CN103061692A - Automatic running and pulling system of oilfield workover string - Google Patents
Automatic running and pulling system of oilfield workover string Download PDFInfo
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- CN103061692A CN103061692A CN2013100531909A CN201310053190A CN103061692A CN 103061692 A CN103061692 A CN 103061692A CN 2013100531909 A CN2013100531909 A CN 2013100531909A CN 201310053190 A CN201310053190 A CN 201310053190A CN 103061692 A CN103061692 A CN 103061692A
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Abstract
The invention relates to an automatic running and pulling system of an oilfield workover string, which comprises a blowout preventer, fixing slips, an oil pipe/sucker rod guide mechanism, an oil pipe/sucker rod locating mechanism, an oil pipe/sucker rod elevator component, a mechanical arm component, hydraulic clamps, a hydraulic clamps bracket, a control system, a base component and a string bent, wherein the mechanical arm component and the hydraulic clamps bracket are installed on the base component and are connected through a linkage component to carry out linkage movement, and the string bent is arranged on the side surface of the mechanical arm component and moves in match with the mechanical arm component. With the adoption of the automatic running and pulling system of the oilfield workover string, the automation of movements of snatching up, butt joint, clamping, upper unloading, elevating, lowering, arrangement and the like can be realized, manual string running and pulling operation at a wellhead is replaced, an equipment mechanism is simplified as much as possible, and an operation program is optimized.
Description
Technical field
The present invention relates to the oil well repairing operation apparatus field, is that a kind of oil well tubing string removes system automatically specifically.
Background technology
Oil well repairing operation mainly is for the normal production that guarantees oil well or according to need of production oil well to be overhauled, safeguards and adjusts, it is the important production link that guarantees oilfield stable production, high yield, its groundwork has: inspection pump, sand control, change filter, change envelope etc., one of them very hard work be exactly lower oil tube, sucker rod and downhole tool.
China's oil well is continued to use traditional operating type always for many years, has realized the lower tubular column operation with the crescent moon elevator.Basically be manual work, need Manual Switch oil pipe or rod elevator, dislodging suspension ring, push-and-pull hydraulic tongs, push away and put jigger, auxiliary oil pipe location, complex procedures, automaticity is low, working strength is large, need personnel many, inefficiency, operation is dangerous large, work under bad environment when running into tubing and casing in the workover operation overflow or strong wind sleety weather being arranged, not only can affect normal operation, also can cause spray liquid well site in the well, can't dock oil pipe, form the pollution of environment and personnel, equipment.Domestic each oil field has a large amount of workover rigs, and such as tractor hoist, derrick, hydraulic tongs, elevator etc., the workover treatment mode is badly in need of reform, but can not all abandon existing equipment.External vehicle carried well repairing machine better performances, but this kind working rig has been abandoned original workover rig fully, and condition of work requires high, expensive, is unsuitable for China's national situation.
I in first to file two " automatic oil well repairing apparatus " patent (application numbers 03112330.9,200410036305.4), the automatic oil well repairing apparatus that provides is mainly self-styled by oil pipe, stationary slip, the tubing coupling lower locating device, lubricator, hydraulic tongs, oil pipe sleeve elevator, mechanical arm, manipulator, mechanical arm driving mechanism, sucker rod sleeve elevator, the sucker rod guiding mechanism, positioning tube under the sucker rod, pumping rod self seal, guide rail, the compositions such as derrick pulley assembly and automatic control system can solve the defective of manual work and Special workover machine.But Shortcomings is gone back in the design of the parts such as mechanical arm assembly, pipe elevator assembly, oil pipe guiding mechanism, hydraulic tongs assembly, sucker rod guiding mechanism, rod elevator, does not especially relate to the tubing string mechanism that arranges.
Summary of the invention
Purpose of the present invention is exactly the deficiency that removes mode and equipment for existing oil well tubing string, under the prerequisite that takes full advantage of existing main workover rig, provide a kind of oil well tubing string automatically to remove system, the subject matter that solves be oil pipe and sucker rod pick up, dock, tighten, on unload, the automation of put-on and delegated and the action such as arrange, substitute artificial tubing string rountrip at well head, and the simplified apparatus mechanism that tries one's best, the Optimum Operation program.
Technical scheme of the present invention realizes by following scheme: comprise preventer, stationary slip, oil pipe/sucker rod guiding mechanism, oil pipe/sucker rod detent mechanism, oil pipe/rod elevator assembly, the mechanical arm assembly, hydraulic tongs, hydraulic tongs support and control system, oil pipe/sucker rod guiding mechanism wherein, oil pipe/sucker rod detent mechanism, stationary slip and preventer be coaxial installation from top to bottom, and the coaxial alignment oil pipe/rod elevator assembly that makes progress, described hydraulic tongs hangs on the hydraulic tongs support, and described control system comprises programmable logic controller PLC and sensor, actuator; The described system that removes also comprises base assembly and tubing string framed bent, described mechanical arm assembly and hydraulic tongs support are installed on the base assembly, and the mechanical arm assembly is connected linkage unit and connects and linkage action with the hydraulic tongs support, described tubing string framed bent is arranged in the side of mechanical arm assembly, and with described mechanical arm assembly interoperation.When playing lower tubular column base assembly is fixed in outer wellhead lateral edges (being installed in a side of the wellhead assembly that coaxial mounted oil pipe/sucker rod guiding mechanism, oil pipe/sucker rod detent mechanism, stationary slip and preventer form), the center of the manipulator of mechanical arm assembly and well head center line align, the hydraulic tongs support is in mechanical arm assembly one side, and the tubing string framed bent is arranged in the mechanical arm side; Tubing head top is installed preventer, stationary slip, oil pipe/sucker rod detent mechanism and oil pipe/sucker rod guiding mechanism successively, and the coaxial alignment oil pipe/rod elevator assembly that makes progress; Oil pipe/rod elevator assembly hangs under the hook of travelling block by suspension ring.
Above scheme can further be improved to:
The preferred structure of mechanical arm assembly is: comprise by the fixing hinged seat of bed plate and base assembly, with the hinged mechanical arm of hinged seat and mechanical arm on the swinging arm and the manipulator that are connected, principal arm rotary actuation hydraulic cylinder is installed between described mechanical arm and the bed plate, arm rotating liquid cylinder pressure is installed on the described arm; Described mechanical arm and arm are length controllable adjustable structure, are equipped with hydraulic controller on the described hydraulic cylinder.Principal arm rotary actuation hydraulic cylinder works can realize that mechanical arm integral body is from level to upset vertical or from vertical to level.Arm rotating liquid cylinder pressure is connected with arm by axle, can realize the swing of arm, and pendulum angle is preferably 100 °～120 °.
Mechanical arm is connected length-adjustable preferred structure and is respectively with arm: mechanical arm comprises that the sleeve arm hinged with hinged seat, the support principal arm that is connected with swinging arm and main arm telescoping drive hydraulic cylinder, wherein supporting principal arm is plugged in the sleeve arm, and main arm telescoping drives hydraulic cylinder one end and is connected with the support principal arm, the other end is connected with the sleeve arm, main arm telescoping drives hydraulic cylinder works, supports principal arm and can stretch out from the sleeve arm or retract; Principal arm rotary actuation hydraulic cylinder is connected on the sleeve arm of mechanical arm.One end of arm is provided with to be embedded in and supports in the principal arm and sliding seat moving up and down, and sliding seat is provided with hinged seat, and hinged arm on the hinged seat is by the extension elongation that changes arm that moves up and down of sliding seat.
Support the principal arm middle part and connect for flange, flange one side is equipped with the hinge that the folding support principal arm is used, and is convenient to support principal arm and folds.
The preferred structure of tubing string framed bent is: the adjustable for height framed bent supporting leg that comprises the bottom with and on matrix pipe bridge, the additional pipe bridge installed successively, matrix pipe bridge and additional pipe bridge are installed the tubing string stopping means near an end of mechanical arm assembly, tubing string is carried out spacing, be convenient to gripper of manipulator, put tubing string.Said structure is more preferably: described framed bent props up midleg for regulating screw mandrel, the upper end links to each other with the matrix pipe bridge by jointed shaft, matrix pipe bridge left end is installed column, additional pipe bridge is set on the column by connector, be supported on the matrix pipe bridge by lower floor's oil pipe, matrix pipe bridge and additional pipe bridge are threaded connection end-fitting near an end of mechanical arm assembly, and end backing pin/guiding swash plate is installed in the groove of levels end-fitting formation; The matrix pipe bridge is near the side connection base of mechanical arm assembly one end, and connecting guide plate assembly play the guiding role to tubing string on it.Regulate the adjusting screw mandrel on the framed bent supporting leg during lift pipe string operation, the mechanical arm side leg raises, and the distally supporting leg reduces, and framed bent is to tilting away from the mechanical arm direction, and tubing string rolls to the direction away from mechanical arm.Nearly arm side leg reduces during the lower tubular column operation, and the distally supporting leg raises, and framed bent tilts to the mechanical arm direction, and tubing string rolls to the mechanical arm direction on the framed bent, near the end backing pin; Adjust backing pin position, end, end and mechanical arm and grab the card distance, tubing string and mechanical arm are extended adapt.When discharging tubing string, change the end backing pin into the guiding swash plate, be convenient to discharge oil pipe.
The preferred structure of base assembly is: comprise ground anchor assemblies and the fixed underpan of installing on it, one end of fixed underpan upper surface is installed the mechanical arm stop assembly, the other end is installed the mechanical arm limit assembly, the bottom surface mounting support assembly of fixed underpan plays the supplemental support effect; Mechanical arm bed plate position adjustments assembly also is installed on the described fixed underpan upper surface.During operation fixed underpan is fixed on the basis, ground by the ground anchor assemblies, the mechanical arm stop assembly is installed on the fixed underpan front end, by regulating the Height Adjustable mechanical arm start bit angle setting of stop assembly; Can be adjusting part before and after being designed to and left and right adjusting assembly cooperation adjustment position such as bed plate position adjustments assembly, before and after joint assembly and left and right adjusting assembly include the adjustment seat that is fixed on the fixed underpan with and upper screw thread install adjusting rod, an end of adjusting rod is resisted against on the bed plate; Concrete mounting means can for: adjusting parts are installed on respectively middle part and the rear end of fixed underpan before and after two, realize the adjustment of mechanical pedestal plate front and back position by front and back adjusting part adjusting rod, the left and right adjusting assembly is installed on the left end of fixed underpan, realize the adjustment of position, the bed plate left and right sides by the adjusting rod of left and right adjusting assembly, the mechanical arm limit assembly is installed on the rear end of fixed underpan, and the mechanical arm pendulum angle is played position-limiting action.
The preferred structure of hydraulic tongs support is: comprise length-adjustable columns assemblies with and not hinged semi girder assembly and the support bar assembly in upper and lower part; Wherein the semi girder assembly comprises that mutual grafting regulates main boom beam and the overhanging beam of length, and described main boom beam and columns assemblies are hinged, and connect oscillating motor between the two, and oscillating motor is flexible can to make hydraulic tongs swing in horizontal plane; The end of described overhanging beam connects respectively screw regulator and the spring strut that is used for the suspension hydraulic pincers successively; Described support bar assembly is the length adjustable structure, the one end be fixed on that column ear seat on the columns assemblies is hinged, the other end and the hydraulic pressure Qianer seat that is fixed on the hydraulic tongs be hinged; Connecting cantilever diagonal brace between described main boom beam and the column otic placode; The bottom of described columns assemblies is installed on the upright post base, and can change between upright and level around it, and mounting means can be for hinged, so that hydraulic tongs support and mechanical arm component synchronization are upright and fell.Above scheme can be more preferably: columns assemblies is comprised of upper and lower two parts of mutual grafting, and the leading screw lifter is connected with the upper and lower respectively, and the adjusting screw lifter can make column reduce or raise.
The preferred structure of the pipe elevator assembly when being used for lower oil tube is: comprise elevator body, connecting screw rod, clamping block, rotatory sealing cone, spring, sensor-triggered plate, elevator upper sensor, installation of sensors plate, elevator block teeth, hydraulic cylinder connector, drive hydraulic cylinder; Wherein said elevator body lower end is pyramidal structure, and its top difference installation elevator block teeth and connecting screw rod, the outside are installed and driven hydraulic cylinder, and the driving hydraulic cylinder is connected with elevator block teeth outer end by the hydraulic connecting head; Described connecting screw rod is equipped with installation of sensors plate, spring, rotatory sealing cone and clamping block from top to bottom successively, and the lower end installation elevator upper sensor of described installation of sensors plate, and cooperate with the corresponding sensor-triggered plate that is installed in rotatory sealing cone upper end; The pipe elevator assembly is connected with the travelling block hook by suspension ring during operation, the pyramidal structure of elevator body lower end play the guiding role, drive hydraulic cylinder by flexible pulling elevator block teeth, make the forward and reverse upset of elevator block teeth energy, the realization block teeth are opened or are resetted, thereby open or close the pipe elevator assembly; Clamping block can block the rotatory sealing cone, finishes the function of sand washing and blowout prevention.
The preferred structure of the rod elevator assembly when being used for actuating oil-pumping unit is: comprise elevator body, connecting screw rod, setscrew nut, triggering baffle plate, spring, sensor fixation plate, sensor, elevator block teeth, rotating shaft, hydraulic cylinder connector and drive hydraulic cylinder; Wherein said elevator body bottom is pyramidal structure, and its top difference installation elevator block teeth and connecting screw rod, the outside are installed and driven hydraulic cylinder, and the driving hydraulic cylinder is connected with elevator block teeth outer end by the hydraulic connecting head; Described connecting screw rod is equipped with sensor fixation plate, spring, triggering baffle plate and setscrew nut from top to bottom successively, and the lower end sensor installation of described sensor fixation plate, and matches with the triggering baffle plate.Drive hydraulic cylinder during operation and drive connector, make the elevator block teeth do flip-flop movement along rotating shaft, block teeth are opened or are resetted, and elevator body lower end is conical structure, play the guiding role.Represent that rod collar obviously exceeds elevator body upper end when triggering when baffle plate touches elevator top sensor, block teeth can move.
The preferred structure of oil pipe/sucker rod guiding mechanism is: the two is by two symmetrical module compositions of installing, each assembly comprises driver hydraulic cylinder, bearing, joint steel pipe and guide cone cylinder, wherein bearing bottom fixed drive hydraulic cylinder, upper articulation joint steel pipe, and the fixed drive hydraulic cylinder is connected with joint steel pipe, and the other end of connecting square pipes connects the guide cone cylinder.Drive the hydraulic cylinder action during operation, guide cone cylinder and joint steel pipe are rotated.When needing guiding, two guide cone cylinders merge, and lead, and when not required, drive the hydraulic cylinder action, and connection side's steel pipe and guide cone cylinder rotate outward around axial rotary.The difference of oil pipe guiding mechanism and sucker rod guiding mechanism mainly is to the latus rectum of cone cylinder different.
The preferred structure difference of oil pipe/sucker rod guiding mechanism: described oil pipe positioning mechanism is well head box cupling alignment sensor; Described sucker rod detent mechanism comprise gripper shoe with and the interfix piece of the mutual involutory and middle part perforate of hinged two in both sides the driving hydraulic cylinder, the middle part that connect, be equipped with limited block on the gripper shoe in each locating piece outside.Wherein locating piece can freely overturn around axle, and limited block is installed on the locating piece rear portion, prevents that the locating piece corner is excessive.Rise in the sucker rod operation when the rod elevator assembly and drop to specified altitude, drive the Hydraulic Cylinder gripper shoe and rise to specified altitude, rod elevator falls within the locating piece upper surface, the travelling block stop motion, the stationary slip action, chucking bottom sucker rod, gripper shoe is returned to original position again under the effect that drives hydraulic cylinder, turn in the locating piece, the rod slap locating piece, locating piece turns up, and after rod collar passed through, locating piece resetted.During the lower sucker rod operation, limited block is removed, locating piece turn up 180 ° inoperative; When movable elevator drops to specified altitude, gripper shoe rises to a high position under the promotion that drives hydraulic cylinder, movable elevator falls within support plate upper surface, the travelling block stop motion, the stationary slip action, chucking bottom sucker rod, gripper shoe is returned to original position again under the effect that drives hydraulic cylinder, and the rod elevator assembly just can be deviate from.
Linkage unit namely can controller tool arm component and the hydraulic tongs support upright or fell synchronously, and realize respectively separately function, its structure can have multiple choices, so long as can realize that above-mentioned functions gets final product, a kind of preferred structure below is provided: comprise junction plate, limiting plate, connection box, wherein be articulated and connected frame and hinge point of the end on the junction plate has limiting plate.More preferably: comprise junction plate, limiting plate, sleeve pipe, connecting axle and connection box, lower end soldering sleeve and the limiting plate of junction plate, the normal inclination angle that keeps connection box; Respectively there is one section screw thread at the connecting axle two ends, and connection box is fixed on connecting axle one end by nut, and wherein an end connecting axle passes sleeve pipe, and connection box can be rotated around casing axis.
The preferred structure of swinging arm and manipulator is: robot drives hydraulic cylinder one end is fixed on the arm, the other end passes through connector, paw is connected paw to be connected with clamping mechanical hand on connecting rod and the clamping mechanical hand, on the clamping mechanical hand under paw and the clamping mechanical hand paw be fixed on the manipulator axle, upper liner is fixed in paw inwall on the clamping mechanical hand, lower liner is fixed in paw inwall under the clamping mechanical hand, the manipulator inner sensor is installed on the locating piece, manipulator inner sensor feedback signal, the clamping of paw or open under paw and the clamping mechanical hand reaches the effect of pick-and-place oil pipe on the robot drives hydraulic control clamping mechanical hand; Nondominant hand is fixed in the arm end, and auxiliary fore paw and nondominant hand are hinged, plays to catch on and lead to discharge the effect of oil pipe; Reduction torsion spring is fixed on the auxiliary fore paw by the torsion spring mandrel, and it is automatically reset.
Automatic control system is comprised of programmable logic controller PLC and corresponding sensor, actuator, and signal can wire transmission, also can be wireless transmission.Signal is through transmitter access PLC input terminal, and after the disconnected analysis of PLC, the output executable instruction is finished predetermined action to corresponding actuator, and related sensor provides signal feedback, processes through PLC, provides instruction, finishes further action.
The major advantage that oil well tubing string provided by the present invention removes system automatically has: 1) modern design, simple in structure, existing tubing string removes function, and discharge function is arranged again, can fundamentally change existing workover treatment mode.2) during the shallow bid overflow, the sealing on pipe elevator top cone can seal oil pipe, and plays guide functions, prevents from sending contaminated equipment and well site, good environmental protection forth in the liquid-containing air in the oil pipe; 3) stationary slip cooperates with movable elevator and need not to switch elevator and dislodging suspension ring; 4) mechanical arm and manipulator have snatch, transfer and dock the oil pipe function, saved the push-and-pull jigger, manually docked the oil pipe link, and in the hydraulic tongs operation process, manipulator has the function of righting; 5) the arm extension elongation on the adjustable and mechanical arm of framed bent height is adjustable, position base is adjustable, mechanical arm can stretch etc. can make the compliance of system obviously strengthen; 6) feedback signal and control signal can wireless transmission, reduced the connection electric wire, make system architecture compacter; 7) can take full advantage of existing main workover rig, such as tractor hoist, derrick, hydraulic tongs, travelling block and suspension ring etc., cost is low, and is good in economic efficiency, and high efficiency can reduce workman's labour intensity and danger.
Description of drawings
Fig. 1 removes system according to the oil well oil pipe that the present invention proposes to face configuration schematic diagram automatically;
Fig. 2 removes system according to the oil well oil pipe that the present invention proposes to overlook configuration schematic diagram automatically, show structure of the present invention for clearer, wherein the mechanical arm assembly is the schematic diagram of level among the figure, and schematic diagram when being erectility of hydraulic tongs support, hydraulic tongs and linkage unit (above-mentioned two parts only illustrate respectively to be the needs of statement structure, and two parts are to be synchronized with the movement and location status also is consistent in the actual practical work process);
Fig. 3 removes system according to the oil well sucker rod that the present invention proposes to face configuration schematic diagram automatically;
Fig. 4 removes system according to the oil well sucker rod that the present invention proposes to overlook configuration schematic diagram automatically, show structure of the present invention for clearer, wherein the mechanical arm assembly is the schematic diagram of level, and schematic diagram when being erectility of hydraulic tongs support, hydraulic tongs and linkage unit (above-mentioned two parts only illustrate respectively to be the needs of statement structure, and two parts are to be synchronized with the movement and location status also is consistent in the practical work process);
Fig. 5 is according to the said mechanical arm assembly of the present invention elevation;
Fig. 6 is the arm side TV structure schematic diagram according to the said mechanical arm of the present invention;
Fig. 7 is the arm plan structure schematic diagram according to the said mechanical arm of the present invention;
Fig. 8 is according to the said hydraulic tongs supporting structure of the present invention schematic diagram;
Fig. 9 faces structural representation according to the said base assembly of the present invention;
Figure 10 is according to the said base assembly plan structure of the present invention schematic diagram;
Figure 11 is the mechanical arm stop assembly schematic diagram according to the said base assembly of the present invention;
Figure 12 is the front and back adjusting part schematic diagram according to the said base assembly of the present invention;
Figure 13 is the left and right adjusting assembly schematic diagram according to the said base assembly of the present invention;
Figure 14 is the ground anchor assemblies schematic diagram according to the said base assembly of the present invention;
Figure 15 is the bearing assembly schematic diagram according to the said base assembly of the present invention;
Figure 16 faces structural representation according to the said tubing string framed bent of the present invention;
Figure 17 is according to the said tubing string framed bent of the present invention plan structure schematic diagram;
Figure 18 is the end construction schematic diagram according to the said tubing string framed bent of the present invention;
Figure 19 faces structural representation according to the said pipe elevator assembly of the present invention;
Figure 20 is according to the said pipe elevator components side of the present invention TV structure schematic diagram;
Figure 21 faces structural representation according to the said rod elevator assembly of the present invention;
Figure 22 is according to the said rod elevator components side of the present invention TV structure schematic diagram;
Figure 23 is according to the said oil pipe guiding mechanism of the present invention structural representation;
Figure 24 is according to the said sucker rod guiding mechanism of the present invention structural representation;
Figure 25 is according to the said pumping rod forced detent mechanism of the present invention schematic diagram;
Figure 26 faces structural scheme of mechanism according to the said linkage unit of the present invention;
Figure 27 overlooks structural scheme of mechanism according to the said linkage unit of the present invention;
Figure 28 is linkage unit and mechanical arm assembly and hydraulic tongs support connection diagram.
The specific embodiment
With reference to the accompanying drawings, be further described:
According to one embodiment of the invention such as Fig. 1～shown in Figure 28, wherein 1 is tubing head, the 2nd, preventer, the 3rd, self-sealing blowout preventer, the 4th, stationary slip, the 5th, the oil pipe guiding mechanism, the 6th, well head box cupling alignment sensor, the 7th, well mouth oil pipe, the 8th, the suspention oil pipe, the 9th, the pipe elevator assembly, the 10th, suspension ring, the 11st, PLC programmable logic controller, the 12nd, guidance panel, the 13rd, the manual operation indicator lamp, the 14th, the fault indicator lamp, the 15th, stationary slip chucking indicator lamp, the 16th, the lever action sensor, the 17th, the mechanical arm assembly, the 18th, base assembly, the 19th, linkage unit, the 20th, basis, ground, the 21st, the tubing string framed bent, the 22nd, horizontal oil pipe, the 23rd, hydraulic tongs support, the 24th, oil tube hydraulic tong, the 25th, the pumping rod forced detent mechanism, the 26th, well head sucker rod, the 27th, sucker rod guiding mechanism, the 28th, suspention sucker rod, the 29th, the rod elevator assembly, the 30th, sucker rod hydraulic tongs, the 31st, horizontal sucker rod, the 12.1st, " playing oil pipe " key, 12.2 be " lower oil pipe " key, 12.3 be " playing sucker rod " key, the 12.4th, " lower sucker rod " key, the 12.5th, " sand washing " key, 12.6 be " manual priority " key, 9.8 be the pipe elevator upper sensor, the 9.14th, pipe elevator driving governor, the 4.1st, stationary slip driving governor, 17.12 be principal arm rotating hydraulic controller, 17.3.18 be the robot drives hydraulic controller, the 17.15th, the arms swing driving governor, the 24.2nd, hydraulic tongs starts controller, 24.3 be hydraulic tongs locking sensor, 24.1 the hydraulic tongs revolution counter, the 17.7th, main arm telescoping hydraulic controller, the 18.9th, mechanical arm stop pick-up, 17.3.11 be the manipulator inner sensor, 5.8 be oil pipe guiding mechanism driving governor, the 25.2nd, drive hydraulic cylinder control device, the 29.13rd, the rod elevator driving governor, 27.8 be sucker rod guide cone driving governor, the 29.7th, the rod elevator upper sensor.
Such as Fig. 1～shown in Figure 4, the oil well tubing string that provides removes system automatically by base assembly 18, stationary slip 4, oil pipe guiding mechanism 5, well mouth oil pipe collar locator 6, pipe elevator assembly 9, mechanical arm assembly 17, linkage unit 19, tubing string framed bent 21, hydraulic tongs support 23, oil tube hydraulic tong 24, pumping rod forced detent mechanism 25, sucker rod guiding mechanism 27, rod elevator assembly 29, sucker rod hydraulic tongs 30 and composition of the control system, mechanical arm assembly 17, hydraulic tongs support 23 connects by linkage unit 19, jointly be installed on the base assembly 18, base assembly 18 is fixed on the basis, outer wellhead lateral edges ground, mechanical arm assembly 17 aligns with the well head center line, hydraulic tongs support 23 is in mechanical arm assembly 17 1 sides, hydraulic tongs 24,30 hang on the crossbeam of hydraulic tongs support 23, and tubing string framed bent 21 is arranged in mechanical arm assembly 17 sides; Tubing head 1 top from bottom to top successively coaxial installation preventer 2, self-sealing blowout preventer 3, stationary slip 4, well mouth oil pipe collar locator 6 and oil pipe guiding mechanism 5 during the lower oil tube operation, coaxial alignment pipe elevator assembly 9 upwards, pipe elevator assembly 9 hangs under the hook of travelling block by suspension ring 10; Tubing head 1 top is followed successively by preventer 2, self-sealing blowout preventer 3, stationary slip 4, dried detent mechanism 25 and the dried guiding mechanism 27 of pumping forced of oil pumping, upwards coaxial alignment rod elevator assembly during rod job.
Hydraulic tongs support 23 as shown in Figure 8, wherein 23.1 is columns one, 23.2nd, column two, 23.3 be column ear seat, the 23.4th, support rod ear seat, the 23.5th, support bar one, 23.6 be the support bar leading screw, the 23.7th, support bar two, 23.8th, hydraulic pressure Qianer seat, 23.9 be the hydraulic tongs spring strut, 23.10 be the spring strut connector, the 23.11st, spring strut connects leading screw, the 23.12nd, upper swivel nut, 23.13 be the elongation governor motion, 23.14 be cantilever one, 23.15th, cantilever two, 23.16th, cantilever diagonal bracing, 23.17 be the hydraulic cylinder connecting axle, 23.18 be hydraulic cylinder, the 23.19th, hydraulic cylinder holder, the 23.20th, hydraulic tongs wobble drive controller, 23.21 be lifter fixed head one, 23.22 be the leading screw lifter, the 23.23rd, lifter fixed head two, 23.24th, flange, 23.25 be column three, 23.26 be upright post base, the 24th, oil tube hydraulic tong, the 24.1st, hydraulic tongs revolution counter, 24.2 be that hydraulic tongs starts controller, the 24.3rd, hydraulic tongs locking sensor.Upright post base 23.26 lower ends are connected with base assembly 18 by bolt, the upper end reinforces with column 3 23.25 welding and with gusset, the lower flange welding of column 3 23.25 upper ends and flange 23.24, the upper flange of flange 23.24 and column one 23.1 welding, on, be hinged by bearing pin between the lower flange, can be around column three rotations to reach column one, the realization level, conversion on the vertical direction, column 2 23.2 is placed on the column 1, drive and to slide up and down at column one 23.1 outer walls by leading screw lifter 23.22, lifter fixed head 2 23.23 is welded on the column one and by bolt and is connected with leading screw lifter 23.22, leading screw lifter 23.22 upper ends are fixedly clamped in column 2 23.2 bottoms by two lifter fixed heads 1, two lifter fixed heads one are connected by bolt and are welded to connect with column 2 23.2, hydraulic cylinder holder 23.19 is welded on column 2 23.2 upper ends, hydraulic cylinder 23.18 ends are bolted on the hydraulic cylinder holder 23.19, hydraulic cylinder 23.18 heads are enclosed within on the hydraulic cylinder connecting axle 23.17, hydraulic cylinder connecting axle 23.17 is welded on the cantilever 2 23.15, cantilever 2 23.15 is connected with the column ear seat on column 2 23.2 tops by bolt, cantilever 2 23.15 can rotatablely move at the horizontal plane certain angle under the pulling of hydraulic cylinder 23.18, cantilever 2 23.15 is supported by cantilever diagonal bracing 23.16, cantilever diagonal bracing 23.16 lower ends are fixed on the support rod ear seat 23.4, the cantilever diagonal bracing upper and lower side is all for being welded to connect, cantilever 1 is embedded in the cantilever 2 23.15, expansion regulating mechanism 23.13 one ends are connected with cantilever 1, the other end is connected with cantilever 2 23.15, cantilever 1 can be regulated its length in cantilever 2 23.15 by expansion regulating mechanism 23.13, cantilever one 23.14 outboard end perforates, upper swivel nut 23.12 is installed on wherein and is connected with cantilever 1 by bolt, upper swivel nut 23.12 lower ends are connected leading screw 23.11 and are threaded with spring strut, spring strut connects leading screw 23.11 other ends and is threaded with spring strut connector 23.10, spring strut connector 23.10 is hinged with hydraulic tongs spring strut 23.9, oil tube hydraulic tong 24 tops are connected with hydraulic tongs spring strut 23.9, support rod ear seat 23.8 is fixed on hydraulic tongs 24 upper clamps, and successively with support bar 2 23.7, support bar leading screw 23.6, support bar 1 connects.Support bar leading screw 23.6 two ends are connected with support bar 1, support bar 2 23.7 by screw thread, by support bar leading screw 23.6 capable of regulating oil pipe hydraulic tongses 24 and sucker rod hydraulic tongs 30 position at horizontal plane, support bar 1 and support rod ear seat 23.4 hinged and can on slide up and down, support rod ear seat 23.4 is hinged with column ear seat 23.3, rotates in the time of can rotating with cantilever.Hydraulic tongs revolution counter 24.1, hydraulic tongs start controller 24.2,24.3 synergy of hydraulic tongs locking sensor and form hydraulic tongs 24,30 automatic operation.
Tubing string framed bent 21 is such as Figure 16, Figure 17, shown in Figure 180, and wherein 21.1 is framed bent supporting legs, and the 21.2nd, connecting axle, 21.3 be pipe bridge, the 21.4th, connector, the 21.5th, column, 21.6 be additional pipe bridge, 21.7 be oil pipe, the 21.8th, end-fitting, the 21.9th, end backing pin, 21.10 be helical riser, 21.11 be the guide strip assembly, the 21.12nd, base is installed, the 21.13rd, the terminal guide swash plate.Framed bent supporting leg 21.1 upper ends link to each other with pipe bridge 21.3 with connecting axle 21.2, pipe bridge 21.3 left ends installing column 21.5, the connector 21.4 of additional pipe bridge 21.6 is socketed on the column 21.5, additional pipe bridge 21.6 is supported by following oil pipe 21.7, additional pipe bridge 21.6 can be on-the-spot oil pipe, left end links to each other with connector 21.4, and additional pipe bridge 21.6 right-hand members link to each other with end-fitting 21.8.End backing pin 21.9 is installed on the end-fitting 21.8 during the crawl tubing string, carries out spacing to oil pipe 21.7; When discharging tubing string, the end backing pin changes terminal guide swash plate 21.13 shown in Figure 180 into, is convenient to discharge oil pipe 21.7.Base 21.12 is installed is welded in pipe bridge 21.3 sides, guide strip assembly 21.11 links to each other with installation base 21.12, and oil pipe 21.7 is play the guiding role.Adjustable screw lifter 21.10 can reduce or the height of rising framed bent supporting leg 21.1, causes the tubing string framed bent oblique to a square neck.
Oil pipe guiding mechanism 5 as shown in figure 23, wherein 5.1 is driver hydraulic cylinders, the 5.2nd, bearing, the 5.3rd, axis of rotation, the 5.4,5.5, the 5.6th, connect square steel, the 5.7th, guide cone cylinder, the 5.8th, oil pipe guiding mechanism driving governor.Bearing 5.2 by bolt with drive hydraulic cylinder 5.1 and link to each other, guide cone cylinder 5.7 links to each other by bolt with bearing 5.2 by support square steel 5.4,5.5,5.6.5.8 controls drive hydraulic cylinder 5.1 according to feedback signal oil pipe guiding mechanism driving governor, drive 5.7 actions of guide cone cylinder by connecting square steel 5.4,5.5,5.6, thereby make when needed guide cone cylinder 5.7 arrive vertical position, play guide effect.
The sucker rod guiding mechanism as shown in figure 24, wherein 27.1 is driver hydraulic cylinders, the 27.2nd, bearing, the 27.3rd, axis of rotation, the 27.4,27.5, the 27.6th, connect square steel, the 27.7th, guide cone cylinder, the 27.8th, sucker rod guide cone driving governor.Bearing 27.2 by bolt with drive hydraulic cylinder 27.1 and link to each other, guide cone cylinder 27.7 links to each other by bolt with bearing 27.2 by support square steel 27.4,27.5,27.6.27.8 controls drive hydraulic cylinder 27.1 according to feedback signal sucker rod guide cone driving governor, drive 27.7 actions of guide cone cylinder by connecting square steel 27.4,27.5,27.6, thereby make when needed guide cone cylinder 27.7 arrive vertical position, play guide effect.
Pumping rod forced detent mechanism 25 as shown in figure 25, wherein 25.1 is to drive hydraulic cylinder, the 25.2nd, drive hydraulic cylinder control device, the 25.3rd, hold-down nut, the 25.4th, bearing pin, the 25.5th, limited block, the 25.6th, sucker rod, the 25.7th, locating piece, the 25.8th, gripper shoe.Gripper shoe 25.8 usefulness hold-down nuts 25.3 link to each other with driving hydraulic cylinder 25.1, drive hydraulic cylinder control device 25.2 acknowledge(ment) signals, promote the lifting of gripper shoe 25.8 by driving hydraulic cylinder 25.1, locating piece 25.7 is hinged by bearing pin 25.4 and gripper shoe 25.8, and locating piece 25.7 is freely overturn.Turn in the locating piece 25.7 when playing sucker rod, sucker rod 25.6 collision locating pieces 25.7, locating piece 25.7 turns up, and after sucker rod 25.6 box cuplings passed through, locating piece 25.7 resetted.During lower sucker rod, limited block 25.5 is removed, locating piece 25.7 turn up 180 ° inoperative.
Linkage unit 19 is such as Figure 26, shown in Figure 27, and wherein 19.1 is junction plates, and the 19.2nd, limiting plate, the 19.3rd, sleeve pipe, the 19.4th, right-hand member connecting axle, the 19.5th, intermediate connecting shaft, the 19.6th, left end connecting axle, the 19.7th, connection box.The lower end welded limiting plate 19.2 of junction plate 19.1, sleeve pipe 19.3, respectively there is one section screw thread at right-hand member connecting axle 19.4, intermediate connecting shaft 19.5, left end connecting axle 19.6 two ends, connection box 19.7 is fixed on connecting axle 19.4,19.5,19.6 two ends by nut, right-hand member connecting axle 19.4 passes sleeve pipe 19.3, and connection box 19.7 can be rotated around sleeve pipe 19.3.The connection of linkage unit 19, mechanical arm assembly 17 and hydraulic tongs support 23 is (during mechanical arm assembly erectility) as shown in figure 28, linkage unit 19 is fixed on the sleeve arm 17.8 rear basifacials of mechanical arm assembly 17 by junction plate 19.1, the column 1 of hydraulic tongs support 23 is installed in the space that the intermediate connecting shaft 19.5 of linkage unit 19, left end connecting axle 19.6, connection box 19.7 surround; When mechanical arm assembly 17 was put into, intermediate connecting shaft 19.5 promoted hydraulic tongs support 23, is put into together; When mechanical arm assembly 17 is upright, left end connecting axle 19.6 pulling hydraulic tongs supports 23, together upright.
This oil well tubing string automatically removes system and forms Memory control by the PLC programming, and the normal operating program comprises well pulling job, lower oil pipe operation, plays sucker rod operation and lower sucker rod operation.Normal operating program such as following:
The time, regulate the framed bent supporting leg 21.1 under the tubing string framed bent 21, mechanical arm assembly 17 side framed bent supporting legs 21.1 raise, and distally framed bent supporting leg 21.1 descends, and tubing string framed bent 21 is to tilting away from mechanical arm assembly 17 directions; Adjust mechanical arm bed plate 17.10,17.11, make paw 17.3.12 center and well head dead in line under the paw 17.3.6 and clamping mechanical hand on the tight manipulator; Oil pipe guiding mechanism 5 is in fully open position all the time." playing oil pipe " key 12.1 on the push panel 12, PLC programmable logic controller 11 initialisation oil pipe program and relevant devices, and provide indication, and " an oil pipe key " 12.1 is bright on the guidance panel 12, and relevant device has been in the oil pipe state.(" playing oil pipe " key 1.1 on the push panel 12 plays oil pipe and initializes cancellation again.) the driver operation handle, lever action sensor 16 has sent the oil pipe order, and pipe elevator assembly 9 descends, and simultaneously pipe elevator driving governor 9.14 actions are turned up elevator block teeth 9.10.Pipe elevator assembly 9 continues to descend, well mouth oil pipe 7 box cuplings (preset standard height near well head, well mouth oil pipe 7 box cuplings upper end is apart from four-way upper flange 1580mm) time, slow down and descend, when well mouth oil pipe 7 box cuplings snap in pipe elevator assembly 9, and obviously exceed pipe elevator 9.1 upper surfaces one segment distance, and touch pipe elevator upper sensor 9.8, pipe elevator assembly 9 drives upwards action of hydraulic cylinder 9.12, and elevator block teeth 9.10 reset; Pipe elevator assembly 9 stops.4.1 actions of stationary slip driving governor make stationary slip 4 be in the trend of opening; The driver operation handle, pipe elevator assembly 9 rises, and drives well mouth oil pipe 7 and rises, and stationary slip is opened.Simultaneously, pendulum in mechanical arm component 17 beginnings of principal arm rotating hydraulic controller 17.12 controls.Pipe elevator assembly 9 continues to rise, when pipe elevator assembly 9 be raised up to specified altitude (be bottom tubing coupling when rising to well head box cupling alignment sensor 6 position, travelling block stop motion, 4.1 actions of stationary slip driving governor, chucking bottom oil pipe, stationary slip chucking indicator lamp 15 is bright.Simultaneously, principal arm rotating liquid cylinder pressure 17.13 strokes are finished, mechanical arm assembly 17 interior pendulum are to vertical position, robot drives hydraulic cylinder 17.3.3 half trip, paw 17.3.12 half chucking suspention oil pipe 8(hydraulic cylinder travel Memory control under paw 17.3.6 and the clamping mechanical hand on the clamping mechanical hand), the well mouth oil pipe 7 that suspention oil pipe 8 namely was raised originally, because the position changes, the oil pipe of its underpart becomes new well mouth oil pipe 7.Pipe elevator assembly 9 decline certain distances trigger pipe elevator upper sensor 9.8, and PLC programmable logic controller 11 is given hydraulic tongs wobble drive controller 23.20 signals, and hydraulic tongs 24 feedings put in place to block and are operated oil pipe 8.Hydraulic tongs locking sensor 24.3 is given PLC programmable logic controller 11 signals, feedback signal makes hydraulic tongs start controller 24.2 startups, hydraulic tongs 24 is rotated counterclockwise a fixing turn, shackle suspention oil pipe 8(installs correct block teeth in advance), hydraulic tongs revolution counter 24.1 is greater than behind the certain value, give PLC programmable logic controller 11 feedback signals, show that being suspended oil pipe 8 has unloaded, hydraulic tongs 24 stops.Robot drives hydraulic controller 17.3.19 action, on the clamping mechanical hand under paw 17.3.6 and the clamping mechanical hand paw 17.3.12 close chucking suspention oil pipe 8 fully; 9.14 actions of pipe elevator driving governor, elevator block teeth 9.10 turn up, and pipe elevator assembly 9 risings one segment distance is deviate from oil pipe 8 box cuplings from movable elevator.Main arm telescoping hydraulic controller 17.7 action, the mechanical arm master supports 17.1 segment distances (preset, the oil pipe afterbody leaves box cupling) that rise first, then principal arm rotating hydraulic controller 17.12 actions, mechanical arm assembly 17 turns up; 1s after mechanical arm assembly 17 turns up and begins, mechanical arm main arm telescoping hydraulic controller 17.7 resets.Mechanical arm stop pick-up 18.9 triggers when mechanical arm stop assembly 18.2 contacts with mechanical arm sleeve arm 17.8,17.15 actions of arms swing driving governor, and arm 17.3 turns up; When arm 17.3 turns up to 95 °, robot drives hydraulic controller 17.3.19 action, on the clamping mechanical hand under paw 17.3.6 and the clamping mechanical hand paw 17.3.12 open, oil pipe falls, oil pipe falls within on the pipe bridge 21.3, and is rolled to the farthest along pipe bridge 21.3.Manipulator inner sensor 17.3.11 sends signal, postpones 2 seconds, arm 17.3 backswing; Arm 17.3 backswing are to vertical position, and pipe elevator assembly 9 descends, and turns in the mechanical arm assembly 17, has prepared next root oil pipe.
Action above PLC programmable logic controller 11 is remembered repeats " driver operation handle, lever action sensor 16 has sent the oil pipe order, 9 declines of pipe elevator assembly " later on step, has finished the process of multiple-tubing string.
The time, regulate the framed bent supporting leg 21.1 under the tubing string framed bent 21, mechanical arm assembly 17 side legs descend, the framed bent supporting leg 21.1 of surveying far away raises, tubing string framed bent 21 tilts to mechanical arm assembly 17 directions, and horizontal oil pipe 22 rolls to mechanical arm assembly 17 directions on the tubing string framed bent 21, near outlet backing pin 21.9; Adjust outlet backing pin 21.9 positions and mechanical arm and grab the card distance, horizontal oil pipe 22 is extended with arm 17.3 adapt; Adjust the upper and lower bed plate 17.10 of mechanical arm, 17.11, make paw 17.3.12 center and well head dead in line under the paw 17.3.6 and clamping mechanical hand on the clamping mechanical hand." lower oil pipe " key 12.2 on the push panel 12.PLC programmable logic controller 11 initializes lower oil pipe program and relevant devices, and provides indication, and " lower oil pipe key " is bright 12.2 on the guidance panel 12, and relevant device is in lower oil pipe state.(" lower oil pipe " key 12.2 on the push panel 12 again, lower oil pipe initializes cancellation.) the driver operation handle, lever action sensor 16 sends lower oil pipe order, and pipe elevator assembly 9 rises, and simultaneously pipe elevator driving governor 9.14 actions are turned up elevator block teeth 9.10.Simultaneously, 17.15 actions of arms swing driving governor, arm 17.3 turns up to 115 °, then backswing; Auxiliary fore paw 17.3.9 hooks respective transversal oil pipe 22 to certain angle, laterally oil pipe 22 falls into the upper and lower paw 17.3.6 of clamping mechanical hand, 17.3.12, manipulator inner sensor 17.3.11 provides signal, PLC programmable logic controller 11 return instructions, paw 17.3.12 chucking under paw 17.3.6 and the clamping mechanical hand on the clamping mechanical hand; Arm 17.3 continues backswing to the upright position.17.12 actions of principal arm rotating hydraulic controller, mechanical arm assembly 17 is to the well head upset, to vertical position (hydraulic cylinder travel control).Lever action sensor 16, pipe elevator assembly 9 descends, and moves closer to horizontal oil pipe 22(this moment of the horizontal oil pipe 22 that is held and has become vertical direction) box cupling, pipe elevator assembly 9 slows down and descends; When horizontal oil pipe 22 box cuplings snap in pipe elevator assembly 9, and obviously exceed elevator 9.1 upper surfaces one segment distance, and touch pipe elevator upper sensor 9.8,9.14 actions of pipe elevator driving governor, elevator block teeth 9.10 reset.5.8 actions of oil pipe guiding mechanism driving governor, oil pipe guiding mechanism 5 resets; Robot drives hydraulic controller 17.3.19 action, on the clamping mechanical hand on the mechanical arm assembly 17 under paw 17.3.6 and the clamping mechanical hand paw 17.3.12 half-open, laterally oil pipe 22 falls, box cupling drops on the elevator block teeth 9.10.Pipe elevator assembly 9 slow decreasings, when horizontal oil pipe 22 box cuplings obviously exceed elevator 9.1 upper surfaces one segment distance, and touch pipe elevator upper sensor 9.8, signal feedback PLC programmable logic controller 11, laterally oil pipe 22 lower ends snap in well mouth oil pipe 7 box cuplings, and pipe elevator assembly 9 stops to descend; PLC programmable logic controller 11 is given hydraulic tongs 24 signals, 23.20 actions of hydraulic tongs wobble drive controller, and hydraulic tongs 24 feedings put in place and block horizontal oil pipe 22.Hydraulic tongs locking sensor 24.3 is given PLC programmable logic controller 11 signals, feedback signal makes hydraulic tongs start controller 24.2 startups, hydraulic tongs 24 fixing turn that turns clockwise, upper button oil pipe (installing in advance correct card tooth), hydraulic tongs revolution counter 24.1 is greater than behind the certain value, give PLC programmable logic controller 11 feedback signals, show that horizontal oil pipe 22 has tightened, hydraulic tongs 24 stops.Robot drives hydraulic controller 17.3.19 action, manipulator is opened fully; 17.12 actions of principal arm rotating hydraulic controller, mechanical arm assembly 17 turns up.4.1 actions of stationary slip driving governor make stationary slip 4 be in the trend of opening; Pipe elevator assembly 9 risings one segment distance drives well mouth oil pipe 7 and rises, and stationary slip 4 is opened; Then pipe elevator assembly 9 descends, when pipe elevator assembly 9 drops to specified altitude (well head box cupling alignment sensor 6 signals), 9 stop motions of (travelling block) pipe elevator assembly; 4.1 actions of stationary slip driving governor, the horizontal oil pipe 22 of stationary slip card 4 lockings, stationary slip chucking indicator lamp 15 is bright.Pipe elevator assembly 9 slow decreasings, when oil pipe 22 box cuplings obviously exceed elevator 9.1 surperficial segment distances, and touch pipe elevator upper sensor 9.8, signal feedback PLC programmable logic controller 11,9.14 actions of pipe elevator driving governor are turned up elevator block teeth 9.10; Pipe elevator assembly 9 is up, and oil pipe 22 box cuplings are deviate from.
Action above PLC programmable logic controller 11 memory, repeating step " driver operation handle, lever action sensor 16 send lower oil pipe order, and pipe elevator assembly 9 rises " later step has been finished the process of multiple-tubing string.
The time, regulate the framed bent supporting leg 21.1 under the tubing string framed bent 21, mechanical arm assembly 17 side framed bent supporting legs 21.1 raise, and distally framed bent supporting leg 21.1 descends, and post framed bent 21 is to tilting away from mechanical arm assembly 17 directions; Sucker rod guiding mechanism 27 is in fully open position all the time; Pumping rod forced detent mechanism 25 is in low level." playing sucker rod " 12.3 keys on the push panel 12, PLC programmable logic controller 11 initialisation sucker rod program and relevant devices, and provide indication, and " the playing the sucker rod key " 12.3 on the guidance panel 12 is bright, and relevant device has been in the sucker rod state.(" the playing the sucker rod key " 12.3 on the push panel 12 played sucker rod and initialized cancellation again.) the driver operation handle, lever action sensor 16 has sent the sucker rod order, and rod elevator assembly 29 descends, and simultaneously rod elevator driving governor 29.13 actions are turned up rod elevator block teeth 29.9.Rod elevator assembly 29 continues to descend, near slowing down gradually before well head sucker rod 26 box cuplings, when well head sucker rod 26 box cuplings snap in elevator body 29.1, and obviously exceed elevator body 29.1 upper surfaces one segment distance, and shake-up rod elevator upper sensor 29.7,29.13 actions of rod elevator driving governor, rod elevator block teeth 29.9 reset; Rod elevator assembly 29 stops.4.1 actions of stationary slip driver make stationary slip 4 be in the trend of opening; Rod elevator assembly 29 rises, and drives well head sucker rod 26 and rises, and stationary slip 6 is opened; 17.12 actions of principal arm rotating hydraulic controller are turned in the mechanical arm.Rod elevator assembly 29 continues to rise, and when the rod collar that is raised up to specified altitude and bottom when rod elevator assembly 29 rose to assigned position, pumping rod forced detent mechanism 25 rose to a high position, and travelling block stops to rise, and descending motion; Rod elevator assembly 29 decline certain distances touch rod elevator upper sensor 29.7, show that the well head box cupling locates, and (travelling block) rod elevator assembly 29 stops.4.1 actions of stationary slip driver, chucking bottom sucker rod, stationary slip chucking indicator lamp 15 is bright; The pumping rod forced detent mechanism is withdrawn low level to.In the time of above-mentioned action, in the mechanical arm assembly 17, principal arm rotating liquid cylinder pressure 17.13 strokes are finished, mechanical arm assembly 17 pendulum is to vertical position, on the clamping mechanical hand under paw 17.3.6 and the clamping mechanical hand paw 17.3.12 partly tighten the well head sucker rod 26(manipulator inner sensor 17.3.11--hydraulic cylinder travel Memory control on top).PLC programmable logic controller 11 is given sucker rod hydraulic tongs 30 signals, 23.20 actions of hydraulic tongs wobble drive controller, and 30 feedings of sucker rod hydraulic tongs put in place and block top well head sucker rod 26.Hydraulic tongs locking sensor 24.3 is given PLC programmable logic controller 11 signals, feedback signal makes hydraulic tongs start controller 24.2 startups, the hydraulic tongs fixing turn that turns clockwise, shackle top well head sucker rod 26(installs correct card tooth in advance), hydraulic tongs revolution counter 24.1 is given PLC programmable logic controller 11 feedback signals greater than behind the certain value, shows that the well head sucker rod 26 on top has unloaded, sucker rod hydraulic tongs 30 stops, and withdraws.Paw 17.3.12 half contract fully under paw 17.3.6 and the clamping mechanical hand on the clamping mechanical hand, the well head sucker rod 26 on chucking top; 29.13 actions of rod elevator driving governor, rod elevator block teeth 29.9 turn up, and rod elevator assembly 29 risings one segment distance is deviate from well head sucker rod 26 box cuplings on top from rod elevator assembly 29.17.7 actions of main arm telescoping hydraulic controller, mechanical arm master arm 17.1 segment distance that rises first (presets, well head sucker rod 26 afterbodys on top leave the box cupling of bottom oil pipe), then principal arm rotating hydraulic controller 17.12 actions, mechanical arm assembly 17 turns up; 1s after mechanical arm assembly 17 turns up and begins, main arm telescoping hydraulic controller 17.7 resets.When sleeve arm 17.8 contacts with mechanical arm stop pick-up 18.9,17.15 actions of arms swing driving governor, arm 17.3 outer pendulum; When arm 17.3 outer pendulum to 95 ° (hydraulic cylinder travel control), robot drives hydraulic controller 17.3.19 action, the upper and lower paw 17.3.6 of clamping mechanical hand, 17.3.12 open, well head sucker rod 26 drops on the tubing string framed bent 21, well head sucker rod 26 falls within on the pipe bridge 21.3, and is rolled to the farthest along pipe bridge 21.3.Manipulator inner sensor 17.3.11 sends signal, postpones 2 seconds, arm 17.3 backswing.Arm 17.3 backswing are to vertical position, and rod elevator assembly 29 descends, and turns in the mechanical arm assembly, has prepared next root sucker rod.Action above 11 memories of PLC programmable logic controller repeats the step of " driver operation handle, lever action sensor 16 has sent the sucker rod order, 29 declines of rod elevator assembly " back, has finished the process of many sucker rods.
The time, regulate the framed bent supporting leg 21.1 under the tubing string framed bent 21, mechanical arm assembly 17 side framed bent supporting legs 21.1 descend, the framed bent supporting leg 21.1 of surveying far away raises, tubing string framed bent 21 tilts to mechanical arm assembly 17 directions, horizontal sucker rod 31 rolls to mechanical arm assembly 17 directions on the tubing string framed bent 21, near outlet backing pin 21.9; Adjust outlet backing pin 21.9 positions and mechanical arm arm 17.3 and grab the card distance, horizontal sucker rod 31 is adapted with the manipulator extension board; Adjust the mechanical arm base, arm 17.3 is extended with well head adapt to; Pumping rod forced detent mechanism 25 is in low level." lower sucker rod key " 12.4 on the push panel 12, PLC programmable logic controller 11 initializes lower sucker rod program and relevant device, and provides indication, and " the lower sucker rod key " 12.4 on the guidance panel 12 is bright, and relevant device is in the lower sucker rod state.(" the lower sucker rod key " 12.4 on the push panel 12 again, lower sucker rod initializes cancellation.) the driver operation handle, lever action sensor 16 sends the lower sucker rod order, and rod elevator assembly 29 rises, and takes out simultaneously 29.13 actions of rod elevator driving governor, and rod elevator block teeth 29.9 are turned up.Simultaneously, 17.15 actions of arms swing driving governor, manipulator turns up to 115 °, then backswing; Auxiliary fore paw 17.3.9 hooks corresponding sucker rod 31, to certain angle, laterally sucker rod 31 falls into manipulator, and manipulator inner sensor 17.3.11 provides signal, PLC programmable logic controller 11 return instructions, the upper and lower paw 17.3.6 of clamping mechanical hand, 17.3.12 chucking; Arm 17.3 continues backswing to the upright position.17.12 actions of principal arm rotating hydraulic controller, mechanical arm assembly 17 is to the well head upset, to vertical position (hydraulic cylinder travel control).Rod elevator assembly 29 descends, move closer to the horizontal sucker rod 31(that is held and become vertical direction at this moment) box cupling, when horizontal sucker rod 31 box cuplings snap in elevator body 29.1, and obviously exceed elevator body 29.1 upper surfaces one segment distance, and shake-up rod elevator upper sensor 29.7, rod elevator driving governor 29.13, rod elevator block teeth 29.9 reset; Rod elevator assembly 29 stops.27.8 actions of sucker rod guide cone driving governor, sucker rod guiding mechanism 27 resets; Robot drives hydraulic controller 17.3.19 action, the upper and lower paw 17.3.6 of clamping mechanical hand, 17.3.12 half-open (Stroke Control), laterally sucker rod 31 falls, and box cupling drops on the rod elevator block teeth 29.9.Rod elevator assembly 29 slow decreasings, when horizontal sucker rod 31 box cuplings obviously exceed elevator body 29.1 upper surfaces one segment distance, and touch rod elevator upper sensor 29.7, and signal feedback PLC programmable logic controller 11, laterally sucker rod 31 lower ends snap in well head sucker rod 26 box cuplings.PLC programmable logic controller 11 is given hydraulic tongs 30 signals, 23.20 actions of hydraulic tongs wobble drive controller, and hydraulic tongs 30 feedings put in place and block operated horizontal sucker rod 31.Hydraulic tongs locking sensor 24.3 is given PLC programmable logic controller 11 signals, feedback signal makes hydraulic tongs start controller 24.2 startups, hydraulic tongs 30 fixing turn that turns clockwise, the horizontal sucker rod 31(of upper button installs correct card tooth in advance), hydraulic tongs revolution counter 24.1 numerical value greater than certain value after, give PLC programmable logic controller 11 feedback signals, show that operated horizontal sucker rod 31 has tightened, hydraulic tongs 30 stops, and withdraws.The upper and lower paw 17.3.6 of clamping mechanical hand, 17.3.12 open fully, and mechanical arm assembly 17 turns up.4.1 actions of stationary slip driver make stationary slip 4 be in the trend of opening; Rod elevator assembly 29 risings one segment distance drives well head sucker rod 26 and rises, and stationary slip 4 is opened, and then rod elevator assembly 29 descends.When rod elevator assembly 29 drops to specified altitude (estimation), pumping rod forced detent mechanism 25 rises to meta, and rod elevator assembly 29 falls within pumping rod forced detent mechanism upper surface, 29 stop motions of (travelling block) rod elevator assembly; Stationary slip 4 actions tighten horizontal sucker rod 31, and stationary slip chucking indicator lamp 15 is bright.Well head pumping rod forced detent mechanism 25 recovers low level, rod elevator assembly 29 continues slow decreasing, when horizontal sucker rod 31 box cuplings obviously exceed elevator body 29.1 upper surfaces one segment distance, and shake-up rod elevator upper sensor 29.7, signal feedback PLC programmable logic controller 11,29.13 actions of rod elevator driving governor are turned up rod elevator block teeth 29.9; Rod elevator assembly 29 is up, and laterally sucker rod 31 box cuplings are deviate from.Action above the PLC memory repeats " driver operation handle, lever action sensor 16 sends the lower sucker rod order, 29 risings of rod elevator assembly " later step, has finished the process of many sucker rods.
During the sand washing operation, rotatory sealing need to be bored 9.5 and transfer, bore 9.5 Seal Oil tube ends with rotatory sealing, and compress, " sand washing " key 12.5 or " manual priority " key 12.6 that can press on the guidance panel 12 carry out operation, and operating process mesohigh water pours oil pipe by the rotatory sealing cone.
For other special operation condition operation, can press " manual priority " key 12.6 on the guidance panel 12, carry out manual operation.
Claims (10)
1. an oil well tubing string automatically removes system and comprises preventer, stationary slip, oil pipe/sucker rod guiding mechanism, oil pipe/sucker rod detent mechanism, oil pipe/rod elevator assembly, the mechanical arm assembly, hydraulic tongs, hydraulic tongs support and control system, oil pipe/sucker rod guiding mechanism wherein, oil pipe/sucker rod detent mechanism, stationary slip and preventer be coaxial installation from top to bottom, and the coaxial alignment oil pipe/rod elevator assembly that makes progress, described hydraulic tongs hangs on the hydraulic tongs support, and described control system comprises programmable logic controller PLC and sensor, actuator; It is characterized by: the described system that removes also comprises base assembly and tubing string framed bent, described mechanical arm assembly and hydraulic tongs support are installed on the base assembly, and the mechanical arm assembly is connected linkage unit and connects and linkage action with the hydraulic tongs support, described tubing string framed bent is arranged in the side of mechanical arm assembly, and with described mechanical arm assembly interoperation.
2. oil well tubing string according to claim 1 removes system automatically, it is characterized in that: described mechanical arm assembly comprise by the fixing hinged seat of bed plate and base assembly, with the hinged mechanical arm of hinged seat and mechanical arm on the swinging arm and the manipulator that are connected, principal arm rotary actuation hydraulic cylinder is installed between described mechanical arm and the bed plate, arm rotating liquid cylinder pressure is installed on the described arm; Described mechanical arm and arm are length controllable adjustable structure, are equipped with hydraulic controller on the described hydraulic cylinder; Described mechanical arm comprises that the sleeve arm hinged with hinged seat, the support principal arm that is connected with swinging arm and main arm telescoping drive hydraulic cylinder, wherein supporting principal arm is plugged in the sleeve arm, and main arm telescoping drives hydraulic cylinder one end and is connected with the support principal arm, and the other end is connected with the sleeve arm; Described principal arm rotary actuation hydraulic cylinder is connected on the sleeve arm of mechanical arm; One end of described arm is provided with to be embedded in and supports in the principal arm and sliding seat moving up and down, and sliding seat is provided with hinged seat, hinged arm on the hinged seat.
3. oil well tubing string according to claim 2 removes system automatically, it is characterized in that: support the principal arm middle part and connect for flange, flange one side is equipped with the hinge that the folding support principal arm is used.
4. oil well tubing string according to claim 1 and 2 removes system automatically, it is characterized in that: the adjustable for height framed bent supporting leg that described tubing string framed bent comprises the bottom with and on matrix pipe bridge, the additional pipe bridge installed successively, matrix pipe bridge and additional pipe bridge are installed the tubing string stopping means near an end of mechanical arm assembly; Described framed bent props up midleg for regulating screw mandrel, the upper end links to each other with the matrix pipe bridge by jointed shaft, matrix pipe bridge left end is installed column, additional pipe bridge is set on the column by connector, be supported on the matrix pipe bridge by lower floor's oil pipe, matrix pipe bridge and additional pipe bridge are threaded connection end-fitting near an end of mechanical arm assembly, end backing pin/guiding swash plate is installed in the groove of levels end-fitting formation, the matrix pipe bridge is near the side connection base of mechanical arm assembly one end, connecting guide plate assembly on it.
5. the oil well tubing string of stating according to claim 2 removes system automatically, it is characterized in that: described base assembly comprises ground anchor assemblies and the fixed underpan of installing on it, and an end of fixed underpan upper surface is installed the mechanical arm stop assembly, the other end is installed the mechanical arm limit assembly; The bottom surface mounting support assembly of fixed underpan; Also be provided with mechanical arm unitized substructure Board position adjusting part on the described fixed underpan upper surface.
6. oil well tubing string according to claim 1 removes system automatically, it is characterized in that: described hydraulic tongs support comprise length-adjustable columns assemblies with and not hinged semi girder assembly and the support bar assembly in upper and lower part; Wherein the semi girder assembly comprises that mutual grafting regulates main boom beam and the overhanging beam of length, and described main boom beam and columns assemblies are hinged, and connect oscillating motor between the two; The end of described overhanging beam connects respectively screw regulator and the spring strut that is used for the suspension hydraulic pincers successively; Described support bar assembly is the length adjustable structure, the one end be fixed on that column ear seat on the columns assemblies is hinged, the other end and the hydraulic pressure Qianer seat that is fixed on the hydraulic tongs be hinged; Connecting cantilever diagonal brace between described main boom beam and the column otic placode; The bottom of described columns assemblies is installed on the upright post base, and can change between upright and level around it.
7. according to claim 1,2,3,5 or 6 described oil well tubing strings remove system automatically, it is characterized in that: described pipe elevator assembly comprises elevator body, connecting screw rod, clamping block, rotatory sealing cone, spring, sensor-triggered plate, elevator upper sensor, installation of sensors plate, elevator block teeth, hydraulic cylinder connector, drives hydraulic cylinder; Wherein said elevator body lower end is pyramidal structure, and its top difference installation elevator block teeth and connecting screw rod, the outside are installed and driven hydraulic cylinder, and the driving hydraulic cylinder is connected with elevator block teeth outer end by the hydraulic connecting head; Described connecting screw rod is equipped with installation of sensors plate, spring, rotatory sealing cone and clamping block from top to bottom successively, and the lower end installation elevator upper sensor of described installation of sensors plate, and cooperate with the corresponding sensor-triggered plate that is installed in rotatory sealing cone upper end; Described rod elevator assembly comprises elevator body, connecting screw rod, setscrew nut, triggering baffle plate, spring, sensor fixation plate, sensor, elevator block teeth, rotating shaft, hydraulic cylinder connector and drives hydraulic cylinder; Wherein said elevator body bottom is pyramidal structure, and its top difference installation elevator block teeth and connecting screw rod, the outside are installed and driven hydraulic cylinder, and the driving hydraulic cylinder is connected with elevator block teeth outer end by the hydraulic connecting head; Described connecting screw rod is equipped with sensor fixation plate, spring, triggering baffle plate and setscrew nut from top to bottom successively, and the lower end sensor installation of described sensor fixation plate, and matches with the triggering baffle plate.
8. according to claim 1,2,3,5 or 6 described oil well tubing strings remove system automatically, it is characterized in that: described oil pipe/sucker rod guiding mechanism is by two symmetrical module compositions of installing, each assembly comprises driving hydraulic cylinder, bearing, joint steel pipe and guide cone cylinder, wherein bearing bottom fixed drive hydraulic cylinder, upper articulation joint steel pipe, and the driver hydraulic cylinder is connected with joint steel pipe, and the other end of connecting square pipes connects the guide cone cylinder.
9. according to claim 1,2,3,5 or 6 described oil well tubing strings remove system automatically, it is characterized in that: described oil pipe positioning mechanism is well head box cupling alignment sensor; Described sucker rod detent mechanism comprise gripper shoe with and the interfix piece of the mutual involutory and middle part perforate of hinged two in both sides the driving hydraulic cylinder, the middle part that connect, be equipped with limited block on the gripper shoe in each locating piece outside.
10. according to claim 1,2,3,5 or 6 described oil well tubing strings remove system automatically, it is characterized in that: described linkage unit comprises junction plate, limiting plate, connection box, and wherein be articulated and connected frame and hinge point of the end on the junction plate has limiting plate; The structure of described swinging arm and manipulator is: robot drives hydraulic cylinder one end is fixed on the arm, the other end is connected paw to be connected by paw on connector, connecting rod and the clamping mechanical hand with clamping mechanical hand, on the clamping mechanical hand under paw and the clamping mechanical hand paw be fixed on the manipulator axle, upper liner is fixed in paw inwall on the clamping mechanical hand, lower liner is fixed in paw inwall under the clamping mechanical hand, and the manipulator inner sensor is installed on the locating piece; Nondominant hand is fixed in the arm end, and auxiliary fore paw and nondominant hand are hinged; Reduction torsion spring is fixed on the auxiliary fore paw by the torsion spring mandrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310053190.9A CN103061692B (en) | 2013-02-19 | 2013-02-19 | Automatic running and pulling system of oilfield workover string |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310053190.9A CN103061692B (en) | 2013-02-19 | 2013-02-19 | Automatic running and pulling system of oilfield workover string |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103061692A true CN103061692A (en) | 2013-04-24 |
| CN103061692B CN103061692B (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310053190.9A Expired - Fee Related CN103061692B (en) | 2013-02-19 | 2013-02-19 | Automatic running and pulling system of oilfield workover string |
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| CN103452501A (en) * | 2013-09-24 | 2013-12-18 | 江苏新象股份有限公司 | Remote-control pneumatic elevator/chuck |
| CN103696711A (en) * | 2013-12-25 | 2014-04-02 | 青岛杰瑞自动化有限公司 | Robot for drilling operation |
| CN104775763A (en) * | 2014-01-13 | 2015-07-15 | 中国石油化工股份有限公司 | Mechanization workover treatment device and method |
| CN104895512A (en) * | 2014-03-06 | 2015-09-09 | 中国石油化工股份有限公司 | Network power supply intelligent well workover system |
| CN105022342A (en) * | 2015-08-22 | 2015-11-04 | 马剑虹 | Well repair automation integrated control system |
| CN105041237A (en) * | 2015-07-04 | 2015-11-11 | 张兴亮 | Oil tube ascending and descending aid for petroleum underground operation |
| CN105625957A (en) * | 2014-10-31 | 2016-06-01 | 中国石油天然气股份有限公司 | Method and system for uplifting and lowering oil pipe |
| CN105858198A (en) * | 2016-06-07 | 2016-08-17 | 湖南三石油科技有限公司 | Workover treatment integrated equipment, tubular column holding device and grabbing hand thereof |
| CN105927172A (en) * | 2016-06-07 | 2016-09-07 | 哈尔滨工业大学 | Automatic operation system for oil well repairing |
| CN106285513A (en) * | 2016-10-10 | 2017-01-04 | 杨颖辉 | Workover rig intelligence with pressure removes guard system |
| CN106593333A (en) * | 2016-11-29 | 2017-04-26 | 大庆市汇通建筑安装工程有限公司 | Integrated platform device for oil well operation |
| CN106703718A (en) * | 2017-03-14 | 2017-05-24 | 三集团有限公司湖南分公司 | Sucker rod running and pulling device and sucker rod running and pulling system |
| CN107035324A (en) * | 2015-05-22 | 2017-08-11 | 魏宇骞 | A kind of drilling well workover treatment equipment |
| CN107178326A (en) * | 2017-07-24 | 2017-09-19 | 中国石油集团渤海石油装备制造有限公司 | One kind is used for well workover lower oil tube, sucker rod integrative machine and its application method |
| CN108529464A (en) * | 2018-04-13 | 2018-09-14 | 江苏兴达新材料有限公司 | It is a kind of that there is the novel of high-stability to be twisted machine |
| CN108547584A (en) * | 2018-05-18 | 2018-09-18 | 杜江 | A kind of rig floor manipulator |
| CN108691513A (en) * | 2018-07-09 | 2018-10-23 | 北京威力清矿山控制技术有限公司 | A kind of Operating Pressure well head plays down tube and fortune pipe automation operating system and its device |
| CN109138897A (en) * | 2018-09-26 | 2019-01-04 | 北京威力清矿山控制技术有限公司 | Well head centralising device and with its well workover equip |
| CN109138896A (en) * | 2018-09-26 | 2019-01-04 | 北京威力清矿山控制技术有限公司 | Well workover equipment |
| CN109577881A (en) * | 2018-11-23 | 2019-04-05 | 中石化石油机械股份有限公司 | A kind of autocontrol method of well control and lifting equipment based on wireless sensing |
| CN109812235A (en) * | 2018-07-31 | 2019-05-28 | 宝鸡石油机械有限责任公司 | A kind of Power Tong opening automatic alignment device and to correction method |
| CN110424908A (en) * | 2019-09-03 | 2019-11-08 | 济南高维度智能科技有限公司 | Workover robot |
| CN110685617A (en) * | 2019-11-05 | 2020-01-14 | 胜利油田胜机石油装备有限公司 | Oil field well repairing operation device |
| CN111502561A (en) * | 2019-12-19 | 2020-08-07 | 长江大学 | Pipe grabbing machine matched with inclined and straight well workover rig |
| CN111706284A (en) * | 2020-08-24 | 2020-09-25 | 胜利油田高原石油装备有限责任公司 | Process method for mechanically cutting pipe clamp by applying continuous sucker rod |
| CN111911099A (en) * | 2020-09-29 | 2020-11-10 | 胜利油田康贝石油工程装备有限公司 | Oil field well repairing operation process for realizing automation of sucker rod |
| CN111927342A (en) * | 2020-10-10 | 2020-11-13 | 胜利油田康贝石油工程装备有限公司 | Automatic elevator for sucker rod in oil field well repairing operation and use method |
| CN112502641A (en) * | 2020-11-25 | 2021-03-16 | 中国石油天然气股份有限公司 | Device for pulling down sucker rod |
| CN110685617B (en) * | 2019-11-05 | 2024-04-26 | 胜利油田胜机石油装备有限公司 | Oilfield workover operation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103452501A (en) * | 2013-09-24 | 2013-12-18 | 江苏新象股份有限公司 | Remote-control pneumatic elevator/chuck |
| CN103696711A (en) * | 2013-12-25 | 2014-04-02 | 青岛杰瑞自动化有限公司 | Robot for drilling operation |
| CN103696711B (en) * | 2013-12-25 | 2016-04-06 | 青岛杰瑞工控技术有限公司 | A kind of drilling rod manipulation robot |
| CN104775763A (en) * | 2014-01-13 | 2015-07-15 | 中国石油化工股份有限公司 | Mechanization workover treatment device and method |
| CN104895512A (en) * | 2014-03-06 | 2015-09-09 | 中国石油化工股份有限公司 | Network power supply intelligent well workover system |
| CN105625957A (en) * | 2014-10-31 | 2016-06-01 | 中国石油天然气股份有限公司 | Method and system for uplifting and lowering oil pipe |
| CN105625957B (en) * | 2014-10-31 | 2018-07-24 | 中国石油天然气股份有限公司 | Lower oil tube method and system |
| CN107035324A (en) * | 2015-05-22 | 2017-08-11 | 魏宇骞 | A kind of drilling well workover treatment equipment |
| CN105041237A (en) * | 2015-07-04 | 2015-11-11 | 张兴亮 | Oil tube ascending and descending aid for petroleum underground operation |
| CN105022342A (en) * | 2015-08-22 | 2015-11-04 | 马剑虹 | Well repair automation integrated control system |
| CN105927172B (en) * | 2016-06-07 | 2018-01-30 | 哈尔滨工业大学 | A kind of workover automatization operation system |
| CN105927172A (en) * | 2016-06-07 | 2016-09-07 | 哈尔滨工业大学 | Automatic operation system for oil well repairing |
| CN105858198B (en) * | 2016-06-07 | 2018-08-07 | 湖南三一石油科技有限公司 | Workover treatment integration apparatus, tubing string supporting device and its handgrip |
| CN105858198A (en) * | 2016-06-07 | 2016-08-17 | 湖南三石油科技有限公司 | Workover treatment integrated equipment, tubular column holding device and grabbing hand thereof |
| CN106285513A (en) * | 2016-10-10 | 2017-01-04 | 杨颖辉 | Workover rig intelligence with pressure removes guard system |
| CN106593333A (en) * | 2016-11-29 | 2017-04-26 | 大庆市汇通建筑安装工程有限公司 | Integrated platform device for oil well operation |
| CN106593333B (en) * | 2016-11-29 | 2021-06-25 | 大庆市汇通建筑安装工程有限公司 | Oil well operation integrated platform device |
| CN106703718A (en) * | 2017-03-14 | 2017-05-24 | 三集团有限公司湖南分公司 | Sucker rod running and pulling device and sucker rod running and pulling system |
| CN107178326A (en) * | 2017-07-24 | 2017-09-19 | 中国石油集团渤海石油装备制造有限公司 | One kind is used for well workover lower oil tube, sucker rod integrative machine and its application method |
| CN108529464B (en) * | 2018-04-13 | 2019-09-10 | 江苏兴达新材料有限公司 | A kind of novel with high-stability is twisted machine |
| CN108529464A (en) * | 2018-04-13 | 2018-09-14 | 江苏兴达新材料有限公司 | It is a kind of that there is the novel of high-stability to be twisted machine |
| CN108547584A (en) * | 2018-05-18 | 2018-09-18 | 杜江 | A kind of rig floor manipulator |
| CN108691513A (en) * | 2018-07-09 | 2018-10-23 | 北京威力清矿山控制技术有限公司 | A kind of Operating Pressure well head plays down tube and fortune pipe automation operating system and its device |
| CN108691513B (en) * | 2018-07-09 | 2023-12-01 | 北京威力清矿山控制技术有限公司 | Automatic operating system and device for lifting and discharging pipe and transporting pipe of wellhead under-pressure operation |
| CN109812235A (en) * | 2018-07-31 | 2019-05-28 | 宝鸡石油机械有限责任公司 | A kind of Power Tong opening automatic alignment device and to correction method |
| CN109138897A (en) * | 2018-09-26 | 2019-01-04 | 北京威力清矿山控制技术有限公司 | Well head centralising device and with its well workover equip |
| CN109138896A (en) * | 2018-09-26 | 2019-01-04 | 北京威力清矿山控制技术有限公司 | Well workover equipment |
| CN109138897B (en) * | 2018-09-26 | 2023-10-17 | 廊坊景隆重工机械有限公司 | Well head centering device and well repair equipment with same |
| CN109138896B (en) * | 2018-09-26 | 2023-10-17 | 廊坊景隆重工机械有限公司 | Well repairing equipment |
| CN109577881A (en) * | 2018-11-23 | 2019-04-05 | 中石化石油机械股份有限公司 | A kind of autocontrol method of well control and lifting equipment based on wireless sensing |
| CN110424908A (en) * | 2019-09-03 | 2019-11-08 | 济南高维度智能科技有限公司 | Workover robot |
| CN110685617A (en) * | 2019-11-05 | 2020-01-14 | 胜利油田胜机石油装备有限公司 | Oil field well repairing operation device |
| CN110685617B (en) * | 2019-11-05 | 2024-04-26 | 胜利油田胜机石油装备有限公司 | Oilfield workover operation device |
| CN111502561A (en) * | 2019-12-19 | 2020-08-07 | 长江大学 | Pipe grabbing machine matched with inclined and straight well workover rig |
| CN111706284A (en) * | 2020-08-24 | 2020-09-25 | 胜利油田高原石油装备有限责任公司 | Process method for mechanically cutting pipe clamp by applying continuous sucker rod |
| CN111911099B (en) * | 2020-09-29 | 2020-12-04 | 胜利油田康贝石油工程装备有限公司 | Oil field well repairing operation process for realizing automation of sucker rod |
| CN111911099A (en) * | 2020-09-29 | 2020-11-10 | 胜利油田康贝石油工程装备有限公司 | Oil field well repairing operation process for realizing automation of sucker rod |
| CN111927342A (en) * | 2020-10-10 | 2020-11-13 | 胜利油田康贝石油工程装备有限公司 | Automatic elevator for sucker rod in oil field well repairing operation and use method |
| CN112502641B (en) * | 2020-11-25 | 2023-01-10 | 中国石油天然气股份有限公司 | Device for pulling down sucker rod |
| CN112502641A (en) * | 2020-11-25 | 2021-03-16 | 中国石油天然气股份有限公司 | Device for pulling down sucker rod |
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