CN107701128A - A kind of full-automatic petroleum well workover rod tube operation industrial robot - Google Patents
A kind of full-automatic petroleum well workover rod tube operation industrial robot Download PDFInfo
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- CN107701128A CN107701128A CN201711025255.3A CN201711025255A CN107701128A CN 107701128 A CN107701128 A CN 107701128A CN 201711025255 A CN201711025255 A CN 201711025255A CN 107701128 A CN107701128 A CN 107701128A
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- Prior art keywords
- rod tube
- rod
- conveying device
- main body
- oil pipe
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- 239000003208 petroleum Substances 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 239000003921 oil Substances 0.000 claims abstract description 70
- 238000012545 processing Methods 0.000 claims abstract description 29
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 239000003129 oil well Substances 0.000 claims description 10
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000005086 pumping Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 241000269793 Cryothenia peninsulae Species 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/10—Slips; Spiders ; Catching devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of full-automatic petroleum well workover rod tube operation industrial robot, the robot includes main body rod tube processing mechanism, rod tube stacking mechanism, rod tube conveying device, attached hydraulic oil pipe slips, sucker rod slips, rod tube line flaw detection device and GPS positioning device；Main body rod tube processing mechanism includes main body chassis, track-type facilities and robot arm device；Rod tube palletizing apparatus is provided with stacking base, travel mechanism and robot device；Stacking base is provided with the cross-arm for being used for shelving oil pipe and sucker rod, and rod tube conveying device includes conveying device one and conveying device two；Conveying device one is arranged on the left side of main body chassis and positioned at the lower section of flexible mechanical arm device, the rear side of conveying device one is provided with encoder measuring motion, conveying device two is located at the front end of rod tube stacking mechanism, and the transmission for realizing oil pipe and sucker rod is on same straight line with conveying device one.
Description
Technical field
The present invention relates to petroleum well workover device intelligence control technology field, and in particular to a kind of full-automatic petroleum well workover rod tube
Operation industrial robot.
Background technology
In oilfield process, when due to oil well or the equipment fault underproduction or stopping production, or due to oil well condition of work
Change, it is necessary to when changing production technology measure according to new situation, it is necessary to which workover operation construction is carried out to oil well.Such as flowing well
It is required for removing oil when turning pumpingh well, change oil well pump depth of setting, model or running into oil pipe leakage, rod broken
Pipe carries out workover treatment.These work generally need well workover machine equipment to complete.Original well head workover rig is every in the prior art
Class scene will be at least made up of 4-6 people, wherein 1 people drives winch, the people's blocked operation tubing slip of well head 2 and replacing pipe elevator are simultaneously
Hydraulic tubing tong is operated, live oil pipe manual emission 1-2 people has that labor strength is big, and working environment is severe, site safety
Property is poor, and operating efficiency is low, easily causes environmental pollution etc., and technical staff's stream of people's situation is serious.
It is domestic in recent years to be proposed rod tube remote control automatic discharge system and automanual successively for such case
Well workover robot, such as the utility model patent of Application No. 201320473958.3 disclose a kind of well workover tubing and casing conveying dress
Put, including tubing string, moving cart, frame main body, cutting agency, lifting landing leg, dolly clamp fluid cylinder, dolly traveling roller machine
Structure, feed mechanism, hydraulic pressure manifold, hydraulic station and switch board assembly, fold mechanism.The moving cart is installed on frame main body
On, dolly is installed in moving cart and clamps fluid cylinder, cutting agency is arranged on the inside of frame main body, dolly traveling roller mechanism peace
In frame main body loaded on moving cart one side, lifting landing leg is installed on the both ends of frame main body, and feed mechanism is installed on machine
The side of frame body, fold mechanism are installed on one end of frame main body, and hydraulic pressure manifold clamps fluid cylinder and hydraulic station with dolly respectively
And switch board assembly is connected.Although technology disclosed in the document reduces the labor of live manual emission tubing and casing to a certain extent
Fatigue resistance, but the quantity of shaft mouth operation personnel is not reduced.And for example the invention of Application No. 201210370190.7 is special
Sharp document discloses a kind of semi-automatic oil pipe robot device that slideway is picked provided with oil pipe, the open loop realized by remote control thereof
Workover treatment automatic production line is controlled, but still without labor strength is fundamentally reduced, improves operating efficiency, drilling team
Number of workers configuration does not also change.For another example the patent of invention document of Application No. 201410584164.3, which discloses one kind, has
The workover treatment subsidiary engine of skid base and conveyer, workover treatment automaticity is improved, but its material storehouse main body can only be temporary
When store a number of oil pumping rod of oil tube, do not possess the ability for handling whole R a T, and the invention does not have pin yet
The special equipment for removing and dismantling to sucker rod, it is not carried out the full-automatic workover operation construction to all oil pipes and sucker rod.
The content of the invention
In order to overcome problems of the prior art, the defects of for present in prior art, the invention provides one
Full-automatic petroleum well workover rod tube operation industrial robot of the kind suitable for the closed-loop control of whole oil pipes and sucker rod.
To achieve the above object, full-automatic petroleum well workover rod tube operation industrial robot of the present invention includes main body bar
Pipe processing mechanism, rod tube stacking mechanism, rod tube conveying device, attached hydraulic oil pipe slips, sucker rod slips, rod tube line flaw detection
Device and GPS positioning device；The main body rod tube processing mechanism includes main body chassis, track-type facilities and robot arm device；It is described
Main body chassis bottom is supported on the ground by hydraulic leg, and hydraulic elevator and hydraulic pressure rod tube are provided with the track-type facilities
Pincers, track-type facilities are hinged on the front end of main body chassis, and the robot arm device includes large arm pendulous device and flexible manipulator fills
Put, the large arm pendulous device is be hinged to be installed in the swing seat of main body chassis front end, and the flexible mechanical arm device is hinged on
The top of large arm pendulous device, flexible mechanical arm device can be rocked to fully horizontal or substantially vertical with large arm pendulous device
Position；The rod tube palletizing apparatus is provided with stacking base, travel mechanism and robot device；The stacking base, which is provided with, to be used for
The cross-arm of oil pipe and sucker rod is shelved, the rear end that the travel mechanism is connected to stacking base can move forward and backward, the machinery
Arm device is arranged in travel mechanism；The rod tube conveying device includes conveying device one and conveying device two；The conveying dress
Put one and conveying device two be separately fixed on main body rod tube processing mechanism and rod tube stacking mechanism, the conveying device one is set
In the left side of main body chassis and positioned at the lower section of flexible mechanical arm device, the rear side of conveying device one is provided with encoder and surveys length
Device, the conveying device two are located at the front end of rod tube stacking mechanism, are in conveying device one on same straight line and realize oil pipe
With the transmission of sucker rod, during the operation of lower oil pipe or lower sucker rod, robot device on the rod tube palletizing apparatus by oil pipe or
Sucker rod is grabbed in conveying device two, and oil pipe or sucker rod are conveyed to main body rod tube by conveying device two through conveying device one
Manage mechanism and complete to transfer by robot arm device；Conversely, when playing oil pipe or sucker rod operation, main body rod tube processing mechanism will be from well
The interior oil pipe gone out or sucker rod are passed out in the conveying device two of rod tube palletizing apparatus through conveying device one, rod tube palletizing apparatus
A rod tube gone out is carried out arranging stacking and is automatically stored to computer system.
The attached hydraulic oil pipe slips is arranged on wellhead flange or preventer flange, the hydraulic sucker rod slips peace
In the tubing coupling fixed mounted in well head.
The rod tube on-line monitoring failure detector is arranged on wellhead hydraulic tubing slip or hydraulic sucker rod slips upper bit
Put, the bottom that GPS positioning device is located at main body rod tube processing mechanism can realize long range positioning.
Particularly, the stacking base on the rod tube palletizing apparatus includes stacking chassis and column, and column is fixed on stacking
Chassis rear end；Travel mechanism on the rod tube palletizing apparatus includes fixed saddle, guide frame for moving and square frame-shaped manipulator support,
Fixed saddle level is welded on column, and guide frame for moving is arranged on below fixed saddle, and guide frame for moving can edge by rack-driving
Fixed saddle is moved forward and backward, and sliding block is equipped with the outside of the guide frame for moving both sides, is set on the inside of the square frame-shaped manipulator support
There is chute, manipulator support is connected by chute with the sliding block on the outside of guide frame for moving, and manipulator support can under hydraulic cylinder drive
Moved up and down along guide frame for moving；Robot device on the rod tube palletizing apparatus includes mechanical arm and palletizing mechanical arm, machine
One end of tool arm is provided with palletizing mechanical arm, and the other end of mechanical arm is hinged on the down either side of manipulator support and can be around
Jointed shaft horizontally rotates, and oil pipe or sucker rod can be transported in conveying device two by palletizing mechanical arm.
Particularly, the track-type facilities on the main body rod tube processing mechanism include correcting guide rail, hydraulic elevator, hydraulic pressure rod tube
Pincers, hydraulic elevator and the hydraulic stem pipe wrench are arranged on correcting guide rail, and the correcting guide rail is by upper rail, lower guideway and folding
Mechanism three parts are folded and formed, and are connected between the upper rail and lower guideway by fold mechanism, upper rail is in hydraulic cylinder two
Driving is lower to pass through fold mechanism foldable for 180 degrees, and the correcting guide rail bottom is hinged on guiderail base, and guiderail base is fixed on
In main body chassis, the correcting guide rail is swingable 90 ° under the driving of hydraulic cylinder one.
Particularly, the large arm pendulous device includes mechanical arm, swing seat, oscillating oil cylinder and locking cylinder, and the swing seat is consolidated
It is scheduled in main body chassis, the mechanical arm is hinged on swing seat and driven by oscillating oil cylinder to be rotated around swing seat；The flexible mechanical
Arm device is connected by balance staff with mechanical arm.
Particularly, the conveying device one and conveying device two include fixed guide rail, are provided with above the fixed guide rail
Multigroup conveying roller.
Particularly, described rod tube line flaw detection device is fixedly mounted on attached hydraulic oil pipe slips or pumping rod fasterner
Watt, rod tube line flaw detection device collection signal is automatically entered into hind computation machine management system.
Particularly, GPS positioning device is arranged on the bottom of main body rod tube processing mechanism, can realize full-automatic petroleum well workover
The long range positioning and control of rod tube operation industrial robot.
Particularly, the end set of described measuring motion has rod tube identity recognition device, by sucker rod or oil pipe
Identification marking is reserved at box cupling, effectively the identity of ONLINE RECOGNITION difference sucker rod or oil pipe and diverse location can be put,
And background computer system is input in real time, establish oil well rod tube lifecycle management database.
The invention has the advantages that：Full-automatic petroleum well workover rod tube operation industrial robot of the present invention with it is existing
Technology is compared, and automaticity is high, full closed loop control and control monitoring function are complete, coordinates the upper and lower action of workover rig winch
Can realize well mouth oil pipe and sucker rod it is full-automatic rise, database work is established in lower operation and rod tube use state on-line monitoring
Make, it is poor thoroughly to overcome workover treatment personnel labor intensity big, well head safe poor performance, low production efficiency, high energy consumption, operability
The defects of, be advantageous to establish the lifecycle management of oil well rod tube, while by traditional physical manipulation type pattern of well head 4-5 people
The auxiliary for switching to 1 people sees cast operator scheme, realizes automating, being intelligent for production process, the Internet of Things for realizing equipment is remote
Range monitoring.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the full-automatic petroleum well workover rod tube operation industrial robot of the present invention.
Fig. 2 is the structural representation of the main body rod tube processing mechanism of the present invention；
Fig. 3 is the general structure schematic diagram of the rod tube stacking mechanism of the present invention；
Fig. 4 is the structural representation front view of the rod tube stacking mechanism of the present invention；
Fig. 5 is the structural representation of the track-type facilities of the present invention；
Fig. 6 is the structural representation of the robot arm device of the present invention；
Fig. 7 is the structural representation of the conveying device two of the present invention.
Fig. 8 is the structural representation of attached the hydraulic oil pipe slips and sucker rod slips of the present invention.
In figure：I main body rod tubes processing mechanism, II rod tubes stacking mechanism, III rod tubes conveying device, hydraulic oil pipe slips IV,
Sucker rod slips V, 1 main body chassis, 2 track-type facilities, 3 robot arm devices, 4 conveying devices one, 5 hydraulic elevators, 6 hydraulic pressure rod tubes
Pincers, 7 large arm pendulous devices, 8 flexible mechanical arm devices, 9 stacking bases, 10 travel mechanisms, 11 robot devices, 12 conveying devices
2nd, 13 oil pipes and sucker rod, 14 cross-arms, 15 chassis, 16 columns, 17 fixation saddles, 18 guide frame for moving, 19 manipulator supports, 20
Mechanical arm, 21 palletizing mechanical arms, 22 correcting guide rails, 23 hydraulic elevators, 24 hydraulic stem pipe wrench, 25 guiderail bases, 26 mechanical arms,
Guide rail, 31 conveying rollers, 32 chains are fixed in 27 swing seats, 28 oscillating oil cylinders, 29 locking cylinders, 30.
Embodiment
Following examples are used to illustrate the present invention, but are not limited to the scope of the present invention.
Fig. 1 is the general structure schematic diagram of the full-automatic petroleum well workover rod tube operation industrial robot of the present invention.
Full-automatic petroleum well workover rod tube operation industrial robot of the present invention includes main body rod tube processing mechanism I, bar
Pipe stacking mechanism II, rod tube conveying device III, attached oil pipe hydraulic pressure slips IV, sucker rod slips V, on-Line Monitor Device VI and
GPS positioning device etc., each part form by several functional modules, and each module is using various mechanisms, hydraulic pressure, electric etc.
Individually control；Rod tube conveying device III includes conveying device 1 and conveying device 2 12, conveying device 1 and conveying device two
12 are separately positioned on main body rod tube processing mechanism I and rod tube stacking mechanism II, and oil pipe and sucker rod 13 pass through conveying device 1
Realized with conveying device 2 12 and main body rod tube processing mechanism I is sent to by rod tube stacking mechanism II, or by main body rod tube processor
Structure I sends rod tube stacking mechanism II to.
Fig. 2 show the structural representation of the main body rod tube processing mechanism of the present invention.
The main body rod tube processing mechanism I includes main body chassis 1, track-type facilities 2 and robot arm device 3, the main body bottom
The bottom of disk 1 is supported on the ground by hydraulic leg, and hydraulic elevator 5 and hydraulic stem pipe wrench 6 are provided with the track-type facilities 2,
The track-type facilities 2 are hinged on the front end of main body chassis 1；The robot arm device 3 includes large arm pendulous device 7 and flexible mechanical
Arm device 8, the large arm pendulous device 7 is be hinged to be installed in the swing seat of the front end of main body chassis 1, the flexible mechanical arm device
8 are hinged on the top of large arm pendulous device 7, and flexible mechanical arm device 8 can be rocked to fully horizontal or complete with large arm pendulous device 7
Complete vertical position；The conveying device 1 is arranged on the left side of main body chassis 1 and is located at the lower section of flexible mechanical arm device 8,
The rear side of conveying device 1 is provided with encoder measuring motion.
The main body chassis 1 of the main body rod tube processing mechanism I is used to support whole main part, other main part moulds
Block is installed in main body chassis 1, and whole main part engineering transportation can be increased to by the Telescopic of hydraulic leg
Above chassis, convenience in transport；When well site is installed, the flexible hydraulic cylinder of driving hydraulic leg, the exhibition of hydraulic leg can be adjusted
Open position.Driving hydraulic cylinder position can be adjusted according to the situation of operation field and adjust expansion, can adjusted according to well head height
The relative altitude of hydraulic leg, realization body dock with well head, and main body rod tube processing mechanism I hydraulic legs, which have, shrinks scope
Extensively (small volume, developed area are adjustable after contraction), convenient transportation, the features such as place is practical.
Fig. 3 show the general structure schematic diagram of the rod tube stacking mechanism of the present invention.
Fig. 4 show the structural representation front view of the rod tube stacking mechanism of the present invention.
The rod tube palletizing apparatus II is provided with stacking base 9, travel mechanism 10 and robot device 11, on stacking base 9
Side is provided with the cross-arm 14 for being used for shelving oil pipe and sucker rod 13, and travel mechanism 10 is fixed on the rear end of stacking base 9 and can be former
After move, robot device 11 is arranged in travel mechanism 10, and conveying device 2 12 is arranged on the front end of stacking base 9.
The conveying device 2 12 is on same straight line the transmission for realizing oil pipe and sucker rod 13 with conveying device 1；
Oil pipe and sucker rod 13 are sent in conveying device 2 12 by robot device 11, and oil pipe and sucker rod 13 are passed through by conveying device 2 12
Conveying device 1 is conveyed to main body rod tube processing mechanism I and completes to transfer；Conversely, main body rod tube processing mechanism I will be from well
The oil pipe and sucker rod 13 gone out is passed out to through conveying device 1 in rod tube palletizing apparatus II conveying device 2 12, rod tube stacking
Device II is carried out arranging stacking and information is automatically stored into background computer system to the oil pipe and sucker rod 13 of receiving.
Particularly, the stacking base 9 on the rod tube palletizing apparatus II includes stacking chassis 15 and column 16, and column 16 is solid
It is scheduled on the rear end of stacking chassis 15；Travel mechanism 10 on the rod tube palletizing apparatus II includes fixed saddle 17, guide frame for moving 18
With the manipulator support 19 of square frame-shaped, the fixed level of saddle 17 is welded on column 16, and guide frame for moving 18 is arranged on fixed saddle
17 lower sections, guide frame for moving 18 can be movable along fixed saddle 17 by rack-driving, and described 18 liang of outsides of guide frame for moving are all provided with
There is sliding block, the inner side of square frame-shaped manipulator support 19 is provided with chute；Manipulator support 19 on the rod tube palletizing apparatus II
It is connected by chute with the sliding block of the both sides of guide frame for moving 18, manipulator support 19 can be along guide frame for moving 18 under hydraulic cylinder drive
Move up and down；Robot device 11 on the rod tube palletizing apparatus II includes mechanical arm 20 and palletizing mechanical arm 21, stacking
Manipulator 21 is arranged on the end of mechanical arm 20, and the other end of mechanical arm 20 is hinged under the both sides of manipulator support 19
Side can simultaneously horizontally rotate around jointed shaft；Oil pipe and sucker rod 13 are transported in conveying device 2 12 by palletizing mechanical arm 21.
Particularly, the main function of the rod tube palletizing apparatus II is storage oil pipe and sucker rod 13, works as industrial robot
, it is necessary to which first oil pipe and sucker rod 13 are gone out from well and are transported to rod tube palletizing apparatus II, rod tube when being repaired to oil well
Palletizing apparatus II carries out ordered arrangement by automated machine arm device 11 to the oil pipe and sucker rod 13 of reception, completes well workover and makees
Main frame is conveyed to by mechanical handle stem pipe again after industry and completes decentralization.
The present invention is simple and reasonable for structure, reliable, can receive or send out automatically rod tube system, in the process of storage rod tube
Middle palletizing mechanical arm automatic-discharging rod tube system is simultaneously automatically entered into hind computation machine management system.The characteristics of device is can
Greatly reduce labor strength, system full closed loop control, security reliability height, it is not necessary to which operating personnel put and transported
Petroleum pipeline or sucker rod, substantial amounts of human and material resources are saved, reduce oil rod tube drain time, improve rod tube system meter
Calculate machine information managerial skills.
Fig. 5 show the structural representation of the track-type facilities of the present invention.
Track-type facilities 2 on the main body rod tube processing mechanism I include correcting guide rail 22, hydraulic elevator 23, hydraulic pressure rod tube
Pincers 24, the hydraulic elevator 23 and hydraulic stem pipe wrench 24 are arranged on correcting guide rail 22, the correcting guide rail 22 by upper rail, under
Guide rail and fold mechanism three parts, which fold, to be formed, and is connected between the upper rail and lower guideway by fold mechanism, upper rail exists
Pass through fold mechanism foldable for 180 degrees under the driving of hydraulic cylinder two；The bottom of correcting guide rail 22 is hinged on guiderail base 25,
Guiderail base 25 is fixed in main body chassis 1, and the correcting guide rail 22 is swingable 90 ° under the driving of hydraulic cylinder one.
Particularly, the main function of the track-type facilities 2 is to adjust pithead position, lifting and decentralization to hydraulic elevator 23
Guide effect is played, track-type facilities 2 are integrated with hydraulic elevator guide rail, move up and down guide rail, hydraulic stem pipe wrench 24, guide rail adjustment dress
Put.0-90 ° of track-type facilities hunting range, kept flat after being rotated by 90 ° on main body rod tube processing mechanism I, simple in construction, conjunction
Manage, be reliable, distinguishing feature is labor intensity reduction, and security reliability improves, it is not necessary to which standing to well head operates, saving
Substantial amounts of human and material resources, improve lower oil tube or sucker rod operating efficiency.
Fig. 6 show the structural representation of the robot arm device of the present invention.
The robot arm device 3 includes large arm pendulous device 7 and flexible mechanical arm device 8.
The large arm pendulous device 7 includes mechanical arm 26, swing seat 27, oscillating oil cylinder 28 and locking cylinder 29, the swing seat
27 are fixed in main body chassis 1, and the mechanical arm 26 is hinged on swing seat 27 and driven by oscillating oil cylinder 28 to be rotated around swing seat 27；
The flexible mechanical arm device 8 is connected by balance staff with mechanical arm 26.
Particularly, rod tube is used flexibility under the vertical state of well head by the robot arm device 3 when playing oil pipe or sucker rod
Manipulator 8 clamps rod tube, is swung by large arm since 105 °, and during to 85 °, flexible manipulator 8 starts from 90 ° of rotations, when big
When arm swing device 7 swings to 40 °, flexible manipulator 8 turns to 0 ° of state of level, and large arm pendulous device 7 continues to swing to water
Equal 0 ° of state.After large arm pendulous device 7 and flexible manipulator 8 are horizontality, oil pipe and sucker rod 13 are horizontally placed to defeated
Send device to connect, send the position of rod tube；After rod tube enters conveying device during lower oil pipe or sucker rod, flexible manipulator 8 will
Rod tube puts rod tube position from conveying device and captures and clamp rod tube, and large arm pendulous device 7 starts to swing since 0 ° of level, when
When large arm pendulous device 7 swings to 35 °, flexible manipulator 8 starts from 0 ° of rotation, soft when large arm pendulous device 7 swings to 85 °
The property complete rotation in 90 ° of manipulator 8, large arm pendulous device 7 continues to swing to 105 ° is sent to well head upright position by rod tube.Large arm is put
0-105 ° of 7 hunting range of dynamic device, 0-90 ° of 8 slewing area of flexible manipulator.The robot arm device 3 is simple and reasonable for structure,
Reliably, rod tube easily can be put into well head upright position from horizontal level, significantly reduces labor intensity, improved safe and reliable
Property, it is not necessary to operating personnel to well head operate, and save substantial amounts of human and material resources, improve operating efficiency.
Fig. 7 show the structural representation of the conveying device two of the present invention.
The rod tube conveying device III includes conveying device 1 and conveying device 2 12.The conveying device 1 and defeated
Device 2 12 is sent to include fixed guide rail 30, the fixed top of guide rail 30 is provided with multigroup conveying roller 31.The conveying roller (31)
It is driven by chain (32).
Particularly, the rod tube conveying device III oil pipe and takes out in the case where using rod tube palletizing apparatus II parts
Beam hanger 13 is transported to main body rod tube processing mechanism I left side from rod tube palletizing apparatus II, when measuring motion is touched in rod tube end
Sent immediately after fixed end switch and survey long signal, the jacking hydraulic cylinder of conveying device 1 jacks up rod tube and arrived after the completion of rod tube survey is long
Specified location, it next can run the action of mechanical arm module.Rod tube conveying device III is applied to, two kinds of moulds of lower rod tube
Formula, effectively conveying and the long two kinds of functions of survey are combined, shortening removes the rod tube time, improves operating efficiency, structure is more
Compact and reasonable.
Particularly, the measuring motion is rising, is realizing the long function of survey during lower rod tube to rod tube, includes and surveys long fixed dress
Long mobile device two parts are put and surveyed, after oil pipe and sucker rod 13 enter conveying device 2 12, survey long mobile device in liquid
Push rod is swung to above roller-way under cylinder pressure driving, fluid motor-driven leading screw, leading screw drives push rod movement, coordinates rollgang
Action, surveys long fixing device and is stretched out under Driven by Hydraulic Cylinder to mobile terminal and reach specified location, oil pipe or oil pumping when promotion
Bar top to fixing end ring flange when, the space of compression spring make contact-making switch sender, mobile terminal obtain signal after stopping act,
Encoder exports the displacement of catch bar, so can be obtained by the length of every oil pipe or sucker rod, measuring motion application
The length of Yu Qi, lower oil pipe or sucker rod both of which, automatic measurement oil pipe or sucker rod, there is length measurement precision height, record
Identification marking is reserved at the features such as data are fast, sucker rod or tubing coupling, has rod tube identification in measuring motion end set
Device, the identity of different sucker rods or oil pipe can be effectively identified, establish oil well rod tube lifecycle management database, improved
Oil well Internet of Things managerial skills.Rod tube is effectively conveyed and surveyed long, three kinds of function knots of ONLINE RECOGNITION by rod tube conveying device III
It is combined together, reduces labor strength, improve operating efficiency, more compact structure is reasonable.
Fig. 8 is the structural representation of attached the hydraulic oil pipe slips and sucker rod slips of the present invention.
Hydraulic oil pipe slips IV and sucker rod the slips V includes slip spider, slips body and slip insert etc., hydraulic oil pipe
Slips IV is fixedly mounted on wellhead flange or preventer flange by tubing slip seat flange, and profit is computerizedd control hydraulic cylinder
Automatic clamping oil pipe is played a part of in lifting, and sucker rod slips V is fixedly mounted on oil pipe by tubing coupling, by controlling automatically
Clamping oil pumping bar body is played a part of in the raising action of hydraulic cylinder processed.The various sizes of oil pipe of clamping or sucker rod can pass through
Various sizes of slip insert is changed to realize.The line flaw detection device is fixed on the upper position of slip system, in raising oil
The service condition of rod tube can be monitored when pipe or sucker rod on-line, to having the rod tube of damage and alarm and specially treated.
The automaticity of full-automatic petroleum well workover rod tube operation industrial robot of the present invention is high, and oil can be achieved
The automation of workover treatment, intellectualized operation, overcome conventional petroleum well workover labor strength is big, site safety performance is poor,
The defects of work efficiency rate is low, high energy consumption, and operability is poor, pollution environment, while more people's muscle power manipulation types (4-5 people) are converted into 1 people
Keeping an eye on property operation, realize production process automation and intelligentized control method and Internet of Things monitoring.
Those listed above is a series of to be described in detail only for feasibility embodiment of the invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included in the scope of the protection.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (10)
- A kind of 1. full-automatic petroleum well workover rod tube operation industrial robot, it is characterised in that：The full-automatic petroleum well workover rod tube is made Industry industrial robot includes main body rod tube processing mechanism (I), rod tube stacking mechanism (II), rod tube conveying device (III), attached liquid Pressuring oil pipe slips (IV), sucker rod slips (V), rod tube line flaw detection device (VI) and GPS positioning device；The rod tube conveying dress Putting (III) includes conveying device one (4) and conveying device two (12), and conveying device one (4) and conveying device two (12) are set respectively Put on main body rod tube processing mechanism (I) and rod tube stacking mechanism (II)；The main body rod tube processing mechanism (I) includes main body bottom Disk (1), track-type facilities (2) and robot arm device (3), main body chassis (1) bottom are supported on the ground by hydraulic leg, Hydraulic elevator (5) and hydraulic stem pipe wrench (6) are installed, track-type facilities (2) are hinged on main body chassis on the track-type facilities (2) (1) front end；The robot arm device (3) includes large arm pendulous device (7) and flexible mechanical arm device (8), the large arm pendulum Dynamic device (7) is hinged with the swing seat in main body chassis (1), and the flexible mechanical arm device (8) is hinged on large arm pendulum At the top of dynamic device (7), flexible mechanical arm device (8) can be rocked to fully horizontal or substantially vertical with large arm pendulous device (7) Position；The conveying device one (4) is arranged on the left of main body chassis (1) and below flexible mechanical arm device (8), is being conveyed Measuring motion is provided with rear side of device one (4)；The rod tube palletizing apparatus (II) is provided with stacking base (9), travel mechanism (10) cross-arm (14) for being used for shelving oil pipe and sucker rod (13) is provided with, is moved with robot device (11), stacking base (9) top Motivation structure (10) is fixed on the rear end of stacking base (9), and robot device (11) is arranged in travel mechanism (10), conveying device Two (12) are arranged on the front end of stacking base (9)；The conveying device two (12) is on same straight line with conveying device one (4) Realize the transmission of oil pipe and sucker rod (13)；Oil pipe and sucker rod (13) are sent to conveying device two (12) by robot device (11) On, oil pipe and sucker rod (13) are conveyed to main body rod tube processing mechanism (I) simultaneously by conveying device two (12) through conveying device one (4) Complete decentralization；Conversely, main body rod tube processing mechanism (I) also can fill the oil pipe gone out from well and sucker rod (13) through conveying Put one (4) to pass out in the conveying device two (12) of rod tube palletizing apparatus (II), oil pipe of the rod tube palletizing apparatus (II) to receiving Carry out arranging stacking with sucker rod (13) and information is automatically entered into computer management system.
- A kind of 2. full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 1, it is characterised in that：The code Pile base (9) includes stacking chassis (15) and column (16), and column (16) is fixed on stacking chassis (15) rear end；The moving machine Structure (10) includes the manipulator support (19) of fixed saddle (17), guide frame for moving (18) and square frame-shaped, and fixed saddle (17) is horizontal It is welded on column (16), guide frame for moving (18) is arranged on below fixed saddle (17) and can led by rack-driving along fixation Frame (17) is movable, and the outside of guide frame for moving (18) two is provided with sliding block, and chute is provided with the inside of manipulator support (19) and is led to The sliding block that chute is crossed with guide frame for moving (18) both sides is connected, and manipulator support (19) can be led under the drive of hydraulic cylinder along moving Frame (18) moves up and down.
- A kind of 3. full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 2, it is characterised in that：The machine Tool arm device (11) includes mechanical arm (20) and palletizing mechanical arm (21), and palletizing mechanical arm (21) is arranged on mechanical arm (20) End, the other end of mechanical arm (20) is hinged on the down either side of manipulator support (19), and can be horizontal around jointed shaft Rotate；Oil pipe and sucker rod (13) can be transported in conveying device two (12) by palletizing mechanical arm (21).
- A kind of 4. full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 1, it is characterised in that：It is described to lead Rail device (2) includes correcting guide rail (22), hydraulic elevator (23) and hydraulic stem pipe wrench (24), the hydraulic elevator (23) and hydraulic pressure Rod tube pincers (24) are arranged on correcting guide rail (22)；The correcting guide rail (22) is by upper rail, lower guideway and fold mechanism three Divide folding to form, connected between the upper rail and lower guideway by fold mechanism, upper rail leads under the driving of hydraulic cylinder two Can be folded by crossing fold mechanism by 180 °；Correcting guide rail (22) bottom is hinged on guiderail base (25), guiderail base (25) It is fixed in main body chassis (1), the correcting guide rail (22) can swing 90 ° under the driving of hydraulic cylinder one.
- A kind of 5. full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 1, it is characterised in that：It is described big Arm swing device (7) includes mechanical arm (26), swing seat (27), oscillating oil cylinder (28) and locking cylinder (29), the swing seat (27) It is fixed in main body chassis (1), mechanical arm (26) is hinged on swing seat (27), and mechanical arm (26) can be driven by oscillating oil cylinder (28) It is dynamic to be rotated around swing seat (27)；The flexible mechanical arm device (8) is connected by balance staff with mechanical arm (26).
- 6. a kind of full-automatic petroleum well workover rod tube operation industrial robot as described in claim any one of 1-5, its feature exist In：The conveying device one (4) and conveying device two (12) include fixed guide rail (30), are set above the fixed guide rail (30) There is multigroup conveying roller (31), the conveying roller (31) is driven by chain (32).
- A kind of 7. full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 1, it is characterised in that：Described Attached hydraulic oil pipe slips (IV) is fixedly mounted on wellhead flange or preventer flange, and described sucker rod slips (V) is fixed In tubing coupling.
- A kind of 8. full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 7, it is characterised in that：Described Rod tube line flaw detection device (VI) is fixedly mounted on attached hydraulic oil pipe slips (IV) or on sucker rod slips (V), and rod tube exists Line failure detector (VI) collection signal is automatically entered into hind computation machine management system.
- A kind of 9. full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 1, it is characterised in that：GPS determines Position device is arranged on the bottom of main body rod tube processing mechanism (I), can realize full-automatic petroleum well workover rod tube operation industrial machine The long range positioning and control of people.
- A kind of 10. full-automatic petroleum well workover rod tube operation industrial robot as claimed in claim 1, it is characterised in that：It is described The end set of measuring motion have rod tube identity recognition device, by reserving identification marking at sucker rod or tubing coupling, Effectively the identity of ONLINE RECOGNITION difference sucker rod or oil pipe and diverse location can be put, and be input to hind computation in real time Machine system, establish oil well rod tube lifecycle management database.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025255.3A CN107701128B (en) | 2017-10-27 | 2017-10-27 | A kind of full-automatic petroleum well workover rod tube operation industrial robot |
| PCT/CN2017/111513 WO2019080216A1 (en) | 2017-10-27 | 2017-11-17 | Full-automatic industrial robot for oil workover rod and tube operations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025255.3A CN107701128B (en) | 2017-10-27 | 2017-10-27 | A kind of full-automatic petroleum well workover rod tube operation industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107701128A true CN107701128A (en) | 2018-02-16 |
| CN107701128B CN107701128B (en) | 2018-07-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711025255.3A Expired - Fee Related CN107701128B (en) | 2017-10-27 | 2017-10-27 | A kind of full-automatic petroleum well workover rod tube operation industrial robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107701128B (en) |
| WO (1) | WO2019080216A1 (en) |
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| CN110424908A (en) * | 2019-09-03 | 2019-11-08 | 济南高维度智能科技有限公司 | Workover robot |
| CN110454101A (en) * | 2019-09-06 | 2019-11-15 | 北京鼎文融和科技有限公司 | A kind of automatic petroleum well workover machine people's oil pipe conveying device |
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Also Published As
| Publication number | Publication date |
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| WO2019080216A1 (en) | 2019-05-02 |
| CN107701128B (en) | 2018-07-24 |
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