying mechanism comprises a transmission shaft assembly and a motor assembly for driving the transmission shaft assembly, at least two groups of transmission chain wheels are arranged on the transmission shaft assembly, a first transmission chain capable of synchronously lifting and lowering is arranged on each group of transmission chain wheels, and the pipe receiving mechanism is fixedly connected to the first transmission chain of each group of transmission chain wheels; the second conveying mechanism comprises at least two groups of first horizontal push-pull cylinders which work synchronously.
3. The wand tube transfer device of claim 2, wherein the wand tube receiving mechanism comprises a bracket for fixedly connecting to the first drive chain and a V-roller portion for receiving a wand tube.
4. A rod and tube transfer apparatus as in claim 3 wherein the piston rod of the first horizontal push and pull cylinder is fixed to the bracket and a cylinder is fixedly connected to the V-shaped roller portion such that a rod tube received in the V-shaped roller portion is movable in a horizontal direction between a first horizontal position and a second horizontal position as the cylinder reciprocates in a horizontal direction relative to the piston rod.
5. A wand pipe transfer device according to claim 3, wherein the wand pipe receiving mechanism further comprises a first guide roller fixed to the cradle, the wand pipe receiving mechanism following the first drive chain for lifting movement along a first slide on the mounting rack via the first guide roller.
6. The rod and tube conveying apparatus according to any one of claims 1 to 5, wherein a bolster assembly is fixedly connected to a second drive chain of each set of sprockets, the bolster assembly following the second drive chain for elevating movement along a second slide on the mounting frame via a second guide roller.
7. The pole tube conveyance device according to claim 6, wherein the corbel assembly includes a first corbel and a second corbel hinged to each other, and a telescopic cylinder is further arranged in a hinged manner between the first corbel and the second corbel, a telescopic movement of a piston rod of the telescopic cylinder enabling adjustment of an angle between the second corbel and the first corbel, thereby adjusting the abutting angle of the pole tube with respect to the pole tube magazine.
8. The pole tube conveying apparatus of claim 7, wherein the bolster assembly is further fixedly coupled with a push tube mechanism, a tube turning mechanism, and a pole tube blocking mechanism.
9. The stalk tube transfer apparatus of claim 8 wherein the stalk tube handling mechanism includes a second horizontal push-pull cylinder and a pusher attached to a piston rod of the second horizontal push-pull cylinder, the stalk tube turning mechanism includes a jacking cylinder and a stalk tube turning member attached to a piston rod of the jacking cylinder, and the stalk tube blocking mechanism includes a blocking cylinder and a blocking member attached to a piston rod of the blocking cylinder.
10. A rod and tube transfer apparatus as in any one of claims 1-5, wherein sensing means are provided on said conveyor means and said adjustment means to detect information regarding the respective travel positions and the presence of rod and to provide such information to a rod and tube transfer control system to enable automated transfer of rod and tubes between a tube gripping robot and a rod and tube magazine.
11. A wand pipe delivery system comprising a housing and two wand pipe delivery devices according to any one of claims 1 to 10 symmetrically arranged on two opposite sides of the housing, each wand pipe delivery device being connected to a respective side of the housing via a respective mounting frame.
12. A method of automated rod and tube transport using the rod and tube transport system of claim 11, wherein one of the rod and tube transport devices is selectively activated based on the relative positions of the rod and tube magazine and the rod and tube transport system.
13. The method according to claim 12, wherein in the pipe-lifting operation flow, a pipe-lifting conveying step of conveying a pipe from the pipe-gripping robot to the pipe library is performed, and before the pipe-lifting conveying step is performed, the following preparatory steps are performed:
-bringing the push tube mechanism, the tube turning mechanism, the rod tube blocking mechanism and the second transport mechanism to a rest position; and
-adjusting the height of the bolster assembly and the angle between the first bolster and the second bolster in the bolster assembly to ensure that the second bolster is docked obliquely downward to the rod and tube magazine to facilitate automatic draining of rod and tubes to the rod and tube magazine by gravity.
14. The method according to claim 12, wherein in the down pipe work flow, a down pipe conveying step of conveying a rod pipe from the rod pipe magazine to the pipe clamping robot is performed, and before the down pipe conveying step is performed, the following preparatory steps are performed:
-bringing the push tube mechanism, the tube turning mechanism into a rest position and the tube blocking mechanism and the second transport mechanism into an operative position;
-moving the wand receiving mechanism to a lowermost position awaiting receipt of a wand; and
-adjusting the height of the bolster assembly and the angle between the first bolster and the second bolster in the bolster assembly to ensure that the second bolster is docked obliquely upward to the rod and tube magazine to facilitate automatic reception of rod and tubes from the rod and tube magazine by gravity.
15. The method of claim 13, wherein the tube-lifting conveying step comprises the sub-steps of:
-upon detection of the gripping of the rod tube by the tube gripping robot, controlling the first conveying mechanism to convey the rod tube receiving mechanism upwards to the uppermost position;
-the collet robot placing the stem tube on the stem tube receiving mechanism in response to the signal of the travel sensor at the highest position;
-upon detecting that the wand is in place in the wand receiving mechanism, controlling the second conveying mechanism to move to the working position to transfer the wand receiving mechanism from the first horizontal position to the second horizontal position;
-controlling the first conveyor mechanism to transfer the rod tube receiving mechanism down to the lowermost position in response to the signal of the travel sensor at the second horizontal position to drop the rod tube onto the first bolster;
-upon detection of the tube being in place on the first bolster, controlling the tube pushing mechanism to move to an operative position to push the tube outwardly to roll the tube down the second bolster obliquely downward into the tube garage; and
-controlling the push tube mechanism to return to the rest position to await the tube lifting work flow of the next rod tube.
16. The method of claim 14, wherein the down tube conveying step comprises the sub-steps of:
-upon detection of the presence of a rod tube at the rod tube blocking mechanism, controlling the tube turning mechanism to move to an operating position to raise the rod tube above the rod tube blocking mechanism and to drop the rod tube along the inclined surface of the tube turning mechanism over the rod tube blocking mechanism onto the first bolster;
-after detecting that the rod tube is in place on the first bolster, controlling the first conveyor mechanism to move the rod tube receiving mechanism upward to receive the rod tube and move the rod tube together to the uppermost position;
-controlling the second conveying mechanism to return to the rest position to transfer the rod tube receiving mechanism from the second horizontal position to the first horizontal position in response to a signal of the travel sensor at the uppermost position;
-controlling the gripping robot to grip the rod tube from the rod tube receiving mechanism in response to the signal of the travel sensor at the first horizontal position;
-upon detecting the absence of a vial in the vial receiving mechanism, controlling the first transport mechanism to move the vial receiving mechanism downwardly to the lowermost position; and
-controlling the second conveyor to move to the working position to await the next down tube workflow of the rod tube.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110809627.1A CN113775302B (en) | 2021-07-16 | 2021-07-16 | Rod and tube conveying device, rod and tube conveying system and method for automatically conveying rod and tube |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110809627.1A CN113775302B (en) | 2021-07-16 | 2021-07-16 | Rod and tube conveying device, rod and tube conveying system and method for automatically conveying rod and tube |
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| CN113775302B true CN113775302B (en) | 2023-08-29 |
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| CN113775302A (en) | 2021-12-10 |
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