CN107905746B - A kind of petroleum drilling and repairing well removes and puts the well formula robot device of tubing string - Google Patents
A kind of petroleum drilling and repairing well removes and puts the well formula robot device of tubing string Download PDFInfo
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- CN107905746B CN107905746B CN201711397216.6A CN201711397216A CN107905746B CN 107905746 B CN107905746 B CN 107905746B CN 201711397216 A CN201711397216 A CN 201711397216A CN 107905746 B CN107905746 B CN 107905746B
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- 238000005553 drilling Methods 0.000 title claims abstract description 102
- 239000003208 petroleum Substances 0.000 title claims abstract description 23
- 238000013519 translation Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 11
- 239000000203 mixture Substances 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 8
- 239000007788 liquid Substances 0.000 description 4
- 239000003129 oil well Substances 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000002352 surface water Substances 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 210000004262 dental pulp cavity Anatomy 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000032258 transport Effects 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
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—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)
- Earth Drilling (AREA)
Abstract
The present invention relates to well formula robot devices and method that a kind of petroleum 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 positioning device (7) of drilling rod survey, chassis adjustment device (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 mounted on well formula mechanical arm (4) 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 positioning device (7) and is fixed on skid chassis (1) that the drilling rod to be grabbed is accurately positioned and surveys, to be grown, chassis adjustment device (8) is mounted on skid chassis (1).
Description
Technical field
The present invention relates to a kind of device that drilling and repairing well tubing string is removed and put, especially a kind of oil drilling or big well workover are certainly
The dynamic well formula robot device for removing and putting tubing string.Belong to petroleum drilling well-repairing well head tool field of automation technology.
Background technique
Currently, during oil drilling and big well workover, during either rig floor still makes a trip above and below single drill pipe
Double joint and three drilling rods on rig floor to put work mostly be that manual operation is completed, it is especially 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.Attention and people couple with oil field and society to safety in production
The continuous improvement of operating environment requirements, this long-term drilling and repairing well job state manually need to improve.
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
By hydraulic catwalk convey drilling rod or oil pipe in the way of.It needs manually to remotely operate remote controler and is equipped with dedicated centralising mechanical
Arm, as Chinese patent CN204386514U automatic-discharging pipe device and its mechanical arm carry out righting and push, practical effect to drilling rod
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 vehicle folding type), the patent may be only available for the small of not no job platform
Repairing operation wellhead, oil pipe uses up and down, and the drilling well high for 4-6 meters or big well workover workbench remove and put drilling rod and be also
It cannot achieve.
It, can be directly by the surface water when needing a kind of realization drilling and repairing well operation since the prior art is there are due to above-mentioned
The drilling rod of placing flat grabs and migrates to the automatic control well formula robot device vertically put designated position on drilling platforms.
Summary of the invention
To achieve the purpose that solve the above problems, the present invention can be directly by ground when providing a kind of realization drilling and repairing well operation
Horizontal positioned drilling rod, which is grabbed and migrated, puts the vertical automatic control well formula robot device in designated position on drilling platforms,
The specific technical proposal is:
A kind of petroleum 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 positioning device, chassis adjustment device, 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 range overturnings by supporting cylinder, and it is mechanical that rotating mechanical arm is hinged on well formula
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 grabbed or puts drilling rod,
The long positioning device of drilling rod survey is mounted on skid chassis middle position and length is positioned and measured to drilling rod, and it is solid that chassis adjusts device
It is scheduled on skid chassis.
In a preferred embodiment, the skid chassis provides power by hydraulic power unit, simultaneously by hydraulic leg support
Adjustable height, hydraulic leg top are equipped with the horizontal hydraulic cylinder that can control elongation.
It in a preferred embodiment, is frame-type parallelogram sturcutre before and after the well formula mechanical arm, 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 passes through rotation 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 positioning device and is mounted on skid chassis middle position, by compiling
Code device, conveying roller, turning mechanical arm and load lifting cylinder.
In a preferred embodiment, chassis adjustment device adjusts cylinder and two left and right adjusting cylinder groups by a front and back
At, be separately fixed on skid chassis, translation pin shaft be separately connected front and back adjust cylinder and left and right adjusting cylinder piston rod end and
It is inserted into the groove on trailer surface.
In a preferred embodiment, the turning mechanical arm that the drilling rod is surveyed in long positioning device is hinged on skid chassis
Load lifting cylinder is installed in former and later two leftward positions, mechanical arm left side, and turning mechanical arm articulated base position is additionally provided with torsion cylinder.
It is illustrated in the description of specific embodiment that other embodiments of the present invention and advantage will be described below and partly
It can obviously be obtained from the description, or can the acquistion from implementation of the invention.
Detailed description of the invention
It 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 invention, for
For those of ordinary skill in the art, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing is the scope of protection of the patent of the present invention.
Fig. 1 is the well formula manipulator main structure chart that petroleum drilling and repairing well removed and put tubing string；
Fig. 2 is the well formula manipulator main view that petroleum drilling and repairing well removed and put tubing string；
Fig. 3 is the well formula manipulator top view that petroleum drilling and repairing well removed and put tubing string；
Fig. 4 is the well formula manipulator aspect view that petroleum 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, there is provided detailed embodiment party of the invention for this specification
Formula.However, disclosed embodiment is only example of the invention, can be embodied with various alternative forms.Therefore, specifically
Structure on and details functionally be not intended to be restrictive, they provide the foundation of claim and as there is generation
The foundation of table is for instructing those skilled in the art's various aspects to implement the present invention.
Fig. 1 shows the well formula manipulator main structure chart that petroleum drilling and repairing well removed and put 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 positioning device 7, chassis adjustment device 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 ranges overturning, rotating mechanical arm 5 be hinged on 4 distal end of well formula mechanical arm and can 90 degree rotate, the hinge of mechanical gripper 6
Connecing distally can be by firmly grasping the control of cylinder 605 crawl or putting drilling rod in rotating mechanical arm 5, and drilling rod surveys long positioning device 7 and is mounted on sled
1 middle position of cartridge chassis is positioned to drilling rod and is measured length, chassis adjustment device 8 be fixed on skid chassis 1 realize it is whole
Cover all around fine tuning effect of the skid mounted equipment on trailer.The skid chassis 1 provides power by hydraulic power unit 2, by hydraulic
Supporting leg 3 supports and adjustable height.
Fig. 2 and 3 shows the main view and top view that petroleum drilling and repairing well removed and put the well formula manipulator of tubing string.The figure
In, 3 top of hydraulic leg is equipped with the horizontal hydraulic cylinder 301 that can control elongation, and control 3 spacing of hydraulic leg can be greater than plate
The width of trailer realizes that platform trailer can retreat to skid chassis 1 and move back portion's carried and transported, and a whole set of skid mounted equipment can pass through Special horizontal
Plate trailer, which drags, to be downloaded to field operations scene and independently supports, installs using self power, does not need individually to be equipped with special vehicle-mounted refitting
It sets.
It is frame-type parallelogram sturcutre before and after well formula mechanical arm 4, hinged-support 402 is driven around by shoring 401 and is revolved
Turn.Realize drilling rod from the surface water by the turning effort of well formula mechanical arm 4 and the accurate positionin of rotating mechanical arm 5, mechanical gripper 6
Prosposition, which is set, is accurately transplanted on drilling well or the specified upright position of overhauling operation platform.
The well formula mechanical arm 4 and mechanical gripper 6 are by changing 4 body lengths of well formula mechanical arm or handgrip mechanical arm
601 and handgrip guide rail 604 length, single drill pipe or more rig floor can have both been grabbed in drilling process realized and continuously made up a joint behaviour
Make, can also grab double joint column or more drilling floor surface during making a trip, realization drilling and repairing well quickly makes a trip operation.
The rotating mechanical arm 5 is hinged on 4 distal end of well formula mechanical arm, and realizes 90 degree by the driving of rotating hydraulic cylinder 501
It rotates 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 positioning device 7 and is mounted on 1 middle position of skid chassis, by encoder 701, conveying roller 702,
The composition such as turning mechanical arm 703 and load lifting cylinder 704, conveying roller 702 are moved forward and backward drilling rod and provide power, and encoder 701 can
Drilling rod is accurately moved to from discharge frame and carries out the long positioning device 7 of drilling rod survey by accurate measurement run of steel, turning mechanical arm 703
On, the designated position that mechanical gripper 6 grabs drilling rod is navigated to by load lifting cylinder 704.
The chassis adjustment device 8 adjusts cylinder 801 by a front and back and two left and right adjusting cylinders 802 form, and fixes respectively
On skid chassis 1, translation pin shaft 803 is separately connected front and back and adjusts the piston rod end of cylinder 801 and left and right adjusting cylinder 802 and insert
Enter into the groove on trailer surface, cylinder is adjusted by driving and realizes that all around fine tuning of a whole set of skid mounted equipment on trailer is made
With the well formula manipulator that realization petroleum drilling and repairing well removed and put tubing string can arrive designated position and accurately grab or deliver drilling rod.
Fig. 4 shows the well formula manipulator aspect view that petroleum drilling and repairing well removed and put tubing string.In the figure, the drilling rod
The turning mechanical arm 703 surveyed in long positioning device 7 is hinged on former and later two leftward positions of skid chassis 1, installation on the left of mechanical arm
Load lifting cylinder 704 is realized for the drilling rod on pipe racking frame to be turned in the long positioning device 7 of drilling rod survey carries out location control again, overturns
703 articulated base position of mechanical arm is additionally provided with the torsion realization of cylinder 705 and can be torqued into turning mechanical arm 703 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 whirler
It is positioned on tool arm 5 and by telescoping cylinder 603, vertically moves cylinder 602 and be fixed on handgrip guide rail and attend class and realize that mechanical gripper 6 prolongs handgrip machine
Tool arm 601 vertically moves, and by the control to promptly cylinder 605, not only accurately can grab and put drilling rod, can also be in well head position
It sets and moves 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 will after extending
Mechanical gripper 6 fell and was readily transported on well formula mechanical arm 4.
Petroleum drilling and repairing well of the present invention remove and put tubing string well formula robot device can according to following operating method,
The tubing string of oil well or water injection well scene is accurately grabbed, translates, acts the control gone into the well.Concrete operations are as follows:
Firstly, be placed in the One On The Chassis well formula mechanical arm 4 of skid in travel position and be in a horizontal position, 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 petroleum drilling and repairing well removed and put tubing string transports oil wells in field estimation by platform trailer
When position, start hydraulic power unit 2, the control elongation of supporting cylinder 401 erects well formula mechanical arm 4, while controlling flexible
603 full retraction of cylinder is simultaneously locked, and guarantees 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 that fine tuning skid chassis 1 is realized using chassis adjustment device 8, keeps platform trailer position base
This is constant, and control front and back adjusts elongation and the retracted position of cylinder 801 and two left and right adjusting cylinders 802 respectively, accurately adjusts skid
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。
Third step, the horizontal hydraulic cylinder 301 controlled on hydraulic leg 3 stretch out, and 3 spacing of hydraulic leg is made to be greater than platform trailer
Width, decentralization hydraulic leg 3 makes skid chassis 1 steadily be placed in ground, continues the position for adjusting hydraulic leg 3, guarantee mechanical
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 mechanical gripper 6 has grabbed well head
The drilling rod being disassembled unclamps hydraulic elevator, moves up drilling rod using cylinder 604 is vertically moved, and then controls rotating hydraulic cylinder 501
The One On The Chassis drilling rod of skid is put in the drilling rod overturning on drilling floor surface with supporting cylinder 401 to survey in long positioning device 7, then
It will be on the pipe rack of drilling rod overturning migration by turning mechanical arm 703.If going down process, then need through turning mechanical arm
The overturning of drilling rod on racker one by one is migrated to drilling rod by 703 surveys in long positioning device 7, by controlling supporting cylinder
401 and rotating hydraulic cylinder 501 and drilling rod is accurately grabbed from horizontal position using mechanical gripper 6, and drilling rod overturning is put
Well head center exact vertical position.In drilling process, when needing to realize that kelly bar makes up a joint, as drill down operator, equally
It is the drilling rod overturning on racker to be migrated to drilling rod by turning mechanical arm 703 to survey in long positioning device 7, then control support liquid
Promptly cylinder 605 in cylinder pressure 401 and rotating hydraulic cylinder 501 and mechanical gripper 6 accurately grabs drilling rod from horizontal position, and by drilling rod
Rig floor upright position is put in overturning, is needed to operate rotating hydraulic cylinder 501 at this time again and is shunk a part and presets 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 convenient for 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
It automatically controls, can also be by manually intervening long-range control at any time, petroleum pipe column upper and lower rig floor and discharge are well to medium operation
Mouthful unattended, high degree of automation, labor intensity of workers is low, realize petroleum drilling and repairing well root canal processing system intelligence,
Automation.
In Practical Project operating process, using robot device of the invention, pass through connection oil well or water filling
The matched power supply in well scene realizes self-positioning, the self-powered of a whole set of skid mounted equipment 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, existing drilling machine or overhaul machine are cooperated
Drilling rod can be picked up from ground level position and be put to rig floor by driller's operation specifies upright position, or specified vertical from rig floor
Ground level position is put in crawl drilling rod migration in position, the operating process will make a trip originally or drilling process in above and below rig floor
The 1-2 people of the reduction of 5-6 people in total for needing to be equipped with till now, and the quadruple board platform rigger for the operation that makes a trip is eliminated, make worker
Labor intensity substantially reduces, and safe operation performance greatly improves, and makes a trip and creep into working efficiency after worker's skilled operation
Also it accordingly improves a lot.The modernization, intelligence and automatic operation requirement that oil-well rig or workover rig may be implemented, have
Extensive economic benefit and social benefit.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, 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 without departing from the technical solutions of the present invention, above embodiments are made according to the technical essence of the invention
Any simple modification, equivalent variations and remodeling, still fall within the protection scope of technical solution of the present invention.
Claims (5)
1. a kind of petroleum 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 positioning device (7),
Chassis adjusts device (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 overturning of 90 degree ranges, rotating mechanical arm (5) be hinged on well formula mechanical arm (4) distal end and can 90 degree rotate, machinery
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) is mounted on skid chassis (1) middle position and length is positioned and measured to drilling rod, and it is fixed that chassis adjusts device (8)
On skid chassis (1)；
The skid chassis (1) provides power by hydraulic power unit (2), is supported by hydraulic leg (3) and height, hydraulic branch is adjusted
Horizontal hydraulic cylinder (301) of leg (3) top equipped with left and right elongation；
It is frame-type parallelogram sturcutre before and after the well formula mechanical arm (4), is driven around by supporting cylinder (401) hinged
Seat (402) rotation；
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) are accurately positioned for degree rotation.
2. a kind of petroleum drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, feature
Be: the mechanical gripper (6) includes handgrip mechanical arm (601), vertically moves 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 are positioned by telescoping cylinder (603),
Cylinder (602) is vertically moved to be fixed on handgrip guide rail.
3. a kind of petroleum drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, feature
Be: the drilling rod surveys long positioning device (7) and is mounted on skid chassis (1) middle position, by encoder (701), conveying roller
(702), turning mechanical arm (703) and load lifting cylinder (704).
4. a kind of petroleum drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, feature
Be: chassis adjustment device (8) adjusts cylinder (801) by a front and back and two left and right adjusting cylinders (802) form, solid respectively
It is scheduled on skid chassis (1), translation pin shaft (803) is separately connected the piston that front and back adjusts cylinder (801) and left and right adjusting cylinder (802)
It boom end and is inserted into the groove on trailer surface.
5. a kind of petroleum drilling and repairing well according to claim 1 removes and puts the well formula robot device of tubing string, feature
Be: the turning mechanical arm (703) that the drilling rod is surveyed on long positioning device (7) is hinged on former and later two left sides of skid chassis (1)
Load lifting cylinder (704) are installed in position, mechanical arm left side, and turning mechanical arm (703) articulated base position is additionally provided with torsion cylinder (705).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711397216.6A CN107905746B (en) | 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711397216.6A CN107905746B (en) | 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 |
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| CN107905746A CN107905746A (en) | 2018-04-13 |
| CN107905746B true CN107905746B (en) | 2018-12-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109488229B (en) * | 2019-01-07 | 2020-03-31 | 中国石油大学(华东) | Adjustable lifts hydraulic power catwalk |
| 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 |
| 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 |
| 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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