CN110145265A - A kind of petroleum well workover automation equipment - Google Patents
A kind of petroleum well workover automation equipment Download PDFInfo
- Publication number
- CN110145265A CN110145265A CN201910593021.1A CN201910593021A CN110145265A CN 110145265 A CN110145265 A CN 110145265A CN 201910593021 A CN201910593021 A CN 201910593021A CN 110145265 A CN110145265 A CN 110145265A
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- Prior art keywords
- tube rod
- lifting
- cylinder
- arm
- vertical transfer
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- 239000003208 petroleum Substances 0.000 title claims abstract description 23
- 238000012546 transfer Methods 0.000 claims abstract description 118
- 238000001514 detection method Methods 0.000 claims description 44
- 230000007246 mechanism Effects 0.000 claims description 41
- 238000003032 molecular docking Methods 0.000 claims description 25
- 238000012360 testing method Methods 0.000 claims description 23
- 239000002828 fuel tank Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 230000003139 buffering effect Effects 0.000 claims description 2
- 239000003129 oil well Substances 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 210000000080 chela (arthropods) Anatomy 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000000630 rising effect 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
-
- 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
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/161—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe
-
- 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
- E21B19/24—Guiding or centralising devices for drilling rods or pipes
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
The purpose of the present invention is to provide a kind of petroleum well workover automation equipments, for solving the technical issues of dismounting to oil well tube rod.A kind of petroleum well workover automation equipment, including vehicle fitting, the left and right either side of vehicle fitting is mounted on for realizing the down devices of vehicle fitting above and below tube rod, transfer device is lifted for realizing tube rod is reprinted between down devices, position is transferred in order to which large arm device band moves the pin thread limiting device of robot device crawl tube rod for detecting tube rod, and the hydraulic pipe wrench device of clamping or more tube rod is used for during dismounting tube rod.The technical solution of the present patent application can be realized the intelligent dismounting of oil well oil pipe and sucker rod, and disassembly efficiency height is, it can be achieved that Unmanned operation.
Description
Technical field
The present invention relates to petroleum well workover tube rods to dismount technical field, specifically a kind of petroleum well workover automation equipment.
Background technique
The dismounting of oil pipe and sucker rod in oil well is key operation link.Beam hanger dismounting in the prior art, substantially
Realize mechanized operation.But in some processes, for example, oil field up and down the upper shackle operation of oil pipe, sucker rod up and down
Operation, it is still desirable to which human assistance can not achieve complete Unmanned operation.Operating efficiency is not only influenced, but also increases people
Work cost.Accordingly, it is desirable to provide a kind of technical solution, to solve deficiency in the prior art.
Summary of the invention
The purpose of the present invention is to provide a kind of petroleum well workover automation equipments, the skill for solving to dismount oil well tube rod
Art problem.
The technical scheme adopted by the invention to solve the technical problem is that:
A kind of petroleum well workover automation equipment, including vehicle fitting, be mounted on the left and right either side of vehicle fitting for realizing
The down devices of tube rod vehicle fitting up and down, lift transfer device for realizing tube rod is reprinted between down devices, are used for
Detection tube rod is transferred to position in order to which large arm device band moves the pin thread limiting device of robot device crawl tube rod, dismounts tube rod mistake
Hydraulic pipe wrench device in journey for tube rod above and below clamping.
Further, the down devices include lifting support frame, lifting moving frame, lift bracket, lifting drive cylinder,
Close to switch, lifting moving frame passes through the installation that lifting moving drive motor can be moved forward and backward for lifting moving drive motor and lifting
On lifting support frame, the rear and front end that lifting support frame is mounted on close to switch is gone up and down, lift bracket passes through lifting driving oil
Cylinder is liftable to be mounted on lifting moving frame, and lift bracket, which is equipped with, lifts handgrip for lifting the lifting of tube rod.
Further, alternative, the down devices use swing arm, including swing arm rack, swing arm driving electricity
Machine, swing arm and swing arm fix oil cylinder, and swing arm is mounted in swing arm rack by the swingable installation of swing arm shaft, and swing arm turns
The rotary drive input of axis and the rotary drive output of swing arm drive motor connect；The outer end of swing arm is equipped with tube rod card
Mouthful, swing arm fixes oil cylinder and realizes tube rod bayonet to the elastic of tube rod clamping by bayonet fixed plate.
Further, the transfer device of lifting includes lateral transfer mechanisms and carries out for realizing with lateral transfer mechanisms
The vertical transfer mechanism that tube rod is reprinted, lateral transfer mechanisms include horizontal transfer support frame, horizontal transfer drive cylinder, laterally turn
Close to switch, horizontal transfer bracket inside and outside mobile can be mounted on cross by horizontal transfer drive cylinder for shift bracket and horizontal transfer
To on transfer support frame, horizontal transfer is mounted on the inner and outer ends of horizontal transfer support frame close to switch；
Vertical transfer mechanism includes vertical transfer jacking cylinder, vertical transfer jacking frame, vertical transfer drive motor, longitudinal direction
Roller and vertical transfer jacking are shifted close to switch, vertical transfer jacking frame is liftable to be mounted on vertical transfer jacking cylinder
It moves up and down on power output end, vertical transfer roller is rotatably mounted on vertical transfer top by vertical transfer drive motor
The upper end for rising frame, the upper end for being mounted on vertical transfer jacking frame for detecting the close switch of vertical transfer jacking of tube rod in place.
Further, pin thread limiting device include location supporting rack, limit testing stand, limit detection plate, mobile detection axis,
Detection spring, limit detection switch and pin thread drive cylinder are limited, limit testing stand can be moved forward and backward by pin thread drive cylinder
The outer end for being mounted on location supporting rack, mobile detection axis is mounted on limit inspection by limit that detection spring can be moved forward and backward
It surveys on frame, limit detection plate is mounted on mobile detection axis side outer end, the limit for whether being moved to rear end for detecting mobile detection axis
Position detection switch is mounted on limit testing stand.
Further, the big arm assembly includes large arm framework, large arm oscillating oil cylinder, manipulator rotational fuel tank, manipulator
Rotate driving rack gear, manipulator rotation axis and light curtain sensor, the large arm oscillating oil cylinder installation for driving large arm framework to swing
In its underpart, manipulator rotation axis is rotatably mounted on the top of large arm framework, manipulator rotate driving rack gear and manipulator
Manipulator rotate gear in rotation axis engages driving, and the manipulator for driving manipulator rotate driving rack gear to be moved forward and backward turns
Dynamic oil cylinder is mounted in large arm framework；The light curtain sensor is mounted on the lower inside of large arm framework.
Further, the robot device include mechanical arm, robot support frame, tube rod docking adjust oil cylinder and
Mechanical gripper, mechanical arm are mounted on robot support frame by what tube rod docking adjusting oil cylinder can be moved forward and backward, mechanical gripping
Hand is mounted on the both ends of mechanical arm.
Further, the robot device further includes that tube rod docking adjusts sliding slot and buffering spring damper, tube rod pair
The power output end for adjusting oil cylinder is connect equipped with tube rod docking adjusting slider；Tube rod docking adjusts sliding slot and is fixedly mounted on mechanical arm
On, tube rod is docked adjusting slider setting capable of sliding back and forth and is docked in adjusting sliding slot in tube rod；The fixed peace of buffer spring damper
On mechanical arm, and be located at tube rod docking adjust sliding slot rear end, the power intake of buffer spring damper with it is described
Tube rod docking adjusts the power output end connection of oil cylinder.
Further, the hydraulic pipe wrench device includes well repairing power pliers, pipe wrench clamping driving base mechanism and Guiding machine
Structure；Well repairing power pliers and guiding mechanism are mounted on the power output end of pipe wrench clamping driving base mechanism；Pipe wrench clamping driving
Base mechanism includes folding stand, realizes the frame body advance and retreat drive cylinder moved inside and outside folding stand and realize the frame body of folding stand lifting
Height control cylinder.
Further, the guiding mechanism includes the interior guide cylinder that can be opened and closed relatively, and is mounted on the inside of guide cylinder
Guide pad, guide pad use tapered barrel structure.
The effect provided in summary of the invention is only the effect of embodiment, rather than invents all whole effects, above-mentioned
A technical solution in technical solution have the following advantages that or the utility model has the advantages that
1, the technical solution of the present patent application can be realized the intelligent dismounting of oil well oil pipe and sucker rod, dismounting effect
Rate height is, it can be achieved that Unmanned operation.
2, down devices are opposite safer, steady with scheme in the prior art when reprinting tube rod.
3, pin thread limiting device is able to detect whether tube rod shifts in place, and large arm device band is facilitated to move robot device crawl
Tube rod.
4, the tower structure of big arm assembly design can be realized robot device and move in frame inside it, convenient
Down devices are from tube rod above and below the two sides of vehicle fitting；The light curtain sensor being arranged on big arm assembly, can measure tube rod lower end
To the distance of large arm framework lower end, grafting distance to tube rod is adjusted in order to install robot device during tube rod.
5, on robot device design have buffer spring damper, when upper and lower tube rod during the installation process, between distance deposit
In certain error, the flexible buffer docking effect of upper and lower tube rod is may be implemented in buffer spring damper.
6, the guiding role in upper and lower tube rod docking operation may be implemented in hydraulic pipe wrench device, and realizes between tube rod up and down
Rotation when dismount；In addition, hydraulic pipe wrench device can also realize open flow effect when upper and lower tube rod is dismantled.
Detailed description of the invention
Fig. 1 is the isometric view of the embodiment of the present invention；
Fig. 2 is partial enlargement diagram at A in Fig. 1；
Fig. 3 is the other direction isometric view of the embodiment of the present invention；
Fig. 4 is that partial enlargement regards schematic diagram at B in Fig. 3；
Fig. 5 is the isometric view of down devices in the embodiment of the present invention；
Fig. 6 is the schematic top plan view of down devices in the embodiment of the present invention；
Fig. 7 is the isometric view of the other direction of down devices in the embodiment of the present invention；
Fig. 8 is the application state schematic diagram of down devices in another embodiment of the present invention；
Fig. 9 is the left view schematic diagram of Fig. 8；
Figure 10 is the isometric view in the embodiment of the present invention at pin thread limiting device；
Figure 11 is the front-view schematic diagram of Figure 10；
Figure 12 is the diagrammatic cross-section in the embodiment of the present invention at pin thread limiting device front end；
Figure 13 is big arm assembly and robot device matching relationship isometric view in the embodiment of the present invention；
Figure 14 is partial enlargement diagram at A in Figure 13；
Figure 15 is big arm assembly and robot device matching relationship schematic side view in the embodiment of the present invention；
Figure 16 be in Figure 15 A-A to diagrammatic cross-section；
Figure 17 is big arm assembly and another orientation isometric view of robot device matching relationship in the embodiment of the present invention；
Figure 18 is partial enlargement diagram at B in Figure 17；
Figure 19 is big arm assembly and robot device matching relationship schematic side view in the embodiment of the present invention；
Figure 20 is the isometric view of robot device in the embodiment of the present invention；
Figure 21 is the schematic side view of robot device in the embodiment of the present invention；
Figure 22 is the isometric view in the embodiment of the present invention at hydraulic pipe wrench device；
Figure 23 is the schematic side view of Figure 22；
Figure 24 is the front-view schematic diagram of Figure 22；
Figure 25 is the diagrammatic cross-section at hydraulic pipe wrench device front end；
Figure 26 is the isometric view in another embodiment of the present invention at hydraulic pipe wrench device；
Figure 27 is the front-view schematic diagram of Figure 26；
Figure 28 is the schematic side view of Figure 26；
Figure 29 is Figure 26 application state schematic diagram；
Figure 30 is that the isometric view after guiding mechanism is removed in hydraulic pipe wrench device front end in the embodiment of the present invention；
Figure 31 is that the isometric view after guiding mechanism is removed in hydraulic pipe wrench device front end in another embodiment of the present invention；
In figure: 1, vehicle fitting；2, down devices；201, lifting support frame；202, leading truck is gone up and down；203, lifting support
Frame；204, drive cylinder is gone up and down；205, lifting moving drive motor；206, connecting pin ear；207, lifting moving guide rail；208, it rises
Movable plate drops；209, guide rod is gone up and down；210, handgrip is lifted in lifting；211, lifting moving drives gear；212, lifting moving is driven
Carry-over bar；213, the close switch of lifting；214, swing arm rack；215, swing arm drive motor；216, swing arm；217, swing arm fixes
Oil cylinder；218, arm shaft；219, tube rod bayonet；220, bayonet fastens driver slot；221, bayonet fixed plate；3, transfer dress is lifted
It sets；300, horizontal transfer support frame；301, horizontal transfer drive cylinder；302, horizontal transfer bracket；303, horizontal transfer is close
Switch；305, vertical transfer jacking frame；306, vertical transfer drive motor；307, vertical transfer roller；308, vertical transfer top
It rises close to switch；4, pin thread limiting device；401, location supporting rack；402, testing stand is limited；403, detection plate is limited；404, it moves
Dynamic detection axis；405, detection spring is limited；406, detection switch is limited；407, pin thread drive cylinder；408, pin thread moving guide rail；
409, pin thread test chamber；410, test chamber is limited；5, big arm assembly；501, large arm framework；502, large arm oscillating oil cylinder；503, machine
Tool hand rotational fuel tank；504, manipulator rotate driving rack gear；505, manipulator rotation axis；506, light curtain sensor；507, large arm
Pedestal；508, manipulator rotate gear；6, robot device；601, mechanical arm；602, robot support frame；603, tube rod pair
Connect adjusting oil cylinder；604, tube rod docking adjusts sliding slot；605, buffer spring damper；606, mechanical gripper；607, tube rod is docked
Adjusting slider；7, hydraulic pipe wrench device；701, gripper clamp is rotated；702, fixed clamp clamps；703, folding stand；704, frame body is retreated
Drive cylinder；705, frame body height control cylinder；706, interior guide support plate；707, interior guiding drive cylinder；708, interior guiding
Cylinder；709, interior guide pad；710, outer guide support frame；711, outer guide link；712, outer guiding oil cylinder；713, outer guide cylinder；
714, oil pipe grip block；715, grip block on sucker rod；716, grip block under sucker rod.
Specific embodiment
In order to clearly illustrate the technical characterstic of this programme, below by specific embodiment, and its attached drawing is combined, to this
Invention is described in detail.It should be noted that illustrated component is not drawn necessarily to scale in the accompanying drawings.Present invention omits right
Known assemblies and technical description are to avoid being unnecessarily limiting the present invention.
As shown in Figs 1-4, a kind of petroleum well workover automation equipment, including vehicle fitting 1, and it is mounted on vehicle fitting 1
On down devices 2, lift transfer device 3, pin thread limiting device 4, big arm assembly 5, robot device 6 and hydraulic pipe wrench device
7.In oil pipe and sucker rod disassembly process, down devices 2 in tube rod frame and are lifted between transfer device 3 for realizing tube rod
Switching；It lifts transfer device 3 and lifts transfer for realizing to tube rod；When installing tube rod, pin thread limiting device 4 is for detecting
Whether tube rod in order to control system open big arm assembly 5, and utilizes big arm assembly 5 by lifting the transfer of transfer device 3 in place
The robot device 6 of upper activity installation grabs tube rod；During dismounting tube rod, big arm assembly 5 and the cooperation of robot device 6 are grabbed
Transfer tube rod is taken and rotates, the hydraulic pipe wrench device 7 is respectively used to clamping tube rod up and down, in order between upper and lower tube rod
Dismounting.
Vehicle fitting 1 is mainly used for realizing walking movement and the installation fixed function to other functional components, vehicle dress
1 is set using crawler type running system；The two sides of vehicle fitting 1 are equipped with the hydraulic pressure support leg mechanism of scalable fixation.
As illustrated in figs. 5-7, as a kind of embodiment of petroleum well workover automation equipment, down devices 2 are moved using lifting
Dynamic formula, the selectable left and right any side for being mounted on vehicle fitting 1 of Liftable and movable down devices 2；Down devices 2 include
Lifting support frame 201, lifting moving frame, lift bracket 203, lifting drive cylinder 204 and lifting moving drive motor 205.Institute
The upper end for stating lifting support frame 201 is hinged with connecting pin ear 206, and connecting pin ear 206 with the side of vehicle fitting 1 for connecting；
It is required according to the integral inclined degree of down devices 2, connecting pin ear 206 may connect to the different height position of vehicle fitting 1.Lifting branch
The upside longitudinal direction of support 201 is equipped with lifting moving guide rail 207, and the lower part of lifting moving frame ontology is lifting moving plate 208, rises
The downside for dropping movable plate 208 is equipped with lifting moving sliding block, and lifting moving sliding block is slidably mounted on lifting moving guide rail 207
On.The top of lifting moving frame ontology is lifting leading truck 202, and the both ends of lifting leading truck 202 are equipped with lifting directed cavity, lifting
The middle part of leading truck 202 is equipped with lifting driving chamber.Lifting guide rod 209, lifting are equipped on the downside of the both ends of the lift bracket 203
Guide rod 209, which can slide up and down, to be plugged in the lifting directed cavity；The upside both ends of lift bracket 203 are equipped with lifting and lift
Handgrip 210, lifting lift handgrip 210 for lifting tube rod.The lifting drive cylinder 204 is mounted on lifting leading truck 202
On, the power output end of lifting drive cylinder 204 passes through the lifting driving chamber and connect with the downside of lift bracket 203.Lifting
Drive cylinder 204 is by flexible, to drive the lifting of lift bracket 203.The lifting moving drive motor 205 is mounted on lifting
On movable plate 208, the rotary drive output of lifting moving drive motor 205 is equipped with lifting moving and drives gear 211；The liter
The inside longitudinal direction of descending branch support 201 is equipped with lifting moving drive rack 212, and lifting moving drives gear 211 and lifting moving
The engagement driving of drive rack 212.Under the drive of lifting moving drive motor 205, and then drive lifting moving frame along lifting branch
Support 201 moves up and down.The upper and lower ends of the lifting support frame 201 are respectively equipped with, and are gone up and down close to switch 213, for detecting
Whether lifting moving frame is moved to designated position up and down.During upper tube, when lifting moving frame is moved to upper end designated position
Afterwards, lift bracket 203 declines, and tube rod, which drops to, lifts on transfer device 3.Correspondingly, lifting transfer device during down tube
3 are transferred to tube rod the top of lift bracket 203, and lift bracket 203 rises, and tube rod is detached from transfer device 3 is lifted, tube rod companion
The lower end of down devices 2 is moved to lifting moving frame.
As shown in Figure 8,9, the another embodiment as petroleum well workover automation equipment, down devices use swing arm
The left and right either side of vehicle fitting 1 is arranged in formula, swing arm down devices, and the feeding of tube rod is realized by way of swing arm and is unloaded
Material.The down devices of swing arm include swing arm rack 214, and swing arm drive motor 215, swing arm 216 and swing arm fix oil cylinder
217.The rear end of the swing arm 216 is equipped with arm shaft 218, and the both ends of arm shaft 218 are rotatably mounted on pendulum by bearing
In arm rack 214.Swing arm drive motor 215 is mounted on 214 upper end side of swing arm rack, and the rotation of swing arm drive motor 215 is dynamic
Power output end is connect by decelerating motor with the rotary drive input of arm shaft 218.The front end of swing arm 216 is equipped with tube rod card
Mouthfuls 219, the bayonet that the lower end of tube rod bayonet 219 is equipped with perforation fastens driver slot 220, and bayonet fastens can be inside and outside in driver slot 220
Mobile is equipped with bayonet fixed plate 221.The swing arm fixes the underside of forward that oil cylinder 217 is mounted on swing arm 216, and swing arm fixes
The flexible power output end of oil cylinder 217 is connect with the lower end of the bayonet fixed plate 221.During swinging tube rod, swing arm
It fixes oil cylinder 217 and drives shifting in bayonet fixed plate 221, by tube rod clamping；In upper and lower tube rod discharging, swing arm fixes oil cylinder 217
It drives and is moved outside bayonet fixed plate 221, tube rod pine card.
As shown in Figure 1-3, described lifts transfer device 3 and the down devices 2 and the cooperation of pin thread limiting device 4
It uses, in feeding process, the tube rod for delivering down devices 2 is transferred to pin thread limiting device 4；In blanking process,
Tube rod for unloading robot device 6 is transferred to down devices 2；Transfer device 3 is lifted to include lateral transfer mechanisms and indulge
To transfer device.Lateral transfer mechanisms include horizontal transfer support frame 300, horizontal transfer drive cylinder 301, horizontal transfer bracket
302 and horizontal transfer close to switch 303.Horizontal transfer support frame 300 is transversely mounted in the upper end transverse direction of vehicle fitting 1,
Transverse direction is equipped with horizontal transfer guide groove；The lower end of the horizontal transfer bracket 302 is existed by the setting that sliding block can slide laterally
In horizontal transfer guide groove, horizontal transfer drive cylinder 301 is transversely mounted on the lower section of horizontal transfer guide groove, and horizontal transfer is driven
The power output end of dynamic oil cylinder 301 is connect with the lower end of the horizontal transfer bracket 302.The close switch 303 of the horizontal transfer
It is separately mounted to the upside rear and front end of horizontal transfer support frame 300, horizontal transfer is close to switch 303 for whether detecting tube rod
It is moved to the front-rear position of horizontal transfer support frame 300.In feeding, vertical transfer mechanism comes from horizontal transfer machine for accepting
The tube rod of structure, and tube rod is transferred at pin thread limiting device 4；When blanking, for tube rod to be transferred to lateral transfer mechanisms；
Vertical transfer mechanism includes vertical transfer jacking cylinder, vertical transfer jacking frame 305, vertical transfer drive motor 306, Zong Xiangzhuan
It moves roller 307 and vertical transfer is jacked close to switch 308.Vertical transfer jacking cylinder is mounted vertically in vehicle dress by support frame
1 upper end is set, vertical transfer jacking frame 305 is mounted on the upper end of vertical transfer jacking cylinder.The vertical transfer roller 307 can
The upper end for being mounted on vertical transfer jacking frame 305 of rotation, vertical transfer drive motor 306 are mounted on vertical transfer jacking frame
305 upper end side；The rotary drive output of vertical transfer drive motor 306 and the rotary power of vertical transfer roller 307
Input terminal connection.The vertical transfer jacks the upper end that vertical transfer jacking frame 305 is mounted on close to switch 308, for detecting
Whether there is tube rod to be moved on vertical transfer roller 307.
As shown in Fig. 1-3 and Figure 10-12, the rear end of vehicle fitting 1 is arranged in the pin thread limiting device 4, in feeding
In the process, the back-end location for whether being moved to vehicle fitting 1 for detecting tube rod, in order to big 5 driving manipulator of arm assembly dress
Set 6 crawl tube rods；Pin thread limiting device 4 includes location supporting rack 401, limit testing stand 402, limit detection plate 403, mobile inspection
Survey axis 404, limit detection spring 405, limit detection switch 406 (photoelectric detection switch) and pin thread drive cylinder 407.The limit
The inner end of position support frame 401 is connect by hingedly limit pin thread support with vehicle fitting 1, on the upside of the outer end of location supporting rack 401
Equipped with pin thread moving guide rail 408, the lower end for limiting testing stand 402 inside and outside can be slidably mounted at pin thread moving guide rail by sliding block
On 408.The top longitudinal direction of location supporting rack 401 is equipped with limit test chamber 410, sets in the posterior transversal of location supporting rack 401
There is pin thread test chamber 409, pin thread test chamber 409 is connected to the rear portion of limit test chamber 410.The limit detection spring 405 is pacified
In pin thread test chamber 409, mobile detection axis 404 can in external extension be sleeved in pin thread test chamber 409, mobile detection axis
404 lateral wall is connect with the limit detection spring 405；When limit detection spring 405 is in reset state, mobile detection
The outer end of axis 404 is stretched out other than the pin thread test chamber 409.The limit detection plate 403 is mounted on the outer of mobile detection axis 404
The middle part at end, limit detection plate 403 uses semicircle using rectangle, both ends, in order to cooperate the end of oil pipe and sucker rod
Press.The limit detection switch 406 is arranged in the pin thread test chamber 409, when tube rod is moved to outer end press limit
After detection plate 403, mobile detection axis 404 is moved inward, and pin thread test chamber 409 is blocked in its rear end, and limit detection switch 406 is
It can trigger signal.The pin thread drive cylinder 407 is longitudinally mounted to the rear portion of the location supporting rack 401, pin thread driving oil
The power output end of cylinder 407 is connect with the lower end of the limit testing stand 402.In feeding process, when limit detection switch 406
After detecting tube rod in place, the driving limit testing stand 402 of pin thread drive cylinder 407 is moved back, and is supplied in order to reserve enough spaces
Robot device 6 grabs tube rod；After robot device 6 grabs tube rod, pin thread drive cylinder 407 resets again.
As shown in Figure 13 to Figure 19, when installing tube rod, after limiting 406 trigger signal of detection switch, shown in large arm
Device 5 drives robot device 6 to grab tube rod, is installed at drive to hydraulic pipe wrench device 7 after crawl tube rod.It is managed in disassembly
When bar, big arm assembly 5 drives robot device 6 to grab tube rod, and tube rod is then placed in described lift on transfer device 3 again.
The swingable front end for being connected to vehicle fitting 1 of the big arm assembly 5, including large arm framework 501, large arm oscillating oil cylinder 502, machine
Tool hand rotational fuel tank 503, manipulator rotate driving rack gear 504, manipulator rotation axis 505 and light curtain sensor 506.The large arm
Framework 501 is mounted on the lateral mid-point of vehicle fitting 1, and the lower end of large arm framework 501 is hinged with large arm pedestal 507 and vehicle
The front end of device 1 connects；The intermediate longitudinal direction of large arm framework 501 is equipped with manipulator revolution space, to cooperate down devices 2 can be with
From the requirement of 1 either side loading and unloading of vehicle fitting.The machinery large arm oscillating oil cylinder 502 uses displacement sensor oil cylinder, mechanical
The lower end of large arm oscillating oil cylinder 502 is hinged by pedestal and vehicle fitting 1, the power output end of mechanical large arm oscillating oil cylinder 502
It is connect with the lower part of large arm framework 501.The manipulator rotation axis 505 is rotatably mounted on the top of large arm framework 501, machine
Tool arm device 6 is mounted in manipulator rotation axis 505；Manipulator rotation axis 505 is equipped with manipulator rotate gear 508.It is described
Manipulator rotational fuel tank 503 is mounted on the top side of large arm framework 501, and manipulator rotate driving rack gear 504 is mounted on machinery
On the power output end of hand rotational fuel tank 503, manipulator rotate driving rack gear 504 is engaged with the manipulator rotate gear 508
Driving；The manipulator rotational fuel tank 503 uses displacement sensor oil cylinder.During the mobile tube rod of robot device 6, large arm
Device 5 is swung by itself and driving manipulator device 6 rotates, so that the motion direction of tube rod is adjusted, in order to tube rod
Transfer.The lower inside of large arm framework 501 is arranged in the light curtain sensor 506, is used for 6 transfer pipe of inspecting manipuator device
During bar, distance of the lower end of tube rod apart from 501 lower end of large arm framework；In order to which when installing tube rod, robot device 6 is adjusted
Save the moving distance to tube rod.
As shown in Figure 17-21, the robot device 6 is used to grab tube rod, and when installing tube rod, for adjusting
Clamped distance of the tube rod relative to lower section tube rod.Robot device 6 includes mechanical arm 601, robot support frame 602, pipe
Bar docking adjusts oil cylinder 603, tube rod docking adjusts sliding slot 604, buffer spring damper 605 and mechanical gripper 606.The machinery
Hand support frame 602 is rotatably mounted in large arm framework 501 by manipulator rotation axis 505, and robot support frame 602 is indulged
The tube rod for being equipped with perforation upwards docks adjusting cavity；The pipe capable of sliding back and forth for being mounted on robot support frame 602 of mechanical arm 601
Bar docks in adjusting cavity.The mechanical gripper 606 is mounted on the both ends of mechanical arm 601, for grabbing tube rod；Mechanical gripper
606 utilize mechanism in the prior art (see the file of publication 201711403914.2 of our company's application).The pipe
Bar docking adjusts the side that oil cylinder 603 is mounted on robot support frame 602, and tube rod docking adjusts the power output end of oil cylinder 603
Adjusting slider 607 is docked equipped with tube rod.The tube rod docking adjusts sliding slot 604 and is fixedly mounted on mechanical arm 601, tube rod pair
The setting capable of sliding back and forth of adjusting slider 607 is connect to dock in adjusting sliding slot 604 in tube rod.The buffer spring damper 605 is logical
It crosses pedestal to be fixedly mounted on mechanical arm 601, and is located at the rear end that tube rod docking adjusts sliding slot 604；Buffer spring subtracts
The power intake for shaking device 605 is connect with the power output end that the tube rod docks adjusting oil cylinder 603.When mechanical gripper 606 is grabbed
When upper end tube rod being taken to dock with lower section tube rod, tube rod docking adjusts oil cylinder 603 and extends, and is driven by mechanical arm 601
Square tube bar is plugged in the box cupling of lower section tube rod.During grafting, due to there is a certain error range, buffer spring
Damper 605 can play the role of flexible buffer docking.
Picture 1-4 and shown in Figure 22-25, as a kind of embodiment of petroleum well workover automation equipment, described is hydraulic
Pipe wrench device 7 is mounted on the front end of vehicle fitting 1, using interior guide type.Interior guide type hydraulic pipe wrench device 7 includes well workover power
Pincers (it is special in the prior art to reach XQ114/6B model, in addition also there is note in the patent 201820448529.3 of our company's application
Carry), pipe wrench clamping driving base mechanism and interior guiding mechanism；Well repairing power pliers are mounted on the dynamic of pipe wrench clamping driving base mechanism
On power output end, well repairing power pliers include the rotation gripper clamp 701 of top and the fixed clamp pincers 702 of lower section；Interior guiding mechanism
It is mounted between rotation gripper clamp 701 and fixed clamp pincers 702, and is coaxially disposed.During upper and lower materials in the tube, the pipe wrench clamp
Driving base mechanism is held for driving well repairing power pliers and interior guiding mechanism close to or far from tube rod.Pipe wrench clamping driving pedestal
Mechanism includes folding stand 703, frame body advance and retreat drive cylinder 704 and frame body height control cylinder 705.The lower end of folding stand 703 is set
There is sliding block, sliding block inside and outside can be slidably mounted on the guide rail on vehicle fitting 1.The frame body advance and retreat drive cylinder 704 is longitudinal
Setting, its rear end are connect with vehicle fitting 1, and front end is connect with the lower part of the folding stand 703.The frame body height adjustment oil
Cylinder 705 is vertically obliquely installed, and lower end is hinged by the lower end of bracket and folding stand 703, and the upper end passes through bracket and folding stand
703 upper end is hinged.Frame body advance and retreat drive cylinder 704 and frame body height control cylinder 705 cooperate, and realize hydraulic pipe wrench device 7
Extending type rises or internal withdraw type decline.During installing tube rod, the interior guiding mechanism is used to play guiding role to tube rod, with
Convenient for the alignment of top tube rod and lower section tube rod；During dismantling tube rod, for preventing the outside splash of liquid of lower section tube rod；It is interior
Guiding mechanism includes interior guide support plate 706, interior guiding drive cylinder 707, interior guide cylinder 708 and guide pad 709.Interior guiding branch
Fagging 706 is mounted vertically in the two sides of fixed clamp pincers 702, and the transverse direction of interior guide support plate 706 is equipped with interior guiding driving chamber.
The interior guide cylinder 708 of two sides is mounted on interior guide support plate 706 that (interior guiding slide bar can be inside and outside sliding by interior guiding slide bar
Dynamic is sleeved in interior guiding driving chamber), interior guiding drive cylinder 707 described in two sides is mounted on the outer of interior guide support plate 706
The flexible power output end of side, interior guiding drive cylinder 707 is connect with the interior guide cylinder 708.The guide pad 709 is symmetrical
In interior 708 inside of guide cylinder, the upper end of guide pad uses half rotary table cavity body structure for setting.The rotation gripper clamp 701 of top is under
On the inside of the jaw of the fixed clamp pincers 702 of side, it is equipped with the oil pipe grip block 714 of clamping oil pipe.When installing oil pipe, top oil
Pipe is in interior guiding mechanism, the upper end box cupling of the lower end insertion lower section oil pipe of top oil pipe；The fixed clamp pincers 702 of lower section will
The oil pipe of lower section grips, and the rotation gripper clamp 701 of top drives the oil pipe rotation of top.Dismantle oil pipe when, process with it is upper
It states similar, repeats no more.
As shown in figures 29-31, the another embodiment as petroleum well workover automation equipment, the installation of hydraulic pipe wrench device
In the front end of vehicle fitting 1, using outer guide type.The outer guiding mechanism of outer guide type hydraulic pipe wrench device includes outer guide support
Frame 710, outer guide link 711, outer guiding oil cylinder 712 and outer guide cylinder 713, outer guide support frame 710 are arranged in fixed clamp
The both sides external of pincers 702, outer guide cylinder 713 are located at outer 710 inside of guide support frame, the upper and lower ends difference of outer guide cylinder 713
It is hinged by outer guide link 711 and outer guide support frame 710；The middle part of outer guide cylinder 713 is by outer guiding oil cylinder 712 and outside
Guide support frame 710 is hinged；Guide pad 709 is mounted on outer 713 inside of guide cylinder.Sucker rod is clamped in hydraulic pipe wrench device 7
In the process, the fixed clamp of the rotation gripper clamp 701 and lower section that can unload top clamps the oil pipe grip block on the inside of 702 jaws
Then grip block 715 on sucker rod is mounted on the inside of rotation gripper clamp 701 to clamp by 714 (being fixedly connected using pin)
The tube wall of top sucker rod is mounted on fixed clamp using grip block 716 under sucker rod and clamps the inside of 702 jaws to clamp lower section
Side's button of pumping rod bar upper end box cupling.
Except for the technical features described in the specification, it all is technically known to those skilled in the art.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, based on the technical solution of the present invention, those skilled in the art, which do not need to pay for creative labor, to be done
Various modifications or changes out are still within the scope of the present invention.
Claims (10)
1. a kind of petroleum well workover automation equipment, including vehicle fitting, characterized in that further include that be mounted on vehicle fitting left and right
Either side is lifted for realizing the down devices of vehicle fitting above and below tube rod for realizing tube rod is reprinted between down devices
Transfer device is transferred to position for detecting tube rod in order to which large arm device band moves the pin thread limit dress of robot device crawl tube rod
It sets, the hydraulic pipe wrench device of clamping or more tube rod is used for during dismounting tube rod.
2. a kind of petroleum well workover automation equipment according to claim 1, characterized in that the down devices include lifting
Close to switch, lifting is moved for support frame, lifting moving frame, lift bracket, lifting drive cylinder, lifting moving drive motor and lifting
Moving frame is mounted on lifting support frame by what lifting moving drive motor can be moved forward and backward, is gone up and down close to switch and is mounted on lifting
The rear and front end of support frame, drive cylinder is liftable is mounted on lifting moving frame by lifting for lift bracket, lift bracket
It is equipped with and lifts handgrip for lifting the lifting of tube rod.
3. a kind of petroleum well workover automation equipment according to claim 1, characterized in that alternative, it is described on
Lower device uses swing arm, including swing arm rack, swing arm drive motor, swing arm and swing arm to fix oil cylinder, and swing arm passes through pendulum
The swingable installation of arm shaft is mounted in swing arm rack, puts the rotation of arm pivoted rotary drive input and swing arm drive motor
The connection of rotatory force output end；The outer end of swing arm is equipped with tube rod bayonet, and swing arm fixes oil cylinder and realizes tube rod by bayonet fixed plate
Bayonet is elastic to tube rod clamping.
4. a kind of petroleum well workover automation equipment according to claim 1, characterized in that the transfer device of lifting includes
Lateral transfer mechanisms and for realizing with lateral transfer mechanisms carry out tube rod reprinting vertical transfer mechanism, lateral transfer mechanisms packet
Horizontal transfer support frame, horizontal transfer drive cylinder, horizontal transfer bracket and horizontal transfer are included close to switch, horizontal transfer bracket
It inside and outside mobile can be mounted on horizontal transfer support frame by horizontal transfer drive cylinder, horizontal transfer is mounted on close to switch
The inner and outer ends of horizontal transfer support frame；
Vertical transfer mechanism includes vertical transfer jacking cylinder, vertical transfer jacking frame, vertical transfer drive motor, vertical transfer
Roller and vertical transfer jacking approach switch, and vertical transfer jacking frame is liftable to be mounted on the upper and lower of vertical transfer jacking cylinder
On mobile power output end, vertical transfer roller is rotatably mounted on vertical transfer jacking frame by vertical transfer drive motor
Upper end, be mounted on the upper end of vertical transfer jacking frame close to switch for detecting the vertical transfer jacking of tube rod in place.
5. a kind of petroleum well workover automation equipment according to claim 1, characterized in that pin thread limiting device includes limit
Support frame, limit testing stand, limit detection plate, mobile detection axis, limit detection spring, limit detection switch and pin thread driving oil
Cylinder, limit testing stand pass through the outer end for being mounted on location supporting rack that pin thread drive cylinder can be moved forward and backward, mobile detection axis
It is mounted on limit testing stand by what limit detection spring can be moved forward and backward, limit detection plate is mounted on outside mobile detection axis side
End, the limit detection switch that rear end whether is moved to for detecting mobile detection axis are mounted on limit testing stand.
6. a kind of petroleum well workover automation equipment according to claim 1, characterized in that the big arm assembly includes large arm
Framework, large arm oscillating oil cylinder, manipulator rotational fuel tank, manipulator rotate driving rack gear, manipulator rotation axis and light curtain sensor,
Large arm oscillating oil cylinder for driving large arm framework to swing is mounted on its underpart, and manipulator rotation axis is rotatably mounted on large arm
The top of framework, manipulator rotate driving rack gear engage driving with the manipulator rotate gear in manipulator rotation axis, are used for band
The manipulator rotational fuel tank that dynamic manipulator rotate driving rack gear is moved forward and backward is mounted in large arm framework；The light curtain sensor
It is mounted on the lower inside of large arm framework.
7. a kind of petroleum well workover automation equipment according to claim 1, characterized in that the robot device includes
Mechanical arm, robot support frame, tube rod docking adjust oil cylinder and mechanical gripper, and mechanical arm is docked by tube rod and adjusts oil cylinder
What can be moved forward and backward is mounted on robot support frame, and mechanical gripper is mounted on the both ends of mechanical arm.
8. a kind of petroleum well workover automation equipment according to claim 7, characterized in that the robot device further includes
Tube rod docking adjusts sliding slot and buffering spring damper, and the power output end that tube rod docking adjusts oil cylinder is equipped with tube rod docking and adjusts
Sliding block；Tube rod docking adjusts sliding slot and is fixedly mounted on mechanical arm, and tube rod docks adjusting slider setting capable of sliding back and forth and exists
Tube rod docking is adjusted in sliding slot；Buffer spring damper is fixedly mounted on mechanical arm, and is located at tube rod docking and is adjusted sliding slot
Rear end, the power intake of buffer spring damper and the tube rod, which are docked, to be adjusted the power output end of oil cylinder and connect.
9. a kind of petroleum well workover automation equipment according to claim 1, characterized in that the hydraulic pipe wrench device includes
Well repairing power pliers, pipe wrench clamping driving base mechanism and guiding mechanism；Well repairing power pliers and guiding mechanism are mounted on pipe wrench clamping
On the power output end for driving base mechanism；Pipe wrench clamping driving base mechanism includes folding stand, realizes and move inside and outside folding stand
Frame body advance and retreat drive cylinder and realize folding stand lifting frame body height control cylinder.
10. a kind of petroleum well workover automation equipment according to claim 9, characterized in that the guiding mechanism includes can
The interior guide cylinder of opposite folding, and it is mounted on the guide pad on the inside of guide cylinder, guide pad uses tapered barrel structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910593021.1A CN110145265A (en) | 2019-07-01 | 2019-07-01 | A kind of petroleum well workover automation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910593021.1A CN110145265A (en) | 2019-07-01 | 2019-07-01 | A kind of petroleum well workover automation equipment |
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| CN110145265A true CN110145265A (en) | 2019-08-20 |
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| CN201910593021.1A Pending CN110145265A (en) | 2019-07-01 | 2019-07-01 | A kind of petroleum well workover automation equipment |
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| CN (1) | CN110145265A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111140185A (en) * | 2020-01-07 | 2020-05-12 | 晁志兵 | Working method of automatic pipe rod conveying type oilfield drilling device |
-
2019
- 2019-07-01 CN CN201910593021.1A patent/CN110145265A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111140185A (en) * | 2020-01-07 | 2020-05-12 | 晁志兵 | Working method of automatic pipe rod conveying type oilfield drilling device |
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