CN117468873B - Automatic conveying system and automatic workover rig - Google Patents
Automatic conveying system and automatic workover rig Download PDFInfo
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- CN117468873B CN117468873B CN202311497177.2A CN202311497177A CN117468873B CN 117468873 B CN117468873 B CN 117468873B CN 202311497177 A CN202311497177 A CN 202311497177A CN 117468873 B CN117468873 B CN 117468873B
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- 239000003129 oil well Substances 0.000 claims description 17
- 238000005452 bending Methods 0.000 claims description 15
- 230000000694 effects Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 7
- 239000003208 petroleum Substances 0.000 description 4
- 238000003756 stirring Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007306 turnover 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
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- Life Sciences & Earth Sciences (AREA)
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- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
An automatic conveying system and an automatic workover rig, wherein the automatic conveying system comprises a bottom plate, a positioning module and a grabbing module; the bottom plate is arranged along a first direction and is used for placing the pipe rod; the positioning module comprises a plurality of positioning devices arranged on the bottom plate along the first direction, and the positioning devices are used for positioning a plurality of pipe rods arranged on the bottom plate between two adjacent positioning devices one by one; the grabbing module comprises a base, a plurality of multi-axis mechanical arms and a grabbing piece arranged at the execution end of the multi-axis mechanical arms, wherein the base is arranged at one end of the base plate along the first direction, the multi-axis mechanical arms are all arranged on the base, and the grabbing module is used for conveying pipe rods positioned between the positioning devices to a working area. The automatic feeding device has the effect of being capable of achieving automatic feeding.
Description
Technical Field
The application relates to the technical field of workover operation, in particular to an automatic conveying system and an automatic workover rig.
Background
Petroleum is currently an important energy source, and oil wells are a direct way to obtain petroleum. In order to ensure smooth use of the oil well, effective measures are required to be taken during petroleum drilling and subsequent oil well maintenance, and proper well repairing equipment is used to be beneficial to improving the yield of the oil field.
The equipment used in oilfield workover operations is primarily workover rigs. During operation, most of workover rigs in the related art send pipe rods such as oil pipes or sucker rods to a wellhead manually and assist in running the pipe. The lifting and lowering of pipes is an important and necessary work flow in petroleum workover operations. The manual auxiliary operation cannot realize continuous automatic conveying, has high labor cost, is low in efficiency and has a certain risk.
Disclosure of Invention
In order to realize automatic feeding, the application provides an automatic conveying system and an automatic workover rig.
In a first aspect, the present application provides an automated conveying system, which adopts the following technical scheme:
An automatic conveying system comprises a bottom plate, a positioning module and a grabbing module; the bottom plate is arranged along a first direction and is used for placing the pipe rod; the positioning module comprises a plurality of positioning devices arranged on the bottom plate along the first direction, and the positioning devices are used for positioning a plurality of pipe rods arranged on the bottom plate between two adjacent positioning devices one by one; the grabbing module comprises a base, a plurality of multi-axis mechanical arms and a grabbing piece arranged at the execution end of the multi-axis mechanical arms, wherein the base is arranged at one end of the base plate along the first direction, the multi-axis mechanical arms are all arranged on the base, and the grabbing module is used for conveying pipe rods positioned between the positioning devices to a working area.
Through adopting above-mentioned technical scheme, positioning module can be with placing a plurality of pipe poles of bottom plate department respectively one by one between two adjacent positioner, snatchs the pipe pole that the module can snatch and be located between the positioner and transport to work area to realize automatic feeding.
Optionally, the positioning device comprises a first toothed plate, a second toothed plate, a first pin shaft and two vertical sliding rails, the first toothed plate comprises a first toothed part and a first connecting part, the second toothed plate comprises a second toothed part and a second connecting part, the first toothed part and the second toothed part are configured to be meshed with each other, the first connecting part and the second connecting part are connected through the first pin shaft in a hinged manner, the first toothed plate is arranged on one side, close to the base, of the first pin shaft, the second toothed plate is arranged on one side, away from the base, of the first pin shaft, the vertical sliding rails are arranged on two opposite sides of the base plate along the first direction, and the first pin shafts are respectively connected with the vertical sliding rails in a sliding manner.
Through adopting above-mentioned technical scheme, two vertical slide rails can play the guide effect, and guide first round pin axle is along vertical direction reciprocating motion, and when first round pin axle upwards moved along vertical direction, first pinion rack and second pinion rack become reverse V-arrangement structure under the effect of first round pin axle, and a plurality of first pinion rack and second pinion rack in a plurality of positioner form the wave structure by a plurality of V-arrangement structures are together combined under the effect of a plurality of first round pins, wave trough position that is wave trough structure between two adjacent positioner can be used for the location pipe pole.
Optionally, the positioning device further includes two first pushing members, the two first pushing members are respectively disposed on one side of the vertical sliding rail away from the bottom plate, the body of the first pushing member is fixedly connected with the bottom plate, and the output ends of the first pushing members are respectively fixedly connected with two ends of the first pin shaft so as to drive the first pin shaft to reciprocate along the vertical direction.
Through adopting above-mentioned technical scheme, utilize first impeller can realize controlling the ascending and descending of first impeller in vertical direction through mechanical means, the staff of being convenient for controls positioner to fix a position the pipe pole of placing on the bottom plate.
Optionally, the positioning module further includes a control device and a plurality of pressure sensors, where the pressure sensors are embedded in the bottom plate and are respectively disposed between two adjacent positioning devices, and the control device is simultaneously connected with the pressure sensors and the first pushing member through signals.
Through adopting above-mentioned technical scheme, utilize pressure sensor and controlling means to judge whether there is the pipe pole between two adjacent positioner, pressure sensor and controlling means signal connection, controlling means monitor the pressure signal that pressure sensor transmitted in real time, when pressure sensor continuously detects pressure between two adjacent positioner, controlling means judges that there is the pipe pole between two adjacent positioner to control first impeller work, and then fix a position the pipe pole.
Optionally, the grabbing module further includes a moving platform, a sliding rail and a first driving device, the sliding rail is disposed at the top of the base, the moving platform is slidably connected with the sliding rail, the first driving device is in driving connection with the moving platform to drive the moving platform to reciprocate along an extending direction of the sliding rail, and the multiple multi-axis mechanical arms are disposed at the top of the moving platform along a second direction perpendicular to the first direction.
By adopting the technical scheme, the moving range of the multi-axis mechanical arm can be enlarged by utilizing the moving table, namely the working range of the grabbing module is enlarged, so that the selection range of the setting positions of the bottom plate and the positioning device is enlarged.
Optionally, the mobile station includes upper plate, hypoplastron and second drive arrangement, the upper plate is followed one side of second direction is equipped with the second round pin axle, the upper plate pass through the second round pin axle with the hypoplastron is articulated to be connected, the second drive arrangement with the upper plate drive is connected in order to drive the upper plate is around the central axis of second round pin axle rotates.
Through adopting above-mentioned technical scheme, the mobile station adopts the bilayer structure that can turn over, and turns over the direction of arranging of a plurality of multiaxis arm of direction perpendicular to, can make a plurality of multiaxis arms more be applicable to the operation of vertical direction, makes snatch the module and can send the pipe pole to work area more conveniently, inside the oil well promptly.
Optionally, the positioning module further comprises a poking device, the poking device comprises a poking plate and a third driving device, the poking plate comprises a straight plate portion and a bending portion, one side, away from the bending portion, of the straight plate portion is provided with a third pin shaft, the straight plate portion is hinged to one end, away from the base, of the base through the third pin shaft, the bending direction of the bending portion faces the top of the base, and the third driving device is in driving connection with the poking plate to drive the poking plate to rotate around the central axis of the third pin shaft.
Through adopting above-mentioned technical scheme, because the working range who snatchs the module is limited, so utilize the toggle ware to keep away from the pipe pole of snatching the module on the bottom plate, toggle to be close to the one side of snatching the module and again with its location can be convenient for snatch the module and snatch it.
Optionally, the bottom plate with the base is articulated to be connected, the bottom of bottom plate keeping away from base one side is equipped with the second and promotes the piece, the vertical setting of second promotes the piece is in order to drive the bottom plate around its with the articulated shaft of base rotates.
Through adopting above-mentioned technical scheme, owing to snatch the limited working range of module, so utilize the second to promote the piece with base articulated bottom plate promotion, make it to snatch the direction slope of module, utilize gravity to make on the bottom plate keep away from the pipe pole of snatching the module, roll to be close to one side of snatching the module and again with its location can be convenient for snatch the module and snatch it.
In a second aspect, the application provides an automatic workover rig, which adopts the following technical scheme:
An automatic workover rig comprises a derrick, a guiding and positioning device and the automatic conveying system; the derrick is arranged at an oil well and comprises a frame body, slips and a bearing support, wherein the slips and the bearing support are fixedly connected with the frame body, and the slips are arranged above the bearing support along the extending direction of the oil well; the automatic conveying system is arranged on one side of the derrick, and the base is arranged close to the derrick; the guiding and positioning device comprises a signal transmitting end, a signal receiving end and a plurality of signal intermediating ends, the number of the signal intermediating ends is the same as that of the multi-axis mechanical arms, the signal transmitting ends are arranged at the bottom of the slips and are arranged along the extending direction of the oil well towards the bottom of the well, the signal receiving ends are arranged at the top of the bearing support and are arranged on the signal transmitting paths of the signal transmitting ends, the signal intermediating ends are respectively arranged at the gripping parts, and the control assembly is simultaneously connected with the signal intermediating ends, the multi-axis mechanical arms and the gripping parts in a signal mode.
Through adopting above-mentioned technical scheme, utilize guiding locating device can guide to snatch the module and make it snatch in the oil well smoothly to grip through slips and bearing the weight of the pipe pole that treats the use, wait to be used.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the automatic conveying of the oil pipe, the sucker rod and other pipe rod pieces can be realized;
2. The pipe rod to be grabbed can be automatically positioned;
3. the grabbed pipe rod can be smoothly sent to the oil well.
Drawings
FIG. 1 is a schematic view of an automated workover rig of an embodiment of the present disclosure when a positioning module is not in operation;
FIG. 2 is a schematic diagram of an automated workover rig of an embodiment of the present disclosure when the positioning module is in operation;
fig. 3 is a schematic structural view of a gripper module according to an embodiment of the application.
Reference numerals illustrate: 1-a bottom plate; 2-a positioning module; 201-positioning means; 2011-first toothed plate; 2012-a second toothed plate; 2013-a first pin; 2014-vertical slide rails; 2015-first pusher; 202-a pressure sensor; 203-a toggle; 2031-a toggle plate; 2032-fifth motor; 204-a second pusher; 3-grabbing a module; 301-a base; 302-a multi-axis mechanical arm; 303-mobile station; 3031-upper plate; 3032-lower plate; 3033-a second pin; 3034-a third motor; 304-a slide rail; 305-rack; 306-a first motor; 307-first gear; 4-derrick; 401-a frame body; 402-slips.
Detailed Description
In the present application, unless otherwise indicated, terms such as "inner" and "outer" are used to refer to the outline of the corresponding component, terms such as first direction refer to the x-pointing direction in fig. 1, and second direction refer to the y-pointing direction in fig. 1.
The application is described in further detail below with reference to fig. 1-3.
The embodiment of the application discloses an automatic conveying system.
As shown in fig. 1, the automated transport system includes a floor 1, a positioning module 2, and a grasping module 3. The base plate 1 is arranged in a first direction, the base plate 1 being used for placing tubing, commonly referred to in the art as tubing and sucker rods. The grabbing module 3 is arranged at one end of the bottom plate 1 along a first direction, the positioning module 2 comprises a plurality of positioning devices 201 arranged on the bottom plate 1 along the first direction, the positioning devices 201 comprise a first toothed plate 2011, a second toothed plate 2012, a first pin shaft 2013 and two vertical sliding rails 2014, the first toothed plate 2011 comprises a first toothed part and a first connecting part, the second toothed plate 2012 comprises a second toothed part and a second connecting part, the first toothed part and the second toothed part are configured to be meshed with each other, the first connecting part and the second connecting part are connected in a hinged mode through the first pin shaft 2013, the first toothed plate 2011 is arranged on one side, close to the base 301, of the first pin shaft 2013, the second toothed plate 2012 is arranged on one side, far away from the base 301, of the first pin shaft 2013, the vertical sliding rails 2014 are arranged on two opposite sides of the bottom plate 1 along the first direction, and the first pin shaft 2013 is connected with the vertical sliding rails 2014 in a sliding mode respectively.
As shown in fig. 2, two vertical sliding rails 2014 perform a guiding function to guide the first pin shaft 2013 to reciprocate in the vertical direction. When the first pin 2013 moves upward in the vertical direction, the positioning module 2 enters a working state, and the first toothed plate 2011 and the second toothed plate 2012 form an inverted V-shaped structure under the action of the first pin 2013. The first toothed plates 2011 and the second toothed plates 2012 of the positioning devices 201 together form a wave structure formed by combining a plurality of inverted V-shaped structures under the action of the first pins 2013. The position between two adjacent positioning devices 201, namely the trough position of the wave-shaped structure, can be used for positioning the pipe rods, so that a plurality of pipe rods placed on the bottom plate 1 are positioned at the trough position one by one respectively, namely the position between two adjacent positioning devices 201. In the actual use process, in order to limit the position of the pipe rod closest to the grabbing module 3 in the plurality of pipe rods, the positioning device 201 closest to the grabbing module 3 in the plurality of positioning devices 201 can be kept in a working state, namely, a state of forming an inverted V-shaped structure, so as to play a limiting role on the pipe rod.
As shown in fig. 1, in order to provide power for driving the first pin 2013 to move in the vertical direction, the positioning device 201 further includes two first pushing elements 2015, where the two first pushing elements 2015 are respectively disposed on one side of the vertical sliding rail 2014 away from the bottom plate 1, the body of the first pushing element 2015 is fixedly connected with the bottom plate 1, and the output ends of the first pushing elements 2015 are respectively fixedly connected with two ends of the first pin 2013 so as to drive the first pin 2013 to reciprocate in the vertical direction.
The first pushing member 2015 may be an electric push rod, a hydraulic cylinder or an air cylinder, and in this embodiment, the first pushing member 2015 is an electric push rod.
As shown in fig. 1, in order to realize automatic control of the first pushing member 2015, the positioning module 2 further includes a control device and a plurality of pressure sensors 202, wherein the pressure sensors 202 are embedded in the base plate 1 and respectively arranged between two adjacent positioning devices 201, and the control device is simultaneously connected with the pressure sensors 202 and the first pushing member 2015 through signals. The control device may be a PLC controller or a single chip microcomputer, and in this embodiment, the PLC controller is used as the control device.
By using the pressure sensor 202 and the control device, it is possible to determine whether or not a pipe rod exists between two adjacent positioning devices 201. The pressure sensor 202 is in signal connection with a control device, which monitors the pressure signal transmitted from the pressure sensor 202 in real time. When the control device determines, through the determination logic, that the pressure sensor 202 continuously detects pressure between two adjacent positioning devices 201, the control device determines that a pipe exists between two adjacent positioning devices 201. At this time, the control device controls the first pushing member 2015 in the positioning device 201, which detects the presence of both sides of the pipe lever position, to start to operate, thereby positioning the pipe lever.
The judgment logic of the control device may be that when the control device detects that the pressure signal transmitted by the pressure sensor 202 is continuously unchanged for 3-5s, it is judged that a pipe rod exists between two adjacent positioning devices 201, or when the control device detects the pressure signal transmitted by the pressure sensor 202 every 3-5s, it is judged that a pipe rod exists between two adjacent positioning devices 201 when the pressure values transmitted by the two continuous pressure sensors are identical.
As shown in fig. 1, the grabbing module 3 includes a base 301, a plurality of multi-axis mechanical arms 302, and a grabbing member disposed at an execution end of the multi-axis mechanical arms 302, where the base 301 is disposed at one end of the base plate 1 along the first direction, the plurality of multi-axis mechanical arms 302 are all disposed on the base 301, and the grabbing member may be a chuck or a claw, and the grabbing module 3 is used for conveying a pipe rod located between the positioning devices 201 to a working area. In the present embodiment, the number of the multi-axis robot arms 302 is two in consideration of the actual use environment and economic efficiency.
As shown in fig. 1, in order to expand the movement range of the multi-axis mechanical arm 302, the gripping module 3 further includes a moving table 303, a sliding rail 304, and a first driving device, the sliding rail 304 is disposed on top of the base 301, the moving table 303 is slidably connected to the sliding rail 304, the first driving device is drivingly connected to the moving table 303 to drive the moving table 303 to reciprocate along the extending direction of the sliding rail 304, and the multi-axis mechanical arms 302 are disposed on top of the moving table 303 along a second direction perpendicular to the first direction.
As shown in fig. 1, in the present embodiment, the first driving device includes two racks 305 disposed parallel to the slide rail 304, two first motors 306, and first gears 307 disposed at output ends of the two first motors 306, respectively. Wherein the rack 305 is fixedly connected with the top of the base 301, the body of the first motor 306 is fixedly connected with the bottom of the mobile station 303, and the first gear 307 is meshed with the rack 305. When the first motor 306 is started, the first motor 306 drives the first gear 307 to rotate around its own axis, and the moving table 303 moves along the extending direction of the slide rail 304 under the action of the first gear 307 and the rack 305.
In some other embodiments, the first driving device may further include two screws disposed parallel to the sliding rail 304 and two second motors, where the second motors are respectively connected with the screws in a driving manner to drive the screws to rotate around their own axes, and the screws are in threaded connection with the moving platform 303, and when the second motors are started, the second motors drive the screws to rotate around their own axes, and under the action of the screws, the moving platform 303 moves along the extending direction of the sliding rail 304.
The first driving device is not limited in this disclosure as long as it can drive the moving stage 303 to reciprocate along the extending direction of the slide rail 304.
Automated delivery systems are typically deployed around the periphery of the well, and the topographical features of this area are typically complex. Through the use of the mobile station 303, the moving operation range of the multi-axis mechanical arm 302 can be enlarged, and the working field of the grabbing module 3 can be further expanded, so that the selecting range of the positions of the base plate 1 and the positioning module 2 in the setting process is increased, the severe terrain can be avoided in the setting process of the base plate 1 and the positioning module 2, and the working stability is improved.
As shown in fig. 1 and 3, the mobile station 303 includes an upper plate 3031, a lower plate 3032, and a second driving device, wherein a second pin shaft 3033 is provided at one side of the upper plate 3031 in the second direction, the upper plate 3031 is hinged to the lower plate 3032 through the second pin shaft 3033, and the second driving device is in driving connection with the upper plate 3031 to drive the upper plate 3031 to rotate about the central axis of the second pin shaft 3033.
As shown in fig. 1, in this embodiment, the second driving device includes a third motor 3034, a second pin 3033 is fixedly connected with the upper plate 3031, the upper plate 3031 is hinged with the lower plate 3032 through the second pin 3033, the body of the third motor 3034 is fixedly connected with the lower plate 3032, and meanwhile, the third motor 3034 is in driving connection with the second pin 3033 so as to drive the second pin 3033 to rotate along the axis direction thereof. When the third motor 3034 is started, the third motor 3034 drives the second pin shaft 3033 to rotate around the self axis direction, and because the second pin shaft 3033 is fixedly connected with the upper plate 3031, when the second pin shaft 3033 rotates around the self axis direction, the upper plate 3031 also rotates around the central axis of the second pin shaft 3033 along with the second pin shaft 3033.
In some other embodiments, the second driving device includes a fourth motor, the second pin shaft 3033 is fixedly connected with the upper plate 3031, the upper plate 3031 is hinged with the lower plate 3032 through the second pin shaft 3033, a second gear is coaxially and fixedly connected to one side of the second pin shaft 3033, the body of the fourth motor is fixedly connected with the lower plate 3032, meanwhile, the output end of the fourth motor is provided with a third gear to drive the third gear to rotate along the axis direction of the third gear, and the second gear and the third gear are meshed with each other. When the fourth motor is started, the fourth motor drives the third gear to rotate around the axis direction of the third gear, the second gear starts to rotate around the axis under the action of mutual meshing with the third gear, the second pin shaft 3033 rotates together with the second gear due to the fact that the second gear is fixedly connected with one side of the second pin shaft 3033, and the upper plate 3031 also rotates around the central axis of the second pin shaft 3033 due to the fact that the second pin shaft 3033 is fixedly connected with the upper plate 3031 when the second pin shaft 3033 rotates around the axis direction of the upper plate 3031.
The second driving means is not limited in this disclosure as long as it is capable of driving the upper plate 3031 to rotate about the central axis of the second pin 3033.
As shown in fig. 1, since the working range of the grabbing module 3 is limited, in order to send the pipe rod far away from the grabbing module 3 on the bottom plate 1 to the vicinity of the grabbing module 3 and position the pipe rod, the positioning module 2 may include a toggle 203, the toggle 203 includes a toggle plate 2031 and a third driving device, the toggle plate 2031 includes a straight plate portion and a bending portion, a third pin shaft is disposed on one side of the straight plate portion far away from the bending portion, the straight plate portion is hinged to one end of the bottom plate 1 far away from the base 301 through the third pin shaft, a bending direction of the bending portion faces to the top of the bottom plate 1, and the third driving device is in driving connection with the toggle plate 2031 to drive the toggle plate 2031 to rotate around a central axis of the third pin shaft.
In the actual working process, an operator usually sets a pipe rod bin near the automatic conveying system, and a pipe outlet of the pipe rod bin is arranged on one side of the pipe rod bin. When the pipe rod is taken out of the pipe rod bin, if the pipe rod is not interfered, the pipe rod can be discharged from the pipe outlet of the pipe rod bin by the pipe rod bin and can do free falling motion. When the shifter 203 is provided, the pipe discharged from the outlet of the pipe bin may contact with the bent portion of the shifter 2031 in the shifter 203, and the pipe may roll along the bottom plate 1 toward the side close to the grabbing module 3 under the effect of the bent portion. In some cases, the pipe rod does not contact with the bending portion in the falling process, and directly falls on the bottom plate 1, and at this time, a worker can drive the toggle plate 2031 to rotate around the central axis of the third pin shaft by controlling the third driving device, so as to apply a force to the pipe rod, so that the pipe rod can roll along the bottom plate 1 to a side close to the grabbing module 3.
As shown in fig. 1, in this embodiment, the third driving device includes a fifth motor 2032, a third pin is fixedly connected with a toggle plate 2031, the toggle plate 2031 is hinged with the bottom plate 1 through the third pin, the body of the fifth motor 2032 is fixedly connected with the bottom plate 1, and meanwhile, the fifth motor 2032 is in driving connection with the third pin to drive the third pin to rotate along the axis direction of the third pin. When the fifth motor 2032 is started, the fifth motor 2032 drives the third pin to rotate around the axis direction of the third pin, and since the third pin is fixedly connected with the toggle plate 2031, when the third pin rotates around the axis direction of the third pin, the toggle plate 2031 also rotates around the central axis of the third pin along with the third pin.
In some other embodiments, the third driving device includes a sixth motor, the third pin is fixedly connected with the toggling plate 2031, the toggling plate is hinged with the bottom plate 1 through the third pin, a fourth gear is coaxially and fixedly connected to one side of the third pin, the body of the sixth motor is fixedly connected with the bottom plate 1, and meanwhile, a sixth gear is arranged at an output end of the fourth motor to drive the sixth gear to rotate along the axis direction of the sixth motor, and the fifth gear and the sixth gear are meshed with each other. When the sixth motor is started, the sixth motor drives the sixth gear to rotate around the axis direction of the sixth gear, the fifth gear starts to rotate around the axis under the action of mutual meshing with the sixth gear, the third pin shaft rotates along with the fifth gear due to the fact that the fifth gear is fixedly connected with one side of the third pin shaft, and the stirring plate 2031 also rotates around the central axis of the third pin shaft along with the third pin shaft when the third pin shaft rotates around the axis direction of the sixth motor due to the fact that the third pin shaft is fixedly connected with the stirring plate 2031.
The third driving device is only required to be capable of driving the toggle plate 2031 to rotate around the central axis of the third pin shaft, and the disclosure is not limited thereto.
As shown in fig. 1, in order to convey the pipe rod on the base plate 1 far from the grabbing module 3 to the vicinity of the grabbing module 3, the base plate 1 may be hinged to the base 301, and at the same time, a second pushing member 204 is provided at the bottom of the base plate 1 far from the base 301 side, and the second pushing member 204 is vertically provided to drive the base plate 1 to rotate around its hinge shaft with the base 301. The second pushing member 204 may be an electric push rod, a hydraulic cylinder or an air cylinder, and in this embodiment, the second pushing member 204 is a hydraulic cylinder.
In the actual working process, part of the pipe rods roll to one side close to the grabbing module 3 under the action of the toggle 203, and part of the pipe rods stop rolling halfway due to insufficient initial power, at the moment, the bottom plate 1 hinged with the base 301 is pushed by the second pushing piece 204, so that the bottom plate 1 inclines towards the grabbing module 3, the inclined angle can be 5-20 degrees, the pipe rods on the bottom plate 1 far away from the grabbing module 3 are enabled to roll to one side close to the grabbing module 3 by utilizing gravity, and the grabbing module 3 can be conveniently grabbed by the grabbing module 3.
Meanwhile, in order to save space, since the base plate 1 is hinged to the base 301, the base plate 1 can be retracted when the automatic conveying system is in a non-working state, that is, the base plate 1 is rotated by 90 degrees to be in a state of being perpendicular to a horizontal plane, and leans against one side of the base 301.
The implementation principle of the automatic conveying system provided by the embodiment of the application is as follows: the staff takes out the pipe pole from the pipe pole storehouse, and the pipe pole is discharged by the pipe pole storehouse from the exit orifice of pipe pole storehouse and is free fall motion, and the pipe pole contacts with the portion of bending of stirring board 2031 in the ware 203 before falling to bottom plate 1, and under the effect of the portion of bending, the pipe pole rolls along bottom plate 1 to the one side that is close to snatch module 3.
The pipe rod stops rolling under the influence of the positioning device 201 closest to the grabbing module 3, the control device in the positioning module 2 detects that the pressure signals transmitted by the pressure sensors 202 are unchanged for 3-5 seconds, then the positioning devices 201 on two sides of the pressure sensors 202 are controlled to start, the first pushing piece 2015 in the positioning devices 201 pushes the first pin shaft 2013 upwards in the vertical direction, and the first toothed plate 2011 and the second toothed plate 2012 form an inverted V-shaped structure under the action of the first pin shaft 2013. The first toothed plates 2011 and the second toothed plates 2012 in the positioning devices 201 together form a wave structure formed by combining a plurality of inverted V-shaped structures under the action of the first pins 2013, so as to position the pipe rod. After the positioning module 2 positions the pipe bar, the plurality of multi-axis mechanical arms 302 in the gripping module 3 guide the gripping members to the pipe bar that has been positioned and grip the pipe bar that has been positioned, and then the gripping members that grip the pipe bar are guided to the work area and release the pipe bar to the work area under the guidance of the multi-axis mechanical arms 302.
The embodiment of the application also discloses an automatic workover rig.
As shown in fig. 1, the automated workover rig comprises a derrick 4, a guiding and positioning device and the automated conveying system; the derrick 4 is arranged at the oil well, the derrick 4 comprises a frame body 401, slips 402 and a bearing support, the slips 402 and the bearing support are fixedly connected with the frame body 401, and the slips 402 are arranged above the bearing support along the extending direction of the oil well; the automatic conveying system is arranged on one side of the derrick 4, and the base 301 is arranged close to the derrick 4; the guiding and positioning device comprises a signal transmitting end, a signal receiving end and a plurality of signal intermediating ends, the number of the signal intermediating ends is the same as that of the multi-axis mechanical arms 302, the signal transmitting end is arranged at the bottom of the slips 402 and is arranged towards the bottom of the well along the extending direction of the oil well, the signal receiving end is arranged at the top of the bearing support and is arranged on a signal transmitting path of the signal transmitting end, the plurality of signal intermediating ends are respectively arranged at the grabbing piece, and the control assembly is simultaneously connected with the plurality of signal intermediating ends, the multi-axis mechanical arms 302 and the grabbing piece through signals. When the signal transmitting end works, the signal receiving end and the plurality of signal intermediaries can receive signals transmitted by the signal transmitting end, meanwhile, the control component can acquire the offset of the linear connection line between the signal intermediate-order end and the signal transmitting end and the signal receiving end, and the multi-axis mechanical arm 302 is controlled to drive the path of the movement of the gripping member according to the offset, so that the signal intermediaries are driven to be in line with the signal transmitting end and the signal receiving end.
The implementation principle of the automatic workover rig of the embodiment of the application is as follows: the multi-axis mechanical arm 302 in the automatic conveying system drives the gripping member to convey the pipe rod to the frame 401, one end of the pipe rod is in contact with the bearing support, the guiding and positioning device can play a guiding role in the process, the signal transmitting end is arranged at the bottom of the slips 402 and is arranged towards the bottom of the well along the extending direction of the oil well, the signal receiving end is arranged at the top of the bearing support and is arranged on the signal transmitting path of the signal transmitting end, and the plurality of signal intermediating ends are respectively arranged at the gripping member. And repeating the steps until the construction work of the oil pipe of the oil well, the sucker rod and other pipe rods is completed.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (6)
1. An automated transport system, comprising: the device comprises a bottom plate (1), a positioning module (2) and a grabbing module (3);
the bottom plate (1) is arranged along a first direction, and the bottom plate (1) is used for placing a pipe rod;
The positioning module (2) comprises a plurality of positioning devices (201) arranged on the bottom plate (1) along the first direction, wherein the positioning devices (201) are used for positioning a plurality of pipe rods placed on the bottom plate (1) between two adjacent positioning devices (201) one by one;
The grabbing module (3) comprises a base (301), a plurality of multi-axis mechanical arms (302) and a grabbing piece arranged at the execution end of the multi-axis mechanical arms (302), wherein the base (301) is arranged at one end of the base plate (1) along the first direction, the multi-axis mechanical arms (302) are arranged on the base (301), and the grabbing module (3) is used for conveying pipe rods positioned between the positioning devices (201) to a working area;
The positioning device (201) comprises a first toothed plate (2011), a second toothed plate (2012), a first pin shaft (2013) and two vertical sliding rails (2014), the first toothed plate (2011) comprises a first toothed part and a first connecting part, the second toothed plate (2012) comprises a second toothed part and a second connecting part, the first toothed part and the second toothed part are configured to be meshed with each other, the first connecting part and the second connecting part are hinged and connected through the first pin shaft (2013), the first toothed plate (2011) is arranged on one side, close to the base (301), of the first pin shaft (2013), the second toothed plate (2012) is arranged on one side, far away from the base (301), of the first pin shaft (2013), the vertical sliding rails (2014) are arranged on two opposite sides, opposite to the base (1) along the first direction, of the first pin shaft (2013) is respectively connected with the vertical sliding rails (2014) in a sliding manner;
The positioning device (201) further comprises two first pushing pieces (2015), the two first pushing pieces (2015) are respectively arranged on one side, far away from the bottom plate (1), of the vertical sliding rail (2014), a body of the first pushing piece (2015) is fixedly connected with the bottom plate (1), and output ends of the first pushing pieces (2015) are respectively fixedly connected with two ends of the first pin shaft (2013) so as to drive the first pin shaft (2013) to reciprocate along the vertical direction;
The positioning module (2) further comprises a control device and a plurality of pressure sensors (202), wherein the pressure sensors (202) are embedded into the bottom plate (1) and are respectively arranged between two adjacent positioning devices (201), and the control device is simultaneously connected with the pressure sensors (202) and the first pushing piece (2015) in a signal mode.
2. The automated transport system of claim 1, wherein: the grabbing module (3) further comprises a moving table (303), a sliding rail (304) and a first driving device, the sliding rail (304) is arranged at the top of the base (301), the moving table (303) is in sliding connection with the sliding rail (304), the first driving device is in driving connection with the moving table (303) to drive the moving table (303) to reciprocate along the extending direction of the sliding rail (304), and a plurality of multi-axis mechanical arms (302) are arranged at the top of the moving table (303) along a second direction perpendicular to the first direction.
3. The automated transport system of claim 2, wherein: the mobile station (303) comprises an upper plate (3031), a lower plate (3032) and a second driving device, wherein a second pin shaft (3033) is arranged on one side of the upper plate (3031) along the second direction, the upper plate (3031) is hinged with the bottom plate (1) through the second pin shaft (3033), and the second driving device is in driving connection with the upper plate (3031) so as to drive the upper plate (3031) to rotate around the central axis of the second pin shaft (3033).
4. The automated transport system of claim 1, wherein: the positioning module (2) further comprises a poking device (203), the poking device (203) comprises a poking plate (2031) and a third driving device, the poking plate (2031) comprises a straight plate portion and a bending portion, a third pin shaft is arranged on one side, away from the bending portion, of the straight plate portion, the straight plate portion is hinged to one end, away from the base (301), of the base (1) through the third pin shaft, the bending direction of the bending portion faces the top of the base (1), and the third driving device is in driving connection with the poking plate (2031) to drive the poking plate (2031) to rotate around the central axis of the third pin shaft.
5. The automated transport system of claim 1, wherein: the base plate (1) is hinged with the base (301), a second pushing piece (204) is arranged at the bottom of one side, far away from the base (301), of the base plate (1), and the second pushing piece (204) is vertically arranged to drive the base plate (1) to rotate around a hinge shaft of the base plate (301).
6. An automated workover rig, comprising: derrick (4), guiding and positioning device and automated conveying system according to any of claims 1-5;
The derrick (4) is arranged at an oil well, the derrick (4) comprises a frame body (401), slips (402) and a bearing support, the slips (402) and the bearing support are fixedly connected with the frame body (401), and the slips (402) are arranged above the bearing support along the extending direction of the oil well;
The automatic conveying system is arranged on one side of the derrick (4), and the base (301) is arranged close to the derrick (4);
The guiding and positioning device comprises a control component, a signal transmitting end, a signal receiving end and a plurality of signal intermediating ends, wherein the number of the signal intermediating ends is the same as that of the multi-axis mechanical arms (302), the signal transmitting end is arranged at the bottom of the slips (402) and is arranged along the extending direction of the oil well towards the bottom of the well, the signal receiving end is arranged at the top of the bearing support and is arranged on the signal transmitting path of the signal transmitting end, the signal intermediating ends are respectively arranged at the grabbing parts, and the control component is simultaneously connected with the signal intermediating ends, the multi-axis mechanical arms (302) and the grabbing parts in a signal mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311497177.2A CN117468873B (en) | 2023-12-29 | 2023-12-29 | Automatic conveying system and automatic workover rig |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311497177.2A CN117468873B (en) | 2023-12-29 | 2023-12-29 | Automatic conveying system and automatic workover rig |
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| CN117468873B true CN117468873B (en) | 2024-06-04 |
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| CN108040594A (en) * | 2018-01-04 | 2018-05-18 | 农业部南京农业机械化研究所 | Grass-winding proof pulls out stalk roller |
| CN216541181U (en) * | 2021-12-20 | 2022-05-17 | 浙江百金机床制造有限公司 | Be applied to material loading auxiliary device of circular sawing machine |
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|---|---|---|---|---|
| EP1953334B1 (en) * | 2007-01-08 | 2016-11-09 | National Oilwell Varco, L.P. | A pipe handling system and method |
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| CA2199653A1 (en) * | 1997-03-11 | 1998-09-11 | G & P Enterprises, Ltd. | Sucker rod cradle apparatus |
| CN108040594A (en) * | 2018-01-04 | 2018-05-18 | 农业部南京农业机械化研究所 | Grass-winding proof pulls out stalk roller |
| CN216541181U (en) * | 2021-12-20 | 2022-05-17 | 浙江百金机床制造有限公司 | Be applied to material loading auxiliary device of circular sawing machine |
| CN115012859A (en) * | 2022-06-30 | 2022-09-06 | 山东省地质矿产勘查开发局第一地质大队（山东省第一地质矿产勘查院） | Multifunctional full-hydraulic core drilling machine |
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| CN117468873A (en) | 2024-01-30 |
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