CN109025858A - Oil field on-site oil pipe transporting and loading method - Google Patents
Oil field on-site oil pipe transporting and loading method Download PDFInfo
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- CN109025858A CN109025858A CN201810884040.5A CN201810884040A CN109025858A CN 109025858 A CN109025858 A CN 109025858A CN 201810884040 A CN201810884040 A CN 201810884040A CN 109025858 A CN109025858 A CN 109025858A
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- 238000011068 loading method Methods 0.000 title abstract 2
- 230000032258 transport Effects 0.000 claims description 50
- 238000000034 method Methods 0.000 claims description 33
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000003028 elevating effect Effects 0.000 claims description 10
- 239000000284 extract Substances 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 239000004615 ingredient Substances 0.000 description 9
- 238000002360 preparation method Methods 0.000 description 3
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Classifications
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- 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
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- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses an oil field on-site oil pipe transporting and loading method, which relates to the field of oil field production and comprises the following steps: arranging spare oil pipes on an oil pipe stack, wherein the oil pipe stack is in a rectangular layout, a bridge seat is arranged at the bottom of the oil pipe stack, the oil pipes in the oil pipe stack are arranged in layers, and a cross arm pipe is arranged between each layer of oil pipe and the adjacent layer of oil pipe; marginal lines and walking routes are designed around the oil pipe stack, the marginal lines are located at two ends of the oil pipes, the marginal lines extend along the arrangement direction of the oil pipes, and the walking routes are connected with the marginal lines; when the oil pipe on the oil pipe stack needs to be transported, controlling the two robots to walk to the marginal lines at the two ends of the oil pipe on the oil pipe stack according to the walking route; the robot identifies the height and the position of the uppermost oil pipe on the oil pipe stack through the camera; and so on. This application can realize oil pipe's high efficiency, standard and laborsaving shipment to guarantee the oil field normal production.
Description
Technical field
The present invention relates to oil field production field, in particular to a kind of Oil Field oil pipe transports dress method.
Background technique
In oil field development production, Operational preparation group is responsible for tubing transport, cleaning and dimension in all oil field productions
The work such as shield.Wherein by taking tubing transports as an example, Operational preparation group of Jinzhou oil recovery factory ships oil pipe at 1500 to 2000 daily
Left and right, the Operational preparation group of oil recovery factory shares oil pipe pile 52 at present, nearly 260,000, oil pipe of various types and model, above-mentioned
Oil pipe is the important foundation for guaranteeing oil field production and operation.
In production, the shipment of oil pipe is there are mainly two types of mode, i.e., mechanical system with two kinds of manual type.Mechanical system is
Cooperated using crane and truck, has lifted oil pipe in batches and be mounted on truck, passed through transported on trucks to production scene；Artificial side
Formula is to add two people's operation modes using carriage, i.e., by manually one by one moving the oil pipe on oil pipe pile on carriage to,
General carriage can fill 120 to 140 oil pipes, and particular number depends on tubing string weight and outer diameter.Both the above oil pipe
In entrucking mode, the first kind mechanically actuated is artificial only to hang up properly steel wire loop, more convenient, but there are oil pipes to fall off, steel
The dangerous points such as disconnection at rope rope sling clamp, furthermore an elevator cooperation needs 3474 yuan of fund, in the overall situation of current low oil price
Under eliminated this operating mode.Second of people is to carry oil pipe one by one, and it is shared to prepare group at present by two one group of people
Oil pipe transports 46 people of work, and 23 groups of train numbers are all to take the mode for carrying oil pipe daily, oil pipe is transported to four-wheel from oil pipe pile
Che Shang, large labor intensity, oil pipe are averaged 300Kg mono-, and long-term operation so easily makes one to feel fatigue, and when two cooperations, holds
Single lift pipe is easily caused to injure the accident of personnel by a crashing object, followed by time-consuming.In the epoch that current social and science and technology are flourishing, oil field production
In still using this kind of backward technique, there are many hidden danger, meanwhile, fill a vehicle oil pipe and need the time in 90min or so, production
Timeliness is lower, once time-consuming for oil pipe shipment, just will affect later period all Production Cohesion.
Summary of the invention
In order to overcome the drawbacks described above of the prior art, the technical problem to be solved is that provide one kind for the embodiment of the present invention
Oil Field oil pipe transports dress method, can be realized the efficient of oil pipe, specification and laborsaving shipment, to guarantee that oil field is normally given birth to
It produces.
The specific technical solution of the embodiment of the present invention is:
A kind of Oil Field oil pipe transports dress method, the Oil Field oil pipe fortune dress method the following steps are included:
By spare oil pipe discharging on oil pipe pile, the oil pipe pile is in rectangular layout, and the bottom of the oil pipe pile is arranged
There is bridge chair, the oil pipe in the oil pipe pile is layered discharge, and cross-arm pipe is provided between each layer of oil pipe and the oil pipe of adjacent layer；
There are margin line and track route in the surrounding design of the oil pipe pile, the margin line is located at the two of the oil pipe
End, the margin line extend along the direction that oil pipe arranges, and the track route is connected with the margin line；
When the oil pipe on the oil pipe pile is carried, Liang Tai robot is controlled according to track route and runs to institute
It states on oil pipe pile on the margin line at oil pipe both ends；
Height and position of the robot by the oil pipe of camera identification oil pipe Duo Shang top layer；
The height and position, the robot of the oil pipe obtained according to identification control its mechanical arm by elevating mechanism
It is increased to height and the position of top layer's oil pipe；
Telescopic rod on the mechanical arm is inserted into top layer's oil pipe by two robots, then passes through lifting
Oil pipe on the telescopic rod is risen to preset height by mechanism；
Two robots are walked simultaneously by above the oil pipe transportation on the telescopic rod to transport vehicle, then pass through liter
Descending mechanism drops to the oil pipe on the telescopic rod on transport vehicle, then the telescopic rod on the mechanical arm is extracted oil pipe.
In a preferred embodiment, the track route has different labels, and the robot being capable of basis
The flag sequence of setting forms corresponding track route.
In a preferred embodiment, the Oil Field oil pipe fortune dress method is further comprising the steps of:
After the telescopic rod on the mechanical arm extracts oil pipe, cross-arm pipe is placed on to one layer of oil pipe on transport vehicle
Top；
Control Liang Tai robot is run on the oil pipe pile on the margin line at oil pipe both ends according to track route, repeats phase
Step is answered thus will be on the oil pipe transportation to the transport vehicle of oil pipe Duo Shang top layer.
In a preferred embodiment, the Oil Field oil pipe fortune dress method is further comprising the steps of:
After the oil pipe of oil pipe Duo Shang top layer is carried on the transport vehicle by robot, by the oil pipe pile
The cross-arm pipe of top removes.
In a preferred embodiment, the preset height is higher than oil pipe maximum height on the transport vehicle or institute
It states transport vehicle and holds height at oil pipe.
In a preferred embodiment, the Oil Field oil pipe fortune dress method is further comprising the steps of:
After two robots complete transhipment tubing manipulation, two robots run to machine according to track route
Device people parks workshop.
In a preferred embodiment, the track route parks workshop by the robot and is connected to the oil pipe
Margin line around pile.
In a preferred embodiment, every margin line has different numbers, so that the machine
People can reach at specific margin line along track route.
In a preferred embodiment, the robot also has manual operation system, passes through the manual operation
System and the camera, operator can be in the long-range operations realized to robot.
In a preferred embodiment, the margin line around the oil pipe pile is four, the margin line point
At two groups, margin line described in every group is in parastate, and the margin line of difference group is in vertical state.
Technical solution of the present invention have it is following significant the utility model has the advantages that
Oil Field oil pipe fortune dress method in the application parks workshop from robot by robot and voluntarily runs to oil
The carrying of mechanization automatic quick is carried out to the oil pipe on oil pipe pile around pipe pile, efficiently solves landed cost height, labor intensity
Greatly, a series of problems such as time-consuming, security risk is more realize specification shipment, laborsaving shipment, the efficiently shipment of oil pipe, guarantee
Oil field normally produces.
Referring to following description and accompanying drawings, only certain exemplary embodiments of this invention is disclosed in detail, specifies original of the invention
Reason can be in a manner of adopted.It should be understood that embodiments of the present invention are not so limited in range.In appended power
In the range of the spirit and terms that benefit requires, embodiments of the present invention include many changes, modifications and are equal.For a kind of reality
The feature that the mode of applying is described and/or shown can be made in one or more other embodiments in a manner of same or similar
With, be combined with the feature in other embodiment, or substitution other embodiment in feature.
Detailed description of the invention
Attached drawing described here is only used for task of explanation, and is not intended to limit model disclosed by the invention in any way
It encloses.In addition, shape and proportional sizes of each component in figure etc. are only schematical, it is used to help the understanding of the present invention, and
It is not the specific shape and proportional sizes for limiting each component of the present invention.Those skilled in the art under the teachings of the present invention, can
Implement the present invention to select various possible shapes and proportional sizes as the case may be.
Fig. 1 is the step flow chart that Oil Field oil pipe transports dress method in the embodiment of the present invention；
Fig. 2 is oil pipe transportation device track route figure in the embodiment of the present invention；
Fig. 3 is the schematic diagram that oil pipe transportation device is carried in the embodiment of the present invention.
The appended drawing reference of the figures above:
1, workshop is parked by robot；2, track route；3, margin line；4, transport vehicle；5, oil pipe pile；6, oil pipe；7, machine
People；71, telescopic rod.
Specific embodiment
With reference to the drawings and the description of the specific embodiments of the present invention, details of the invention can clearly be understood.But
It is the specific embodiment of invention described herein, purpose for explaining only the invention, and cannot understand in any way
At being limitation of the present invention.Under the teachings of the present invention, technical staff is contemplated that based on any possible change of the invention
Shape, these are regarded as belonging to the scope of the present invention.It should be noted that when element is referred to as " being set to " another yuan
Part, it can directly on the other element or there may also be elements placed in the middle.When an element is considered as " connection "
Another element, it can be directly to another element or may be simultaneously present centering elements.Term " installation ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, are also possible to inside two elements
Connection, can be directly connected, can also indirectly connected through an intermediary, for the ordinary skill in the art,
The concrete meaning of above-mentioned term can be understood as the case may be.Term as used herein " vertical ", " horizontal ",
"upper", "lower", "left", "right" and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term as used herein "and/or" includes one or more
Any and all combinations of relevant listed item.
In order to realize the efficient of oil pipe, specification and laborsaving shipment, to guarantee that oil field normally produces, in this application
A kind of Oil Field oil pipe fortune dress method is proposed, Fig. 1 is the step of Oil Field oil pipe transports dress method in the embodiment of the present invention
Flow chart, as shown in Figure 1, the Oil Field oil pipe fortune dress method the following steps are included:
S101: spare oil pipe 6 is emitted on oil pipe pile 5, and oil pipe pile 5 is in rectangular layout, and the bottom of oil pipe pile 5 is arranged
There is bridge chair, the oil pipe 6 in oil pipe pile 5 is layered discharge, is provided with cross-arm pipe between each layer of oil pipe 6 and the oil pipe of adjacent layer.
In this step, Fig. 3 is the schematic diagram that oil pipe transportation device is carried in the embodiment of the present invention, as shown in figure 3, according to
Cleaned oil pipe 6 is emitted on oil pipe pile 5 by usual manner, and oil pipe pile 5 is in rectangular layout, and oil pipe 6 is in the state that is parallel to each other
It is placed on oil pipe pile 5, the bottom of oil pipe pile 5 is provided with multiple bridge chairs, for discharging oil pipe 6 layer by layer and making oil pipe 6
It does not land.Oil pipe 6 in oil pipe pile 5 is layered discharge, is provided with cross-arm pipe between each layer of oil pipe 6 and the oil pipe of adjacent layer,
Cross-arm pipe is for fixing oil pipe 6.In general, the oil pipe 6 of adjacent layer is also in parastate.
S102: there are margin line 3 and track route 2 in the surrounding design of oil pipe pile 5, margin line 3 is located at the two of oil pipe 6
End, margin line 3 extend along the direction that oil pipe 6 arranges, and track route 2 is connected with margin line 3.
In this step, Fig. 2 is oil pipe transportation device track route figure in the embodiment of the present invention, as shown in Fig. 2, oil pipe pile
Margin line 3 around 5 is at least two, this two margin lines 3 are located at the both ends of oil pipe 6, and two margin lines 3 are arranged along oil pipe 6
Direction extend, track route 2 is connected with margin line 3.Track route 2 has different labels, and robot 7 can be according to not
Same flag sequence forms corresponding track route 2, in this way, can be compiled to every section of track route 2 by different labels
Volume, thus formed meet need robot 7 track route 2, robot 7 according to the track route 2 editted so as to
Reach at the position for needing robot 7 to reach.Track route 2 is parked the limit that workshop is connected to around oil pipe pile 5 by robot
Line 3.
In a preferred embodiment, the margin line 3 around oil pipe pile 5 is four, and margin line 3 is segmented into two
Group, margin line 3 is in parastate in every group, and the margin lines 3 of difference group are in vertical state.In this embodiment, four edges
Border line 3 can satisfy the carrying that four direction is realized at scene to the oil pipe 6 on oil pipe pile 5.
In above two embodiment, each edge border line 3 has different numbers, so that robot 7 being capable of edge
Track route 2 reaches at specific margin line 3.
S103: when the oil pipe 6 on oil pipe pile 5 is carried, Liang Tai robot 7 is controlled according to 2 row of track route
It walks on oil pipe pile 5 on the margin line 3 at 6 both ends of oil pipe.
In the present embodiment, when the oil pipe 6 on oil pipe pile 5 is carried, Liang Tai robot 7 is controlled from machine
People parks workshop and runs on oil pipe pile 5 on the margin line 3 at 6 both ends of oil pipe along the different track routes 2 set.So
Afterwards, robot 7 be adjusted with by its mechanical arm side towards the end of oil pipe 6.
S104: robot 7 identifies the height of the oil pipe 6 of top layer and position on oil pipe pile 5 by camera.
In the present embodiment, camera is installed in robot 7, is analyzed by the data that camera shooting obtains
The height of the oil pipe 6 of top layer and position on to oil pipe pile 5.
S105: the height and position, robot 7 of the oil pipe 6 obtained according to identification control its machinery by elevating mechanism
Arm is increased to height and the position of top layer's oil pipe 6.
In the present embodiment, robot 7 have elevating mechanism and mechanical arm, elevating mechanism can in height into
Row adjustment, to change the height of mechanical arm.In this way, according to the height and position that identify obtained oil pipe 6, robot 7
Height and the position that its mechanical arm is increased to top layer's oil pipe 6 are controlled by elevating mechanism.The position needs to meet manipulator
The position of arm needs to align with the position of 6 end of oil pipe.
Telescopic rod 71 on mechanical arm is inserted into top layer's oil pipe 6 by S106: Liang Tai robot 7, then passes through liter
Oil pipe 6 on telescopic rod 71 is risen to preset height by descending mechanism.
In this step, as shown in figure 3, the mechanical arm of robot 7 has telescopic rod 71, telescopic rod 71 can be in level
It is extended and is shortened on direction, be used to protrude into 6 end of oil pipe, and then oil pipe 6 is above mentioned.The distance between telescopic rod 71 can
To be adjusted, so that the spacing between adjacent expansion bar 71 is equal with the spacing between adjacent oil pipe 6.Positioned at oil pipe pile
Telescopic rod 71 on mechanical arm is inserted into two ends of top layer's oil pipe 6 by the Liang Tai robot 7 on 5 margin lines 3, so
The oil pipe 6 on telescopic rod 71 is risen to by preset height by elevating mechanism afterwards, realizes above mentioning to oil pipe 6 by this way.
Preset height can be to hold the height at oil pipe 6 higher than 6 maximum height of oil pipe or transport vehicle 4 on transport vehicle 4.
Oil pipe 6 on telescopic rod 71 is carried to 4 top of transport vehicle by the walking simultaneously of S107: Liang Tai robot 7, is then passed through
Elevating mechanism drops to the oil pipe 6 on telescopic rod 71 on transport vehicle 4, then the telescopic rod 71 on mechanical arm is extracted oil pipe 6.
In this step, transport vehicle 4 is located at the side of oil pipe pile 5, specifically, the transport vehicle 4 is located at around oil pipe pile 5
Margin line 3 between, transport vehicle 4 and oil pipe pile 5 are arranged side by side.Liang Tai robot 7 walks along respective margin line 3 simultaneously,
It, then will be on telescopic rod 71 by elevating mechanism to which the oil pipe 6 carried on its telescopic rod 71 is carried to 4 top of transport vehicle
Oil pipe 6 drops on transport vehicle 4, then the telescopic rod 71 on mechanical arm is shunk, so that telescopic rod 71 is made to extract oil pipe 6, this
When oil pipe 6 be just placed on transport vehicle 4.
S108: after the telescopic rod 71 on mechanical arm extracts oil pipe 6, cross-arm pipe is placed on transport vehicle 4 one layer
The top of oil pipe 6.
In this step, in order to place multi-layer oil tube 6 on transport vehicle 4, to improve carrying amount, to mechanical arm
On telescopic rod 71 extract oil pipe 6 after, cross-arm pipe is placed on to the top of one layer of oil pipe 6 on transport vehicle 4, cross-arm pipe be used for every
Open and fix each layer of oil pipe 6.Since cross-arm pipe quality is smaller, cross-arm pipe place can by artificial mode,
So help to improve the handling efficiency of oil pipe 6.
S109: control Liang Tai robot 7 is run on the margin line 3 at oil pipe both ends on oil pipe pile 5 according to track route 2,
Corresponding steps are repeated to which the oil pipe 6 of top layer on oil pipe pile 5 to be carried on transport vehicle 4.
S110:, will be on oil pipe pile 5 after the oil pipe 6 of top layer on oil pipe pile 5 is carried on transport vehicle 4 by robot
The cross-arm pipe of side removes.
In this step, in order to enable robot 7 to carry the oil pipe 6 of 5 lower layer of oil pipe pile, work as oil
After the oil pipe 6 of top layer is carried on transport vehicle 4 by robot on pipe pile 5, the cross-arm pipe by 5 top of oil pipe pile is needed to move
Out, likewise, since cross-arm pipe quality is smaller, the removal of cross-arm pipe herein can also so be helped by artificial mode
In the handling efficiency for improving oil pipe.
S111: after Liang Tai robot 7 completes transhipment tubing manipulation, Liang Tai robot 7 runs to machine according to track route 2
Device people parks workshop.
In above-mentioned all steps, robot 7 can also have manual operation system, by manual operation system and
Camera, operator can be in the long-range operations realized to robot 7, to realize complicated carrying operation.
By operating discovery in actual field, the disposable time for carrying an oil pipe by telescopic rod 71 is about
46s, telescopic rod 71 once carries 5 oil pipes in this design, is calculated according to above-mentioned data, with such method operating 100
Root oil pipe takes about the time in 15min or so, is compared with the traditional method and improves nearly 6 times of production timeliness, and people in whole process
It is substantially seldom for labor intensity, only when completing first layer oil pipe, two cross-arm pipe cis-positions are artificially carried to lower, operation
It is very convenient quick.
Oil Field oil pipe fortune dress method in the application parks workshop from robot by robot 7 and voluntarily runs to oil
The carrying of mechanization automatic quick is carried out to the oil pipe on oil pipe pile 5 around pipe pile 5, efficiently solves landed cost height, labour by force
A series of problems such as degree is big, time-consuming, security risk is more realize specification shipment, laborsaving shipment, the efficiently shipment of oil pipe, protect
Card oil field normally produces.
All articles and reference disclosed, including patent application and publication, for various purposes by quoting knot
Together in this.Describing combined term " substantially by ... constitute " should include identified element, ingredient, component or step and reality
Other elements, ingredient, component or the step of the basic novel feature of the combination are not influenced in matter.Using term "comprising" or
" comprising " describes the combination of element here, ingredient, component or step it is also contemplated that substantially by these elements, ingredient, component
Or the embodiment that step is constituted.Here by using term " can with ", it is intended to illustrate that " can with " includes described any
Attribute is all optional.Multiple element, ingredient, component or step can be mentioned by single integrated component, ingredient, component or step
For.Alternatively, single integrated component, ingredient, component or step can be divided into multiple element, ingredient, component or the step of separation
Suddenly.For describe the open "a" or "an" of element, ingredient, component or step do not say in order to exclude other elements, at
Point, component or step.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.Above-described embodiment is only
Illustrate technical concepts and features of the invention, its object is to those skilled in the art can understand the contents of the present invention
And implement accordingly, it is not intended to limit the scope of the present invention.Equivalence changes made by all Spirit Essences according to the present invention
Or modification, it should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of Oil Field oil pipe transports dress method, which is characterized in that the Oil Field oil pipe fortune dress method includes following step
It is rapid:
By spare oil pipe discharging on oil pipe pile, the oil pipe pile is in rectangular layout, and the bottom of the oil pipe pile is provided with bridge
, the oil pipe in the oil pipe pile is layered discharge, and cross-arm pipe is provided between each layer of oil pipe and the oil pipe of adjacent layer；
There are margin line and track route in the surrounding design of the oil pipe pile, the margin line is located at the both ends of the oil pipe,
The margin line extends along the direction that oil pipe arranges, and the track route is connected with the margin line；
When the oil pipe on the oil pipe pile is carried, Liang Tai robot is controlled according to track route and runs to the oil
On pipe pile on the margin line at oil pipe both ends；
Height and position of the robot by the oil pipe of camera identification oil pipe Duo Shang top layer；
The height and position, the robot of the oil pipe obtained according to identification control its mechanical arm by elevating mechanism and increase
Height and position to top layer's oil pipe；
Telescopic rod on the mechanical arm is inserted into top layer's oil pipe by two robots, then passes through elevating mechanism
Oil pipe on the telescopic rod is risen into preset height；
Two robots are walked simultaneously by above the oil pipe transportation on the telescopic rod to transport vehicle, then pass through elevator
Structure drops to the oil pipe on the telescopic rod on transport vehicle, then the telescopic rod on the mechanical arm is extracted oil pipe.
2. Oil Field oil pipe according to claim 1 transports dress method, which is characterized in that the track route has difference
Label, the robot can form corresponding track route according to the flag sequence of setting.
3. Oil Field oil pipe according to claim 1 transports dress method, which is characterized in that the Oil Field oil pipe fortune dress
Method is further comprising the steps of:
After the telescopic rod on the mechanical arm extracts oil pipe, cross-arm pipe is placed on to the upper of one layer of oil pipe on transport vehicle
Side；
Control Liang Tai robot is run on the oil pipe pile on the margin line at oil pipe both ends according to track route, repeats corresponding step
It suddenly thus will be on the oil pipe transportation to the transport vehicle of oil pipe Duo Shang top layer.
4. Oil Field oil pipe according to claim 1 transports dress method, which is characterized in that the Oil Field oil pipe fortune dress
Method is further comprising the steps of:
After the oil pipe of oil pipe Duo Shang top layer is carried on the transport vehicle by robot, above the oil pipe pile
Cross-arm pipe remove.
5. Oil Field oil pipe according to claim 1 transports dress method, which is characterized in that the preset height is higher than institute
It states oil pipe maximum height or the transport vehicle on transport vehicle and holds height at oil pipe.
6. Oil Field oil pipe according to claim 1 transports dress method, which is characterized in that the Oil Field oil pipe fortune dress
Method is further comprising the steps of:
After two robots complete transhipment tubing manipulation, two robots run to robot according to track route
Park workshop.
7. Oil Field oil pipe according to claim 6 transports dress method, which is characterized in that the track route is by the machine
Device people parks the margin line that workshop is connected to around the oil pipe pile.
8. Oil Field oil pipe according to claim 1 transports dress method, which is characterized in that every margin line has not
Same number, so that the robot can reach at specific margin line along track route.
9. Oil Field oil pipe according to claim 1 transports dress method, which is characterized in that the robot also has artificially
Operating system, by the manual operation system and the camera, operator can be realized long-range to robot
Operation.
10. Oil Field oil pipe according to claim 1 transports dress method, which is characterized in that the institute around the oil pipe pile
Stating margin line is four, and the margin line is divided into two groups, and margin line described in every group is in parastate, and the margin line of difference group is in
Plumbness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810884040.5A CN109025858B (en) | 2018-08-06 | 2018-08-06 | oil field on-site oil pipe transporting and loading method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810884040.5A CN109025858B (en) | 2018-08-06 | 2018-08-06 | oil field on-site oil pipe transporting and loading method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109025858A true CN109025858A (en) | 2018-12-18 |
| CN109025858B CN109025858B (en) | 2019-12-10 |
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| CN201810884040.5A Active CN109025858B (en) | 2018-08-06 | 2018-08-06 | oil field on-site oil pipe transporting and loading method |
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| CN109025858B (en) | 2019-12-10 |
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