CN108150116A - A kind of petroleum well workover machine people - Google Patents

A kind of petroleum well workover machine people Download PDF

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Publication number
CN108150116A
CN108150116A CN201711405502.2A CN201711405502A CN108150116A CN 108150116 A CN108150116 A CN 108150116A CN 201711405502 A CN201711405502 A CN 201711405502A CN 108150116 A CN108150116 A CN 108150116A
Authority
CN
China
Prior art keywords
correcting
chassis
arm
cylinder
fixed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711405502.2A
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Chinese (zh)
Inventor
谢俊飞
孙汉军
崔译戈
李汝强
孙宝京
尹锐
马卫立
杨伟华
张礼星
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ji'nan Core Intelligent Equipment Co Ltd
Original Assignee
Ji'nan Core Intelligent Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ji'nan Core Intelligent Equipment Co Ltd filed Critical Ji'nan Core Intelligent Equipment Co Ltd
Priority to CN201711405502.2A priority Critical patent/CN108150116A/en
Publication of CN108150116A publication Critical patent/CN108150116A/en
Pending legal-status Critical Current

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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
    • E21B19/02Rod or cable suspensions
    • E21B19/06Elevators, i.e. rod- or tube-gripping devices
    • 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
    • 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
    • E21B19/24Guiding or centralising devices for drilling rods or pipes

Abstract

The invention discloses a kind of petroleum well workover machine people, including chassis, guide device, big arm assembly, swinging arm device, rollgang, measuring motion, elevator, palletizing apparatus, supporting leg one and supporting leg two, guide device, big arm assembly, swinging arm device, rollgang, measuring motion and palletizing apparatus are controlled by hydraulic control system;Chassis is supported on the ground by supporting leg one and supporting leg two, and chassis is equipped with the U-shaped steel tube socket for shelving oil pipe;Guide device is hinged on the extreme end of chassis;Elevator is mounted below upper correcting;Big arm assembly is hinged on close to guide device on chassis, and large arm device end is hinged with flexible mechanical arm device;Rollgang quantity is three sets, and the rear end of rollgang and front end are provided with measuring motion;Swinging arm device is fixed on front side of chassis;The palletizing apparatus is fixed on chassis center section.On a chassis, floor space is small for stacking and well workover mechanism of the present invention, and tossing well head is flexible, high degree of automation, improves the efficiency of well workover.

Description

A kind of petroleum well workover machine people
Technical field
The present invention relates to a kind of petroleum well workover machine people, belong to petroleum well workover equipment technical field.
Background technology
In oilfield process, some oil wells or equipment fault can often occur, the underproduction is caused even to stop production.In order to make oil Well returns to normal production, it is necessary to take appropriate measures, fix a breakdown.In addition, the condition of oil well changes, need according to new Situation takes appropriate production technology measure, for example, flowing well turns pumpingh well, changes oil well pump depth of setting, model etc..These Work all needs well workover machine equipment to complete.1) existing shaft mouth operation needs hand labor intensity big, and well workover efficiency is low, high energy consumption, It is easy to cause pollution environment;2) the design novel 95% is full automation, and scene only needs 2 people to operate;Well workover is efficient, It is environmentally friendly and energy saving, it has greatly liberated labour and has saved the energy.The applicant applied for a kind of petroleum well workover in 2017 The deficiencies of Work robot patent, exists and takes up a large area, and transports not aspect, and workflow is complicated, and the down tube time is long.In the presence of It takes up a large area, it is long not to play the down tube time for aspect, workflow complexity for transport.
Invention content
The technical problems to be solved by the invention are in view of the defects existing in the prior art, to provide a kind of petroleum well workover operation Robot.
To solve this technical problem, the present invention provides a kind of petroleum well workover machine people, including chassis, guide device, Big arm assembly, swinging arm device, rollgang, measuring motion, elevator, palletizing apparatus, supporting leg one and supporting leg two, the correcting dress It puts, big arm assembly, swinging arm device, rollgang, measuring motion and palletizing apparatus are controlled by hydraulic control system;The bottom Disk is supported on the ground by supporting leg one and supporting leg two, and chassis is equipped with the U-shaped steel tube socket for shelving oil pipe;The correcting dress The rear end for being hinged on chassis is put, guide device is equipped with upper correcting, lower correcting clamping device and hydraulic clamp;Elevator is mounted on and above leads Positive lower section;The big arm assembly is hinged on close to guide device on chassis, and flexible mechanical is hinged in the end of big arm assembly Arm device, flexible mechanical arm device can be rocked to around large arm device end self-swinging while with big arm assembly horizontal or vertical Position;The rollgang quantity is three sets, is arranged at the front side on chassis, below flexible mechanical arm device;It is conveying The rear end and front end of roller-way are provided with measuring motion;The swinging arm device is fixed on the front side on chassis, is filled positioned at flexible manipulator The lower section put, swinging arm device are located on the same line with rollgang;The palletizing apparatus is fixed on the stage casing on chassis, stacking Device is equipped with palletizing mechanical arm, and oil pipe from U-shaped steel tube socket is removed and be sent on rollgang, pushed away by measuring motion by palletizing mechanical arm Dynamic oil pipe is mobile on rollgang to be completed to survey length, then transmit and transfer through well head;Conversely, the oil pipe gone out from well is by large arm Device and guide device are completed oil pipe and are lifted, and sent out through rollgang, and palletizing apparatus carries out arrangement stacking to the oil pipe of receiving.
The guide device includes correcting conduit, upper correcting, lower correcting clamping device, hydraulic clamp and correcting pedestal, institute The top that correcting is arranged on correcting conduit is stated, lower correcting clamping device and hydraulic clamp are arranged on the lower part of correcting conduit;Institute Correcting pedestal to be stated to be fixed on chassis, correcting conduit bottom is hinged with correcting pedestal, and the correcting pedestal is equipped with correcting hydraulic cylinder, Correcting conduit is swingable 90 ° under the driving of correcting hydraulic cylinder;The correcting conduit is telescopic structure.
The lower correcting clamping device includes mounting bracket, gripping sleeve, clamping cylinder and jacks up oil cylinder, two gripping sleeve phases To being separately mounted to clamp in block set, clamping cylinder is fixed in mounting bracket, the piston rod of clamping cylinder connect with gripping sleeve, It realizes and clamps and unclamp;The jack-up cylinder upper end is mounted on mounting bracket bottom, jacks up oil cylinder lower end and is mounted on hydraulic clamp Workbench on.
The big arm assembly includes large arm pendulous device and flexible mechanical arm device, and the large arm pendulous device includes swing arm And big arm cylinder, the swing arm are two-part structure, flexible mechanical arm device is mounted on its forearm end;The big arm swing dress Put and be fixed on large arm pedestal on chassis it is hinged, with the telescopic oscillating of big arm cylinder to horizontal or vertical position;The forearm For cavity structure, manipulator oil cylinder, rack and pinion are internally provided with, gear is connect with splined shaft by spline, flexible mechanical Hand is mounted on splined shaft, and manipulator oil cylinder pushing rack drives gearing, flexible manipulator can be with gearing;The machine Tool hand oil cylinder and big arm cylinder are equipped with displacement sensor, control cylinder stroke.
The measuring motion includes motion detection device and fixed test device, the motion detection device and fixed inspection It surveys device to be separately positioned on the rear end of rollgang and front end, be on same straight line with rollgang, oil pipe to be measured is positioned at defeated The transmission for realizing oil pipe on track is sent to be grown with surveying;The motion detection device is equipped with oil cylinder one and disk, and oil cylinder one is equipped with position Displacement sensor, disk are arranged on the end of motion detection device, and the tail end of oil pipe to be measured is withstood on disk, and oil cylinder one pushes circle Disk and then promotion oil pipe movement to be measured;The fixed test device end is equipped with detection plate;During detection, disk, oil pipe to be measured and Detection plate is concentric, when motion detection device pushes the oil pipe to be measured to be moved to detection plate by oil cylinder one, displacement sensor record position Shifting amount.
The palletizing apparatus includes fixed saddle, guide frame for moving, palletizing mechanical arm and frame type stent, and fixed saddle is consolidated It is scheduled on chassis, guide frame for moving is arranged on inside fixed saddle, its four sides is fixed and is oriented to by directive wheel;Guide frame for moving passes through oil Cylinder transmission can be moved up and down along fixed saddle, and two outside of guide frame for moving is equipped with the linear guide, and frame type stent passes through straight line Guide rail is moved forward and backward along stent is moved;The linear guide is equipped on the inside of the frame type stent, can move up and down;The stacking machine Tool hand is fixed below frame type stent, is moved forward and backward up and down with frame type stent, oil pipe is transported to conveying by palletizing mechanical arm On roller-way;The palletizing mechanical arm, guide frame for moving and frame type stent control hydraulic cylinder to realize positioning by displacement sensor.
The swinging arm device includes pedestal, conveyer arm, conveying hand, slide body, oscillating oil cylinder and elevating ram, the seat Body is in trench structure, and including side plate, backboard and bottom plate, conveyer arm one end is mounted on by hinge shaft on the side plate of pedestal, another End is equipped with conveying hand, and one end of the oscillating oil cylinder is connected to conveyer arm at conveying hand, and the other end is hinged on pedestal On;The slide body is by the way that by the linear guide, mounted on the inside of pedestal backboard, elevating ram upper end is connected with slide body, bottom On the bottom plate of pedestal, conveying hand can be from the external crawl oil pipe of pedestal at end.
The elevator includes elevator body, swing seat, gripping sleeve, connecting plate, upper support frame, lower bracing frame and hydraulic cylinder, institute It states and cavity is equipped in the middle part of elevator body, by swing seat axis connection in elevator body cavity, swing seat leads to two swing seats with swing seat axis Flat key is crossed to position and can move with swing seat shaft rotation;Two gripping sleeves are fixed on swing seat, can be swung with swing seat;The upper support frame One end of elevator body is mounted on lower bracing frame, the other end of elevator body is equipped with connecting plate;Hydraulic cylinder is fixed on connection On plate, the hydraulic stem of hydraulic cylinder is connect with link mechanism, and end and the swing seat axis of the link mechanism pass through key connection, hydraulic cylinder Drive link mechanism rotates, and the opening and closing of gripping sleeve are driven by swing seat axis.
Laser ranging system is additionally provided on the guide device, the laser ranging system includes laser range finder, sliding block Stent, idler wheel and steel wire rope, the laser range finder are mounted on by upper fixing bracket above upper correcting, below laser range finder Lower correcting clamping device be equipped with the linear guide, the slider bracket is mounted in the linear guide, can be along above and below the linear guide It is mobile;The idler wheel by roller mount be mounted on slider bracket on, steel wire rope one end is fixed on fixing bracket, the other end around It crosses idler wheel with elevator to be connected, slider bracket is moved up and down by steel wire rope with elevator;Equipped with reflector on the slider bracket, swash Optar realizes distance measurement function by the signal that reflector reflects.
The invention also includes pipe collar hammering device, the pipe collar hammering device includes frame, shift fork, driving mechanism and hammering Mechanism, the frame are a frame-type structure, and the driving mechanism is mounted on by slideway pair in frame, and two hammer mechanisms are with driving Motivation structure is mounted in triangle disposition on frame madial wall;The driving mechanism includes hydraulic cylinder and supporting box, hydraulic cylinder band Dynamic supporting box is moved left and right along slideway pair;The hammer mechanism includes pipe and hammers sleeve into shape, and disc spring axis is equipped in the pipe hammer sleeve, Its shaft end is equipped with tup, and two tups are opposite to be installed;The shift fork is hinged respectively with supporting box and pipe hammer sleeve, and hydraulic cylinder drives Dynamic supporting box drives pipe to hammer sleeve into shape and alternately the oil pipe body being clipped between two hammer mechanisms is hammered by shift fork.
Advantageous effect:The present invention solves that live hand labor intensity is big, and well workover efficiency is low, high energy consumption, easily well The problems such as polluting environment;Realize workover treatment automation.Stacking and well workover mechanism of the present invention takes up an area on a chassis Area is small, and tossing well head is flexible, high degree of automation, greatly improves the efficiency of well workover.
Description of the drawings
Fig. 1 is the structural diagram of the present invention;
Fig. 2 is the structure diagram of guide device of the present invention;
Fig. 3 is the structure diagram of the lower correcting clamping device of the present invention;
Fig. 4 is the structure diagram of the big arm assembly of the present invention;
Fig. 5 is the structure diagram of palletizing apparatus of the present invention;
Fig. 6 is the structure diagram of measuring motion of the present invention;
Fig. 7 is the structure diagram of swinging arm device of the present invention;
Fig. 8 is the structure diagram of elevator of the present invention;
Fig. 9 is the structure diagram of laser ranging system of the present invention;
Figure 10 is the structure diagram of pipe collar hammering device of the present invention.
In figure:1 chassis, 2 guide devices, 3 big arm assemblies, 4 swinging arm devices, 5 rollgangs, 6 movement measuring motions, 7 are consolidated Location survey growth device, 8 elevators, 9 palletizing apparatus, 10 supporting legs one, 11 supporting legs two, 12 well heads;21 correcting conduits, on 22 under correcting, 23 Correcting clamping device, 24 hydraulic clamps, 25 correcting pedestals, 26 correcting hydraulic cylinders, 27 gripping sleeves, 28 clamping cylinders, 29 jack up oil Cylinder;31 large arm pendulous devices, 32 flexible mechanical arm devices, 33 swing arms, 34 big arm cylinders, 35 forearms;41 pedestals, 42 conveying hands Arm, 43 conveying hands, 44 slide bodies, 45 oscillating oil cylinders, 46 elevating rams;6 motion detection devices, 7 fixed test devices, 61 oil cylinders First, 62 disks, 71 detection plates;81 elevator bodies, 82 swing seats, 83 gripping sleeves, 84 connecting plates, 85 upper support frames, 86 lower bracing frames, 87 hydraulic cylinders, 88 swing seat axis;91 fix saddle, 92 guide frame for moving, 93 palletizing mechanical arms, 94 frame type stents;101 laser rangings It is instrument, 102 slider brackets, 103 idler wheels, 104 steel wire ropes, fixing bracket on 105,106 the linear guides, 107 roller mounts, 108 reflective Plate;111 frames, 112 shift forks, 113 hydraulic cylinders, 114 supporting box, 115 pipes hammer sleeve.
Specific embodiment
The present invention is specifically described with reference to the accompanying drawings and embodiments.
Fig. 1 show the structure diagram of the present invention.
The present invention provides a kind of petroleum well workover Work robot, including chassis 1, guide device 2, big arm assembly 3, swing arm Device 4, rollgang 5, measuring motion, elevator 8, palletizing apparatus 9, supporting leg 1 and supporting leg 2 11 are the guide device 2, big Arm assembly 3, swinging arm device 4, rollgang 5, measuring motion and palletizing apparatus 9 are controlled by hydraulic control system.
The chassis 1 is supported on the ground by supporting leg 1 and supporting leg 2 11, and chassis 1 is equipped with to shelve oil pipe U-shaped steel tube socket;The guide device 2 is hinged on the rear end on chassis 1, and guide device 2 is equipped with upper correcting 22, lower correcting clamping device 23 and hydraulic clamp 24;Elevator 8 is mounted on the lower section of upper correcting 22;The big arm assembly 3 is hinged on chassis close to guide device 2 On 1, flexible mechanical arm device 32 is hinged in the end of big arm assembly 3, flexible mechanical arm device 32 can be around big 3 end of arm assembly Self-swinging while horizontal or vertical position can be rocked to big arm assembly 3;5 quantity of rollgang is three sets, is arranged at The front side on chassis 1, positioned at the lower section of flexible mechanical arm device 32;The rear end of rollgang 5 and front end are provided with measuring motion;Institute It states swinging arm device 4 and is fixed on the front side on chassis 1, positioned at the lower section of flexible mechanical arm device 32, swinging arm device 4 and rollgang 5 It is located on the same line;The palletizing apparatus 9 is fixed on the stage casing on chassis 1, and palletizing apparatus 9 is equipped with palletizing mechanical arm 93.
Oil pipe from U-shaped steel tube socket is removed and is sent on rollgang 5 by palletizing mechanical arm 93, oil pipe is pushed to exist by measuring motion It is mobile on rollgang 5 to complete to survey length, then transmit and transfer through well head 12;Conversely, the oil pipe gone out from well is by big arm assembly 3 Oil pipe is completed with guide device 2 to lift, and send out through rollgang 5, palletizing apparatus 9 carries out arrangement stacking to the oil pipe of receiving.
Fig. 2 show the structure diagram of guide device of the present invention.
The guide device 2 includes correcting conduit 21, upper correcting 22, lower correcting clamping device 23, hydraulic clamp 24 and leads Positive pedestal 25, the upper correcting 22 are arranged on the top of correcting conduit 21, and lower correcting clamping device 23 and hydraulic clamp 24 are set In the lower part of correcting conduit 21;The correcting pedestal 25 is fixed on chassis 1, and 21 bottom of correcting conduit is cut with scissors with correcting pedestal 25 It connects, the correcting pedestal 25 is equipped with correcting hydraulic cylinder 26, and correcting conduit 21 is swingable 90 ° under the driving of correcting hydraulic cylinder 26.
The correcting conduit 21 is telescopic structure.
Fig. 3 show the structure diagram of correcting clamping device under the present invention.
The lower correcting clamping device 23 includes mounting bracket, gripping sleeve 27, clamping cylinder 28 and jacks up oil cylinder 29, two Gripping sleeve 27 is opposite to be separately mounted to clamp in block set, and clamping cylinder 28 is fixed in mounting bracket, the piston of clamping cylinder 28 Bar connect with gripping sleeve 27, realizes clamping and unclamp;29 upper end of the jack-up oil cylinder is mounted on mounting bracket bottom, jacks up oil cylinder 29 lower ends are mounted on the workbench of hydraulic clamp 27.
The upper correcting 22 includes stent and idler wheel, and support plate is equipped with above the idler wheel.
The hydraulic clamp 24 is the standard component of buying.
Fig. 4 show the structure diagram of big arm assembly of the invention.
The big arm assembly 3 includes large arm pendulous device 31 and flexible mechanical arm device 32.
The large arm pendulous device 31 includes swing arm 33 and big arm cylinder 34, and the swing arm 33 is two-part structure, flexible Robot device 32 is mounted on its 35 end of forearm;The large arm pendulous device 31 is cut with scissors with being fixed on the One On The Chassis large arm pedestal Connect, with the telescopic oscillating of big arm cylinder 34 to horizontal or vertical position.
The forearm 35 is cavity structure, is internally provided with manipulator oil cylinder, rack and pinion, gear passes through with splined shaft Spline connects, and flexible manipulator 32 is mounted on splined shaft, manipulator oil cylinder pushing rack drives gearing, flexible manipulator 32 can be with gearing.
The manipulator oil cylinder and big arm cylinder 34 are equipped with displacement sensor, control cylinder stroke.
Fig. 5 show the structure diagram of palletizing apparatus of the present invention.
The palletizing apparatus 9 includes fixed saddle 91, guide frame for moving 92, palletizing mechanical arm 93 and frame type stent 94; Fixed saddle 91 is fixed on chassis 1, and guide frame for moving 92 is arranged on fixed 91 the inside of saddle, its four sides is fixed and led by directive wheel To;Guide frame for moving 92 can be moved up and down by oil cylinder transmission along fixed saddle 91, and described 92 liang of outsides of guide frame for moving are equipped with straight line Guide rail, frame type stent 94 move stent 92 by the linear guide edge and are moved forward and backward;94 inside of frame type stent is equipped with straight Line guide rail, can move up and down;The palletizing mechanical arm 93 is fixed on 94 lower section of frame type stent, with frame type stent about 94 It is moved forward and backward, oil pipe is transported on rollgang 5 by palletizing mechanical arm 93.
The palletizing mechanical arm 93, guide frame for moving 92 and frame type stent 94 control hydraulic cylinder real by displacement sensor Now position.
Fig. 6 show the structure diagram of measuring motion of the present invention.
The measuring motion includes motion detection device 6 and fixed test device 7, the motion detection device 6 and solid Determine detection device 7 to be separately positioned on the rear end of rollgang 5 and front end, be on same straight line with rollgang 5, oil pipe to be measured Realize that the transmission of oil pipe is grown with surveying on delivery track 5.
The motion detection device 6 is equipped with oil cylinder 1 and disk 62, and oil cylinder 1 is equipped with displacement sensor, disk 62 Be arranged on the end of motion detection device 6, the tail end of oil pipe to be measured is withstood on disk 62, oil cylinder 1 push disk 62 and then Oil pipe to be measured is pushed to move.
7 end of fixed test device is equipped with detection plate 71.
During detection, disk 62, oil pipe to be measured and detection plate 71 are concentric, and motion detection device 6 is treated by the promotion of oil cylinder 1 When survey oil pipe is moved to detection plate 71, displacement sensor record displacement.
The motion detection device 6 is fixed in the fixed seat of big arm assembly 3;Motion detection device 7 is fixed on pedestal Distal end.
Fig. 7 show the structure diagram of swinging arm device of the present invention.
The swinging arm device 4 includes pedestal 41, conveyer arm 42, conveying hand 43, slide body 44, oscillating oil cylinder 45 and lifting Oil cylinder 46, the pedestal 41 are in trench structure, and including side plate, backboard and bottom plate, 42 one end of conveyer arm is mounted on by hinge shaft On the side plate of pedestal 41, the other end is equipped with conveying hand 43, and it is close that one end of the oscillating oil cylinder 45 is connected to conveyer arm 42 It conveys at hand 43, the other end is hinged on pedestal 41;The slide body 44 by the linear guide by being mounted on 41 backboard of pedestal Inside, 46 upper end of elevating ram is connected with slide body 44, and bottom end is mounted on the bottom plate of pedestal 41, and conveying hand 43 can be from pedestal 1 external crawl oil pipe.
Fig. 8 show the structure diagram of elevator of the present invention.
The elevator 8 includes elevator body 81, swing seat 82, gripping sleeve 83, connecting plate 84, upper support frame 85, lower bracing frame 86 and hydraulic cylinder 87,81 middle part of elevator body is equipped with cavity, and two swing seats 82 are connected to elevator body by swing seat axis 88 In 81 cavitys, swing seat 82 is positioned by flat key with swing seat axis 88 and can be rotated with swing seat axis 88;Two gripping sleeves 83 are fixed on pendulum On seat 82, it can be swung with swing seat 82;The upper support frame 85 and lower bracing frame 86 are mounted on one end of elevator body 81, elevator master The other end of body 81 is equipped with connecting plate 84;Hydraulic cylinder 87 is fixed on connecting plate 84, hydraulic stem and the connecting rod machine of hydraulic cylinder 87 Structure connects, and with swing seat axis 88 by key connection, the rotation of 87 drive link mechanism of hydraulic cylinder passes through pendulum for the end of the link mechanism Seat axis 88 drives the opening and closing of gripping sleeve 83.
The gripping sleeve 83 is the more rated assemblies for the lifting for meeting different tube diameters.
Fig. 9 show the structure diagram of laser ranging system of the present invention.
Be additionally provided with laser ranging system on the guide device 2, the laser ranging system include laser range finder 101, Slider bracket 102, idler wheel 103 and steel wire rope 104, the laser range finder 101 are mounted on upper correcting by upper fixing bracket 105 22 tops, the lower correcting clamping device 23 of 101 lower section of laser range finder are equipped with the linear guide 106, and the slider bracket 102 is pacified In the linear guide 106, it can be moved up and down along the linear guide 106;The idler wheel 103 is mounted on sliding block by roller mount 107 On stent 102,104 one end of steel wire rope is fixed on fixing bracket 105, and the other end is connected around idler wheel 103 with elevator 8, sliding Block stent 102 is moved up and down by steel wire rope 104 with elevator 8;Equipped with reflector 108, laser ranging on the slider bracket 102 Instrument 101 realizes distance measurement function by the signal that reflector 108 reflects.
Figure 10 show the structure diagram of pipe collar hammering device of the present invention.
The invention also includes pipe collar hammering device, the pipe collar hammering device includes frame 111, shift fork 112, driving mechanism And hammer mechanism, the frame 111 are a frame-type structure, the driving mechanism is mounted on by slideway pair in frame 111, two Hammer mechanism is mounted in triangle disposition on 111 madial wall of frame with driving mechanism;The driving mechanism includes 113 He of hydraulic cylinder Supporting box 114, hydraulic cylinder 113 drive supporting box 114 to be moved left and right along slideway pair;The hammer mechanism includes pipe and hammers sleeve into shape 115, the pipe hammer sleeve 115 is interior to be equipped with disc spring axis, and shaft end is equipped with tup, and two tups are opposite to be installed;The shift fork 112 divides Not hinged with supporting box 114 and pipe hammer sleeve 115, hydraulic cylinder 113 drives supporting box 114 pipe to be driven to hammer into shape by shift fork 112 Sleeve 115 alternately hammers the oil pipe body being clipped between two hammer mechanisms.
The pipe collar hammering device may be mounted on guide device, can also be used as attachment, hand-held that pipe collar is hammered into shape Hit operation.
The course of work of the present invention:
Mobile measuring motion 6, fixed measuring motion 7, elevator 8 return to origin position;Swinging arm device 4 starts from ground fabric library Pipe is swung into lift location or palletizing apparatus 9 from the material library on chassis 1, pipe is put into lift location;Then conveying roller Road 5 jacks up pipe, and the oil cylinder 1 of mobile measuring motion 6 starts, pipe is shifted onto at fixed 7 detection switch of measuring motion, complete It surveys and grows into oil pipe;Rollgang 5 falls, and pipe is put into lift location from newly;The elevating ram 46 of swinging arm device 4 starts, will Pipe gives rise to crawl position;Then big arm assembly 3 walks pipe crawl from crawl position, is revolved by flexible mechanical arm device 32 Turn and the big arm cylinder 34 of big arm assembly 3 jacks up, pipe is erected at Hoisting Position;Then elevator 8 starts, and elevator 8 is by leading Pipe is sent into well head by the guide steel wire rope on equipment 2.
The present invention solves that live hand labor intensity is big, and well workover efficiency is low, high energy consumption well, be easy to cause pollution ring The problems such as border;Realize workover treatment automation.On a chassis, floor space is small for stacking and well workover mechanism of the present invention, rolles over It is flexible to turn well head, high degree of automation greatly improves the efficiency of well workover.
The embodiment above of the present invention, is merely illustrative, be not it is only, it is all within the scope of the present invention or it is equivalent this Change in the range of invention is surrounded by the present invention.

Claims (10)

1. a kind of petroleum well workover machine people, it is characterised in that:Including chassis (1), guide device (2), big arm assembly (3), swing arm Device (4), rollgang (5), measuring motion, elevator (8), palletizing apparatus (9), supporting leg one (10) and supporting leg two (11), it is described Guide device (2), big arm assembly (3), swinging arm device (4), rollgang (5), measuring motion and palletizing apparatus (9) pass through liquid Pressure control system controls;The chassis (1) is supported on the ground by supporting leg one (10) and supporting leg two (11), and chassis is set on (1) It is useful for shelving the U-shaped steel tube socket of oil pipe;The guide device (2) is hinged on the rear end of chassis (1), and guide device (2) is equipped with Upper correcting (22), lower correcting clamping device (23) and hydraulic clamp (24);Elevator (8) is mounted on the lower section of upper correcting (22);Institute It states big arm assembly (3) to be hinged on chassis (1) close to guide device (2), flexible mechanical is hinged in the end of big arm assembly (3) Arm device (32), flexible mechanical arm device (32) can be put around big arm assembly (3) end self-swinging while with big arm assembly (3) It moves to horizontal or vertical position;Rollgang (5) quantity is three sets, is arranged at the front side of chassis (1), positioned at flexible machine Below tool arm device (32);The rear end of rollgang (5) and front end are provided with measuring motion;The swinging arm device (4) is fixed In the front side of chassis (1), positioned at the lower section of flexible mechanical arm device (32), swinging arm device (4) is with rollgang (5) positioned at same On straight line;The palletizing apparatus (9) is fixed on the stage casing of chassis (1), and palletizing apparatus (9) is equipped with palletizing mechanical arm (93), code Oil pipe from U-shaped steel tube socket is removed and is sent on rollgang (5) by pile manipulator (93), and oil pipe is pushed in conveying roller by measuring motion It is mobile on road (5) to complete to survey length, then transmit and transfer through well head (12);Conversely, the oil pipe gone out from well is by big arm assembly (3) Oil pipe is completed with guide device (2) to lift, and is sent out through rollgang (5), and palletizing apparatus (9) arranges the oil pipe of receiving Stacking.
2. petroleum well workover machine people according to claim 1, it is characterised in that:The guide device (2) is led including correcting Manage (21), upper correcting (22), lower correcting clamping device (23), hydraulic clamp (24) and correcting pedestal (25), the upper correcting (22) top of correcting conduit (21) is arranged on, lower correcting clamping device (23) and hydraulic clamp (24) are arranged on correcting conduit (21) lower part;The correcting pedestal (25) is fixed on chassis (1), and correcting conduit (21) bottom is cut with scissors with correcting pedestal (25) It connects, for the correcting pedestal (25) equipped with correcting hydraulic cylinder (26), correcting conduit (21) can under the driving of correcting hydraulic cylinder (26) Swing 90 °;The correcting conduit (21) is telescopic structure.
3. petroleum well workover machine people according to claim 2, it is characterised in that:The lower correcting clamping device (23) includes Mounting bracket, gripping sleeve (27), clamping cylinder (28) and jack-up oil cylinder (29), two gripping sleeves (27) are opposite to be separately mounted to press from both sides On fixed seat, clamping cylinder (28) is fixed in mounting bracket, and the piston rod of clamping cylinder (28) connect with gripping sleeve (27), is real It now clamps and unclamps;Described jack-up oil cylinder (29) upper end is mounted on mounting bracket bottom, jacks up oil cylinder (29) lower end and is mounted on liquid On the workbench for pressing clamp (27).
4. petroleum well workover machine people according to claim 1, it is characterised in that:The big arm assembly (3) is put including large arm Dynamic device (31) and flexible mechanical arm device (32), the large arm pendulous device (31) include swing arm (33) and big arm cylinder (34), the swing arm (33) is two-part structure, and flexible mechanical arm device (32) is mounted on its forearm (35) end;The large arm Pendulous device (31) and the large arm pedestal that is fixed on chassis (1) it is hinged, with the telescopic oscillating of big arm cylinder (34) to horizontal or Vertical position;The forearm (35) is cavity structure, is internally provided with manipulator oil cylinder, rack and pinion, gear and splined shaft It is connected by spline, flexible manipulator (32) is on splined shaft, manipulator oil cylinder pushing rack drives gearing, flexible Manipulator (32) can be with gearing;The manipulator oil cylinder and big arm cylinder (34) are equipped with displacement sensor, control cylinder Stroke.
5. petroleum well workover machine people according to claim 1, it is characterised in that:The measuring motion includes mobile detect Device (6) and fixed test device (7), the motion detection device (6) and fixed test device (7) are separately positioned on conveying roller On same straight line, oil pipe to be measured, which is located on delivery track (5), realizes oil for the rear end and front end in road (5) and rollgang (5) The transmission of pipe is grown with surveying;The motion detection device (6) is equipped with position equipped with oil cylinder one (61) and disk (62), oil cylinder one (61) Displacement sensor, disk (62) are arranged on the end of motion detection device (6), and the tail end of oil pipe to be measured is withstood on disk (62), oil Cylinder one (61) pushes disk (62) and then pushes oil pipe movement to be measured;Fixed test device (7) end is equipped with detection plate (71);During detection, with one heart, motion detection device (6) is pushed away by oil cylinder one (61) for disk (62), oil pipe to be measured and detection plate (71) When dynamic oil pipe to be measured is moved to detection plate (71), displacement sensor record displacement.
6. petroleum well workover machine people according to claim 1, it is characterised in that:The palletizing apparatus (9) is including fixation Saddle (91), guide frame for moving (92), palletizing mechanical arm (93) and frame type stent (94), fixed saddle (91) are fixed on chassis (1) on, guide frame for moving (92) is arranged on inside fixed saddle (91), its four sides is fixed and is oriented to by directive wheel;Guide frame for moving (92) it being moved up and down by oil cylinder transmission along fixed saddle (91), (92) two outside of guide frame for moving is equipped with the linear guide, Frame type stent (94) is moved forward and backward by the linear guide along stent (92) is moved;It is equipped on the inside of the frame type stent (94) straight Line guide rail, can move up and down;The palletizing mechanical arm (93) is fixed below frame type stent (94), with frame type stent (94) it is moved forward and backward up and down, oil pipe is transported on rollgang (5) by palletizing mechanical arm (93);The palletizing mechanical arm (93), Guide frame for moving (92) and frame type stent (94) control hydraulic cylinder to realize positioning by displacement sensor.
7. petroleum well workover machine people according to claim 1, it is characterised in that:The swinging arm device (4) is including pedestal (41), conveyer arm (42), conveying hand (43), slide body (44), oscillating oil cylinder (45) and elevating ram (46), the pedestal (41) in trench structure, including side plate, backboard and bottom plate, conveyer arm (42) one end is mounted on the side of pedestal (41) by hinge shaft On plate, the other end is equipped with conveying hand (43), and one end of the oscillating oil cylinder (45) is connected to conveyer arm (42) close to conveying At hand (43), the other end is hinged on pedestal (41);The slide body (44) is mounted on pedestal (41) backboard by the linear guide Inside, elevating ram (46) upper end is connected with slide body (44), and bottom end is mounted on the bottom plate of pedestal (41), conveys hand (43) It can be from the external crawl oil pipe of pedestal (1).
8. petroleum well workover machine people according to claim 1, it is characterised in that:The elevator (8) is including elevator body (81), swing seat (82), gripping sleeve (83), connecting plate (84), upper support frame (85), lower bracing frame (86) and hydraulic cylinder (87), institute It states and cavity is equipped in the middle part of elevator body (81), two swing seats (82) are connected to elevator body (81) cavity by swing seat axis (88) Interior, swing seat (82) is positioned by flat key and can be rotated with swing seat axis (88) with swing seat axis (88);Two gripping sleeves (83) are fixed on On swing seat (82), it can be swung with swing seat (82);The upper support frame (85) and lower bracing frame (86) are mounted on elevator body (81) One end, the other end of elevator body (81) is equipped with connecting plate (84);Hydraulic cylinder (87) is fixed on connecting plate (84), hydraulic pressure The hydraulic stem of cylinder (87) is connect with link mechanism, and end and the swing seat axis (88) of the link mechanism pass through key connection, hydraulic cylinder (87) drive link mechanism rotates, and the opening and closing of gripping sleeve (83) are driven by swing seat axis (88).
9. according to claim 1-8 any one of them petroleum well workover machine people, it is characterised in that:On guide device (2) also Equipped with laser ranging system, the laser ranging system includes laser range finder (101), slider bracket (102), idler wheel (103) With steel wire rope (104), the laser range finder (101) is by upper fixing bracket (105) mounted on upper correcting (22) top, laser Lower correcting clamping device (23) below rangefinder (101) is equipped with the linear guide (106), slider bracket (102) installation In the linear guide (106), it can be moved up and down along the linear guide (106);The idler wheel (103) is installed by roller mount (107) On slider bracket (102), steel wire rope (104) one end is fixed on fixing bracket (105), and the other end bypasses idler wheel (103) It is connected with elevator (8), slider bracket (102) is moved up and down by steel wire rope (104) with elevator (8);The slider bracket (102) Upper that reflector (108) is housed, laser range finder (101) realizes distance measurement function by the signal that reflector (108) reflects.
10. according to claim 1-8 any one of them petroleum well workover machine people, it is characterised in that:Further include pipe collar hammering dress It puts, the pipe collar hammering device includes frame (111), shift fork (112), driving mechanism and hammer mechanism, and the frame (111) is One frame-type structure, the driving mechanism are mounted on by slideway pair in frame (111), and two hammer mechanisms are in driving mechanism Triangle disposition is mounted on frame (111) madial wall;The driving mechanism includes hydraulic cylinder (113) and supporting box (114), liquid Cylinder pressure (113) drives supporting box (114) to be moved left and right along slideway pair;The hammer mechanism includes pipe hammer sleeve (115), described Disc spring axis is equipped in pipe hammer sleeve (115), shaft end is equipped with tup, and two tups are opposite to be installed;The shift fork (112) respectively with Supporting box (114) and pipe hammer sleeve (115) are hinged, and hydraulic cylinder (113) driving supporting box (114) passes through shift fork (112) band Dynamic pipe hammer sleeve (115) alternately hammers the oil pipe body being clipped between two hammer mechanisms.
CN201711405502.2A 2017-12-22 2017-12-22 A kind of petroleum well workover machine people Pending CN108150116A (en)

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Application Number Priority Date Filing Date Title
CN201711405502.2A CN108150116A (en) 2017-12-22 2017-12-22 A kind of petroleum well workover machine people

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109102911A (en) * 2018-08-28 2018-12-28 浙江省农业科学院 A kind of specific purpose tool checking radioactive source cobalt source stick coding

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109102911A (en) * 2018-08-28 2018-12-28 浙江省农业科学院 A kind of specific purpose tool checking radioactive source cobalt source stick coding
CN109102911B (en) * 2018-08-28 2020-03-31 浙江省农业科学院 Special tool for checking code of cobalt source rod of radioactive source

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