CN106121560B

CN106121560B - Automatic well workover robot

Info

Publication number: CN106121560B
Application number: CN201610629919.6A
Authority: CN
Inventors: 田达; 蒋振旺; 张吉平; 刘明; 孙汉军; 蒋伟
Original assignee: Shandong Tuobo Energy Saving Technology Co ltd
Current assignee: Shandong Tuobo Energy Saving Technology Co ltd
Priority date: 2016-08-04
Filing date: 2016-08-04
Publication date: 2024-06-04
Anticipated expiration: 2036-08-04
Also published as: CN106121560A

Abstract

The invention discloses an automatic well repairing robot, wherein a random telescopic traveling block flexible guide driving device is hinged at the rear end of a skid-mounted chassis, a sliding sleeve type cable-free steerable elevator and a multifunctional hydraulic slip pipe wrench are arranged on the random telescopic traveling block flexible guide driving device, the multifunctional hydraulic slip pipe wrench is positioned between the sliding sleeve type cable-free steerable elevator and a wellhead, an oil pipe guide manipulator is also hinged at the rear end of the skid-mounted chassis, an oil pipe grabbing and taking manipulator is arranged on a linear guide rail of the skid-mounted chassis through a hinge pulley of the oil pipe grabbing and taking manipulator, an automatic pipe stacking and discharging integrated hydraulic support leg is arranged in a left hinged seat of the skid-mounted chassis, and a multifunctional chain type transmission hydraulic support leg is arranged in a right hinged seat of the skid-mounted chassis through a hinge arm of the oil pipe wrench and is hinged on the multifunctional chain type hydraulic support leg. The invention reduces pollution, reduces labor intensity and improves production efficiency and safety.

Description

Automatic well workover robot

Technical Field

The invention relates to auxiliary equipment for oilfield workover operation, in particular to an automatic workover robot.

Background

During the production of an oil well, some oil well or equipment faults often occur, resulting in reduced or even stopped production. In order to restore normal production of an oil well, corresponding measures must be taken to remove faults, well repair operation is an important link in the production process of the oil well, labor intensive industry has been realized for many years, the working environment is severe, the labor intensity of operators is high, and personal potential safety hazards also exist in the operation process. Especially wellhead overhaul operations are usually carried out in the field and are of a great variety, including for example: in addition, the conditions of the oil well change, proper production measures need to be taken according to new conditions, for example, the oil well is pumped from a blowout well to a suction well, the running depth, the model and the like of the oil well pump are changed, and at the moment, the conventional well repair operation of the well repair operation is needed. At present, domestic well repair still stays in the process of manually working by operators, in particular to lifting and lowering the oil pipe rod. The method is the link with the greatest labor intensity, highest work repetition rate and highest danger in the well repairing process, and along with the rapid development of the petroleum industry, the method has higher requirements on mechanized oil extraction, low pollution, reduced labor intensity of staff, improved safety, humanized comfort and 'industrial oil extraction'.

Disclosure of Invention

The invention aims to provide an automatic well repair robot which reduces pollution, reduces labor intensity of staff and improves production efficiency and safety.

In order to achieve the aim, the invention adopts the following technical scheme that the automatic well repairing robot comprises a skid-mounted chassis, a multifunctional chain type conveying hydraulic support leg, an automatic stacking and discharging integrated hydraulic support leg, a sliding sleeve type cable-free steerable elevator, a multifunctional hydraulic slip pipe wrench, an oil pipe guiding and conveying manipulator, an oil pipe grabbing and conveying manipulator, a random telescopic traveling block flexible guide driving device and a swinging and conveying manipulator; the flexible guide driving device of the random telescopic traveling block is hinged to the rear end of the skid-mounted chassis, the sliding sleeve type cable-free steerable elevator and the multifunctional hydraulic slip pipe tongs are both installed on the flexible guide driving device of the random telescopic traveling block, the multifunctional hydraulic slip pipe tongs are located between the sliding sleeve type cable-free steerable elevator and a wellhead, the oil pipe guide manipulator is also hinged to the rear end of the skid-mounted chassis, the oil pipe grabbing and taking manipulator is installed on a linear guide rail of the skid-mounted chassis through a hinge pulley of the oil pipe grabbing and taking manipulator, the automatic pipe stacking and discharging integrated hydraulic support leg is installed in a hinge seat on the left side of the skid-mounted chassis, and the multifunctional chain type transmission hydraulic support leg is installed in a hinge seat on the right side of the skid-mounted chassis through a hinge arm of the oil pipe grabbing and taking manipulator is hinged to the multifunctional chain type hydraulic support leg.

The random telescopic type flexible guide driving device for the tourist car comprises a telescopic arm, a guide driving swing arm, a flexible guide rope, a hydraulic cylinder, a double C-shaped integrated shifting fork, an upper elevator steering driving arm, a lower elevator steering driving arm, a self-balancing hydraulic supporting leg, a swing shifting rod and a swing oil cylinder; the hydraulic cylinder is positioned in the telescopic arm, the extension and retraction of the telescopic arm are driven, the double C-shaped integrated shifting fork, the upper elevator steering driving arm and the lower elevator steering driving arm are all positioned on the telescopic arm and are respectively connected with respective hydraulic driving devices, the self-balancing hydraulic supporting leg is positioned on the guide driving swing arm, the swing deflector rod and the swing cylinder are positioned on the guide driving swing arm, the swing deflector rod is matched with the swing cylinder, the swing deflector rod rotates through the work of the swing cylinder, and accordingly the bidirectional cam shifting fork of the sliding sleeve type cable-free steerable elevator is toggled.

The skid-mounted chassis comprises a chassis body, a support frame, a retraction driving support arm and a retraction driving hydraulic cylinder, wherein the support frame is connected to the chassis body through a hinged support, the retraction driving support arm is hinged to the rear end of the chassis body through a hinged support, the retraction driving hydraulic cylinder is connected to the retraction driving support arm through an intermediate hinged shaft seat, and the lower end of a hydraulic rod in the retraction driving hydraulic cylinder is hinged to a swing arm of a guide driving device.

The sliding sleeve type cable-free steerable elevator comprises an elevator side plate, an asymmetric sliding sleeve arm, an elevator assembly, a steering driving device swing transmission pin, slips and a bidirectional cam shifting fork, wherein the asymmetric sliding sleeve arm is fixed on the elevator side plate and is sleeved with a flexible guide rope, the elevator assembly is hinged with the elevator side plate through the steering driving device swing transmission pin, the slips and the bidirectional cam shifting fork are located in the elevator assembly, and the bidirectional cam shifting fork is connected with the slips in the elevator body in a matched mode.

The multifunctional hydraulic slip pipe tongs comprise hydraulic pipe tongs, a hydraulic pipe tongs sliding seat, a hydraulic pipe tongs lifting table, hydraulic slips, a lifting table hydraulic cylinder and slip jaws; the hydraulic pipe wrench lifting table is fixed on the hydraulic slips, the hydraulic pipe wrench is positioned on the hydraulic pipe wrench sliding seat to realize horizontal movement, and the hydraulic pipe wrench sliding seat is positioned on the hydraulic pipe wrench lifting table to realize up-and-down movement; the hydraulic slips are fixed on the wellhead.

The multifunctional chain type conveying hydraulic support leg is provided with two, and is hinged near the front and back both ends of chassis body right side edge respectively, the multifunctional chain type conveying hydraulic support leg includes sprocket, chain, servo motor, chain pair, hydraulic support leg, goes up oil pipe swing guide arm, chain and send swing arm, swing claw, lower oil pipe swing guide arm, bracing piece, both ends all set up the sprocket about the hydraulic support leg, the chain twines on two sprockets, servo motor, chain pair also fix on the hydraulic support leg, servo motor drives sprocket and chain through the chain pair, the chain is sent the swing arm outer end and is connected with hydraulic support leg flange formula, the chain is sent the swing arm inner to hinge on sled dress chassis through the hinge, go up oil pipe swing guide arm middle through the hinge on the bracing piece of being connected with hydraulic support leg, lower oil pipe swing guide arm, with hydraulic support leg lower extreme sprocket's chain axle hinge, chain is sent the swing arm inner link, swing claw one end articulates on last oil pipe swing guide arm, the other end articulates swing claw hydraulic pressure pole upper end, swing claw hydraulic support rod lower guide arm hinge on the bracing piece, the swing arm is located the hydraulic support leg outside, the hydraulic support leg is located the oil pipe is held to the hydraulic support leg, the side is held to hold in the oil pipe, the C is held to hold in the oil pipe.

The swing manipulator comprises a swing manipulator, a swing hydraulic rod, a hydraulic rod hinged support and a support arm, wherein the lower end of the swing manipulator is hinged to the outer end of a transverse support arm, the hydraulic rod hinged support and the transverse support arm are both fixed on a support rod for supporting the multifunctional chain type hydraulic support leg, the hydraulic rod hinged support is located above the transverse support arm, the inner end of the swing hydraulic rod is hinged to the hydraulic rod hinged support, the outer end of the swing hydraulic rod is hinged to the middle of the swing manipulator, and the upper end of the swing manipulator is provided with a swing oil pipe groove.

The oil pipe guide manipulator is articulated near the rear end on chassis body right side, oil pipe guide manipulator includes pendulum body, pulley, swing arm, pneumatic cylinder, chain pair, servo motor, the pendulum body articulates on sled dress chassis through the hinge seat, the pulley is located the swing arm upper end, plays the effect of supporting and leading-in and leading-out oil pipe, pneumatic cylinder one end articulates on sled dress chassis through the base, and the other end articulates on the articulated seat of pendulum body, realizes the pendulum body through the flexible of pneumatic cylinder and swings on the relative left and right directions of chassis body, the chain pair is located the articulated epaxial of swing arm and pendulum body, servo motor fixes on the swing arm, drives the chain pair and realizes the swing of swing arm for the front and back direction of chassis body.

The oil pipe grabbing and delivering mechanical arm is connected to the right side edge of the chassis body in a sliding mode through a guide rail, and comprises a grabbing and delivering hand swing arm, a mechanical arm driving rod, a pulley, a hydraulic cylinder, a chain wheel pair, a servo motor, a crank chain wheel pair and a hydraulic cylinder; the grabbing hand swing arm is hinged to the pulley, the pulley slides back and forth on a guide rail arranged on the right side edge of the chassis body, and the chain wheel pair is hinged to a hinge shaft connected with the grabbing hand swing arm and the pulley; the servo motor is installed on the grabbing hand swing arm and drives the sprocket pair to rotate, the sprocket pair drives grabbing hand swing arm back and forth swing, the manipulator articulates on the turning arm, turning arm one end articulates at grabbing hand swing arm upper end, and the pneumatic cylinder is connected to the other end, pneumatic cylinder is connected to manipulator actuating lever one end, and the manipulator rear end is connected to the other end, crank sprocket pair installs on the turning arm, the pneumatic cylinder is located grabbing hand swing arm and with crank sprocket pair hinge, pneumatic cylinder crank sprocket pair and turning arm are rotatory, drive the manipulator rotation then.

The automatic pipe stacking and discharging integrated hydraulic support legs are arranged in two and hinged to the front and rear ends of the left side edge of the chassis body respectively, each automatic pipe stacking and discharging integrated hydraulic support leg comprises a pipe stacking manipulator, a pipe stacking manipulator pulley, a pulley guide rail, a pipe supporting frame, an integrated discharging hydraulic support leg, a C-shaped inner guide post, a pipe stacking swing arm, a screw rod and a shifting fork, the pipe stacking manipulator is positioned on the pipe stacking manipulator pulley, the pipe stacking manipulator pulley is positioned on the pulley guide rail, the pulley guide rail is hinged to the upper end of the integrated discharging hydraulic support leg, the lower end of the integrated discharging hydraulic support leg is hinged to the skid-mounted chassis through the pipe stacking swing arm in the transverse direction, at least two pipe supporting frames are arranged, the inner ends of the pipe supporting frames are hinged to the outside of the C-shaped inner guide posts, the screw rods are coaxially arranged inside the C-shaped inner guide posts, and the shifting fork is axially matched with the screw rods, extends out of the notches of the C-shaped inner guide posts and then enters one of the cross shifting grooves formed in the pipe supporting frames in the radial directions; the axial end part of the C-shaped inner guide post is connected with an upper driving motor, the lower end of the screw rod is connected with a lower driving motor, the lower driving motor drives the screw rod to rotate, the shifting fork moves up and down on the screw rod, meanwhile, a notch of the C-shaped inner guide post and a cross groove formed in the stinger serve as guide grooves for the shifting fork to move up and down, and the pipe stacking swing arm is hinged on the skid-mounted chassis through a hinge shaft.

Compared with the prior art, the invention has the following beneficial effects

The skid-mounted chassis is supported by four hydraulic support legs, namely two multifunctional chain type conveying hydraulic support legs and two automatic pipe stacking and discharging integrated hydraulic support legs, and can be transported by a trailer, so that the ground acting area is increased during operation, and the adaptability of the equipment to various geology is enhanced.

The multifunctional chain type conveying hydraulic support leg is hinged to the skid-mounted chassis through a chain conveying swing arm of the multifunctional chain type conveying hydraulic support leg, when an oil pipe is led into the skid-mounted chassis from outside, the oil pipe is conveyed to the oil pipe guide and conveying manipulator and the oil pipe grabbing and conveying manipulator through the chain on the multifunctional chain type conveying hydraulic support leg, when the oil pipe is led out from the inside, the oil pipe guide and conveying manipulator and the oil pipe grabbing and conveying manipulator are arranged on the chain on the multifunctional chain type conveying hydraulic support leg, and the oil pipe is led out from the chain on the multifunctional chain type conveying hydraulic support leg. When the hydraulic support leg of the hydraulic support leg works, the hydraulic support leg is swung out through the chain conveying swing arm and stretches out to support the skid-mounted chassis, when in transportation, the hydraulic support leg is retracted and then swung in through the chain conveying swing arm, so that space is saved, transportation is facilitated, the transition from manual oil pipe guiding-out to automatic oil pipe guiding-in and guiding-out in the past is realized, labor intensity and dangerousness are reduced, and working efficiency is improved.

Automatic yard tub of arranges integrative hydraulic support leg, send the swing arm to articulate on sled dress chassis through self chain, still include automatic yard tub of pendulum bracket on the automatic yard tub of arranges integrative hydraulic support leg, when storing oil pipe, self manipulator snatchs oil pipe, pendulum bracket with the bottom is gone into through self pendulous device, oil pipe is placed in proper order to the manipulator, thereby the oil pipe is put to the sign indicating number from bottom to top, when deriving by the oil pipe in the storehouse, oil pipe on the upper swing bracket is snatched to the manipulator, thereby the oil pipe is derived to this top-down, the current situation that needs artifical place oil pipe everywhere in the past, the sign indicating number is chaotic, the environment is poor has been reduced intensity of labour, and efficiency is improved. The hydraulic support legs of the hydraulic support legs extend out during work to support the skid-mounted chassis, and the hydraulic support legs are retracted during transportation, so that the hydraulic support legs are space-saving and convenient to transport.

The oil pipe guide and delivery manipulator is hinged with the skid-mounted chassis through the bottom of the swing arm, and the self swing of the oil pipe guide and delivery manipulator is realized through a servo motor control chain wheel. The oil pipe grabbing and delivering mechanical arm is hinged with a pulley fixed on the skid-mounted chassis through the bottom of the self swing arm, and the oil pipe can be guided in and guided out by the cooperation of the two mechanical arms.

The flexible guide driving device of the random telescopic traveling block is positioned on a supporting arm hinged with the skid-mounted chassis, and can be folded and placed on a supporting frame on the skid-mounted chassis when being folded, the sliding sleeve type cable-free steerable elevator is arranged, and the multifunctional hydraulic slip pipe tongs are all arranged on the flexible guide driving device of the random telescopic traveling block; during operation perpendicular to well head provides flexible track for the cable-free steering elevator of sliding sleeve formula, effectively avoids the elevator to the influence of buckling about oil pipe oil pole and oil pipe oil pole about the lift truck is because of natural factor, and after the cable-free steering elevator of sliding sleeve contained oil pipe, by the lifting hook on the automatic workover robot, realize the lift of cable-free steering elevator of sliding sleeve formula to realize oil pipe's lift. The device also comprises a double C-shaped integrated shifting fork capable of driving the opening and closing of the jaw. The action is that the jaws are controlled by a jaw opening and closing driving device in a random telescopic type tourist car flexible guide and driving device to realize the opening and closing of the jaws when the jaws are positioned at two picking and placing positions.

When the traveling block drives the elevator to descend, the multifunctional hydraulic slip pipe tongs are utilized to accurately position the upper part of the oil well to enable the oil pipe to enter the elevator assembly, the upper swing oil cylinder of the main body of the flexible guide driving device of the random telescopic traveling block is positioned, the swing deflector rod rotates by a certain angle through the work of the swing oil cylinder, so that the two-way cam shifting fork is shifted, the slips in the elevator are closed, the oil pipe is contained, the traveling block ascends, the oil pipe is driven to ascend, the ascending is stopped after the pipe clamp of the lower oil pipe reaches a specified position, the slip in the base is self-locked when the traveling block drives the oil pipe to descend for a short distance, the lower oil pipe is clamped, the rotation of the lower oil pipe is prevented, the threaded connection of the two oil pipes is disassembled when the hydraulic slip, and the oil pipe grabbing and taking manipulator drives the oil pipe to grab through the servo motor of the oil pipe, so that the work of unloading the oil pipe is completed. When the whole workover elevator lifts by crane oil pipe, increased the centering precision of elevator and well head, made things convenient for the elevator to be connected with the tourist car, stir two-way cam shift fork chucking ferrule by swing cylinder drive driving lever, the synchronism is good, simple structure, the overall arrangement is compact. The method has the advantages of low pollution to the existing oil extraction equipment, high efficiency, high-efficiency operation and safety improvement.

In a word, the invention reduces pollution, reduces labor intensity of staff and improves production efficiency and safety.

Drawings

FIG. 1 is a front view of the present invention in an operative state;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a right side view of FIG. 1;

FIG. 4 is a front view of the present invention in a collapsed shipping state;

FIG. 5is a top view of FIG. 4;

FIG. 6 is a front view of the skid chassis;

FIG. 7 is a top view of the skid chassis;

FIG. 8 is a schematic diagram of the operation of the lower swing guide arm of the multi-functional chained hydraulic leg;

FIG. 9 is a front view of a multi-function chained hydraulic leg;

FIG. 10 is a left side view of FIG. 9;

FIG. 11 is a front view of an automatic stacking and discharging integrated hydraulic leg;

FIG. 12 is a left side view of FIG. 11;

FIG. 13 is a top view of FIG. 11;

FIG. 14 is an enlarged view of a portion of FIG. 12;

FIG. 15 is a cross-sectional view A-A of FIG. 14;

FIG. 16 is a front view of a slip-on, cable-less, steerable elevator;

FIG. 17 is a top view of FIG. 16;

FIG. 18 is a front view of a multi-function hydraulic slip pipe wrench;

FIG. 19 is a top view of FIG. 18;

FIG. 20 is a left side view of FIG. 18;

FIG. 21 is a front view of the tubing transfer robot;

FIG. 22 is a view of the two maximum motion limits of FIG. 21;

FIG. 23 is a right side view of FIG. 21;

FIG. 24 is a limit motion state diagram of FIG. 23;

FIG. 25 is a front view of the tubing gripping robot;

FIG. 26 is a right side view of FIG. 25;

FIG. 27 is a front view of the random telescopic walker flexible pilot drive device;

fig. 28 is a left side view of fig. 27.

Fig. 29 is a rear view of fig. 27;

FIG. 30 is a right side view of FIG. 27;

fig. 31 is a longitudinal cross-sectional view of the right side view of fig. 27;

FIG. 32 is a state diagram of the steering drive in the flexible pilot drive of the randomly telescoping recreational vehicle within the sliding sleeve type cable-less steerable elevator;

FIG. 33 is a front view of the swing manipulator;

FIG. 34 is a left side view of FIG. 33;

fig. 35 is a schematic view of the installation of the swing manipulator in the multi-functional chain transfer hydraulic leg.

In the figure: 1. skid-mounted chassis; 2. multifunctional chain type conveying hydraulic support leg; 3. automatic stacking and discharging integrated hydraulic support legs; 4. sliding sleeve type cable-free steerable elevator; 5. multifunctional hydraulic slip pipe tongs; 6. an oil pipe guiding and conveying manipulator; 7. an oil pipe grabbing and delivering manipulator; 8. a random telescopic traveling block flexible guide driving device; 9. swinging and conveying mechanical arm;

101. A chassis body; 102. a support frame; 103. a retractable driving support arm; 104. a retraction driving hydraulic cylinder;

201. A sprocket; 202. a chain; 203. a servo motor; 204 chain pairs; 205. a hydraulic support leg; 206. an oil pipe feeding swing guide arm; 207. a chain-conveying swing arm; 208. a swing claw; 209. a lower swing guide arm; 210. a support rod; 211. a swing claw hydraulic lever;

301. A pipe stacking manipulator; 302. a pipe stacking manipulator pulley; 303. a pulley guide rail; 304. a stinger; 305 discharging the integral hydraulic leg; 306. c-shaped inner guide posts; 307. a stacking swing arm; 308. a screw rod; 309. a shifting fork;

401. An elevator side plate; 402. an asymmetric sliding sleeve arm; 403. an elevator assembly; 404. swing transmission pin of steering driving device; 405. a slip; 406. a bi-directional cam fork;

501. Hydraulic pipe tongs; 502. a hydraulic pipe wrench sliding seat; 503. a hydraulic pipe wrench lifting table; 504. a hydraulic slip; 505. a lifting platform hydraulic cylinder; 506. slip jaws;

601. A pendulum body; 602. a pulley; 603. swing arms; 604. a hydraulic cylinder; 605. a chain pair; 606. a servo motor;

701. A hand-grabbing and conveying swing arm; 702. a manipulator drive lever; 703. a pulley; 704. a hydraulic cylinder; 705. a sprocket set; 706. a servo motor; 707. a bell crank sprocket set; 708. a hydraulic cylinder; 709. a manipulator; 710. a crank arm;

801. Guiding and driving the swing arm; 802. a flexible guide rope; 803. a hydraulic cylinder; 804. a double C-shaped integrated shifting fork; 805. an upper elevator steering driving arm; 806. self-balancing hydraulic legs; 807. swinging the deflector rod; 808. swinging the oil cylinder; 809. a telescoping arm; 810. the lower elevator steering driving arm;

901. swinging and conveying mechanical arms; 902. a hydraulic rod hinged support; 903. a support arm; 904. and (5) swinging the hydraulic rod.

Detailed Description

The detailed description and technical content of the present invention are described below with reference to the accompanying drawings, which are provided for reference and description only, and are not intended to limit the present invention.

According to fig. 1-35, an automatic well workover robot comprises a skid-mounted chassis 1, a multifunctional chain type conveying hydraulic support leg 2, an automatic stacking and discharging integrated hydraulic support leg 3, a sliding sleeve type cable-free steerable elevator 4, a multifunctional hydraulic slip pipe wrench 5, an oil pipe guiding and conveying manipulator 6, an oil pipe grabbing and conveying manipulator 7, a random telescopic traveling block flexible guiding and driving device 8 and a swinging and conveying manipulator 9; the flexible guide driving device 8 of random telescopic traveling block articulates the rear end on sled dress chassis, sliding sleeve formula no cable can turn to elevator 4 and multi-functional hydraulic slip pipe tongs 5 all install on random telescopic traveling block flexible guide driving device, multi-functional hydraulic slip pipe tongs 5 are located between sliding sleeve formula no cable can turn to elevator 4 and the well head, the root of oil pipe guide manipulator 6 hand articulates the rear end on sled dress chassis equally, oil pipe grab and get manipulator 7 installs on sled dress chassis's linear guide through self hinge pulley, realizes linear motion, automatic yard pipe arrangement integrative hydraulic support leg 3 is installed in the hinge seat of one side on sled dress chassis through self hinge arm respectively, is responsible for automatic calandria sign indicating number to put, import and export and store, multi-functional chain transmission hydraulic support leg 2 is installed in the hinge seat of sled dress chassis's opposite side through self hinge arm, has by outside input, by inside output and cooperation oil pipe grab manipulator and oil pipe grab manipulator on the well head, the function of getting up and down, oil pipe grab and get manipulator through self hinge arm 9 and the function of leading in and getting into the hydraulic support arm and the hydraulic support arm of multi-functional articulated mechanism and the hydraulic support arm grab and the hydraulic support arm of the delivery manipulator.

The skid-mounted chassis comprises a chassis body 101, a supporting frame 102 for supporting the random telescopic traveling block flexible guide driving device, a folding driving supporting arm 103 for the random telescopic traveling block flexible guide driving device, and a folding driving hydraulic cylinder 104 for the random telescopic traveling block flexible guide driving device, wherein the supporting frame 102 for supporting the random telescopic traveling block flexible guide driving device is connected to the chassis body 101 through a hinged support, can play a role of supporting a telescopic arm when in transportation, and can be folded when in operation so as to save space. The folding and unfolding driving support arm 103 of the random telescopic type traveling block flexible guide driving device is hinged to the rear end of the chassis body 101 through a hinged support, and plays a role in folding and unfolding the telescopic arms. The retraction driving hydraulic cylinder 104 of the random telescopic traveling crane flexible guide driving device is connected to the supporting arm 103 through a middle hinge shaft seat, the lower end of a hydraulic rod in the retraction driving hydraulic cylinder 104 is hinged to the guide driving device swing arm 801 of the random telescopic traveling crane flexible guide driving device 8, and the retraction of the telescopic arm and the driving device of the retraction supporting arm can be realized through the extension and retraction of the hydraulic rod. In the transportation state, the retraction driving hydraulic cylinder 104 is horizontally placed, the retraction driving supporting arm 103 is in a vertical state, the retraction driving supporting arm 103 is provided with two hinge holes, one of the hinge holes is connected to the skid-mounted chassis through a hinge shaft, the other hinge hole is used for locking the supporting arm, when the retraction driving hydraulic cylinder is in operation, the retraction driving supporting arm 103 is locked in the vertical state, the retraction driving hydraulic cylinder 104 works, the hydraulic rod pushes the retraction driving supporting arm 103 to rotate around the hinge shaft until the telescopic arm stretches out to the vertical state, the hydraulic leg stretches out, the locking state of the supporting arm is released, and the hydraulic rod of the retraction driving hydraulic cylinder 104 is retracted, so that the retraction driving supporting arm 103 hinged with the retraction driving hydraulic cylinder 104 rotates around the hinge seat to the vertical state of the retraction driving hydraulic cylinder 104. When in transportation, the vertical hydraulic rod of the retraction driving hydraulic cylinder 104 stretches out to push the retraction driving supporting arm 103 to rotate around the shaft to a vertical state, then the retraction driving supporting arm 103 is locked, the hydraulic rod retracts to drive the supporting arm on the telescopic arm to rotate around the hinge support of the telescopic arm, and the telescopic arm is retracted.

The random telescopic type traveling block flexible guide driving device 8 comprises a guide driving swing arm 801, a flexible guide rope 802, a hydraulic cylinder 803, a double C-shaped integrated shifting fork 804, an upper elevator steering driving arm 805, a self-balancing hydraulic support leg 806, a swinging deflector rod 807, a swinging oil cylinder 808, a telescopic arm 809 and a lower elevator steering driving arm 810; one end of the guide driving swing arm 801 is rigidly connected to the bottom end of the telescopic arm, the other end of the guide driving swing arm is hinged to a skid-mounted chassis hinged support where the flexible guide driving device of the random telescopic type traveling block is located where the retractable driving support arm 103 is located, the flexible guide rope 802 is fixed on the telescopic arm 809, and the asymmetric sliding sleeve arm 402 is hinged to the flexible guide rope, so that flexible guide of the elevator is achieved. The hydraulic cylinder 803 is located inside the telescopic arm, the extension and retraction of the telescopic arm are realized through the extension and retraction of the hydraulic rod and the matching of an internal chain pair, the double-C-shaped integrated shifting fork 804 and the upper elevator steering driving arm 805 are both located on the telescopic arm, and the opening and the clamping of the elevator and the steering of the elevator are realized through respective hydraulic driving devices, so that the purposes of loading and unloading of the oil pipe are realized. The self-balancing hydraulic support leg 806 is located on the pilot driving swing arm 801, and when the swing arm extends, the hydraulic support leg extends to support the swing arm and the telescopic arm. The swinging deflector rod 807 is matched with a swinging oil cylinder 808, and the swinging deflector rod 807 is rotated by a certain angle through the operation of the swinging oil cylinder, so that the bidirectional cam shifting fork 406 is shifted, the clamping and the releasing of the oil pipe of the slips in the elevator are realized, and the slips are positioned on the guide driving swing arm 801.

The sliding sleeve type cable-free steerable elevator comprises an elevator side plate 401, an asymmetric sliding sleeve arm 402, an elevator assembly 403, a steering driving device swing transmission pin 404, slips 405 and a bidirectional cam shifting fork 406, wherein the asymmetric sliding sleeve arm 402 is fixed on the elevator side plate 401, and is matched with a flexible guide rope 802 to realize the loading and unloading of an oil pipe by using a hanging wheel. The elevator assembly 403 is hinged to the inner side of the elevator side plate 401, a steering driving device swing transmission pin 404 is arranged on the outer side of the elevator side plate 401 and is connected with the elevator assembly 403 through a flat key, and a slip 405 and a bidirectional cam shifting fork 406 are positioned in the elevator assembly 403 and are shifted through a shifting rod to tighten and loosen an oil pipe. The bidirectional cam shifting fork is connected with slips in the elevator main body in a matched mode. When the traveling block drives the elevator to descend, the multifunctional hydraulic slip pipe tongs are utilized to accurately position the upper part of the oil well to enable the oil pipe to enter 403 the elevator assembly, the upper swing oil cylinder 808 of the main body of the random telescopic traveling block flexible guide driving device is positioned, the swing shifting rod 807 rotates a certain angle through the work of the swing oil cylinder, so that the bi-directional cam shifting fork is shifted 406, the slips in the elevator are closed, the oil pipe is contained, the traveling block ascends to drive the oil pipe to ascend, when the pipe hoop of the lower oil pipe reaches a designated position and then stops ascending, the traveling block drives the slips in the base to self-lock when the oil pipe descends for a short distance, the lower oil pipe is clamped, the rotation of the lower oil pipe is prevented, when the hydraulic slip is disassembled for hinging of the two oil pipes, and the oil pipe grabbing and taking manipulator is driven by a servo motor of the self. When the whole workover elevator lifts by crane oil pipe, increased the centering precision of elevator and well head, made things convenient for the elevator to be connected with the tourist car, stir two-way cam shift fork chucking ferrule by swing cylinder drive driving lever, the synchronism is good, simple structure, the overall arrangement is compact. The method has the advantages of low pollution to the existing oil extraction equipment, high efficiency, high-efficiency operation and safety improvement.

The multifunctional hydraulic slip pipe wrench comprises a hydraulic pipe wrench 501, a hydraulic pipe wrench sliding seat 502, a hydraulic pipe wrench lifting table 503, a hydraulic slip 504, a lifting table hydraulic cylinder 505 and a slip jaw 506; the hydraulic pipe wrench lifting platform 503 is fixed on the telescopic arm 809, the hydraulic pipe wrench 501 is located on the hydraulic pipe wrench sliding seat 502 to realize horizontal movement, and the combination body of the hydraulic pipe wrench 501 is located on the hydraulic pipe wrench lifting platform 503 to realize up-and-down movement, so that the operation of an oil pipe procedure between the sliding sleeve type cable-free steerable elevator and a wellhead is ensured.

The multifunctional chain type conveying hydraulic support leg is provided with two, and is hinged near the front end and the rear end of the right side edge of the chassis body respectively, the multifunctional chain type conveying hydraulic support leg comprises a chain wheel 201, a chain 202, a servo motor 203, a chain pair 204, a hydraulic support leg 205, an upper oil pipe swing guide arm 206, a chain conveying swing arm 207, a swing claw 208 and a lower oil pipe swing guide arm 209, the chain wheel 201, the chain 202, the servo motor 203 and the chain pair 204 are fixed on the hydraulic support leg 205, the chain pair 204, the chain wheel 201 and the chain 202 are driven by the servo motor 203 so as to realize the lead-in and lead-out of an oil pipe, the outer end of the chain conveying swing arm is connected with the flange of the hydraulic support leg, the inner end of the chain conveying swing arm 207 is hinged on a skid-mounted chassis through a hinge, the middle of the upper oil pipe swing guide arm 206 is hinged on a support rod 210 connected with the hydraulic support leg 205 through a hinge, the lower oil pipe swing guide arm 209 is hinged with the chain shaft of the lower end chain wheel, and the multifunctional chain type support leg and the upper oil pipe swing guide arm is matched with the extension and retraction of the hydraulic rod. One end of the swing claw 208 is hinged on the upper oil pipe swing guide arm 206, the other end is hinged on the upper end of the swing claw hydraulic rod 211, the lower end of the swing claw hydraulic rod 211 is hinged on the support rod 210, and the extension and retraction of the hydraulic rod drive the swing of the upper oil pipe swing guide arm and the extension and retraction of the hydraulic rod. The lower oil pipe swing guide arm 209 is located at the bottom end of the outer side of the hydraulic support leg 205, the upper oil pipe swing guide arm 206 is located at the upper end of the inner side of the hydraulic support leg 205, and the chain 202 is provided with a C-shaped groove for accommodating the conveying oil pipe.

The swing manipulator comprises a swing manipulator 901, a swing hydraulic rod 904, a hydraulic rod hinged support 902 and a support arm 903. The lower end of the swing mechanical arm 901 is hinged to the outer end of the transverse supporting arm 903, the hydraulic rod hinged support 902 and the transverse supporting arm 903 are both fixed on the supporting rod 210 supporting the multifunctional chain type hydraulic supporting leg, the hydraulic rod hinged support 902 is located above the transverse supporting arm 903, the inner end of the swing hydraulic rod 904 is hinged to the hydraulic rod hinged support 902, the outer end of the swing hydraulic rod 904 is hinged to the middle of the swing mechanical arm 901, and the upper end of the swing mechanical arm 901 is provided with a swing oil pipe groove. When the swing hydraulic rod 904 on the support rod 210 extends and retracts, the swing manipulator swings, and works together with the swing claw 208, the upper oil pipe swing guide arm 206, the oil pipe guide manipulator and the oil pipe grabbing and conveying manipulator to realize the guiding and guiding of the oil pipe.

The oil pipe guide manipulator is hinged near the rear end of the right side edge of the chassis body, the oil pipe guide manipulator comprises a swinging body 601, a pulley 602, a swinging arm 603, a hydraulic cylinder 604, a chain pair 605 and a servo motor 606, the swinging body 601 is hinged on the skid-mounted chassis through a hinge seat, the pulley 602 is positioned at the upper end of the swinging arm 603 and plays a role in supporting and guiding in and guiding out the oil pipe, one end of the hydraulic cylinder 604 is hinged on the skid-mounted chassis through a base, the other end of the hydraulic cylinder is hinged on a hinge seat of the swinging body, swinging of the swinging body 601 in the left-right direction relative to the chassis body 101 is realized through expansion and contraction of the hydraulic cylinder, the chain pair 605 is positioned on a hinge shaft hinged by the swinging arm 603 and the swinging body 601, the servo motor 606 is fixed on the swinging arm 603, and the chain pair 605 is driven through the action of the servo motor to realize swinging of the swinging arm 603 relative to the front-back direction of the chassis body 101.

The oil pipe grabbing and taking manipulator is connected to the right side edge of the chassis body in a sliding mode through a guide rail, and comprises a grabbing and taking hand swing arm 701, a manipulator driving rod 702, a pulley 703, a hydraulic cylinder 704, a chain wheel pair 705, a servo motor 706, a crank chain wheel pair 707 and a hydraulic cylinder 708; the hand-grabbing swing arm 701 is hinged on the pulley 703, the pulley 703 slides back and forth on a guide rail arranged on the right side edge of the chassis body, and the chain wheel pair 705 is hinged on a hinge shaft connected with the hand-grabbing swing arm 701 and the pulley; the servo motor 706 is installed on the grabbing hand swing arm 701 and drives the chain wheel pair 705 to rotate, the chain wheel pair 705 drives the grabbing hand swing arm 701 to swing back and forth, the manipulator 709 is hinged on the crank arm 710, one end of the crank arm is hinged at the upper end of the grabbing hand swing arm 701, the other end of the crank arm is connected with the hydraulic cylinder 708, and one end of the manipulator driving rod 702 is connected with the hydraulic cylinder 708. The other end is connected with the rear end of the manipulator 709 to realize the grasping and loosening of the manipulator, the crank sprocket set 707 is arranged on the crank arm, the hydraulic cylinder 704 is arranged on the upper grasping hand swing arm 701 and hinged with the crank sprocket set 707, and the hydraulic cylinder 704 rotates the crank sprocket set 707 and the crank arm to drive the manipulator to rotate so as to realize the steering of the manipulator.

The automatic pipe stacking and discharging integrated hydraulic support legs are two, are respectively hinged near the front end and the rear end of the left side edge of the chassis body, and comprise a pipe stacking manipulator 301, a pipe stacking manipulator pulley 302, a pulley guide rail 303, a pipe supporting frame 304, an integrated hydraulic support leg 305, a C-shaped inner guide post 306, a pipe stacking swing arm 307, a screw rod 308 and a shifting fork 309. The pipe stacking manipulator 301 is located on the pipe stacking manipulator pulley 302, the pipe stacking manipulator pulley 302 is located on the pulley guide rail 303, the pulley guide rail 303 is hinged to the upper end of the integrated hydraulic support leg 305, the lower end of the integrated hydraulic support leg 305 is hinged to the skid-mounted chassis in the transverse direction through the pipe stacking swing arm 307, at least two pipe brackets 304 are arranged, the inner ends of the pipe brackets 304 are hinged to the outer sides of the C-shaped inner guide posts 306, the lead screws 308 are coaxially arranged inside the C-shaped inner guide posts 306, the shifting forks 309 are axially matched with the lead screws 308, and extend out of the notches of the C-shaped inner guide posts in the radial direction and then enter one of the cross shifting grooves formed in the pipe brackets 304; the axial end of the C-shaped inner guide post 306 is connected with an upper driving motor, the lower end of the screw rod 308 is connected with a lower driving motor, the lower driving motor drives the screw rod to rotate, the shifting fork 309 moves up and down on the screw rod, meanwhile, a notch of the C-shaped inner guide post 306 and a cross groove formed in the stinger 304 serve as guide grooves for the shifting fork 309 to move up and down, when the notch moves to a position in the cross groove formed in the stinger 304 which needs to rotate, the lower driving motor stops, the upper driving motor works to drive the C-shaped inner guide post 306 to rotate, the C-shaped inner guide post 306 drives the shifting fork 309 to stir the stinger 304 to rotate for 90 degrees once, the rotation of the 304 stinger is completed through the cooperation among the C-shaped inner guide post 306, the screw rod 308 and the shifting fork 309, so that the work of placing and taking oil pipes is completed, and the pipe swinging arm 307 is hinged on a skid-mounted chassis through a hinge, and the extension and the folding during transportation can be completed.

This embodiment is used in cooperation with existing manual workover rigs:

the skid-mounted chassis 1 is unfolded and supported by the hydraulic support legs 305 of the automatic pipe stacking and discharging integrated hydraulic support legs 3 and the hydraulic support legs 205 of the multifunctional chain type conveying hydraulic support legs 2, the hydraulic support legs retract and the corresponding stingers and the multifunctional conveying chains are folded, and the skid-mounted chassis can be transported by a trailer, so that the transportation space is greatly saved, and the pipe stacking manipulator 301 is fixed on the pipe stacking manipulator pulley 302 and moves horizontally along the pulley guide rail 303; the pipe stacking manipulator 301 is in the prior art, that is, the driving mechanism drives the grippers to open and close to grasp the oil pipe, which will not be described in detail. The trolley further comprises a vertical guide rail with a linear rack and an up-and-down motion driving device, the manipulator can move up and down along the guide rail to grab oil pipes, an automatic pipe stacking and discharging integrated hydraulic support leg 3 and a multifunctional chain type conveying hydraulic support leg 2 are arranged on two sides of the trolley, the usage amount of the pipe supporting frame is effectively increased, when the oil pipes are not arranged on the pipe supporting frame, the multifunctional chain type conveying hydraulic support leg 2 can be directly used for emergency when the pipe supporting frame is empty when the oil pipes are fed from the outside, the oil pipes can also be directly led out of the robot through the multifunctional chain type conveying hydraulic support leg 2 when the oil pipes are discharged, when the pipe supporting frame is provided with the oil pipes, the manipulator grabs the oil pipes, performs pipe feeding operation, grabs the oil pipes from the uppermost pipe supporting frame firstly, when the oil pipes in the pipe supporting frame are used up, the pipe supporting frame rotates to swing out so as to grab the oil pipes from the next pipe supporting frame, when the oil pipes are discharged from the lower layer of the pipe supporting frame, after the pipe supporting frame is fully stacked, the upper layer of the pipe supporting frame rotates to the inside, and pipe stacking operation is performed. The hydraulic support leg device can be matched with the pipe rack, and the oil pipe guided by the hydraulic support leg device can be directly stacked on the pipe rack, and the oil pipe on the pipe rack can also be directly guided out through the hydraulic support leg device.

The automatic stacking and discharging integrated hydraulic support leg 3 can integrally finish the auxiliary work of oil pipe storage, oil pipe loading and unloading. When the oil pipe is stored, the manipulator grasps the oil pipe and moves into the oil pipe according to actual requirements, the bottom stinger 304 rotates into the oil pipe, the manipulator releases the oil pipe, and the stacking rows are sequentially rotated from bottom to top after stacking is completed; when the pipe is taken, the manipulator grabs the oil pipe at the corresponding position, grabs the oil pipe from the inner stinger 304, grabs the oil pipe in the upper stinger at the moment, and after the oil pipe is taken out, the upper stinger rotates to the outside so that the manipulator grabs the oil pipe of the lower stinger, and grabs the oil pipe sequentially from bottom to top. When the work is completed, the stinger 304 is turned back through the connection with the discharging integrated hydraulic support leg 305, and then turned back through the hinge shaft seat connected with the skid-mounted chassis 1 by the pipe stacking swing arm 307, so that the space is saved for transportation.

The top of the sliding sleeve type cable-free steerable elevator 4 is connected with the hanging wheel through a pin shaft, and one side of the sliding sleeve type cable-free steerable elevator is flexibly connected to a random telescopic type traveling block flexible guide driving device through an asymmetric sliding sleeve arm 402 and a flexible guide rope 802. The sliding sleeve type cable-free steerable elevator 4 moves up and down along the flexible guide rope, the slips 405 and the bidirectional cam shifting fork 406 are matched and positioned on the elevator assembly 403, the steering driving device swings the transmission pin 404 to be matched with the elevator assembly 403 in a flat key way, the steering driving device is connected to the elevator side plate 401, when the trolley drives the elevator to descend, the multifunctional hydraulic slip pipe wrench 5 is utilized to precisely position the upper part of the oil well to enable the oil pipe to enter the elevator assembly, the upper swing cylinder 808 positioned on the main body of the random telescopic trolley flexible guide driving device rotates the swing shifting rod 807 by a certain angle through the operation of the swing cylinder 808, thereby stirring the bidirectional cam shifting fork 406, the slips in the elevator are closed, the oil pipe is contained, the traveling block ascends to drive the oil pipe to ascend, when the pipe hoop of the oil pipe below reaches a specified position, the ascending is stopped, the traveling block drives the slips in the base to self-lock when the oil pipe descends for a short distance, the oil pipe below is clamped to prevent the rotation of the oil pipe below, when the hydraulic slips are used for detaching the hinging of the two oil pipes, the oil pipe grabbing and delivering mechanical arm 7 is driven by the servo motor 706 of the oil pipe grabbing and delivering mechanical arm; the oil pipe grabbing and conveying manipulator swing arm 701 swings and the self pulley 703 slides along the guide rail on the skid-mounted chassis, the self pulley grabs the lower end of the upper oil pipe, the oil pipe grabbing and conveying manipulator 7 moves rightwards and the trolley moves downwards, the elevator rotates along with the action of the oil pipe, and when the elevator reaches a specified position (the position where the manipulator grabs the oil pipe on the automatic pipe stacking and discharging integrated hydraulic support leg 3 is convenient), the double C-shaped integrated shifting fork 804 on the telescopic arm is utilized; the sliding sleeve type cable-free steering elevator 4 is stirred to enable slips in the elevator assembly 403 to be opened, the oil pipe grabbing and conveying manipulator 7 drives the oil pipe to be pulled out of the elevator assembly 403, the lower elevator steering driving arm 810 stretches out, the trolley drives the sliding sleeve type cable-free steering elevator 4 to move downwards, the lower elevator steering driving arm 810 drives the steering driving device to swing and rotate the driving pin 404, the elevator assembly 403 is in a vertical state, the trolley drives the sliding sleeve type cable-free steering elevator 4 to move upwards for a short distance, the lower elevator steering driving arm 810 withdraws, the trolley drives the elevator to move downwards to contain the oil pipe, and the work of oil pipe unloading is repeated. When the oil pipe is fed, the following steps are that: the traveling block drives the sliding sleeve type cable-free steerable elevator 4 to descend to the lower part of the double C-shaped integrated shifting fork 804 and ascend, and at the moment, the upper elevator steering driving arm 805 extends out to block the steering driving device from swinging the transmission pin 404; the elevator assembly 403 is in a horizontal position, the oil pipe is placed into the elevator assembly 403 through the cooperation of the grabbing and delivering mechanical arm and the guiding and delivering mechanical arm, at the moment, the double C-shaped integrated shifting fork 804 on the telescopic arm is utilized to shift the bidirectional cam shifting fork 406 on the elevator, so that the slips 405 are closed, and the trolley drives the sliding sleeve type cable-free steerable elevator 4 to ascend, and the sliding sleeve type cable-free steerable elevator is interlocked with the grabbing and delivering mechanical arm of 7 oil pipes to enable the oil pipe to be vertical to a wellhead. When the hydraulic pipe wrench screws up the threads of the upper oil pipe and the lower oil pipe, the sliding sleeve type cable-free steering elevator 4 descends along with the oil pipe by the self weight of the oil pipe to the corresponding position, the elevator in the hydraulic pipe wrench tightens the oil pipe, the swing shifting rod 807 in the driving of the elevator jaw opening and closing driving device on the telescopic arm shifts the bidirectional cam shifting fork 406 to open the jaw of the sliding sleeve type cable-free steering elevator 4, the sliding sleeve type cable-free steering elevator 4 ascends to the position of the oil pipe on the grabbing and feeding manipulator 7, and the upper elevator steering driving arm 805 stretches out to enable the elevator assembly 403 to rotate to the horizontal state, so that the work of the oil pipe is repeated.

The random telescopic type traveling block flexible guide driving device is positioned on a supporting arm hinged on the chassis body 101. One end of a flexible guide rope 802 is arranged on a pulley at the upper end of a guide driving swing arm 801, the other end of the flexible guide rope is fixed on a hydraulic slip, an asymmetric sliding sleeve arm moves up and down along the guide rope during operation, a double-C-shaped integrated shifting fork 804, an upper elevator steering driving arm 805 and a lower elevator steering driving arm 810 are fixed on a main body and are positioned at the upper limit position of a stacking manipulator 301, the double-C-shaped integrated shifting fork 804, the upper elevator steering driving arm 805 and the lower elevator steering driving arm 810 are matched with a sliding sleeve type cable-free steerable elevator 4 to finish the work of loading and unloading an oil pipe, a hydraulic cylinder 803 is positioned in the telescopic arm, and the extension and retraction of a hydraulic rod of the hydraulic cylinder are controlled so as to control the extension and retraction of the telescopic arm, a self-balancing hydraulic leg 806 is connected with a supporting arm connected with a skid-mounted chassis, and when a flexible guide driving device of a random telescopic type trolley is retracted and released, the driving cylinder drives the main body to extend, so that the main body and the skid-mounted chassis are supported. The swing deflector rod 807 is hinged with the swing cylinder 808 in a matched manner, the swing cylinder 808 is hinged with the telescopic arm main body through a supporting arm, when an oil pipe is discharged, the trolley drives the sliding sleeve type cable-free steerable elevator 4 to descend until the pipe hoop of the oil pipe completely enters the elevator slips, the swing cylinder 808 drives the swing deflector rod 807 to drive the bidirectional cam shifting fork 406 on the elevator, so that the slips in the elevator assembly are closed to contain the oil pipe, the trolley drives the sliding sleeve type cable-free steerable elevator 4 to ascend, when the oil pipe is discharged, the trolley drives the sliding sleeve type cable-free steerable elevator 4 containing the oil pipe to descend to a designated position, and the swing cylinder 808 drives the swing deflector rod 807 to drive the bidirectional cam shifting fork 406 on the elevator, so that the slips in the elevator assembly 403 are opened, and the oil pipe is released.

The multifunctional chain type conveying hydraulic support leg drives the C-shaped conveying chain to rotate by means of cooperation of the servo motor 203 and the chain pair 204, conveying of an oil pipe is achieved, the lower swing guide arm 209 is hinged to a lower chain wheel shaft, the lower swing guide arm 209 is driven to rotate around the lower chain wheel shaft by stretching of a hydraulic rod, oil pipe is led into the C-shaped conveying chain and led out by the C-shaped conveying chain, the lower oil pipe swing guide arm 209 is hinged to a chain shaft of a lower end chain wheel, the swing claw 208 is hinged to a shaft on the upper oil pipe swing guide arm 206, the swing claw is matched with the upper oil pipe swing guide arm 206 by means of working of a hydraulic cylinder, oil pipe is led into the C-shaped conveying chain and led out by the C-shaped conveying chain, the hydraulic support leg 205 is located on a chain conveying swing arm 207 hinged to a skid-mounted chassis, the outer end of the chain conveying swing arm is connected with a hydraulic support leg through a flange, and when the hydraulic support leg stretches out, and when the oil pipe is led in, the hydraulic rod of the lower swing guide arm is driven to stretch out. The lower swing guide arm 209 swings upwards around the chain wheel shaft, the oil pipe rolls into the C-shaped conveying chain along the guide arm, the servo motor 203 and the chain pair 204 cooperate to drive the C-shaped conveying chain to rotate, the oil pipe is conveyed by the chain, and when the oil pipe touches the upper oil pipe 206, the oil pipe swings the guide arm. And (5) rolling out the oil pipe. The upper swing arm rolls into the swing claw 208, the hydraulic rod of the upper swing guide arm is driven to retract, the swing claw rotates around the shaft on the upper swing guide arm, the oil pipe is led into the oil pipe guide and delivery manipulator 6 and the swing and delivery manipulator 9, the manipulator on the automatic pipe stacking and delivery integrated hydraulic support leg is used for grabbing the pipe support frame, or the oil pipe grabbing and delivery manipulator 7 is used for grabbing the oil pipe, when the oil pipe is delivered out of a warehouse or unloaded, the hydraulic rod on the upper swing guide arm extends to enable the swing claw 208 to rotate around the shaft on the oil pipe guide and delivery manipulator 6 and the swing and delivery manipulator 9 to support, the upper swing guide arm continues to extend to rotate around the shaft on the support arm, the oil pipe is led into the C-shaped conveying chain, the servo motor 203 and the chain pair 204 are matched to work to drive the C-shaped conveying chain to reversely rotate, and the oil pipe is led into the lower swing guide arm, and thus the oil pipe is led into the lower swing guide arm and the oil pipe is led out. After the work is finished, the hydraulic support leg 205 is retracted, the whole hydraulic support leg is retracted around the hinge shaft through the chain-conveying swing arm 207 of the hinged skid-mounted chassis, and the space is saved for transportation.

The folding state of the whole machine is a transportation state, the folding state of the whole machine is unfolded into a working state, the lower pendulum body rotates around the hinged support shaft under the action of the folding driving hydraulic cylinder 104 of the random telescopic traveling block flexible guide driving device to realize the conversion between the vertical state and the horizontal state of the pendulum body and the large arm connection end face, the working state is the ground vertical state, the horizontal state is the transportation state, the telescopic arm is supported by the folding driving supporting arm 103 of the random telescopic traveling block flexible guide driving device hinged on the skid-mounted chassis, the folding driving supporting arm 103 of the random telescopic traveling block flexible guide driving device is driven by the folding driving hydraulic cylinder 104 of the random telescopic traveling block flexible guide driving device to rotate around the hinged shaft hinged on the skid-mounted chassis, the guiding driving swing arm on the flexible guiding driving device of the random telescopic type trolley rotates around the hinge shaft connected to the skid-mounted chassis to realize conversion between working and transportation states of the telescopic arm, the automatic stacking pipe discharging integrated hydraulic support leg and the multifunctional chain type conveying hydraulic support leg are driven by the driving device to rotate around the hinge shaft on the skid-mounted chassis, the hydraulic support leg stretches out and retracts to realize conversion between working and transportation states, when the driving device drives the automatic stacking pipe discharging integrated hydraulic support leg and the chain type conveying hydraulic support leg to transport states, the hydraulic support leg is flush with the hinge seat on the skid-mounted chassis, and the hydraulic support leg baseboard of the hydraulic support leg can be folded to above the lowest surface of the skid-mounted chassis, so that the whole auxiliary machine meets the appearance size requirement of the conventional transportation state.

The foregoing description of the preferred embodiments of the present invention is not intended to limit the scope of the invention, but rather to limit the scope of the invention to the equivalents of the claims to which the invention pertains.

Claims

1. The automatic well workover robot is characterized by comprising a skid-mounted chassis, a multifunctional chain type conveying hydraulic supporting leg, an automatic stacking and discharging integrated hydraulic supporting leg, a sliding sleeve type cable-free steerable elevator, a multifunctional hydraulic slip pipe wrench, an oil pipe guiding and conveying manipulator, an oil pipe grabbing and conveying manipulator, a random telescopic traveling block flexible guiding and driving device and a swinging and conveying manipulator; the automatic stacking pipe discharging integrated hydraulic support leg is arranged in a hinged seat on the left side of the skid-mounted chassis, the multifunctional hydraulic slip pipe tongs are arranged in a hinged seat on the right side of the skid-mounted chassis through a hinge arm of the multifunctional hydraulic slip pipe tongs, and the swing manipulator is hinged to the multifunctional hydraulic support leg;

The random telescopic type flexible guide driving device for the tourist car comprises a telescopic arm, a guide driving swing arm, a flexible guide rope, a hydraulic cylinder, a double C-shaped integrated shifting fork, an upper elevator steering driving arm, a lower elevator steering driving arm, a self-balancing hydraulic support leg, a swing deflector rod and a swing oil cylinder; one end of the guide driving swing arm is rigidly connected to the bottom end of the telescopic arm, the other end of the guide driving swing arm is hinged to a hinged support of the skid-mounted chassis where a flexible guide driving device of the random telescopic type tourist car is located, the flexible guide rope is fixed on the telescopic arm, the asymmetric sliding sleeve arm is sleeved on the flexible guide rope, the hydraulic cylinder is positioned in the telescopic arm, the extension and retraction of the telescopic arm are driven, the double C-shaped integrated shifting fork, the upper elevator steering driving arm and the lower elevator steering driving arm are all positioned on the telescopic arm and are respectively connected with a respective hydraulic driving device, the self-balancing hydraulic supporting leg is positioned on the guide driving swing arm, the swing shifting rod and the swing cylinder are positioned on the guide driving swing arm, the swing shifting rod is matched with the swing cylinder, and the swing shifting rod rotates through the work of the swing cylinder, so that the bidirectional cam shifting fork of the sliding sleeve type cable-free steerable elevator is shifted;

The skid-mounted chassis comprises a chassis body, a support frame, a retraction driving support arm and a retraction driving hydraulic cylinder, wherein the support frame is connected to the chassis body through a hinged support, the retraction driving support arm is hinged to the rear end of the chassis body through a hinged support, the retraction driving hydraulic cylinder is connected to the retraction driving support arm through an intermediate hinged shaft seat, and the lower end of a hydraulic rod in the retraction driving hydraulic cylinder is hinged to a swing arm of the guide driving device;

The sliding sleeve type cable-free steerable elevator comprises an elevator side plate, an asymmetric sliding sleeve arm, an elevator assembly, a steering driving device swing transmission pin, slips and a bidirectional cam shifting fork, wherein the asymmetric sliding sleeve arm is fixed on the elevator side plate and is sleeved with a flexible guide rope, the elevator assembly is hinged with the elevator side plate through the steering driving device swing transmission pin, the slips and the bidirectional cam shifting fork are positioned in the elevator assembly, and the bidirectional cam shifting fork is connected with the slips in the elevator main body in a matched manner;

The multifunctional hydraulic slip pipe tongs comprise hydraulic pipe tongs, a hydraulic pipe tongs sliding seat, a hydraulic pipe tongs lifting table, hydraulic slips, a lifting table hydraulic cylinder and slip jaws; the hydraulic pipe wrench lifting table is fixed on the hydraulic slips, the hydraulic pipe wrench is positioned on the hydraulic pipe wrench sliding seat to realize horizontal movement, and the hydraulic pipe wrench sliding seat is positioned on the hydraulic pipe wrench lifting table to realize up-and-down movement; the hydraulic slip center is a slip jaw, and the hydraulic slip is fixed on a wellhead;

The multifunctional chain type conveying hydraulic support leg is provided with two chains, the two chains are respectively hinged near the front end and the rear end of the right side edge of the chassis body, the multifunctional chain type conveying hydraulic support leg comprises a chain wheel, a chain, a servo motor, a chain pair, a hydraulic support leg, an upper oil pipe swinging guide arm, a chain conveying swing arm, a swinging claw, a lower oil pipe swinging guide arm and a support rod, the chain wheels are respectively arranged at the upper end and the lower end of the hydraulic support leg, the chain is wound on the two chain wheels, the servo motor and the chain pair are also fixed on the hydraulic support leg, the servo motor drives the chain wheels and the chain through the chain pair, the outer end of the chain conveying swing arm is connected with the flange type hydraulic support leg, the inner end of the chain conveying swing arm is hinged on a support rod connected with the hydraulic support leg through a hinge shaft, the lower oil pipe swinging guide arm is hinged with the chain shaft of the chain wheel at the lower end of the hydraulic support leg, the inner end of the chain conveying swing arm is connected with the inner end of the chain conveying hydraulic support leg, one end of the swinging claw is hinged on the upper oil pipe swinging guide arm, the other end of the swinging claw hydraulic rod is hinged on the upper end of the support leg, the lower end of the chain conveying guide arm is hinged on the support leg is positioned at the inner side of the hydraulic support leg, and the inner side of the hydraulic support leg is arranged at the side of the hydraulic support leg C;

2. The automatic well repair robot according to claim 1, wherein the swing manipulator comprises a swing manipulator, a swing hydraulic rod, a hydraulic rod hinged support and a support arm, the lower end of the swing manipulator is hinged to the outer end of the transverse support arm, the hydraulic rod hinged support and the transverse support arm are both fixed on a support rod for supporting the multifunctional chain type hydraulic support leg, the hydraulic rod hinged support is located above the transverse support arm, the inner end of the swing hydraulic rod is hinged to the hydraulic rod hinged support, the outer end of the swing hydraulic rod is hinged to the middle of the swing manipulator, and the upper end of the swing manipulator is provided with a swing oil pipe groove.

3. The automatic well repair robot according to claim 1, wherein the oil pipe guiding and conveying manipulator is hinged near the rear end of the right side edge of the chassis body, the oil pipe guiding and conveying manipulator comprises a swinging body, pulleys, a swinging arm, a hydraulic cylinder, a chain pair and a servo motor, the swinging body is hinged on the skid-mounted chassis through a hinge seat, the pulleys are positioned at the upper end of the swinging arm and play a role in supporting and guiding the oil pipe, one end of the hydraulic cylinder is hinged on the skid-mounted chassis through a base, the other end of the hydraulic cylinder is hinged on a hinge seat of the swinging body, the swinging of the swinging body relative to the left and right directions of the chassis body is realized through the expansion and contraction of the hydraulic cylinder, the chain pair is positioned on a hinge shaft where the swinging arm and the swinging body are hinged, and the servo motor is fixed on the swinging arm and drives the chain pair to realize the swinging of the swinging arm relative to the front and rear directions of the chassis body.

4. The automatic well repair robot according to claim 1, wherein the oil pipe grabbing and delivering mechanical arm is connected to the right side edge of the chassis body in a sliding mode through a guide rail, and comprises a grabbing and delivering hand swing arm, a mechanical arm driving rod, a pulley, a hydraulic cylinder, a chain wheel pair, a servo motor, a crank chain wheel pair and a hydraulic cylinder; the grabbing hand swing arm is hinged to the pulley, the pulley slides back and forth on a guide rail arranged on the right side edge of the chassis body, and the chain wheel pair is hinged to a hinge shaft connected with the grabbing hand swing arm and the pulley; the servo motor is installed on the grabbing hand swing arm and drives the sprocket pair to rotate, the sprocket pair drives grabbing hand swing arm back and forth swing, the manipulator articulates on the turning arm, turning arm one end articulates at grabbing hand swing arm upper end, and the pneumatic cylinder is connected to the other end, pneumatic cylinder is connected to manipulator actuating lever one end, and the manipulator rear end is connected to the other end, crank sprocket pair installs on the turning arm, the pneumatic cylinder is located grabbing hand swing arm and with crank sprocket pair hinge, pneumatic cylinder crank sprocket pair and turning arm are rotatory, drive the manipulator rotation then.