CN107905746A - A kind of oil drilling and repairing well removes and puts the well formula robot device of tubing string - Google Patents

A kind of oil drilling and repairing well removes and puts the well formula robot device of tubing string Download PDF

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Publication number
CN107905746A
CN107905746A CN201711397216.6A CN201711397216A CN107905746A CN 107905746 A CN107905746 A CN 107905746A CN 201711397216 A CN201711397216 A CN 201711397216A CN 107905746 A CN107905746 A CN 107905746A
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CN
China
Prior art keywords
mechanical arm
cylinder
well
chassis
well formula
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Granted
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CN201711397216.6A
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Chinese (zh)
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CN107905746B (en
Inventor
姜建胜
付向杰
侯树旺
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Ji'nan Core Intelligent Equipment Co Ltd
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Ji'nan Core Intelligent Equipment Co Ltd
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Priority to CN201711397216.6A priority Critical patent/CN107905746B/en
Publication of CN107905746A publication Critical patent/CN107905746A/en
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Publication of CN107905746B publication Critical patent/CN107905746B/en
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Classifications

    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/15Racking of rods in horizontal position; Handling between horizontal and vertical position
    • E21B19/155Handling between horizontal and vertical position

Abstract

The present invention relates to the well formula robot device and method that a kind of oil drilling and repairing well removed and put tubing string, including skid chassis (1), hydraulic power unit (2), hydraulic leg (3), well formula mechanical arm (4), rotating mechanical arm (5), mechanical gripper (6), the long positioner (7) of drilling rod survey, chassis adjusting apparatus (8) composition.Skid chassis (1) is supported by hydraulic leg (3) and voluntarily adjusts height, hydraulic power unit (2) and well formula mechanical arm (4) are installed on skid chassis (1), rotating mechanical arm (5) be installed on well formula mechanical arm (4) on and can 90 degree rotate freely, the end that mechanical gripper (6) is fixed on rotating mechanical arm (5) can realize crawl and put drilling rod, drilling rod, which surveys long positioner (7) and is fixed on skid chassis (1) that the drilling rod to be captured is accurately positioned and surveys, to be grown, chassis adjusting apparatus (8) is installed on skid chassis (1).

Description

A kind of oil drilling and repairing well removes and puts the well formula robot device of tubing string
Technical field
The present invention relates to the device that a kind of drilling and repairing well tubing string is removed and put, particularly a kind of oil drilling or big well workover certainly The dynamic well formula robot device for removing and putting tubing string.Belong to petroleum drilling well-repairing well head instrument technical field of automation.
Background technology
At present, during oil drilling and big well workover, during either rig floor still makes a trip above and below single drill pipe The work of putting of double joint and three drilling rods on rig floor is mostly that manual operation is completed, particularly that drilling rod is flat-shaped in the surface water The process of putting that state is transplanted on plumbness on rig floor is that drilling and repairing well operation process labor intensity is maximum, work repetitive rate is highest Most dangerous link during working link, and drilling and repairing well.With the attention of oil field and society to safety in production and people couple The continuous improvement of operating environment requirements, there is an urgent need for improve for this long-term drilling and repairing well job state manually.
It is domestic in recent years in order to reduce the labor intensity and security risk that this drilling and repairing well tubing string removed and put work Outer there is the mechanization auxiliary that many tubing strings remove and put and set.
As Chinese patent CN304209441S (dynamic catwalk and pipe slacking block), Chinese patent 201610601774.9 are (a kind of Tube rod automatic transportation machine) and Chinese patent CN204552645U (a kind of pipe slacking block and drill stem conveying device), disclose one kind The mode of drilling rod or oil pipe is conveyed using hydraulic catwalk.Need artificial remote operation remote controler and be equipped with dedicated centralising mechanical Arm, as Chinese patent CN204386514U automatic-dischargings pipe device and its mechanical arm carry out drilling rod righting and push, practicality effect The labor intensity of operator is only reduction of on fruit, and the quantity of well head worker is not reduced.For another example Chinese invention Patent 201410583972.8 (with oil pipe manipulator above and below car folding type), which may be only available for the small of no job platform Repairing operation wellhead, oil pipe uses up and down, and removing and put drilling rod for 4-6 meters of high drilling wells or big well workover workbench is also It can not realize.
The prior art there are due to above-mentioned, it is necessary to when one kind realizes drilling and repairing well operation, can be directly by the surface water What the drilling rod of placing flat captured and migrated to that designated position on drilling platforms vertically puts automatically controls well formula robot device.
The content of the invention
To achieve the purpose that to solve the above problems, the present invention provides can be directly by ground when one kind realizes drilling and repairing well operation Horizontal positioned drilling rod capture and migrate put designated position on drilling platforms it is vertical automatically control well formula robot device, Concrete technical scheme is:
A kind of oil drilling and repairing well removes and puts the well formula robot device of tubing string, including skid chassis, hydraulic power unit, liquid Supporting leg, well formula mechanical arm, rotating mechanical arm, mechanical gripper, drilling rod is pressed to survey long positioner, chassis adjusting apparatus, its feature exists In:Skid chassis is supported by hydraulic leg, and hydraulic power unit is fixed on skid chassis and provides power, well formula machine for whole equipment Tool arm is fixed on skid chassis front end and controls 90 degree of scope upsets by supporting cylinder, and rotating mechanical arm is hinged on well formula machinery Arm distal end and can 90 degree rotations, mechanical gripper, which is hinged on rotating mechanical arm distal end and can be controlled by firmly grasping cylinder, to be captured or puts drilling rod, Drilling rod surveys long positioner and length is positioned and measured to drilling rod installed in skid chassis centre position, and chassis adjusting apparatus is consolidated It is scheduled on skid chassis.
In a preferred embodiment, the skid chassis provides power by hydraulic power unit, by hydraulic leg support simultaneously Adjustable height, hydraulic leg top equipped with can left and right elongation horizontal hydraulic cylinder.
In a preferred embodiment, it is frame-type parallelogram sturcutre that the well formula mechanical arm is front and rear, by supporting Cylinder is driven around hinged-support rotation
In a preferred embodiment, the rotating mechanical arm is hinged on well formula mechanical arm distal end, and by rotating liquid Cylinder pressure driving realizes that 90 degree rotate and mechanical gripper is accurately positioned.
In a preferred embodiment, the mechanical gripper includes handgrip mechanical arm, vertically moves cylinder, telescoping cylinder, grabs Hand guide rail and promptly cylinder, handgrip mechanical arm are hinged on rotating mechanical arm and are positioned by telescoping cylinder, vertically move cylinder and are fixed on and grab On hand guide rail.
In a preferred embodiment, the drilling rod surveys long positioner and is installed on skid chassis centre position, by compiling Code device, conveying roller, turning mechanical arm and load lifting cylinder.
In a preferred embodiment, chassis adjusting apparatus is by adjusting cylinder and two left and right adjusting cylinder groups before and after one Into, be separately fixed on skid chassis, translation axis pin connect respectively the front and rear piston rod end for adjusting cylinder and left and right adjusting cylinder and It is inserted into the groove on trailer surface.
In a preferred embodiment, the turning mechanical arm that the drilling rod is surveyed on long positioner is hinged on skid chassis Former and later two leftward positions, mechanical arm left side installation load lifting cylinder, turning mechanical arm articulated base position is additionally provided with torsion cylinder.
Illustrated in the description of embodiment that other embodiments of the present invention and advantage will be described below and partly Can obviously it be drawn from the description, or can the acquistion from the implementation of the present invention.
Brief description of the drawings
In order to illustrate the embodiments of the present invention more clearly and technical solution, will be to needed in embodiment or description of the prior art Attached drawing to be used is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, for For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings His attached drawing, is the protection domain of patent of the present invention.
Fig. 1 is the well formula manipulator main structure chart that oil drilling and repairing well removed and put tubing string;
Fig. 2 is the well formula manipulator front view that oil drilling and repairing well removed and put tubing string;
Fig. 3 is the well formula manipulator top view that oil drilling and repairing well removed and put tubing string;
Fig. 4 is the well formula manipulator aspect view that oil drilling and repairing well removed and put tubing string;
Fig. 5 is mechanical gripper partial view;
Embodiment
As embodying here and wide in range description, this specification there is provided the detailed embodiment party of the present invention Formula.However, disclosed embodiment is only the example of the present invention, it can be embodied with various alternative forms.Therefore, specifically Structure on and details functionally be not intended to limited, they provide the foundation of claim and as there is generation The foundation of table is used to instruct those skilled in the art are many-sided to implement the present invention.
Fig. 1 shows that oil drilling and repairing well removes and put the well formula manipulator main structure chart of tubing string.Apparatus of the present invention master In body structure, including skid chassis 1, hydraulic power unit 2, hydraulic leg 3, well formula mechanical arm 4, rotating mechanical arm 5, mechanical gripper 6, Drilling rod surveys long positioner 7, chassis adjusting apparatus 8 forms.Skid chassis 1 is supported by hydraulic leg 3, and hydraulic power unit 2 is fixed on Power is provided on skid chassis 1 and for whole equipment, well formula mechanical arm 4 is fixed on 1 front end of skid chassis and by supporting cylinder 401 controls, 90 degree scopes upset, rotating mechanical arm 5 be hinged on the distal end of well formula mechanical arm 4 and can 90 degree rotate, mechanical gripper 6 is cut with scissors Being connected on rotating mechanical arm 5 distally can control crawl by firmly grasping cylinder 605 or put drilling rod, and drilling rod surveys long positioner 7 and is installed on sled 1 centre position of cartridge chassis positions drilling rod and is measured length, chassis adjusting apparatus 8 be fixed on skid chassis 1 realize it is whole Cover all around fine setting effect of the skid mounted equipment on trailer.The skid chassis 1 provides power by hydraulic power unit 2, by hydraulic pressure Supporting leg 3 supports and adjustable height.
Fig. 2 and 3 shows that oil drilling and repairing well removes and put the front view and top view of the well formula manipulator of tubing string.The figure In, 3 top of hydraulic leg equipped with can left and right elongation horizontal hydraulic cylinder 301, control 3 spacing of hydraulic leg can be more than tablet The width of trailer, realizes that platform trailer can retreat to skid chassis 1 and move back portion's carried and transported, a whole set of skid mounted equipment can pass through Special horizontal Plate trailer, which drags, to be downloaded to field operations scene and is independently supported, installed using self power, it is not necessary to is individually equipped with special vehicle-mounted refitting Put.
It is frame-type parallelogram sturcutre that well formula mechanical arm 4 is front and rear, and being driven around hinged-support 402 by shoring 401 revolves Turn.Realize drilling rod from the surface water by the turning effort of well formula mechanical arm 4 and rotating mechanical arm 5, the accurate positionin of mechanical gripper 6 Prosposition, which is put, accurate is transplanted on drilling well or overhauling operation platform specifies upright position.
The well formula mechanical arm 4 and mechanical gripper 6 are by varying 4 body lengths of well formula mechanical arm or handgrip mechanical arm 601 and the length of handgrip guide rail 604, rig floor above and below single drill pipe can have both been captured in drilling process and has realized the continuous behaviour that makes up a joint Make, drilling floor surface above and below double joint column can also be captured during making a trip, realize that drilling and repairing well quickly makes a trip operation.
The rotating mechanical arm 5 is hinged on the distal end of well formula mechanical arm 4, and realizes 90 degree by the driving of rotating hydraulic cylinder 501 Rotate and mechanical gripper 6 is accurately positioned, tubing string can be accurately transported to drilling floor surface mouse hole and two, well head center respectively Designated position.
The drilling rod surveys long positioner 7 and is installed on 1 centre position of skid chassis, by encoder 701, conveying roller 702, Turning mechanical arm 703 and the grade of load lifting cylinder 704 composition, conveying roller 702 move back and forth drilling rod and provide power, and encoder 701 can Drilling rod is accurately moved to and carries out the long positioner 7 of drilling rod survey by accurate measurement run of steel, turning mechanical arm 703 from discharge frame On, the designated position that mechanical gripper 6 captures drilling rod is navigated to by load lifting cylinder 704.
The chassis adjusting apparatus 8 is made of adjusting cylinder 801 and two left and right adjusting cylinders 802 before and after one, is fixed respectively On skid chassis 1, translation axis pin 803 connects the front and rear piston rod end for adjusting cylinder 801 and left and right adjusting cylinder 802 and inserts respectively Enter into the groove on trailer surface, by driving the work of fine setting all around for adjusting a whole set of skid mounted equipment of cylinder realization on trailer With, realize oil drilling and repairing well remove and put tubing string well formula manipulator can arrive designated position accurately crawl or delivering drilling rod.
Fig. 4 shows that oil drilling and repairing well removes and put the well formula manipulator aspect view of tubing string.In the figure, the drilling rod The turning mechanical arm 703 surveyed on long positioner 7 is hinged on former and later two leftward positions of skid chassis 1, is installed on the left of mechanical arm Load lifting cylinder 704 is realized the drilling rod on pipe racking frame being turned on the long positioner 7 of drilling rod survey carries out location control again, overturns 703 articulated base position of mechanical arm is additionally provided with to reverse cylinder 705 and realize that turning mechanical arm 703 can be torqued into determines with drilling rod survey length Position 7 same direction of device is readily transported.
Fig. 5 shows mechanical gripper partial view.In the figure, the mechanical gripper 6 includes handgrip mechanical arm 601, vertical Movable cylinder 602, telescoping cylinder 603, handgrip guide rail 604 and promptly cylinder 605 etc. forms, handgrip mechanical arm 601 is hinged on rotating machinery Positioned on arm 5 and by telescoping cylinder 603, vertically move cylinder 602 be fixed on handgrip guide rail attend class realize mechanical gripper 6 prolong handgrip machinery Arm 601 vertically moves, and by the control to firmly grasping cylinder 605, not only accurately can capture and put drilling rod, can also be in pithead position Move up and down the accurate make-up of drilling rod or drilling rod is put into mouse hole pipe by centering, control telescoping cylinder 603 can also be by machine after extending Tool handgrip 6 fell and was readily transported on well formula mechanical arm 4.
Oil drilling and repairing well of the present invention remove and put tubing string well formula robot device can according to following operating method, Carry out that the tubing string of oil well or water injection well scene is carried out accurately to capture, translate, act the control gone into the well.Concrete operations are as follows:
First, in travel position, it is placed in the One On The Chassis well formula mechanical arm 4 of skid and is horizontal, supporting cylinder 401 initial positions are contraction state, and rotating hydraulic cylinder 501 is half contraction state, and 603 initial position of telescoping cylinder is elongation state. The well formula robot device that skid-mounted type oil drilling and repairing well removed and put tubing string transports oil wells in field estimation by platform trailer During position, start hydraulic power unit 2, control supporting cylinder 401, which extends, erects well formula mechanical arm 4, while controls flexible 603 full retraction of cylinder is simultaneously locked, and ensures that it is constantly in locking state in the course of work that makes a trip, and continues control rotation liquid Cylinder pressure 501 is in whole elongation states, and mechanical gripper 6 is given rise near drilling floor surface well head.
Then, the exact position on fine setting skid chassis 1 is realized using chassis adjusting apparatus 8, keeps platform trailer position base This is constant, and the front and rear elongation for adjusting cylinder 801 and two left and right adjusting cylinders 802 of control and retracted position, accurately adjust skid respectively Chassis 1 is all around moved, and realizes that 6 center of mechanical gripper is substantially at drilling floor surface well head center position, error is no more than 5mm。
3rd step, controls the horizontal hydraulic cylinder 301 on hydraulic leg 3 to stretch out, 3 spacing of hydraulic leg is more than platform trailer Width, decentralization hydraulic leg 3 skid chassis 1 is steadily placed in ground, continue adjust hydraulic leg 3 position, ensure machinery 6 center of handgrip is completely in drilling floor surface well head center position, and error is less than 2mm.
4th step, drive away platform trailer, locks hydraulic leg 3, and when trip-out operates, control machinery handgrip 6 has captured well head The drilling rod being disassembled, unclamps hydraulic elevator, drilling rod is moved up using cylinder 604 is vertically moved, and then controls rotating hydraulic cylinder 501 The drilling rod upset on drilling floor surface is put the One On The Chassis drilling rod of skid with supporting cylinder 401 to survey on long positioner 7, then By turning mechanical arm 703 by the pipe rack of drilling rod upset migration.If going down process, then need by turning mechanical arm The upset of one, drilling rod one piece on racker is migrated to drilling rod by 703 surveys on long positioner 7, by controlling supporting cylinder 401 and rotating hydraulic cylinder 501 and drilling rod is accurately captured from horizontal level, and drilling rod upset is put using mechanical gripper 6 Well head center exact vertical position.In drilling process, it is necessary to when realizing that kelly bar makes up a joint, as drill down operator, equally It is that the drilling rod upset on racker is migrated to drilling rod by turning mechanical arm 703 to survey on long positioner 7, then controls support liquid Promptly cylinder 605 in cylinder pressure 401 and rotating hydraulic cylinder 501 and mechanical gripper 6 accurately captures drilling rod from horizontal level, and by drilling rod Rig floor upright position is put in upset, is needed to operate rotating hydraulic cylinder 501 again at this time and is shunk a part and preset mouse hole Position, moves down drilling rod using cylinder 604 is vertically moved, single drill pipe is accurately transported in mouse hole, is made up a joint easy to kelly bar Operation.
Particularly, each step of technical solution of the present invention both can be by position sensor and programmable logic controller (PLC) in order Automatically control, can also be by manually intervening remote control at any time, petroleum pipe column upper and lower rig floor and discharge, be well to medium operation Mouthful unattended, the degree of automation is high, and labor strength is low, realize oil drilling and repairing well root pipe processing system intelligence, Automation.
In Practical Project operating process, using the robot device of the present invention, by connecting oil well or water filling The matched power supply in well scene, self-positioning, the self-powered of a whole set of skid mounted equipment are realized by the hydraulic power unit drive system itself being equipped with The well formula robot device and method realized and remove and discharge petroleum pipe column are moved and be automatically brought into operation, coordinates existing drilling machine or overhaul machine Drilling rod can be picked up and put to rig floor by driller's operation from ground level position specifies upright position, or is specified vertically from rig floor Ground level position is put in crawl drilling rod migration in position, the operating process original will make a trip or drilling process in above and below rig floor The 5-6 people altogether for needing to be equipped with reduces 1-2 people till now, and eliminates the quadruple board platform rigger for the operation that makes a trip, and makes worker Labor intensity substantially reduces, and safe operation performance greatly improves, and makes a trip and creep into work efficiency after worker's skilled operation Also accordingly improve a lot.It can realize the modernizing of oil-well rig or workover rig, intelligent and automation mechanized operation requirement, have Extensive economic benefit and social benefit.
The above described is only a preferred embodiment of the present invention, being not the limitation for making other forms to the present invention, appoint What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc. Effect is implemented, but every without departing from technical solution of the present invention content, and the technical spirit according to the present invention makees above example Any simple modification, equivalent variations and remodeling, still fall within the protection domain of technical solution of the present invention.

Claims (8)

1. a kind of oil drilling and repairing well removes and puts the well formula robot device of tubing string, including skid chassis (1), hydraulic power unit (2), hydraulic leg (3), well formula mechanical arm (4), rotating mechanical arm (5), mechanical gripper (6), drilling rod survey long positioner (7), Chassis adjusting apparatus (8), it is characterised in that:Skid chassis (1) is supported by hydraulic leg (3), and hydraulic power unit (2) is fixed on skid Power is provided on chassis (1) and for whole equipment, well formula mechanical arm (4) is fixed on skid chassis (1) front end and by support hydraulic pressure Cylinder (401) controls the upset of 90 degree scopes, rotating mechanical arm (5) be hinged on well formula mechanical arm (4) distal end and can 90 degree rotate, it is mechanical Handgrip (6) is hinged on rotating mechanical arm (5) distally can be by firmly grasping cylinder (605) control crawl or putting drilling rod, and drilling rod surveys long positioning Device (7) positions drilling rod and is measured length installed in skid chassis (1) centre position, and chassis adjusting apparatus (8) is fixed On skid chassis (1).
2. a kind of oil drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, its feature It is:The skid chassis (1) provides power by hydraulic power unit (2), is supported by hydraulic leg (3) and adjusts height, hydraulic pressure Horizontal hydraulic cylinder (301) of supporting leg (3) top equipped with left and right elongation.
3. a kind of oil drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, its feature It is:It is frame-type parallelogram sturcutre that the well formula mechanical arm (4) is front and rear, and hinged-support is driven around by shoring (401) (402) rotate.
4. a kind of oil drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, its feature It is:The rotating mechanical arm (5) is hinged on well formula mechanical arm (4) distal end, and realizes 90 by rotating hydraulic cylinder (501) driving Simultaneously mechanical gripper (6) is accurately positioned for degree rotation.
5. the well formula manipulator for removing and putting tubing string according to a kind of oil drilling and repairing well of claim 1-4 any one of them fills Put, it is characterised in that:The mechanical gripper (6) include handgrip mechanical arm (601), vertically move cylinder (602), telescoping cylinder (603), Handgrip guide rail (604) and promptly cylinder (605), handgrip mechanical arm (601) are hinged on rotating mechanical arm (5) and by telescoping cylinder (603) position, vertically move cylinder (602) and be fixed on handgrip guide rail.
6. a kind of oil drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, its feature It is:The drilling rod surveys long positioner (7) and is installed on skid chassis (1) centre position, by encoder (701), conveying roller (702), turning mechanical arm (703) and load lifting cylinder (704).
7. a kind of oil drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, its feature It is:The chassis adjusting apparatus (8) is made of adjusting cylinder (801) and two left and right adjusting cylinders (802) before and after one, solid respectively It is scheduled on skid chassis (1), translation axis pin (803) connects the front and rear piston for adjusting cylinder (801) and left and right adjusting cylinder (802) respectively Boom end and it is inserted into the groove on trailer surface.
8. a kind of oil drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, its feature It is:The turning mechanical arm (703) that the drilling rod is surveyed on long positioner (7) is hinged on former and later two left sides of skid chassis (1) Position, mechanical arm left side installation load lifting cylinder (704), turning mechanical arm (703) articulated base position, which is additionally provided with, reverses cylinder (705).
CN201711397216.6A 2017-12-21 2017-12-21 A kind of petroleum drilling and repairing well removes and puts the well formula robot device of tubing string Active CN107905746B (en)

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CN109488229A (en) * 2019-01-07 2019-03-19 中国石油大学(华东) A kind of adjustable lifting hydraulic power cat road
CN109594938A (en) * 2019-01-25 2019-04-09 济南芯乐智能设备有限公司 A kind of offshore platform automation workover rig base device
CN110454100A (en) * 2019-09-04 2019-11-15 智动时代(北京)科技有限公司 A kind of super single operation industrial robot device of drilling and repairing well and method
CN112049586A (en) * 2020-09-24 2020-12-08 中国石油集团渤海钻探工程有限公司 Casing lifting device and using method
CN112983298A (en) * 2021-04-28 2021-06-18 中国石油大学胜利学院 Sucker rod mechanical minor repair operation integrated equipment and technology based on vehicle-mounted workover rig
CN113202429A (en) * 2021-05-17 2021-08-03 徐州徐工基础工程机械有限公司 Drill rod handling device

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Publication number Priority date Publication date Assignee Title
CN109488229A (en) * 2019-01-07 2019-03-19 中国石油大学(华东) A kind of adjustable lifting hydraulic power cat road
CN109594938A (en) * 2019-01-25 2019-04-09 济南芯乐智能设备有限公司 A kind of offshore platform automation workover rig base device
CN110454100A (en) * 2019-09-04 2019-11-15 智动时代(北京)科技有限公司 A kind of super single operation industrial robot device of drilling and repairing well and method
CN112049586A (en) * 2020-09-24 2020-12-08 中国石油集团渤海钻探工程有限公司 Casing lifting device and using method
CN112983298A (en) * 2021-04-28 2021-06-18 中国石油大学胜利学院 Sucker rod mechanical minor repair operation integrated equipment and technology based on vehicle-mounted workover rig
CN112983298B (en) * 2021-04-28 2021-08-24 中国石油大学胜利学院 Sucker rod mechanical minor repair operation integrated equipment and technology based on vehicle-mounted workover rig
CN113202429A (en) * 2021-05-17 2021-08-03 徐州徐工基础工程机械有限公司 Drill rod handling device
CN113202429B (en) * 2021-05-17 2022-07-08 徐州徐工基础工程机械有限公司 Drill rod assembling and disassembling device

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